FR3013120A1 - METHOD AND INSTALLATION FOR PREPARING SAMPLES - Google Patents

Abstract

The invention relates to a method and an installation for the preparation of samples in which process, a set of test containers (13) or similar containers (13) each containing a sample to be prepared is arranged in a handling zone, each of said containers (13) being closed by a closure device (16), said closure device (16) having a body for tight fitting on the mouth of said corresponding container. According to the invention, for each of said containers (13), the following successive steps are carried out: a) grasping said closed container by its closing device (16) or its body (15) by means of a gripping system comprising at least one least two fingers (11, 12) and move said container through said gripping system to a preparation station, said closure device (16) or said body (15) being configured to cooperate with said fingers (11, 12) of the system gripping device for locking said container in said fingers (11, 12), b) removing said closure device (16) from said container by said gripping system, c) establishing at least one measurement of the contents of said container preparation station, d) closing said container with said closure device (16) by means of said gripping system.

Description

BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a process for the preparation of samples with or without analysis, including, but not limited to, in the agricultural field. food. It also relates to an installation for the implementation of this method for the preparation, with or without analysis, of samples in a fully automated manner. BACKGROUND ART It is known, in the field of the agri-food industry, to put on the market new products to improve or replace aging products, or to encourage new behaviors among consumers. These developments require the industry to take into account, on the one hand, the regulations relating to the specifications of food products, which is constantly evolving, and on the other hand, to provide the final consumer with information on the the composition and quality of their products, for which the latter is of increasing importance. Respecting these basic criteria thus leads the food manufacturers to have their food products analyzed, for example, for the purpose of the nutritional labeling of these products or to determine their allergenicity. Devices are known for automatically preparing or analyzing samples. These devices provide a significant time saving in the preparation or analysis of these samples.

However, the positioning in and removal of samples from these preparation or analysis devices are typically done manually by a qualified technician.

Thus, in the case of a preparation device, the technician comes to grip the closed container containing the sample to be prepared, for example for subsequent analysis, the latter being typically stored on a support, then he opens the container in removing the stopper sealing the latter to protect its contents, and places this container in a preparation device to perform sample preparation steps such as weighing or one or more pH measurements. This individual treatment of each sample can also be made necessary by the need to make specific preparations that the technician will decide according to the subsequent measurements to be made.

However, the achievement of these manual steps is an obstacle to the treatment of a large number of samples and consequently to a reduction of costs likely to lead to a widespread development of the characterization of food. In addition, there is also a pressing need on the part of some manufacturers or laboratories to process large volumes of samples in order to reliably determine the composition of the food. The present invention therefore aims to overcome these various drawbacks by proposing a particularly simple sample preparation method in its design and its operating mode, economical and reliable, to significantly reduce the human factor by reducing tasks repetitive for the technician, making the procedure more efficient qualitatively. Another object of the present invention is such a method implementing a closed and fully automated system approach for processing large quantities of samples while ensuring the protection of the technicians. Yet another object of the invention is an installation for carrying out such a method of preparing samples, with or without analysis.

BRIEF DESCRIPTION OF THE INVENTION To this end, the invention relates to a method for the preparation of samples, with or without analysis, in which a set of test containers or similar containers, each containing a sample to be prepared is disposed in a handling zone, each of said containers being closed by a closing device, said closure device comprising a body for tight fitting on the mouth of said corresponding container.

According to the invention, for at least some of the containers arranged in the gripping zone, the following successive steps are carried out: a) grasping said closed container by its closing device or its body by means of a gripping system comprising at least two fingers and move said container through said gripping system to a preparation station, said closing device or said body being configured to cooperate with said fingers of the gripping system to ensure the locking position of said container in said fingers, b) remove said device for closing said container by means of said gripping system, c) performing at least one step of preparing said sample at said preparation station, d) closing said container with said closure device by means of said gripping system. Preferably, prior to step a), a plurality of containers is placed in a storage device, each of said containers being spaced from an immediately adjacent container a distance greater than the thickness of a finger of said manipulator. In various particular embodiments of this method, each having its particular advantages and capable of many possible technical combinations: during step c), the closure device is placed in a temporary storage area by the gripping system, gripping system is thus free to perform another operation on another container.

During the preparation of the sample contained in the first container, it is thus possible for the gripping system to perform another task on a second container such as gripping this container containing a sample prepared for placing in a device. storage. Alternatively, during step c), the closure device is stored between the fingers of said gripping system. in step c), at least one of the following steps of preparation of the sample with stirring is carried out: dilution by addition of liquid, measurement of pH. Having closed the container in step d), it is also possible to stir the contents of this container to homogenize it. The addition of a quantity of a liquid in said container can thus be achieved by means of a metering unit of this liquid, this step being optionally followed by a measurement of the contents of said container, for example, to determine its pH.

Advantageously, the liquid is added dropwise by means of the dosing unit. in steps b) and d), said container being held stationary and the closing device being placed between the fingers of said gripping system, the closure device is rotated by said gripping system so that said closing device is screwed on or unscrewed for removal from the mouth of the corresponding container. The container can thus be locked in position in a support having movable jaws for trapping the lower part of the container body.

Alternatively, said container is rotated so that the closure device is held fixed between the fingers of said gripping system, said closure device is screwed on or unscrewed for removal from the mouth of the corresponding container, - establishes at least one measurement of the contents of said container on an analysis station, the following additional steps are carried out: e) placing said container in a storage device that can be heated and placed in a heating zone, and heating said container for a time t at a temperature T, this transport zone may comprise a conveyor belt moving the transport device to an outlet port of the installation for the evacuation of the samples. all the handling operations of said container are also performed by said gripping system so that the preparation method is fully automated. The present invention also relates to an installation for carrying out the method for the preparation of samples such as described above, comprising - a system for preparing samples contained in test containers or similar containers, - a gripping system placed at the distal end of an arm of a manipulator, said gripping system comprising at least two fingers, each of said fingers having a gripping surface, and a computing unit for controlling said systems and processing data from said measurements. Preferably, this installation comprises a closed frame with at least one access port for introducing a set of test containers or similar containers, each containing a sample to be prepared and possibly to be analyzed, and at least one output port for ensure the evacuation of the containers. Preferably, the gripping system is a concentric two-finger gripper. The installation may comprise a storage device capable of being heated and an oven open in its upper part for heating said device while allowing the laying of samples analyzed by said gripping system. Advantageously, this gripping surface is formed by a lug protruding from the inner face of each finger intended to come into contact with the closing device of a container.

Alternatively, each closure device comprising at least as many notches or protrusions as fingers of the gripping system, the gripping faces of these fingers intended to come into contact with the closure device of a container, have a shape complementary to said notches or projections so as to cooperate therewith to lock said closure device in rotation when held by said fingers. The present invention further relates to a computer readable medium having a plurality of instructions configured to be executed by the processor of that computer, said instructions being configured to cause said computer to execute the method for preparing samples as described above. Such a storage medium readable by a computer is for illustrative purposes only, a physical storage medium such as RAM, ROM, CD-ROM or any other optical storage disk, a magnetic storage medium such as a hard disk, magnetic tape, ... or any other means that can be implemented to transport or store program codes in the form of computer executable instructions and / or data accessible by a computer. BRIEF DESCRIPTION OF THE DRAWINGS Other advantages, aims and particular features of the present invention will emerge from the description which follows, for an explanatory and non-limiting purpose, with reference to the appended drawings, in which: FIG. partial of a gripping system according to a particular embodiment of the present invention, showing the distal end of this system with its clamp, - Figure 2 is an enlarged view of the end of the gripping system of FIG. 1 showing the forceps in its open position for gripping a tube containing a sample, - Figure 3 schematically shows a tube containing a sample, - Figure 4 is an enlarged view showing a tube containing a sample placed in the sample. clamp of the gripping system of FIG. DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION It will first be noted that the figures are not to scale. Figures 1 and 2 are partial views of a gripping system 35 according to a preferred embodiment of the present invention, showing the distal end of this system with its gripper 10 for gripping tubes. each containing a sample to be prepared. This clip 10 is placed at the distal end of an articulated robot arm 5, programmable and controlled by a computing unit (not shown). This clamp 10 comprises two fingers 11, 12 defining a jaw for gripping a tube 13. To facilitate easy and rapid handling of each tube, each finger 11, 12 has a rounded lug 14 intended to come into contact with the body 15 The lug 14 is here in the form of a rectangular strip projecting from the inner face of each finger 11, 12. tube or a collar 17 placed on the outer surface of the body 15 of the tube immediately below the thread (not shown) 15 ensuring the fastening of the plug 16 and the body 15 of the tube allows perfect handling of the latter and a good screwing or unscrewing of This plug 16. The gripping system comprises an optical system making it possible to visualize the container to be prepared from among the set of tubes 13 stored in a storage matrix such as a plate of glass. ansport, to ensure, in particular, the taking and laying of this tube 13. This optical system here advantageously comprises a source 19 for projecting a light pattern such as a ring of light, a camera 18 and a photoelectric sensor 20. This clamp 11, 12 is, here, electrically controlled. Alternatively, it can be pneumatically operated. In the latter case, a supply circuit (not shown) allows to convey the fluid necessary for the activation of the clamp. According to a particular embodiment of the preparation method of the present invention, and in a first step, a set of samples 30 to be prepared is received at an input port of a closed automatic preparation facility. Each sample was previously prepared and stored in a tube 13 closed by a screw cap, which was clamped on the mouth of the corresponding tube 13. Such a closed medium is required to ensure the preservation of the sample, and in particular during certain stages of its preparation, for example during its heating so as to avoid any evaporation. The dimensions and the position of the robot arm in the installation 5 advantageously provide it with a cover of the various stations of the automated preparation facility so that it can take or position a tube containing a sample to be prepared. The computing unit which is here a programmable controller (not shown), comprises a software controlled processor, at least one memory system connected to the processor and adapted to record at least data to be used such as commands to be addressed. the preparation system according to the nature of the samples to be prepared, at least one display system designed to provide information visibly, and at least one input system designed at least to exert an action on the functions operating the computing unit and / or for entering data. In a second step, the fingers 11, 12 of the gripping system grip a closed tube 13 to be prepared by its body 15 below the flange 17 and move it to the preparation station.

At the preparation station, the lower part of the body of the tube 13 is received in a suitable support. This lower part of the body is then held captive by an electrically controlled clamping system. Then, the plug 16 is tightened thanks to the gripper 10 of the gripping system, the assembly formed by this gripper 10 and the plug 16 being then rotated, compensating for the movement inherent in a rotation around a possible threading. of the cap-tube assembly. After having removed the plug 16 of the tube 13 by means of said clamp, at least one preparation step of the sample contained in this tube 13 is carried out by means of one or more suitable preparation devices.

It is thus possible to weigh the contents of the tube 13, to measure the pH of the contents of the tube, to add therein a quantity of a liquid in the tube 13 by means of a metering unit of this liquid, to homogenize the assembly obtained by stirring and measure the new pH. This addition of liquid can be achieved accurately volumetric drop by drop.

After having carried out this preparation and these possible measurements which are controlled by the computing unit and whose data are recorded by this unit, the tube 13 is closed in a tight, constant torque manner with the plug 16 which has been placed. during this preparation in a temporary storage area. The camera of the gripping system assists in gripping the plug 16. The gripping system then places the tube 13 thus plugged into a storage device (not shown) which can be heated and placed in a furnace. The tube 13 is then heated for a time t at a temperature T.

After heating, this tube 13 is taken to place it in a transport device located in a transport zone of the installation in order to evacuate the analyzed sample.

Claims (12)

REVENDICATIONS1. Process for the preparation of samples, with or without analysis, in which a set of test containers (13) or similar containers, each containing a sample to be prepared, is arranged in a handling zone, each of said containers ( 13) being closed by a closure device (16), said closure device (16) having a body for tight fitting on the mouth of said corresponding container, characterized in that at least some of said containers (13), the following successive steps are carried out: a) grasping said closed container by its closing device (16) or its body (15) by means of a gripping system comprising at least two fingers (11, 12) and moving said container through said gripping system 15 to a preparation station, said closure device (16) or said body (15) being configured to cooperate with said fingers (11, 12) of the gripping system to ensure the blocking position of said container in said fingers (11, 12), b) removing said device (16) for closing said container by means of said gripping system, c) performing at least one step of preparing said sample audit preparation station, d) closing said container with said closure device (16) by means of said gripping system. 25 2. Method according to claim 1, characterized in that during step c), said closure device (16) is placed in a temporary storage area by said gripping system, said gripping system being thus free to perform a another operation on another container. 30 3. Method according to claim 1 or 2, characterized in that in steps b) and d), said container being held stationary, the closure device (16) is rotated by said gripping system so that said device (16) is screwed on or unscrewed for removal from the mouth of the corresponding container. 35 4. Method according to any one of claims 1 to 3, characterized in that the following additional steps are carried out e) placing said container in a storage device capable of being heated and placed in a heating zone, and f) heating said container for a time t at a temperature T. 5. Method according to claim 4, characterized in that all handling operations of said container (13) are also performed by said gripping system so that the preparation process is fully automated. 6. Method according to any one of claims 1 to 5, characterized in that after step c) and before step d), an amount of a liquid is added to said container by means of a dosage unit of said liquid and the contents of said container are measured again. 7. Installation for carrying out the method for the preparation of samples according to any one of claims 1 to 6, comprising a system for preparing the samples contained in the test containers (13) or containers (13) similar, - a gripping system placed at the distal end of an arm of a manipulator, said gripping system comprising at least two fingers (11, 12), each of said fingers (11, 12) having a gripping surface A computing unit for controlling said systems and processing the data resulting from said measurements. 8. Installation according to claim 7, characterized in that it comprises a closed frame with at least one access port for introducing a set of test containers (13) or similar containers (13), each containing a sample preparing and at least one exit port for evacuating the containers (13). 9. Installation according to claim 7 or 8, characterized in that said gripping system is a concentric clamp with two fingers (11, 12). 10. Installation according to any one of claims 7 to 9, characterized in that it comprises a storage device capable of being heated and an oven open in its upper part for heating said device while allowing the installation of samples analyzes. 11. Installation according to any one of claims 7 to 10, characterized in that said gripping surface is formed by a lug (14) projecting from the inner face of each finger (11, 12) intended to come into contact with the device (16) for closing a container. Claims 7 to 11, 12. Installation according to any one of characterized in that the optical gripping system (18) making it possible to visualize the container comprises a system of containers (13). A method for the preparation of samples, with or without analysis, in which a set of test containers (13) or similar containers, each containing a sample to be prepared, is disposed in a handling zone, each of said containers (13) being closed by a closure device (16), said closure device (16) having a body for tight fitting on the mouth of said corresponding container, characterized in that at least some of said containers (13), the following successive steps are carried out: a) grasping said closed container by its closing device (16) or body (15) by means of a gripping system comprising at least two fingers ( 11, 12) and moving said container through said gripping system to a preparation station, said closure device (16) or said body (15) being configured to cooperate with said fingers (11, 12) of the gripping system for locking said container in said fingers (11, 12) in position, b) removing said closure device (16) from said container by said gripping system, c) performing at least one step of preparing said sample at said preparation station, d) closing said container with said closure device (16) by means of said gripping system. 2. Method according to claim 1, characterized in that during step c), said closure device (16) is placed in a temporary storage area by said gripping system, said gripping system being thus free to perform. another operation on another container. 3. A method according to claim 1 or 2, characterized in that in steps b) and d), said container being held stationary, the closure device (16) is rotated by said gripping system so that said closing device (16) is screwed on or unscrewed for removal from the mouth of the corresponding container. 4. A method according to any one of claims 1 to 3, characterized in that the following additional steps are carried out consisting of e) placing said container in a storage device capable of being heated and placed in a zone. heating, and f) heating said container for a time t at a temperature T. 5. Process according to claim 4, characterized in that all of the handling operations of said container (13) are also carried out by said system. gripping so that the preparation process is fully automated. 6. Method according to any one of claims 1 to 5, characterized in that after step c) and before step d), an amount of a liquid is added to said container by means of a dosage unit of said liquid and the contents of said container are measured again. 7. Installation for carrying out the method for the preparation of samples according to any one of claims 1 to 6, comprising a system for preparing the samples contained in the test containers (13) or containers (13) similar, - a gripping system placed at the distal end of an arm of a manipulator, said gripping system comprising at least two fingers (11, 12), each of said fingers (11, 12) having a gripping surface a computing unit for controlling said systems and processing the data resulting from said measurements. 8. Installation according to claim 7, characterized in that it comprises a closed frame with at least one access port to introduce a set of test containers (13) or containers (13) similar, each containing a sample to preparing and at least one exit port for evacuating the containers (13). 9. Installation according to claim 7 or 8, characterized in that said gripping system is a concentric clamp with two fingers (11, 12). 10. Installation according to any one of claims 7 to 9, characterized in that it comprises a storage device capable of being heated and an oven open in its upper part for heating said device while allowing the installation of analyzed samples . 11. Installation according to any one of claims 7 to 10, characterized in that said gripping surface is formed by a lug (14) projecting from the inner face of each finger (11, 12) intended to come into contact with the device (16) for closing a container. Installation according to any one of claims 7 to 11, characterized in that the gripping system comprises an optical system (18) for viewing the container to be prepared from said set of containers (13).