WO2017118742A1 - Accessory for gripping a container - Google Patents

Accessory for gripping a container Download PDF

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Publication number
WO2017118742A1
WO2017118742A1 PCT/EP2017/050280 EP2017050280W WO2017118742A1 WO 2017118742 A1 WO2017118742 A1 WO 2017118742A1 EP 2017050280 W EP2017050280 W EP 2017050280W WO 2017118742 A1 WO2017118742 A1 WO 2017118742A1
Authority
WO
WIPO (PCT)
Prior art keywords
container
accessory
central axis
inner body
intermediate body
Prior art date
Application number
PCT/EP2017/050280
Other languages
French (fr)
Inventor
Ludwig Baux
Original Assignee
L'oreal
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by L'oreal filed Critical L'oreal
Publication of WO2017118742A1 publication Critical patent/WO2017118742A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0047—Gripping heads and other end effectors for internally gripping hollow or recessed objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/908—Devices for picking-up and depositing articles or materials with inflatable picking-up means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0401—Sample carriers, cuvettes or reaction vessels

Definitions

  • the invention relates to an attachment for gripping a container, in particular a cell or tissue culture container.
  • the invention is particularly applicable to the gripping of culture containers of biological samples such as cell culture samples in monolayer or tissue culture.
  • culture containers are commonly used in the form of culture plates having a plurality of wells, each culture container being placed in a well of a culture plate. It is regularly necessary to move the containers by extracting them from their wells.
  • Automats for moving biological samples are known from the state of the art, such as, for example, machines equipped with a gripper, with which the containers must be moved one by one.
  • Automats equipped with an inflatable membrane device using a fluid are also known.
  • the various solutions currently available are unsatisfactory in terms of material durability, manufacturing technology, feasibility, reliability, sterility and parallelization of movements.
  • the invention intends to remedy more particularly by proposing a new gripping accessory for a culture container, making it possible to grasp and move a container using a robot in a simpler way and in better conditions than with known techniques without resorting to complex functionalities at the level of the robotic system.
  • the invention relates to an accessory for gripping a container, in particular a cell or tissue culture container.
  • This accessory is characterized in that it comprises:
  • a hollow intermediate body centered on the central axis and slidably mounted in the outer body along the central axis;
  • a lower end of the intermediate body comprises gripping members adapted to expand outwardly under the action of a protruding portion provided on a lower end of the inner body, these bodies of gripping being adapted to exert pressure on an inner radial wall of the container such that the container can be moved;
  • the internal body is adapted to be positioned axially with respect to the intermediate body in a first so-called “average” position, corresponding to a non-gripping configuration, in which the gripping members are retracted inwards, and in a second position said "high", corresponding to a gripping configuration of a container, and wherein the gripping members are deployed outwardly;
  • the inner body is adapted to move from its average position to its upper position, and vice versa, when the outer body is immobilized axially against a support plate, in which is placed the container, under the action of a translation movement along the central axis downwards exerted on the upper body when the gripping accessory is lowered above the container.
  • a culture container can be grasped at its inner wall only by exerting vertical translation movements, for example with a part of a robot, which allows a rapid movement of the containers, and avoids use of specific and complex technologies.
  • such an accessory may incorporate one or more of the following features, taken in any technically permissible combination:
  • the inner body comprises lugs extending along the central axis towards the upper body, while the intermediate body comprises, on an inner surface, grooves extending along the central axis in which the lugs of the inner body are adapted to be received.
  • the grooves of the inner surface of the intermediate body are of different lengths along the central axis alternately, while the intermediate body is rotatable about the central axis relative to the inner body, and the lugs of the body are adapted to be inserted under the action of an elastic return member permanently driving the intermediate body towards a lower side of the accessory, in the grooves of greater length in the upper position of the inner body , or in the grooves of shorter length in average position of the inner body.
  • the outer body comprises, on an inner surface, oblique surfaces
  • the intermediate body comprises, on an outer surface, lugs extending along the axis and adapted to come into contact with the oblique surfaces under the action of the elastic return element, and while the lugs comprise an oblique ramp provided at their end so as to rotate the intermediate body relative to the outer body about the central axis by cooperation with the oblique surfaces when the inner body is in a low position relative to the intermediate body in which the lugs of the inner body are no longer received in the grooves of the inner face of the intermediate body.
  • the grooves of different lengths are spaced circumferentially by oblique ramps adapted to come into contact, under the action of the elastic return element, with oblique ramps provided at the ends of the lugs of the inner body so as to drive in rotation intermediate body with respect to the inner body about the central axis when the inner body is driven upwards from its lower position during a withdrawal operation of the accessory relative to the support plate.
  • the elastic return element is a spring mounted around the central axis between a groove of the upper body and a groove of the intermediate body located opposite.
  • a lower portion of the outer body has an axial edge adapted to be in contact with the support plate around a well in which the container is placed.
  • the gripping members are formed by deformable tabs comprising an internal bulge adapted to cooperate with the protruding portion of the inner body.
  • the accessory is adapted so that the maximum radial dimension of the gripping members in outwardly deformed configuration is greater than the minimum radial dimension of the inner wall of the containers.
  • the upper body is adapted to be attached to a pipette channel of a container moving robot by means of a bore provided on the upper body and adapted to receive the pipetting channel.
  • FIG. 1 is an exploded view of an outer body, an intermediate body and an upper body of a gripping accessory according to the invention
  • FIG. 2 is a side view of a portion of the outer body and the intermediate body of FIG. 1 assembled one inside the other;
  • - Figure 3 is a side view of a portion of an intermediate body of Figure 1 and an inner body of the gripping accessory according to the invention, assembled one in the other;
  • FIGS. 4 to 6 are partial sections of the gripping accessory according to the invention in three different configurations, and on which some masked edges are shown in broken lines.
  • FIGS. 1 to 6 A gripping accessory 1 of cell or tissue culture containers is shown in FIGS. 1 to 6. This gripping accessory 1 is intended to be used by an unrepresented robot for moving culture containers.
  • the accessory 1 comprises a hollow outer body 3 extending around a central axis X-X 'of the accessory 1.
  • a hollow outer body 3 extending around a central axis X-X 'of the accessory 1.
  • the adjectives "radial” and “axial” are used with reference to the axis X-X '.
  • the accessory 1 also comprises a hollow intermediate body 6 slidably mounted in the outer body 3 along the central axis X-X '.
  • the accessory 1 also comprises an internal body 9 slidably mounted in the intermediate body 6 along the central axis X-X 'of the accessory 1.
  • the accessory 1 also comprises an upper body 1 1 secured to the inner body 9, mounted in the outer body 3.
  • the directions “upwards” and “downwards” are used to respectively designate the movements performed in the direction of the upper body 1 1 or the upper parts of Figures 1 to 6 and in the opposite direction.
  • the upper body 1 1 is adapted to be secured to a portion 300, visible in Figure 5 in broken lines, the robot moving culture containers.
  • the upper body 1 1 comprises for this purpose a bore 1 10 whose inner wall comprises a groove 1 12.
  • the robot for moving culture containers is a robot capable of performing different operations during the biological culture carried out in the containers, in particular injection of substances into the containers by means of a pipetting channel, forming in this example the part 300.
  • the bore 1 10 is adapted to receive the pipetting channel 300, and a sealing O-ring 302 provided on the periphery of the pipetting channel 300 is adapted to fit into the groove 1 12.
  • a lower end of the intermediate body 6 comprises gripping members adapted to expand outward and exert pressure on an inner radial wall 102 of a tissue culture or cell culture container 100 placed in a well 202 of a culture plate 200, or more generally a support plate, shown in Figure 5, so that the container 100 can be moved.
  • the gripping members are formed by deformable tabs 60.
  • the inner body 9 is adapted to be positioned axially with respect to the intermediate body 6 in a first, so-called average position, represented in FIG. 4, corresponding to a non-gripping configuration, in which the tongues 60 are retracted inwards. parallel to the axis X-X '.
  • the inner body 9 is also adapted to be positioned axially relative to the intermediate body 6 in a second so-called high position, represented in FIG. 5, corresponding to a gripping configuration of the container 100, and in which the tongues 60 are deployed radially towards outside and exert an elastic force against the inner wall 102 of the container 100.
  • the tongues 60 comprise an internal bulge 62, adapted to cooperate with a protruding portion 90 of the inner body 9.
  • the bulges 62 are located facing recessed reliefs 92 of the inner body 9, located at above the protruding portion 90.
  • the bulges 62 come into contact with the protruding portion 90, which causes the tabs 60 to project outwardly.
  • the gripping accessory 1 comprises means adapted to move the inner body 9 from its middle position to its upper position, and vice versa, when the outer body 3 is axially locked in contact with the culture plate 200 in which is placed the container 100, when the accessory 1 is lowered above the container 100 via the upper body 1 1, which then undergoes a translation movement directed downwards driven by the handling robot by means of the pipetting channel 300.
  • the accessory 1, the robot represented by the pipetting channel 300, the container 100 and the culture plate 200 form a culture assembly 400.
  • the maximum radial dimension of the tongues 60 in outwardly deformed configuration is greater than the minimum radial dimension of the inner wall 102. In the retracted configuration, the tongues 60 have a smaller radial dimension than the internal wall 102, which allows their insertion.
  • the intermediate body 6 is driven permanently downwards by an elastic return element.
  • the elastic element is preferably a spring 13 mounted around the central axis XX 'between a groove 1 14 of the upper body 1 1 and a groove 64 of the intermediate body 6.
  • the spring 13 exerts an elastic force on the intermediate body 6 which permanently removes the intermediate body 6 of the upper body 1 1.
  • the intermediate body 9 comprises lugs 96 extending along the central axis XX 'towards the upper body 11.
  • the intermediate body 6 comprises, on an inner surface, grooves 66a and 66b extending along the central axis XX 'and in which the lugs 96 are adapted to be received.
  • the grooves of the inner surface of the intermediate body 6 are of different lengths along the axis XX 'alternately.
  • the grooves 66a have a longer length than the grooves 66b, and the grooves 66a and 66b are alternated around the periphery of the inner surface of the intermediate body 6.
  • the grooves 66a and 66b are shown in FIG. which an outer wall of the intermediate body 6 is masked to make visible the grooves 66a and 66b.
  • the grooves 66a and 66b are shown in Figures 1 and 4 to 6 in broken lines.
  • the lugs 96 are adapted to be engaged, under the action of the spring 13, in the grooves 66a in the upper position of the intermediate body 6, and in the grooves 66b in the middle position of the intermediate body 6. This keeps the intermediate body 6 in the high and medium positions.
  • the grooves 66a and 66b of different lengths are spaced in the circumferential direction by oblique ramps 67 oriented downwards of the accessory 1.
  • the ramps 67 are oblique in that they form an angle different from 90 ° with respect to the axis X-X '.
  • the lugs 86 comprise, at their upwardly pointing end of the accessory 1, oblique ramps 96a forming an angle with respect to the axis XX 'substantially equal to the angle formed by the ramps 67 with respect to the axis XX '.
  • the ramps 67 are adapted to cooperate with the ramps 96a so as to rotate the intermediate body 6 relative to the intermediate body 9 about the central axis X-X ', under the action of the spring 13, when the accessory 1 is raised relative to the culture plate 200 and the inner body 9 moves from a low position shown in Figure 6, and corresponding to the lowest position in which the inner body 9 can be, at its high position or at its average position.
  • the outer body 3 comprises, on an inner surface, oblique surfaces with respect to the X-X 'axis, these oblique surfaces 30 forming alternating ascending and descending ramps around the inner surface of the outer body 3.
  • intermediate body 6 comprises, on an outer surface, lugs 69 extending along the axis XX 'and whose ends are provided with oblique ramps 69a oriented downwards and adapted to come into contact with the oblique surfaces 30, so as to that the outer body 3 rotates the intermediate body 10 around the central axis XX ' when the outer body 3 is locked in position by the culture plate 200 and the intermediate body 6 is pushed down by the spring 13.
  • a lower portion of the outer body 3 represents an axial edge 32 adapted to be in contact with the culture plate 200 around an orifice in which the culture container 100 is put in place.
  • the accessory 1 is in its configuration of Figure 4.
  • the accessory 1 is adapted to the pipetting channel 300 of the robot.
  • the accessory 1 is then moved by the robot over the container 100 and down to the container 100 by a rectilinear translational movement down the arrow F1 until the lower edge 32 of the outer body 3 s' presses on the culture plate 200 on the perimeter of the well in which the container 100 is put in place.
  • the outer body 3 remaining locked in position while the downward movement imposed by the robot continues, the outer lugs 69 of the intermediate body 66 are pushed against the oblique surfaces 30 of the outer body 3 under the action of the spring 13.
  • the intermediate body 6 is in turn locked in position along the axis X-X '.
  • the inner body 9 continues its downward translation along the arrow F2, which has the effect of gradually disengage the lugs 96 of the grooves 66b of the intermediate body 6, to to reach a low position shown in Figure 6.
  • the action of the spring 13 on the intermediate body 6 has the effect of causing the respective sliding of the ramps of the external pins 69 and oblique surfaces 30, which induces a rotation of the intermediate body 6 relative to the outer body 3 according to the arrow F3 in Figure 6.
  • the lugs 96 are no longer inserted into the grooves 66b, the intermediate body 6 is free to rotate relative to the inner body 9, which causes its rotation along the arrow F3 to a position shown in Figure 3.
  • the robot reverses its direction of movement and begins the ascent of the accessory 1.
  • the inner body 9 rises upwards along the arrow F4 with respect to the intermediate body 6, causing the ramps 96a to come into contact with the ramps 67.
  • the contact between the ramps 96a and 67, held by the spring 13, induces a rotation of the intermediate body 6 relative to the inner body 9 according to the arrow F3 in Figure 3.
  • the outer body 3 is no longer pressed against the edge of the culture plate 200 , which allows the body intermediate 6 to raise slightly with respect to the oblique surfaces 30 and to allow its rotation along the arrow F3.
  • the container 100 can then be transferred to another well of the culture plate 200.
  • the robot again descends the accessory 1 to the well until the outer body 3 enters in contact with the culture plate 200.
  • the process of movement of the internal body 6 is repeated, and its rotation about the axis XX 'this time has the effect of passing the lugs 96 of the grooves of more long lengths 66a to grooves of smaller lengths 66b.
  • the inner body 9 thus moves from its high position to its average position which has the effect of releasing the container 100 in its new location.
  • the gripping of a culture container by the accessory 1 therefore only requires successive movements downwards then upwards by the robot to which the accessory 1 is adapted.
  • the assembly and disassembly of the accessory 1 does not require the use of any tool, which facilitates the cleaning or the replacement of the parts of the accessory 1.
  • the attachment of the upper body 1 1 to the inner body 9 is made in force and is reversible. This allows simple and fast assembly and disassembly of all parts of the accessory 1.
  • the inner body 9 is inserted from below into the intermediate body 6.
  • the spring 13 is deposited in the groove in the upper part of the intermediate body 6.
  • the upper body 1 1 is deposited on the spring 13 which fits slightly in the throat in its lower part.
  • the inner body 9 is encased in force in the upper body 1 1.
  • Everything is inserted into the outer body 3 from above.
  • grooves 34 may be provided on the inner face of the outer body 3 to allow fingers 1 16 present on the outer face of the upper body 1 1, by a simple rotation of the outer body 3, to maintain the outer body 3 secured to the accessory 1 while allowing its vertical movement relative to the integral assembly consisting of the inner body 9 and of the upper body 1 1.
  • the mounting of the upper body 1 1 in the outer body 3 can be realized differently.
  • the tongues 60 come into contact with the inner wall 102 in a radial direction, which avoids any vertical friction of the parts of the accessory 1 in contact with the container 100 on the inner face 102, thus limiting the surfaces in contact and therefore the risk of contamination and poor intake of the container 100.
  • the actuation of the accessory 1 does not require modification of the robotic system.
  • the accessory 1 is adaptable to the pipetting channels of the robot, which retain their functionality when the accessory 1 is not used. It is possible to use several gripping accessories simultaneously to move several containers in parallel. Containers of different sizes can be moved.
  • Autoclavable materials are advantageously used for producing the various parts constituting the gripping accessory 1, to facilitate its sterilization.
  • the invention is described above in the implementation for the gripping of a cell or tissue culture container. It may, alternatively, be used for gripping other circular opening containers, such as tubes, flasks, hollow plugs, etc. put in place in a support plate.
  • the invention is also adapted to be used independently of a container moving robot, for example in the context of manual use.
  • the upper body 1 1 can be set manually by means of, for example, a rod fitted in the bore 1 10.
  • the invention also relates to a cell or tissue culture assembly comprising a gripping accessory in accordance with its principle.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Apparatus Associated With Microorganisms And Enzymes (AREA)
  • Purses, Travelling Bags, Baskets, Or Suitcases (AREA)

Abstract

The invention relates to an accessory for gripping (1) a container (100), comprising an outer body (3), an intermediate body (6), an inner body (9) and an upper body (11) which is secured to the inner body (9) and mounted in the outer body (3). A lower end of the intermediate body (6) comprises gripping members (60) designed to open up outwards under the action of a protruding part (90) provided on a lower end of the inner body (9), said gripping members (60) being used to exert pressure onto an inner radial wall (102) of the container (100) such that said container (100) can be moved. The inner body (9) is designed to be positioned axially in relation to the intermediate body (6) in a first position in which the gripping members (60) are inwardly retracted, and in a second position in which the gripping members (60) are outwardly deployed. The inner body (9) is designed to move from the middle position thereof to the upper position thereof, and vice versa, when the outer body (3) is axially immobilised against a support plate (200), in which the container (100) is placed, under the action of a downward movement of translation along the central axis (X-X'), exerted on the upper body (11) when the gripping accessory (1) is lowered above the container (100).

Description

Accessoire de préhension d'un contenant  Accessory for gripping a container
L'invention concerne un accessoire de préhension d'un contenant, notamment un contenant de culture cellulaire ou tissulaire. The invention relates to an attachment for gripping a container, in particular a cell or tissue culture container.
L'invention s'applique particulièrement à la préhension de contenants de culture d'échantillons biologiques tels que les échantillons de culture cellulaire en monocouche ou de culture tissulaire. De tels contenants de culture sont couramment utilisés sous la forme de plaques de culture comportant une pluralité de puits, chaque contenant de culture étant mis en place dans un puits d'une plaque de culture. Il est régulièrement nécessaire de déplacer les contenants en les extrayant de leur puits.  The invention is particularly applicable to the gripping of culture containers of biological samples such as cell culture samples in monolayer or tissue culture. Such culture containers are commonly used in the form of culture plates having a plurality of wells, each culture container being placed in a well of a culture plate. It is regularly necessary to move the containers by extracting them from their wells.
Des automates de déplacement d'échantillons biologiques sont connus de l'état de la technique, comme par exemple des automates munis d'une pince de préhension, avec lesquels les contenants doivent être déplacés un par un. Des automates munis d'un dispositif à membrane gonflable à l'aide d'un fluide sont également connus. Les diverses solutions actuellement existantes ne sont pas satisfaisantes en terme de durabilité des matériaux, technologie de fabrication, faisabilité, fiabilité, stérilité et parallélisation des déplacements.  Automats for moving biological samples are known from the state of the art, such as, for example, machines equipped with a gripper, with which the containers must be moved one by one. Automats equipped with an inflatable membrane device using a fluid are also known. The various solutions currently available are unsatisfactory in terms of material durability, manufacturing technology, feasibility, reliability, sterility and parallelization of movements.
C'est à ces inconvénients qu'entend plus particulièrement remédier l'invention en proposant un nouvel accessoire de préhension d'un contenant de culture, permettant de saisir et de déplacer un contenant à l'aide d'un robot de façon plus simple et dans de meilleures conditions qu'avec les techniques connues sans faire appel à des fonctionnalités complexes au niveau du système robotique.  It is these drawbacks that the invention intends to remedy more particularly by proposing a new gripping accessory for a culture container, making it possible to grasp and move a container using a robot in a simpler way and in better conditions than with known techniques without resorting to complex functionalities at the level of the robotic system.
A cet effet, l'invention concerne un accessoire de préhension d'un contenant, notamment un contenant de culture cellulaire ou tissulaire. Cet accessoire est caractérisé en ce qu'il comprend :  For this purpose, the invention relates to an accessory for gripping a container, in particular a cell or tissue culture container. This accessory is characterized in that it comprises:
- un corps externe creux centré sur un axe central de l'accessoire ;  a hollow outer body centered on a central axis of the accessory;
- un corps intermédiaire creux centré sur l'axe central et monté de façon coulissante dans le corps externe selon l'axe central ;  - A hollow intermediate body centered on the central axis and slidably mounted in the outer body along the central axis;
- un corps interne monté de façon coulissante dans le corps intermédiaire selon l'axe central de l'accessoire ;  an inner body slidably mounted in the intermediate body along the central axis of the accessory;
- un corps supérieur solidaire du corps interne, monté dans le corps externe ; et en ce que :  - an upper body secured to the inner body, mounted in the outer body; and in that :
- une extrémité inférieure du corps intermédiaire comprend des organes de préhension adaptés pour se déployer vers l'extérieur sous l'action d'une partie protubérante prévue sur une extrémité inférieure du corps interne, ces organes de préhension étant adaptés pour exercer une pression sur une paroi radiale interne du contenant de telle manière que ce contenant puisse être déplacé ; - A lower end of the intermediate body comprises gripping members adapted to expand outwardly under the action of a protruding portion provided on a lower end of the inner body, these bodies of gripping being adapted to exert pressure on an inner radial wall of the container such that the container can be moved;
- le corps interne est adapté pour être positionné axialement par rapport au corps intermédiaire dans une première position dite « moyenne », correspondant à une configuration de non préhension, dans laquelle les organes de préhension sont rétractés vers l'intérieur, et dans une seconde position dite « haute », correspondant à une configuration de préhension d'un contenant, et dans laquelle les organes de préhension sont déployés vers l'extérieur ;  the internal body is adapted to be positioned axially with respect to the intermediate body in a first so-called "average" position, corresponding to a non-gripping configuration, in which the gripping members are retracted inwards, and in a second position said "high", corresponding to a gripping configuration of a container, and wherein the gripping members are deployed outwardly;
- le corps interne est adapté pour passer de sa position moyenne à sa position haute, et vice-versa, lorsque le corps externe est immobilisé axialement contre une plaque de support, dans laquelle est mis en place le contenant, sous l'action d'un mouvement de translation selon l'axe central vers le bas exercé sur le corps supérieur lorsque l'accessoire de préhension est descendu au-dessus du contenant.  - The inner body is adapted to move from its average position to its upper position, and vice versa, when the outer body is immobilized axially against a support plate, in which is placed the container, under the action of a translation movement along the central axis downwards exerted on the upper body when the gripping accessory is lowered above the container.
Grâce à l'invention, un contenant de culture peut être saisi au niveau de sa paroi interne uniquement en exerçant des mouvements de translation verticale, par exemple avec une partie d'un robot, ce qui permet un déplacement rapide des contenants, et évite l'utilisation de technologies spécifiques et complexes.  Thanks to the invention, a culture container can be grasped at its inner wall only by exerting vertical translation movements, for example with a part of a robot, which allows a rapid movement of the containers, and avoids use of specific and complex technologies.
Selon des aspects avantageux mais non obligatoires de l'invention, un tel accessoire peut incorporer une ou plusieurs des caractéristiques suivantes, prises selon toute combinaison techniquement admissible :  According to advantageous but non-mandatory aspects of the invention, such an accessory may incorporate one or more of the following features, taken in any technically permissible combination:
- Le corps interne comprend des ergots s'étendant selon l'axe central en direction du corps supérieur, alors que le corps intermédiaire comprend, sur une surface interne, des rainures s'étendant selon l'axe central dans lesquelles les ergots du corps interne sont adaptés pour être reçus.  - The inner body comprises lugs extending along the central axis towards the upper body, while the intermediate body comprises, on an inner surface, grooves extending along the central axis in which the lugs of the inner body are adapted to be received.
- Les rainures de la surface interne du corps intermédiaire sont de longueurs différentes selon l'axe central de façon alternée, alors que le corps intermédiaire est mobile en rotation autour de l'axe central par rapport au corps interne, et que les ergots du corps interne sont adaptés pour être insérés, sous l'action d'un élément de rappel élastique entraînant de façon permanente le corps intermédiaire en direction d'un côté inférieur de l'accessoire, dans les rainures de plus grande longueur en position haute du corps interne, ou dans les rainures de plus faible longueur en position moyenne du corps interne.  - The grooves of the inner surface of the intermediate body are of different lengths along the central axis alternately, while the intermediate body is rotatable about the central axis relative to the inner body, and the lugs of the body are adapted to be inserted under the action of an elastic return member permanently driving the intermediate body towards a lower side of the accessory, in the grooves of greater length in the upper position of the inner body , or in the grooves of shorter length in average position of the inner body.
- Le corps externe comprend, sur une surface interne, des surfaces obliques, alors que le corps intermédiaire comprend, sur une surface externe, des ergots s'étendant selon l'axe et adaptés pour venir en contact des surfaces obliques sous l'action de l'élément de rappel élastique, et alors que les ergots comprennent une rampe oblique prévue à leur extrémité de manière à entraîner en rotation le corps intermédiaire par rapport au corps externe autour de l'axe central par coopération avec les surfaces obliques lorsque le corps interne est dans une position basse par rapport au corps intermédiaire dans laquelle les ergots du corps interne ne sont plus reçus dans les rainures de la face interne du corps intermédiaire. - The outer body comprises, on an inner surface, oblique surfaces, while the intermediate body comprises, on an outer surface, lugs extending along the axis and adapted to come into contact with the oblique surfaces under the action of the elastic return element, and while the lugs comprise an oblique ramp provided at their end so as to rotate the intermediate body relative to the outer body about the central axis by cooperation with the oblique surfaces when the inner body is in a low position relative to the intermediate body in which the lugs of the inner body are no longer received in the grooves of the inner face of the intermediate body.
- Les rainures de longueurs différentes sont espacées circonférentiellement par des rampes obliques adaptées pour entrer en contact, sous l'action de l'élément de rappel élastique, avec des rampes obliques prévues aux extrémités des ergots du corps interne de manière à entraîner en rotation le corps intermédiaire par rapport au corps interne autour de l'axe central lorsque le corps interne est entraîné vers le haut à partie de sa position basse pendant une manœuvre de retrait de l'accessoire par rapport à la plaque de support.  - The grooves of different lengths are spaced circumferentially by oblique ramps adapted to come into contact, under the action of the elastic return element, with oblique ramps provided at the ends of the lugs of the inner body so as to drive in rotation intermediate body with respect to the inner body about the central axis when the inner body is driven upwards from its lower position during a withdrawal operation of the accessory relative to the support plate.
- L'élément de rappel élastique est un ressort monté autour de l'axe central entre une gorge du corps supérieur et une gorge du corps intermédiaire situées en regard.  - The elastic return element is a spring mounted around the central axis between a groove of the upper body and a groove of the intermediate body located opposite.
- Une partie inférieure du corps externe présente un bord axial adapté pour être en contact avec la plaque de support autour d'un puits dans lequel est mis en place le contenant.  - A lower portion of the outer body has an axial edge adapted to be in contact with the support plate around a well in which the container is placed.
- Les organes de préhension sont formés par des languettes déformables comprenant un renflement interne adapté pour coopérer avec la partie protubérante du corps interne.  - The gripping members are formed by deformable tabs comprising an internal bulge adapted to cooperate with the protruding portion of the inner body.
- L'accessoire est adapté pour que la dimension radiale maximale des organes de préhension en configuration déformée vers l'extérieur soit supérieure à la dimension radiale minimale de la paroi interne des contenants.  - The accessory is adapted so that the maximum radial dimension of the gripping members in outwardly deformed configuration is greater than the minimum radial dimension of the inner wall of the containers.
- Le corps supérieur est adapté pour être fixé à un canal de pipetage d'un robot de déplacement de contenants au moyen d'un alésage prévu sur le corps supérieur et adapté pour recevoir le canal de pipetage.  - The upper body is adapted to be attached to a pipette channel of a container moving robot by means of a bore provided on the upper body and adapted to receive the pipetting channel.
L'invention sera mieux comprise et d'autres avantages de celle-ci apparaîtront plus clairement à la lumière de la description qui va suivre d'un accessoire de préhension conforme à son principe, faite uniquement à titre d'exemple non limitatif et en se référant aux dessins annexés dans lesquels :  The invention will be better understood and other advantages thereof will emerge more clearly in the light of the following description of a gripping accessory in accordance with its principle, made solely by way of non-limiting example and in its entirety. referring to the attached drawings in which:
- la figure 1 est une vue éclatée d'un corps externe, d'un corps intermédiaire et d'un corps supérieur d'un accessoire de préhension conforme à l'invention ;  - Figure 1 is an exploded view of an outer body, an intermediate body and an upper body of a gripping accessory according to the invention;
- la figure 2 est une vue de côté d'une partie du corps externe et du corps intermédiaire de la figure 1 assemblés l'un dans l'autre ; - la figure 3 est une vue de côté d'une partie d'un corps intermédiaire de la figure 1 et d'un corps interne de l'accessoire de préhension conforme à l'invention, assemblés l'un dans l'autre ; FIG. 2 is a side view of a portion of the outer body and the intermediate body of FIG. 1 assembled one inside the other; - Figure 3 is a side view of a portion of an intermediate body of Figure 1 and an inner body of the gripping accessory according to the invention, assembled one in the other;
- les figures 4 à 6 sont des coupes partielles de l'accessoire de préhension conforme à l'invention dans trois configurations différentes, et sur lesquelles certaines arêtes masquées sont représentées en traits discontinus.  - Figures 4 to 6 are partial sections of the gripping accessory according to the invention in three different configurations, and on which some masked edges are shown in broken lines.
Un accessoire de préhension 1 de contenants de culture cellulaire ou tissulaire est représenté sur les figures 1 à 6. Cet accessoire de préhension 1 est destiné à être utilisé par un robot non représenté de déplacement de contenants de culture.  A gripping accessory 1 of cell or tissue culture containers is shown in FIGS. 1 to 6. This gripping accessory 1 is intended to be used by an unrepresented robot for moving culture containers.
L'accessoire 1 comprend un corps externe 3 creux s'étendant autour d'un axe central X-X' de l'accessoire 1 . Dans ce qui suit, les adjectifs « radial » et « axial » sont employés en référence à l'axe X-X'.  The accessory 1 comprises a hollow outer body 3 extending around a central axis X-X 'of the accessory 1. In what follows, the adjectives "radial" and "axial" are used with reference to the axis X-X '.
L'accessoire 1 comprend également un corps intermédiaire 6 creux monté de façon coulissante dans le corps externe 3 selon l'axe central X-X'. L'accessoire 1 comprend également un corps interne 9 monté de façon coulissante dans le corps intermédiaire 6 selon l'axe central X-X' de l'accessoire 1 . Enfin, l'accessoire 1 comprend également un corps supérieur 1 1 solidaire du corps interne 9, monté dans le corps externe 3. Dans la suite, les directions « vers le haut » et « vers le bas » sont employées pour désigner respectivement les mouvements effectués en direction du corps supérieur 1 1 ou des parties hautes des figures 1 à 6 et dans le sens opposé.  The accessory 1 also comprises a hollow intermediate body 6 slidably mounted in the outer body 3 along the central axis X-X '. The accessory 1 also comprises an internal body 9 slidably mounted in the intermediate body 6 along the central axis X-X 'of the accessory 1. Finally, the accessory 1 also comprises an upper body 1 1 secured to the inner body 9, mounted in the outer body 3. In the following, the directions "upwards" and "downwards" are used to respectively designate the movements performed in the direction of the upper body 1 1 or the upper parts of Figures 1 to 6 and in the opposite direction.
Le corps supérieur 1 1 est adapté pour être solidarisé à une partie 300, visible à la figure 5 en traits discontinus, du robot de déplacement de contenants de culture. Le corps supérieur 1 1 comprend à cet effet un alésage 1 10 dont la paroi interne comprend une gorge 1 12. Le robot de déplacement de contenants de culture est un robot apte à effectuer différentes opérations lors de la culture biologique effectuée dans les contenants, notamment l'injection de substances dans les contenants au moyen d'un canal de pipetage, formant dans cet exemple la partie 300. L'alésage 1 10 est adapté pour recevoir le canal de pipetage 300, et un joint torique d'étanchéité 302 prévu sur le pourtour du canal de pipetage 300 est adapté pour s'insérer dans la gorge 1 12.  The upper body 1 1 is adapted to be secured to a portion 300, visible in Figure 5 in broken lines, the robot moving culture containers. The upper body 1 1 comprises for this purpose a bore 1 10 whose inner wall comprises a groove 1 12. The robot for moving culture containers is a robot capable of performing different operations during the biological culture carried out in the containers, in particular injection of substances into the containers by means of a pipetting channel, forming in this example the part 300. The bore 1 10 is adapted to receive the pipetting channel 300, and a sealing O-ring 302 provided on the periphery of the pipetting channel 300 is adapted to fit into the groove 1 12.
Une extrémité inférieure du corps intermédiaire 6 comprend des organes de préhension adaptés pour se déployer vers l'extérieur et exercer une pression sur une paroi radiale interne 102 d'un contenant 100 de culture tissulaire ou cellulaire mis en place dans un puits 202 d'une plaque de culture 200, ou plus généralement d'une plaque de support, représentés à la figure 5, de telle manière que ce contenant 100 puisse être déplacé. Dans l'exemple représenté, les organes de préhension sont formés par des languettes 60 déformables. A lower end of the intermediate body 6 comprises gripping members adapted to expand outward and exert pressure on an inner radial wall 102 of a tissue culture or cell culture container 100 placed in a well 202 of a culture plate 200, or more generally a support plate, shown in Figure 5, so that the container 100 can be moved. In the example shown, the gripping members are formed by deformable tabs 60.
Le corps interne 9 est adapté pour être positionné axialement par rapport au corps intermédiaire 6 dans une première position, dite moyenne, représentée à la figure 4, correspondant à une configuration de non-préhension, dans laquelle les languettes 60 sont rétractées vers l'intérieur parallèlement à l'axe X-X'. Le corps interne 9 est également adapté pour être positionné axialement par rapport au corps intermédiaire 6 dans une seconde position dite haute, représentée à la figure 5, correspondant à une configuration de préhension du contenant 100, et dans laquelle les languettes 60 sont déployées radialement vers l'extérieur et exercent une force élastique contre la paroi interne 102 du contenant 100.  The inner body 9 is adapted to be positioned axially with respect to the intermediate body 6 in a first, so-called average position, represented in FIG. 4, corresponding to a non-gripping configuration, in which the tongues 60 are retracted inwards. parallel to the axis X-X '. The inner body 9 is also adapted to be positioned axially relative to the intermediate body 6 in a second so-called high position, represented in FIG. 5, corresponding to a gripping configuration of the container 100, and in which the tongues 60 are deployed radially towards outside and exert an elastic force against the inner wall 102 of the container 100.
Les languettes 60 comprennent un renflement interne 62, adapté pour coopérer avec une partie protubérante 90 du corps interne 9. Dans la position moyenne du corps interne 9, les renflements 62 sont situés en regard de reliefs en creux 92 du corps interne 9, situés au-dessus de la partie protubérante 90. Lorsque le corps interne 6 est dans sa position haute, les renflements 62 entrent en contact avec la partie protubérante 90, ce qui provoque un écartement vers l'extérieur des languettes 60.  The tongues 60 comprise an internal bulge 62, adapted to cooperate with a protruding portion 90 of the inner body 9. In the average position of the inner body 9, the bulges 62 are located facing recessed reliefs 92 of the inner body 9, located at above the protruding portion 90. When the inner body 6 is in its raised position, the bulges 62 come into contact with the protruding portion 90, which causes the tabs 60 to project outwardly.
L'accessoire de préhension 1 comprend des moyens adaptés pour faire passer le corps interne 9 de sa position moyenne vers sa position haute, et vice-versa, lorsque le corps externe 3 est bloqué axialement au contact avec la plaque de culture 200 dans laquelle est mis en place le contenant 100, lorsque l'accessoire 1 est descendu au-dessus du contenant 100 par l'intermédiaire du corps supérieur 1 1 , qui subit alors un mouvement de translation dirigé vers le bas impulsé par le robot de manipulation au moyen du canal de pipetage 300.  The gripping accessory 1 comprises means adapted to move the inner body 9 from its middle position to its upper position, and vice versa, when the outer body 3 is axially locked in contact with the culture plate 200 in which is placed the container 100, when the accessory 1 is lowered above the container 100 via the upper body 1 1, which then undergoes a translation movement directed downwards driven by the handling robot by means of the pipetting channel 300.
L'accessoire 1 , le robot représenté par le canal de pipetage 300, le contenant 100 et la plaque de culture 200 forment un ensemble de culture 400.  The accessory 1, the robot represented by the pipetting channel 300, the container 100 and the culture plate 200 form a culture assembly 400.
La dimension radiale maximale des languettes 60 en configuration déformée vers l'extérieur est supérieure à la dimension radiale minimale de la paroi interne 102. En configuration rétractée, les languettes 60 ont une dimension radiale inférieure à celle de la paroi interne 102, ce qui permet leur insertion.  The maximum radial dimension of the tongues 60 in outwardly deformed configuration is greater than the minimum radial dimension of the inner wall 102. In the retracted configuration, the tongues 60 have a smaller radial dimension than the internal wall 102, which allows their insertion.
Le corps intermédiaire 6 est entraîné de façon permanente vers le bas, par un élément de rappel élastique. L'élément élastique est de préférence un ressort 13 monté autour de l'axe central X-X' entre une gorge 1 14 du corps supérieur 1 1 et une gorge 64 du corps intermédiaire 6. Le ressort 13 exerce une force élastique sur le corps intermédiaire 6 qui éloigne en permanence le corps intermédiaire 6 du corps supérieur 1 1 . Le corps intermédiaire 9 comprend des ergots 96 s'étendant selon l'axe central X- X' en direction du corps supérieur 1 1 . Le corps intermédiaire 6 comprend, sur une surface interne, des rainures 66a et 66b s'étendant selon l'axe central X-X' et dans lesquels les ergots 96 sont adaptés pour être reçus. Les rainures de la surface interne du corps intermédiaire 6 sont de longueurs différentes selon l'axe X-X' de façon alternée. En d'autres termes, les rainures 66a ont une longueur supérieure aux rainures 66b, et les rainures 66a et 66b sont alternées sur le pourtour de la surface interne du corps intermédiaire 6. Les rainures 66a et 66b sont représentées sur la figure 3, sur laquelle une paroi externe du corps intermédiaire 6 est masquée pour rendre visible les rainures 66a et 66b. Les rainures 66a et 66b sont représentées sur les figures 1 et 4 à 6 en traits discontinus. The intermediate body 6 is driven permanently downwards by an elastic return element. The elastic element is preferably a spring 13 mounted around the central axis XX 'between a groove 1 14 of the upper body 1 1 and a groove 64 of the intermediate body 6. The spring 13 exerts an elastic force on the intermediate body 6 which permanently removes the intermediate body 6 of the upper body 1 1. The intermediate body 9 comprises lugs 96 extending along the central axis XX 'towards the upper body 11. The intermediate body 6 comprises, on an inner surface, grooves 66a and 66b extending along the central axis XX 'and in which the lugs 96 are adapted to be received. The grooves of the inner surface of the intermediate body 6 are of different lengths along the axis XX 'alternately. In other words, the grooves 66a have a longer length than the grooves 66b, and the grooves 66a and 66b are alternated around the periphery of the inner surface of the intermediate body 6. The grooves 66a and 66b are shown in FIG. which an outer wall of the intermediate body 6 is masked to make visible the grooves 66a and 66b. The grooves 66a and 66b are shown in Figures 1 and 4 to 6 in broken lines.
Les ergots 96 sont adaptés pour être engagés, sous l'action du ressort 13, dans les rainures 66a en position haute du corps intermédiaire 6, et dans les rainures 66b en position moyenne du corps intermédiaire 6. Cela permet de maintenir le corps intermédiaire 6 dans les positions haute et moyenne.  The lugs 96 are adapted to be engaged, under the action of the spring 13, in the grooves 66a in the upper position of the intermediate body 6, and in the grooves 66b in the middle position of the intermediate body 6. This keeps the intermediate body 6 in the high and medium positions.
Les rainures 66a et 66b de longueurs différentes sont espacées selon la direction circonférentielle par des rampes obliques 67 orientées vers le bas de l'accessoire 1 . Les rampes 67 sont obliques en ce qu'elles forment un angle différent de 90° par rapport à l'axe X-X'. Les ergots 86 comprennent, à leur extrémité orientée vers le haut de l'accessoire 1 , des rampes 96a obliques formant un angle par rapport à l'axe X-X' sensiblement égal à l'angle formé par les rampes 67 par rapport à l'axe X-X'. Les rampes 67 sont adaptées pour coopérer avec les rampes 96a de manière à entraîner en rotation le corps intermédiaire 6 par rapport au corps intermédiaire 9 autour de l'axe central X-X', sous l'action du ressort 13, lorsque l'accessoire 1 est élevé par rapport à la plaque de culture 200 et que le corps interne 9 se déplace d'une position basse représentée à la figure 6, et correspondant à la position la plus basse dans laquelle le corps interne 9 peut se trouver, à sa position haute ou à sa position moyenne.  The grooves 66a and 66b of different lengths are spaced in the circumferential direction by oblique ramps 67 oriented downwards of the accessory 1. The ramps 67 are oblique in that they form an angle different from 90 ° with respect to the axis X-X '. The lugs 86 comprise, at their upwardly pointing end of the accessory 1, oblique ramps 96a forming an angle with respect to the axis XX 'substantially equal to the angle formed by the ramps 67 with respect to the axis XX '. The ramps 67 are adapted to cooperate with the ramps 96a so as to rotate the intermediate body 6 relative to the intermediate body 9 about the central axis X-X ', under the action of the spring 13, when the accessory 1 is raised relative to the culture plate 200 and the inner body 9 moves from a low position shown in Figure 6, and corresponding to the lowest position in which the inner body 9 can be, at its high position or at its average position.
Le corps externe 3 comprend, sur une surface interne, des surfaces 30 obliques par rapport à l'axe X-X', ces surfaces obliques 30 formant des rampes ascendantes et descendantes alternées sur le pourtour de la surface interne du corps externe 3. Le corps intermédiaire 6 comprend, sur une surface externe, des ergots 69 s'étendant selon l'axe X-X' et dont les extrémités sont munies de rampes obliques 69a orientées vers le bas et adaptées pour venir en contact avec les surfaces obliques 30, de manière que le corps externe 3 entraine en rotation le corps intermédiaire 10 autour de l'axe central X-X' lorsque le corps externe 3 est bloqué en position par la plaque de culture 200 et que le corps intermédiaire 6 est poussé vers le bas par le ressort 13. The outer body 3 comprises, on an inner surface, oblique surfaces with respect to the X-X 'axis, these oblique surfaces 30 forming alternating ascending and descending ramps around the inner surface of the outer body 3. intermediate body 6 comprises, on an outer surface, lugs 69 extending along the axis XX 'and whose ends are provided with oblique ramps 69a oriented downwards and adapted to come into contact with the oblique surfaces 30, so as to that the outer body 3 rotates the intermediate body 10 around the central axis XX ' when the outer body 3 is locked in position by the culture plate 200 and the intermediate body 6 is pushed down by the spring 13.
Une partie inférieure du corps externe 3 représente un bord axial 32 adapté pour être en contact avec la plaque de culture 200 autour d'un orifice dans lequel le contenant de culture 100 est mis en place.  A lower portion of the outer body 3 represents an axial edge 32 adapted to be in contact with the culture plate 200 around an orifice in which the culture container 100 is put in place.
Le fonctionnement de l'accessoire de préhension 1 dans le cadre de l'ensemble de culture 400 se déroule de la manière décrite ci-après. Dans une configuration initiale, l'accessoire 1 est dans sa configuration de la figure 4. Pour réaliser le déplacement d'un contenant 100, l'accessoire 1 est adapté sur le canal de pipetage 300 du robot. L'accessoire 1 est ensuite déplacé par le robot au-dessus du contenant 100 et descendu vers ce contenant 100 par un mouvement de translation rectiligne vers le bas selon la flèche F1 jusqu'à ce que le bord inférieur 32 du corps externe 3 s'appuie sur la plaque de culture 200 sur le pourtour du puits dans lequel le contenant 100 est mis en place. Le corps externe 3 restant bloqué en position tandis que le mouvement vers le bas imposé par le robot se poursuit, les ergots externes 69 du corps intermédiaire 66 sont poussés contre les surfaces obliques 30 du corps externe 3 sous l'action du ressort 13. Le corps intermédiaire 6 est donc à son tour bloqué en position selon l'axe X-X'. Sous l'action de la poussée du robot qui se poursuit, le corps interne 9 poursuit sa translation vers le bas selon la flèche F2, ce qui a pour effet de progressivement désengager les ergots 96 des rainures 66b du corps intermédiaire 6, jusqu'à atteindre une position basse représentée à la figure 6. Dans cette position extrême vers le bas du corps interne 9 par rapport au corps intermédiaire 6, l'action du ressort 13 sur le corps intermédiaire 6 a pour effet de provoquer le glissement respectif des rampes des ergots externes 69 et des surfaces obliques 30, qui induit une mise en rotation du corps intermédiaire 6 par rapport au corps externe 3 selon la flèche F3 à la figure 6. Les ergots 96 n'étant plus insérés dans les rainures 66b, le corps intermédiaire 6 est donc libre en rotation par rapport au corps interne 9, ce qui provoque sa rotation selon la flèche F3 jusqu'à une position représentée à la figure 3.  The operation of the gripping accessory 1 as part of the culture assembly 400 proceeds as described below. In an initial configuration, the accessory 1 is in its configuration of Figure 4. To perform the movement of a container 100, the accessory 1 is adapted to the pipetting channel 300 of the robot. The accessory 1 is then moved by the robot over the container 100 and down to the container 100 by a rectilinear translational movement down the arrow F1 until the lower edge 32 of the outer body 3 s' presses on the culture plate 200 on the perimeter of the well in which the container 100 is put in place. The outer body 3 remaining locked in position while the downward movement imposed by the robot continues, the outer lugs 69 of the intermediate body 66 are pushed against the oblique surfaces 30 of the outer body 3 under the action of the spring 13. The intermediate body 6 is in turn locked in position along the axis X-X '. Under the action of the thrust of the robot that continues, the inner body 9 continues its downward translation along the arrow F2, which has the effect of gradually disengage the lugs 96 of the grooves 66b of the intermediate body 6, to to reach a low position shown in Figure 6. In this extreme position towards the bottom of the inner body 9 relative to the intermediate body 6, the action of the spring 13 on the intermediate body 6 has the effect of causing the respective sliding of the ramps of the external pins 69 and oblique surfaces 30, which induces a rotation of the intermediate body 6 relative to the outer body 3 according to the arrow F3 in Figure 6. The lugs 96 are no longer inserted into the grooves 66b, the intermediate body 6 is free to rotate relative to the inner body 9, which causes its rotation along the arrow F3 to a position shown in Figure 3.
A ce moment, le robot inverse son sens de mouvement et débute la remontée de l'accessoire 1 . Le corps interne 9 remonte vers le haut selon la flèche F4 par rapport au corps intermédiaire 6 ce qui provoque la mise en contact des rampes 96a avec les rampes 67. Le contact entre les rampes 96a et 67, maintenu par le ressort 13, induit une rotation du corps intermédiaire 6 par rapport au corps interne 9 selon la flèche F3 à la figure 3. Comme l'accessoire 1 est en cours de remontée, le corps externe 3 n'est donc plus plaqué contre le bord de la plaque de culture 200, ce qui permet au corps intermédiaire 6 de se surélever légèrement par rapport aux surfaces obliques 30 et de permettre sa rotation selon la flèche F3. La rotation du corps intermédiaire 6 selon la flèche F3 se poursuit donc jusqu'à ce que les ergots 96 se retrouvent en regard des rainures 66a de plus grande longueur. Sous l'action du ressort 13, les ergots 96 s'insèrent complément dans les rainures 66a, et le corps interne 9 se trouve donc dans sa position haute présentée à la figure 5. Dans cette position, le renflement 62 est en contact avec la partie protubérante 90, ce qui permet la préhension du l'contenant 100 et son extraction du puits 202. At this moment, the robot reverses its direction of movement and begins the ascent of the accessory 1. The inner body 9 rises upwards along the arrow F4 with respect to the intermediate body 6, causing the ramps 96a to come into contact with the ramps 67. The contact between the ramps 96a and 67, held by the spring 13, induces a rotation of the intermediate body 6 relative to the inner body 9 according to the arrow F3 in Figure 3. As the accessory 1 is being raised, the outer body 3 is no longer pressed against the edge of the culture plate 200 , which allows the body intermediate 6 to raise slightly with respect to the oblique surfaces 30 and to allow its rotation along the arrow F3. The rotation of the intermediate body 6 according to the arrow F3 continues so until the lugs 96 are found next to grooves 66a of greater length. Under the action of the spring 13, the lugs 96 insert complement in the grooves 66a, and the inner body 9 is therefore in its upper position shown in Figure 5. In this position, the bulge 62 is in contact with the protruding portion 90, which allows the gripping of the container 100 and its extraction from the well 202.
Le contenant 100 peut ensuite être transféré vers un autre puits de la plaque de culture 200. Pour relâcher le contenant 100 dans un nouvel emplacement, le robot descend à nouveau l'accessoire 1 vers le puits jusqu'à ce que le corps externe 3 entre en contact avec la plaque de culture 200. A ce moment, le processus de mouvement du corps interne 6 se répète, et sa rotation autour de l'axe X-X' a cette fois ci pour effet de faire passer les ergots 96 des rainures de plus grandes longueurs 66a aux rainures de plus petites longueurs 66b. Le corps interne 9 passe donc de sa position haute à sa position moyenne ce qui a pour effet de libérer le contenant 100 dans son nouvel emplacement.  The container 100 can then be transferred to another well of the culture plate 200. To release the container 100 in a new location, the robot again descends the accessory 1 to the well until the outer body 3 enters in contact with the culture plate 200. At this moment, the process of movement of the internal body 6 is repeated, and its rotation about the axis XX 'this time has the effect of passing the lugs 96 of the grooves of more long lengths 66a to grooves of smaller lengths 66b. The inner body 9 thus moves from its high position to its average position which has the effect of releasing the container 100 in its new location.
La préhension d'un contenant de culture par l'accessoire 1 nécessite donc uniquement des mouvements successifs vers le bas puis vers le haut par le robot auquel est adapté l'accessoire 1 .  The gripping of a culture container by the accessory 1 therefore only requires successive movements downwards then upwards by the robot to which the accessory 1 is adapted.
Le montage et le démontage de l'accessoire 1 ne nécessitent l'utilisation d'aucun outil, ce qui facilite le nettoyage ou le remplacement des pièces de l'accessoire 1 . La fixation du corps supérieur 1 1 au corps interne 9 est réalisée en force et est réversible. Ceci permet l'assemblage et le démontage simples et rapides de l'ensemble des pièces de l'accessoire 1 .  The assembly and disassembly of the accessory 1 does not require the use of any tool, which facilitates the cleaning or the replacement of the parts of the accessory 1. The attachment of the upper body 1 1 to the inner body 9 is made in force and is reversible. This allows simple and fast assembly and disassembly of all parts of the accessory 1.
Le corps interne 9 est inséré par le bas dans le corps intermédiaire 6. Le ressort 13 est déposé dans la gorge en partie supérieure du corps intermédiaire 6. Le corps supérieur 1 1 est déposé sur le ressort 13 qui s'insère légèrement dans la gorge en sa partie inférieure. Le corps interne 9 est enchâssé en force dans le corps supérieur 1 1 . Le tout est inséré dans le corps externe 3 par le haut. De façon optionnelle, des gorges 34 peuvent être prévues sur la face interne du corps externe 3 pour permettre à des doigts 1 16 présents sur la face externe du corps supérieur 1 1 , par une simple rotation du corps externe 3, de maintenir le corps externe 3 solidaire de l'accessoire 1 tout en autorisant son mouvement vertical par rapport à l'ensemble solidaire constitué du corps interne 9 et du corps supérieur 1 1 . Le montage du corps supérieur 1 1 dans le corps externe 3 peut être réalisé de façon différente. The inner body 9 is inserted from below into the intermediate body 6. The spring 13 is deposited in the groove in the upper part of the intermediate body 6. The upper body 1 1 is deposited on the spring 13 which fits slightly in the throat in its lower part. The inner body 9 is encased in force in the upper body 1 1. Everything is inserted into the outer body 3 from above. Optionally, grooves 34 may be provided on the inner face of the outer body 3 to allow fingers 1 16 present on the outer face of the upper body 1 1, by a simple rotation of the outer body 3, to maintain the outer body 3 secured to the accessory 1 while allowing its vertical movement relative to the integral assembly consisting of the inner body 9 and of the upper body 1 1. The mounting of the upper body 1 1 in the outer body 3 can be realized differently.
Les languettes 60 entrent en contact avec la paroi interne 102 selon une direction radiale, ce qui évite tout frottement vertical des parties de l'accessoire 1 en contact avec le contenant 100 sur la face interne 102, limitant ainsi les surfaces en contact et donc les risques de contamination et de mauvaise prise du contenant 100.  The tongues 60 come into contact with the inner wall 102 in a radial direction, which avoids any vertical friction of the parts of the accessory 1 in contact with the container 100 on the inner face 102, thus limiting the surfaces in contact and therefore the risk of contamination and poor intake of the container 100.
L'actionnement de l'accessoire 1 ne nécessite pas de modification du système robotique. L'accessoire 1 est adaptable sur les canaux de pipetage du robot, qui conservent leur fonctionnalité lorsque l'accessoire 1 n'est pas utilisé. Il est possible d'utiliser plusieurs accessoires de préhension simultanément pour déplacer plusieurs contenants en parallèle. Des contenants de tailles différentes peuvent être déplacés.  The actuation of the accessory 1 does not require modification of the robotic system. The accessory 1 is adaptable to the pipetting channels of the robot, which retain their functionality when the accessory 1 is not used. It is possible to use several gripping accessories simultaneously to move several containers in parallel. Containers of different sizes can be moved.
Des matériaux autoclavables sont avantageusement utilisés pour la réalisation des différentes pièces constituant l'accessoire de préhension 1 , afin de faciliter sa stérilisation.  Autoclavable materials are advantageously used for producing the various parts constituting the gripping accessory 1, to facilitate its sterilization.
L'invention est décrite ci-dessus lors de la mise en œuvre pour la préhension d'un contenant de culture cellulaire ou tissulaire. Elle peut, en variante, être utilisée pour la préhension d'autres contenants à ouverture circulaire, tels que des tubes, flacons, bouchons creux, etc. mis en place dans une plaque de support.  The invention is described above in the implementation for the gripping of a cell or tissue culture container. It may, alternatively, be used for gripping other circular opening containers, such as tubes, flasks, hollow plugs, etc. put in place in a support plate.
L'invention est également adaptée pour être utilisée indépendamment d'un robot de déplacement de contenants, par exemple dans le cadre d'une utilisation manuelle. Dans un tel cas, le corps supérieur 1 1 peut être mis en mouvement manuellement au moyen, par exemple, d'une tige emmanchée dans l'alésage 1 10.  The invention is also adapted to be used independently of a container moving robot, for example in the context of manual use. In such a case, the upper body 1 1 can be set manually by means of, for example, a rod fitted in the bore 1 10.
L'invention concerne également un ensemble de culture cellulaire ou tissulaire comprenant un accessoire de préhension conforme à son principe.  The invention also relates to a cell or tissue culture assembly comprising a gripping accessory in accordance with its principle.

Claims

REVENDICATIONS
1 . Accessoire de préhension (1 ) d'un contenant (100), notamment un contenant de culture cellulaire ou tissulaire, caractérisé en ce qu'il comprend : 1. Gripping accessory (1) for a container (100), in particular a cell or tissue culture container, characterized in that it comprises:
- un corps externe (3) creux centré sur un axe central (Χ-Χ') de l'accessoire (1 ); an outer hollow body (3) centered on a central axis (Χ-Χ ') of the accessory (1);
- un corps intermédiaire (6) creux centré sur l'axe central (Χ-Χ') et monté de façon coulissante dans le corps externe (3) selon l'axe central (Χ-Χ') ; - an intermediate body (6) hollow centered on the central axis (Χ-Χ ') and slidably mounted in the outer body (3) along the central axis (Χ-Χ');
- un corps interne (9) monté de façon coulissante dans le corps intermédiaire (6) selon l'axe central (Χ-Χ') de l'accessoire (1 ) ;  - an inner body (9) slidably mounted in the intermediate body (6) along the central axis (Χ-Χ ') of the accessory (1);
- un corps supérieur (1 1 ) solidaire du corps interne (9), monté dans le corps externe (3) ;  - an upper body (1 1) integral with the inner body (9), mounted in the outer body (3);
et en ce que :  and in that :
- une extrémité inférieure du corps intermédiaire (6) comprend des organes de préhension (60) adaptés pour se déployer vers l'extérieur sous l'action d'une partie protubérante (90) prévue sur une extrémité inférieure du corps interne (9), ces organes de préhension (60) étant adaptés pour exercer une pression sur une paroi radiale interne (102) du contenant (100) de telle manière que ce contenant (100) puisse être déplacé ;  - a lower end of the intermediate body (6) comprises gripping members (60) adapted to expand outwardly under the action of a protruding portion (90) provided on a lower end of the inner body (9), said grippers (60) being adapted to exert pressure on an inner radial wall (102) of the container (100) such that said container (100) can be moved;
- le corps interne (9) est adapté pour être positionné axialement par rapport au corps intermédiaire (6) dans une première position dite « moyenne », correspondant à une configuration de non préhension, dans laquelle les organes de préhension (60) sont rétractés vers l'intérieur, et dans une seconde position dite « haute », correspondant à une configuration de préhension d'un contenant (100), et dans laquelle les organes de préhension (60) sont déployés vers l'extérieur ;  - The inner body (9) is adapted to be positioned axially relative to the intermediate body (6) in a first "middle" position, corresponding to a non-gripping configuration, in which the gripping members (60) are retracted towards inside, and in a second so-called "high" position, corresponding to a gripping configuration of a container (100), and in which the gripping members (60) are deployed outwards;
- le corps interne (9) est adapté pour passer de sa position moyenne à sa position haute, et vice-versa, lorsque le corps externe (3) est immobilisé axialement contre une plaque de support (200), dans laquelle est mis en place le contenant (100), sous l'action d'un mouvement de translation selon l'axe central (Χ-Χ') vers le bas exercé sur le corps supérieur (1 1 ) lorsque l'accessoire de préhension (1 ) est descendu au-dessus du contenant (100).  - The inner body (9) is adapted to move from its average position to its upper position, and vice versa, when the outer body (3) is immobilized axially against a support plate (200), in which is set up. the container (100), under the action of a translation movement along the central axis (Χ-Χ ') downwards exerted on the upper body (1 1) when the gripping accessory (1) is lowered above the container (100).
2. Accessoire selon la revendication 1 , caractérisé en ce que le corps interne (9) comprend des ergots (96) s'étendant selon l'axe central (Χ-Χ') en direction du corps supérieur (1 1 ), et en ce que le corps intermédiaire (6) comprend, sur une surface interne, des rainures (66a, 66b) s'étendant selon l'axe central (Χ-Χ') dans lesquelles les ergots (96) du corps interne (9) sont adaptés pour être reçus. 2. Accessory according to claim 1, characterized in that the inner body (9) comprises lugs (96) extending along the central axis (Χ-Χ ') in the direction of the upper body (1 1), and what the intermediate body (6) comprises, on an internal surface, grooves (66a, 66b) extending along the central axis (Χ-Χ ') in which the lugs (96) of the inner body (9) are adapted to be received.
3. Accessoire selon la revendication 2, caractérisé en ce que les rainures (66a, 66b) de la surface interne du corps intermédiaire (6) sont de longueurs différentes selon l'axe central (Χ-Χ') de façon alternée, en ce que le corps intermédiaire (6) est mobile en rotation autour de l'axe central (Χ-Χ') par rapport au corps interne (9), et en ce que les ergots (96) du corps interne (9) sont adaptés pour être insérés, sous l'action d'un élément de rappel élastique (13) entraînant de façon permanente le corps intermédiaire (6) en direction d'un côté inférieur de l'accessoire (1 ), dans les rainures (66a) de plus grande longueur en position haute du corps interne (9), ou dans les rainures (66b) de plus faible longueur en position moyenne du corps interne (9). 3. Accessory according to claim 2, characterized in that the grooves (66a, 66b) of the inner surface of the intermediate body (6) are of different lengths along the central axis (Χ-Χ ') alternately, in that that the intermediate body (6) is rotatable about the central axis (Χ-Χ ') with respect to the inner body (9), and that the lugs (96) of the inner body (9) are adapted to to be inserted, under the action of an elastic return element (13) permanently driving the intermediate body (6) towards a lower side of the accessory (1), in the grooves (66a) moreover large length in the upper position of the inner body (9), or in the grooves (66b) of shorter length in the middle position of the inner body (9).
4. Accessoire selon la revendication 3, caractérisé en ce que le corps externe (3) comprend, sur une surface interne, des surfaces obliques (30), en ce que le corps intermédiaire (6) comprend, sur une surface externe, des ergots (69) s'étendant selon l'axe (Χ-Χ') et adaptés pour venir en contact des surfaces obliques (30) sous l'action de l'élément de rappel élastique (13), et en ce que les ergots (69) comprennent une rampe oblique (69a) prévue à leur extrémité de manière à entraîner en rotation le corps intermédiaire (6) par rapport au corps externe (3) autour de l'axe central (Χ-Χ') par coopération avec les surfaces obliques (30) lorsque le corps interne (9) est dans une position basse par rapport au corps intermédiaire (6) dans laquelle les ergots (96) du corps interne (9) ne sont plus reçus dans les rainures (66a, 66b) de la face interne du corps intermédiaire (6). 4. Accessory according to claim 3, characterized in that the outer body (3) comprises, on an inner surface, oblique surfaces (30), in that the intermediate body (6) comprises, on an outer surface, lugs (69) extending along the axis (Χ-Χ ') and adapted to come into contact with the oblique surfaces (30) under the action of the elastic return element (13), and in that the lugs ( 69) comprise an oblique ramp (69a) provided at their end to rotate the intermediate body (6) relative to the outer body (3) about the central axis (Χ-Χ ') by cooperation with the surfaces. oblique (30) when the inner body (9) is in a low position relative to the intermediate body (6) in which the lugs (96) of the inner body (9) are no longer received in the grooves (66a, 66b) of the inner face of the intermediate body (6).
5. Accessoire selon la revendication 4, caractérisé en ce que les rainures (66a, 66b) de longueurs différentes sont espacées circonférentiellement par des rampes obliques (67) adaptées pour entrer en contact, sous l'action de l'élément de rappel élastique (13), avec des rampes obliques (96a) prévues aux extrémités des ergots (96) du corps interne (9) de manière à entraîner en rotation le corps intermédiaire (6) par rapport au corps interne (9) autour de l'axe central (Χ-Χ') lorsque le corps interne (9) est entraîné vers le haut à partie de sa position basse pendant une manœuvre de retrait de l'accessoire (1 ) par rapport à la plaque de support (200). 5. Accessory according to claim 4, characterized in that the grooves (66a, 66b) of different lengths are spaced circumferentially by oblique ramps (67) adapted to come into contact, under the action of the elastic return element ( 13), with oblique ramps (96a) provided at the ends of the lugs (96) of the inner body (9) so as to rotate the intermediate body (6) with respect to the inner body (9) about the central axis (Χ-Χ ') when the inner body (9) is driven upwards from its lower position during a removal operation of the accessory (1) relative to the support plate (200).
6. Accessoire selon l'une des revendications 3 à 5, caractérisé en ce que l'élément de rappel élastique est un ressort (13) monté autour de l'axe central (Χ-Χ') entre une gorge (1 14) du corps supérieur (1 1 ) et une gorge (64) du corps intermédiaire (6) situées en regard. 6. Accessory according to one of claims 3 to 5, characterized in that the elastic return element is a spring (13) mounted around the central axis (Χ-Χ ') between a groove (1 14) of the upper body (1 1) and a groove (64) of the intermediate body (6) located opposite.
7. Accessoire selon l'une des revendications précédentes, caractérisé en ce qu'une partie inférieure du corps externe (3) présente un bord axial (32) adapté pour être en contact avec la plaque de support (200) autour d'un puits dans lequel est mis en place le contenant (100). 7. Accessory according to one of the preceding claims, characterized in that a lower portion of the outer body (3) has an axial edge (32) adapted to be in contact with the support plate (200) around a well in which is placed the container (100).
8. Accessoire selon l'une des revendications précédentes, caractérisé en ce que les organes de préhension sont formés par des languettes déformables (60) comprenant un renflement interne (62) adapté pour coopérer avec la partie protubérante (90) du corps interne (9). 8. Accessory according to one of the preceding claims, characterized in that the gripping members are formed by deformable tongues (60) comprising an internal bulge (62) adapted to cooperate with the protruding portion (90) of the inner body (9). ).
9. Accessoire selon l'une des revendications précédentes, caractérisé en ce qu'il est adapté pour que la dimension radiale maximale des organes de préhension (60) en configuration déformée vers l'extérieur soit supérieure à la dimension radiale minimale de la paroi interne (102) des contenants (100). 9. Accessory according to one of the preceding claims, characterized in that it is adapted so that the maximum radial dimension of the grippers (60) in outwardly deformed configuration is greater than the minimum radial dimension of the inner wall. (102) containers (100).
10. Accessoire selon l'une des revendications précédentes, caractérisé en ce que le corps supérieur (1 1 ) est adapté pour être fixé à un canal de pipetage (300) d'un robot de déplacement de contenants (100) au moyen d'un alésage (1 10) prévu sur le corps supérieur (1 1 ) et adapté pour recevoir le canal de pipetage (300). 10. Accessory according to one of the preceding claims, characterized in that the upper body (1 1) is adapted to be fixed to a pipetting channel (300) of a container moving robot (100) by means of a bore (1 10) provided on the upper body (1 1) and adapted to receive the pipetting channel (300).
PCT/EP2017/050280 2016-01-06 2017-01-06 Accessory for gripping a container WO2017118742A1 (en)

Applications Claiming Priority (2)

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FR1650091 2016-01-06
FR1650091A FR3046465B1 (en) 2016-01-06 2016-01-06 CONTAINER GRIP ACCESSORY

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CN109573587A (en) * 2018-11-29 2019-04-05 连云港森富新材料科技有限公司 A kind of safety protective of Labor-saving high-efficiency has core film coil to transport handling device
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CN109967994A (en) * 2019-04-03 2019-07-05 齐嘉顺 Keyboard of notebook computer scissor grabs assemble mechanism
CN114454214A (en) * 2022-02-14 2022-05-10 徐州百惠模具制造有限公司 Supplementary firm mechanism of arm that equipment was made to intelligence

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CN109304718A (en) * 2017-07-27 2019-02-05 开迪（天津）信息科技有限公司 A kind of CD grabbing for CD server and placement manipulator
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CN109592393A (en) * 2018-10-29 2019-04-09 浙江厚达智能科技股份有限公司 Interior fixed double plate is the same as shifting formula optical fiber transfer device and optical fiber transfer method
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CN109967994B (en) * 2019-04-03 2023-12-26 齐嘉顺 Notebook keyboard scissors foot snatchs assembly devices
CN114454214A (en) * 2022-02-14 2022-05-10 徐州百惠模具制造有限公司 Supplementary firm mechanism of arm that equipment was made to intelligence
CN114454214B (en) * 2022-02-14 2024-05-07 江苏鑫荟德机器人智能科技有限公司 Auxiliary mechanical arm stabilizing mechanism of intelligent manufacturing equipment

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