WO2017215957A1 - Dispositif de préhension - Google Patents

Dispositif de préhension Download PDF

Info

Publication number
WO2017215957A1
WO2017215957A1 PCT/EP2017/063497 EP2017063497W WO2017215957A1 WO 2017215957 A1 WO2017215957 A1 WO 2017215957A1 EP 2017063497 W EP2017063497 W EP 2017063497W WO 2017215957 A1 WO2017215957 A1 WO 2017215957A1
Authority
WO
WIPO (PCT)
Prior art keywords
sample
sample vessel
gripping
engagement
holder
Prior art date
Application number
PCT/EP2017/063497
Other languages
German (de)
English (en)
Inventor
Johann Seeber
Original Assignee
Hamilton Storage Gmbh
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 Hamilton Storage Gmbh filed Critical Hamilton Storage Gmbh
Publication of WO2017215957A1 publication Critical patent/WO2017215957A1/fr

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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
    • 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
    • G01N2035/0406—Individual bottles or tubes
    • G01N2035/041—Individual bottles or tubes lifting items out of a rack for access
    • 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
    • G01N2035/0418—Plate elements with several rows of samples
    • G01N2035/042—Plate elements with several rows of samples moved independently, e.g. by fork manipulator

Definitions

  • the present invention relates to a gripping device for receiving a sample vessel, in particular a sample vessel filled with a liquid, from a sample carrier, comprising a first gripping section, which is designed such that it grips the sample vessel from a first side.
  • Sample manipulators of this type are typically used to deposit or retrieve samples of biological, microbiological and / or chemical material from sample storage devices in the chemical, biochemical, pharmaceutical or biological industries and research.
  • the samples contain certain reagents, which may be of a chemical, biochemical or biological nature, and are used under given ambient conditions, often at freezing temperatures up to -20 ° C, sometimes even between -50 ° C and -90 ° C, and sometimes even below stored.
  • a large throughput is desired, i. It should be possible to continuously remove the largest possible number of sample containers per unit time from the storage area or can be stored in the memory area.
  • a sample manipulation device with a transport unit for transporting sample carriers between a
  • the sample manipulation device moreover comprises a gripping device, by means of which individual sample vessels can be removed from the sample carrier during a sampling operation in the sample vessel removal station and can be deposited again for example in another sample carrier.
  • the sample manipulation device also serves conversely for storing sample containers in the sample storage device.
  • the corresponding sample carriers to be stored are removed by means of the gripping device from a first sample carrier and deposited in a further sample carrier, which is then brought into the storage area by means of the transport unit.
  • Errors of the gripping device when removing samples from sample carriers or when placing sample containers in a sample carrier inevitably lead to losses in the achievable throughput of removable oreaulagernden sample vessels. The rate of errors increases naturally with increasing operating speed of the gripping device.
  • a sample manipulation device with gripping device for receiving a sample vessel from a sample carrier has a first gripping portion, which is designed such that it grips the sample container from an upper side.
  • the gripping device has a second gripping portion, which is designed such that it grips the sample container from an underside opposite the upper side.
  • a holder for the sample vessel is provided in the first gripping portion.
  • the second gripping portion is configured to engage the sample vessel with the holder provided in the first gripping portion.
  • the holder provided in the first gripping section has an inlet bevel, which is intended to ensure that the sample vessel lifted by the second gripping section engages with the holder in the first gripping section.
  • the invention solves the problem of providing an improved gripping device with which it is possible to increase the sample throughput when removing sample containers from a sample carrier and / or when and / or dispensing sample containers into a sample carrier in a sample manipulation device of the type described above.
  • a gripping device for receiving a sample vessel, in particular a filled with a liquid sample vessel, proposed from a sample carrier with a first gripping portion which is designed such that it engages the sample vessel from a first side, and a second Gripping portion, which is designed such that it engages the sample vessel from a first side opposite the second side ago.
  • the first gripping section has a holder for the sample vessel and the second gripping section is configured to engage the sample vessel with the holder provided in the first gripping section.
  • the first gripping section has a centering independent of the holder Device for the sample vessel, which comprises at least one spring element.
  • the first side may be an upper side of the sample vessel and the second side may be an underside of the sample vessel. The first gripping section then engages from above on the sample vessel, while the second gripping section engages on the sample vessel from below.
  • the second gripping section may be configured to move the sample vessel along a stroke in the direction of engagement from the sample carrier to the holder in the course of picking manipulation in order to engage the sample vessel with the holder provided in the first gripping section.
  • a manipulation on picking the gripping device takes a sample vessel from a sample carrier. This can in particular be done in such a way that the second gripping section grips the sample vessel from below and then moves upwards along the stroke path until the sample vessel comes into holding engagement with the holder provided in the second gripping section. As soon as the holding engagement has taken place, the second gripping section can be moved back again and the further manipulation of the sample vessel by means of the first gripping section can take place.
  • the second gripping section can be designed, for example, as a pin or punch which can be brought into contact with the sample vessel from the second side and which is movable along the direction of engagement.
  • the pin or stamp For lifting a sample vessel received in a sample carrier, the pin or stamp then presses on the sample vessel from the second side in order to lift it. In the course of this lifting movement, the pin or stamp finally pushes the sample vessel in the direction of engagement in the holder.
  • the gripping device can also be designed for dispensing a sample vessel into a sample carrier.
  • the gripping device places a sample vessel held in the holder of the first gripping section into a sample carrier.
  • the first gripping portion may be designed to release an engagement with a sample vessel, so that the sample container can be moved out of the holder. This can in particular be done such that the sample vessel after disengagement with the holder moves by its own weight along the stroke counter to the direction of engagement and is collected in a designated recording in the sample carrier.
  • the second gripping portion engages the sample vessel from below and then moves along the stroke counter to the direction of engagement until the sample vessel is received in a designated receptacle of the sample carrier.
  • the second gripping section can bring about a certain guidance of the movement of the sample vessel along the stroke path.
  • the second gripping portion can already be moved upwards before the sample container from the handle in the first gripping portion dissolves to ensure the smoothest possible movement of the sample vessel.
  • a gripping device for dispensing a sample vessel, in particular a sample vessel filled with a liquid, is proposed according to the invention in a sample carrier.
  • the gripping device has a first gripping section which is designed such that it grips the sample vessel from a first side, wherein the first gripping section has a holder for the sample vessel and has a centering device for the sample vessel which is independent of the holder and which comprises at least one spring element includes.
  • the second gripping section thus moves forward and / or back substantially along the stroke direction.
  • the first gripping portion moves substantially in a plane orthogonal to the stroke direction. An additional movement of the first gripping portion along the stroke direction is not essential. This saves a lot of time.
  • the throughput rate of the sample manipulator is a critical factor. This is determined to a considerable extent by the maximum operating speed of the gripping device.
  • the gripping device according to the invention it is possible to improve the success rate when the sample container is brought into engagement with the holder provided in the first gripping section and / or when the sample container is disengaged from the holder provided in the first gripping section and dispensed into a sample carrier.
  • the sample throughput can be increased in two ways: First, the lower error rate leads directly to a higher Throughput. Second, the lower error rate also allows to increase the operating speed of the gripping device. This then affects the maximum achievable throughput.
  • the requirements for the manufacturing accuracy of the sample containers are lower than in conventional gripping devices, because the gripping device according to the invention can still absorb and / or release sample containers with greater manufacturing tolerance due to the improved centering of sample containers relative to the holder.
  • the centering device is independent of the provided in the first gripping portion of the gripping device holder and it also has at least one spring element.
  • the centering device is in particular functionally independent of the holder, so that the centering effect exerted on the sample container by the centering device is independent of the holding engagement exerted by the holder. This has several advantages.
  • the centering device allows a certain misalignment of the first gripping section relative to the sample vessel, because its centering effect corrects such misalignments. Since the centering device is independent of the holder, it can be arranged so that its centering effect on the sample container already starts before the sample container reaches the holder.
  • the at least one spring element causes a restriction of the forces acting on the sample vessel centering forces.
  • much greater misalignments can be tolerated between the sample vessel removed from the sample carrier and the gripping device, without jamming or even falling off when a sample vessel is removed from a sample carrier and the sample vessel is brought into engagement with the holder of the sample vessel comes.
  • a major advantage of this greater tolerance to misalignment is that the gripping device, in particular the portion provided in the first gripping bracket, during an on-manipulation and / or a Abgabeemanipulation can remain at a greater distance to the top of the sample vessel or the sample carrier, because yes ensures the centering in the course of a recording manipulation and / or Abgabemanipulation for accurate alignment.
  • One needs in this way much less movement of the gripping device relative to the sample carrier, in particular one does not necessarily, if only very little, movement of the first gripping portion in the stroke direction or against the stroke direction.
  • the centering device can be independent of the holder provided in the first gripping section even in two respects.
  • the centering device can also be designed physically independent of the holder as a separate component.
  • the centering device can be mounted as a separate component on the holder, in particular by means of a releasable attachment, for example by screws or by means of a bayonet closure.
  • the centering can be made independent of the holder or replaced.
  • the centering device comprises at least one spring element, in particular one or more springs.
  • the at least one spring element is arranged so that the sample vessel passes by the course of its movement in or against the stroke direction of the spring element and when passing the spring element engages with this.
  • the at least one spring element acts on the sample vessel in such a way that a resulting force results, which always drives the sample vessel to a centering position with respect to the holder in the first gripping section.
  • the centering position designates a position along an imaginary line starting from a center of the holder and ending in a center of the associated holder in the sample carrier.
  • the gripping device may further comprise a third Have gripping portion which is formed such that it engages the sample vessel from the first side, wherein the third gripping portion is adapted to bring the sample vessel out of engagement with the provided in the first gripping portion holder.
  • the third gripping portion may be adapted to move the sample vessel in the course of a Abgabeemanipulation along the stroke against the engagement direction of the holder to the sample carrier to bring the sample vessel out of engagement with the provided in the first gripping portion holder into engagement.
  • the third gripping section can be designed, for example, as a pin or punch which can be brought into contact with the sample vessel from the first side and which is movable along the direction of engagement. To release the engagement of a sample container held in the holder, the punch then presses on the sample container from the first side and pushes it out of the holder counter to the direction of engagement.
  • the third gripping portion can also serve to move the sample vessel in the course of a Abgabeemanipulation along the stroke away from the support away from the holder, for example in the sense of a certain guidance of the sample vessel until it reaches the desired recording in the sample carrier.
  • the spring element may be configured such that the sample vessel, during its movement in the direction of engagement from the sample carrier to the holder, comes into clamping engagement with the centering device before it engages with the holder and / or during the movement of the sample vessel is opposite to the direction of engagement of the holder to the sample carrier during or after release of the engagement between the sample vessel and holder in clamping engagement with the centering device.
  • the centering device is thus in front of a receiving manipulation of the holder, so that a faulty or at least unfavorable position of the sample vessel - which may be with some misalignment of the sample carrier to the second gripping portion moves with some offset or tilt with respect to the ideal stroke - when passing the centering already with respect the holder is corrected before a holding engagement with the predetermined in the second gripping portion holder.
  • the centering device is downstream of a dispensing manipulation of the holder such that an additional centering of the sample vessel takes place after the engagement of the sample container with the holder is released. In this way, unfavorable positions of the sample vessel, in particular tilting, can be corrected, which can be used when loosening the Engagement between sample vessel and holder otherwise can easily arise.
  • the centering device may comprise a plurality of spring elements, for example, three spring elements, or more spring elements, if desired. If several spring elements are provided, they can be arranged surrounding the stroke.
  • the spring member may be disposed in a plane orthogonal to the stroke around the stroke, or the spring members may be disposed in a plane orthogonal to the stroke around the stroke.
  • the spring element or the spring elements may be arranged around the stroke around such that generated upon engagement of the sample vessel with the spring element or the spring elements voltage of the spring element or the spring elements generates a sample vessel on the stroke restoring force, in particular such that when clamping engagement with the sample carrier, the spring elements are each acted upon in such a way that overall results in a directed to the intersection of the stroke with the plane by the spring elements restoring force.
  • the spring element is arranged symmetrically to the stroke or the spring elements are arranged symmetrically to the stroke.
  • identical spring elements can be used, which are arranged in a symmetrical manner around the stroke around. It is conceivable to provide the spring element under prestress in the centering device. Depending on the nature of the spring element, the bias may be helpful to define a predetermined rest position of the centering and / or ensure sufficiently strong restoring forces during clamping engagement with the sample vessel.
  • the spring element may comprise a coil spring, in particular a helical tension spring.
  • the helical spring can in particular be arranged in a plane extending orthogonally to the stroke path.
  • the spring elements may be arranged at a predetermined angle to each other so that they surround the stroke.
  • the coil springs may be arranged in the plane at an angle of 60 degrees to each other to form an equilateral triangle about the intersection of the stroke path with the plane. A circle inscribed in the triangle will then preferably have a smaller diameter than the largest diameter of the product.
  • An imaginary circle or cylinder describing the maximum diameter of a passage opening defined by the spring element can be inscribed in a space surrounded by the spring element.
  • Sample vessels having a cross-section whose maximum diameter is smaller than the diameter of the inscribed circle or cylinder could in principle pass through a passage surrounded by the spring element, without coming into clamping engagement with the spring element or the spring elements.
  • the diameter of the inscribed circle or cylinder is equal to or smaller, or at most only slightly larger than the maximum diameter of the sample vessel at its upper end, the sample vessel can pass through the passage, but inevitably comes into clamping engagement with the spring element and is centered so ,
  • the spring element can also comprise, for example, a curved spring plate part arranged around the stroke path or a curved spring plastic part arranged around the stroke path.
  • the curvature of such a Federblechteils or spring plastic part is then concave with respect to a passing through the ends of the Federblechteils or spring plastic part cylinder.
  • the spring element may also comprise a resiliently stretchable in its longitudinal direction spring element, which is arranged around the intersection of the stroke with the plane, for example an elastic cord, an elastic thread, an elastic rope or an elastic band.
  • the elastically extensible spring element in the form of a polygon in particular a symmetrical polygon, is stretched around the point of intersection.
  • the spring element can release a passage opening for the sample vessel or the spring elements can release a passage opening for the sample vessel whose cross section is not larger than a cross section of the sample vessel in a plane orthogonal to the stroke path. This ensures that, as the sample vessel passes through the passage opening, in all cases a clamping engagement takes place which causes a centering effect on the sample vessel, as explained in detail above.
  • the passage opening for the sample vessel may taper conically in the direction of engagement. In this way, an increasingly stronger loading of the spring elements by the sample vessel and thus an increasingly centering effect due to the spring elements, the closer the sample vessel approaches the holder.
  • the gripping device may be configured such that the first gripping portion within a plane parallel to the sample carrier is movable and the second gripping portion in a direction orthogonal to the plane is movable. If a third gripping portion is present, this may be as well as the second gripping portion formed so that it is movable in a direction orthogonal to the plane. This means that the second gripping portion and possibly the third gripping portion substantially move the sample vessel along the stroke, either in the direction of engagement of the sample carrier to the holder or against the direction of engagement of the holder to the sample carrier. The second gripping portion moves the sample vessel along the stroke in the direction of engagement, the third gripping portion moves the sample vessel along the stroke in the direction of engagement.
  • the first gripping section does not have to be able to be moved along the stroke path-neither in the direction of engagement nor in a direction opposite thereto.
  • the first gripping portion can thus be designed so that it moves substantially only within a plane parallel to the sample carrier with sufficient distance to the top of the recorded in the sample carrier sample containers. Since the second gripping portion thus only in two dimensions - length and width - must be manipulated, the gripping device can work much faster than if additional movement of the second gripping portion along the stroke direction would be required.
  • the second gripping portion may be formed so that it can be coupled with the sample vessel for driving in the direction of engagement, but not for driving against the direction of engagement.
  • the second gripping portion may be formed, for example, as a pin or punch, which is brought from an underside with the sample vessel in Appendix to raise the sample vessel.
  • the second gripping portion is coupled with the sample vessel when moving in the direction of engagement.
  • the second gripping portion decoupled itself from the sample vessel.
  • the pin or punch may be insertable into a corresponding recess at the bottom of the sample cup to move the sample cup in the direction of engagement.
  • the third gripping portion may be formed so that it can be coupled with the sample vessel for driving against the direction of engagement, but not for driving in the direction of engagement.
  • the third gripping section can be coupled to the sample vessel, in particular in the case of movement counter to the direction of engagement, and can be decoupled from the sample vessel during movement in the direction of engagement.
  • the third gripping portion may be formed, for example, as a pin or stamp, which is brought from an upper side with the sample vessel in Appendix to release the sample vessel from engagement with the holder. In this case, the third gripping portion can be coupled with the sample vessel during movement counter to the direction of engagement. When moving in the direction of engagement, the third gripping portion decoupled itself from the sample vessel.
  • the pin or stamp can be inserted, for example, in a corresponding recess on the top of the sample vessel to move the sample vessel against the direction of engagement and to release in this way from the holder.
  • the holder can be exchangeably attached to the first gripping portion.
  • the holder may be releasably secured to the first gripping portion, such as screwed.
  • the holder may also be interchangeable used in a corresponding portion provided on the first gripping portion, for example by a screw or a bayonet connection.
  • the present invention relates to a method for receiving a sample vessel from a sample carrier and / or for dispensing a sample vessel into a sample carrier, by means of a gripping device having a first gripping section, which is designed such that it moves the sample vessel from a first side
  • the first gripping section has a holder for the sample vessel and has a centering device for the sample vessel which is independent of the holder and comprises at least one spring element, and - in the case of a sample vessel - a second gripping section which is designed such that it the sample vessel engages from a second side opposite the first side, the second gripping section being adapted to bring the sample vessel into engagement with the holder provided in the first gripping section.
  • the method comprises - in the case of receiving a sample vessel - the steps of (i) engaging the second gripping section with the sample vessel, (ii) moving the sample vessel along a stroke in an engagement direction, (iii) in the course of the movement in the direction of engagement, in Clamping engagement Bringing the sample vessel with the centering device and centering the sample vessel with respect to the stroke, (iv) engaging the sample vessel with the holder provided in the first gripping section.
  • the method comprises the following steps: (i) disengaging the sample cup from the holder provided in the first gripping portion and moving the sample cup along the stroke counter to the direction of engagement, (ii) centering the sample cup with respect to the stroke by clamping engagement with the centering device, (iii) placing the sample vessel in the sample carrier.
  • the gripping device may further comprise a third gripping section, which is designed such that it grips the sample vessel from the first side and brings the sample vessel out of engagement with the holder provided in the first gripping section, and wherein the method further comprises third gripping device with the sample vessel into engagement to bring the sample vessel disengaged from the provided in the first gripping portion holder.
  • a clamping engagement of the sample vessel with the centering device and centering of the sample vessel with respect to the stroke in a receiving manipulation can be provided in any case prior to engaging with the holder provided in the first gripping portion.
  • a clamping engagement of the sample vessel with the centering device and centering of the sample vessel with respect to the stroke can be provided in any case during or after the release of the engagement of the sample vessel with the holder provided in the first gripping portion.
  • a working height of the provided in the first gripping portion holder with respect to a sample carrier at a Auf manipulation is the same as a delivery manipulation. Then, in the process between receiving position and dispensing position, the working height of the holder provided in the first gripping section need not be changed with respect to the sample carrier. Therefore, in particular, a working height of the holder provided in the first gripping section can remain the same with respect to a sample carrier between an operation manipulation and a dispensing manipulation.
  • the first gripping section then only has to be moved in one plane. This movement in only two dimensions can be carried out much faster than if the first gripping section also had to be moved in a third dimension, in particular in or against the stroke direction, in order to change its distance from the sample carrier.
  • a working height of the holder provided in the first gripping section can remain constant with respect to a sample carrier.
  • the working height of the Do not change the holder provided in the first gripping section with respect to the sample carrier.
  • the present invention also relates to a sample manipulation device for the automated manipulation of sample vessels, in particular of sample vessels filled with a liquid, which is movable along predetermined coordinates relative to a sample carrier receiving the sample vessels, the sample manipulation device having at least one gripping device of the type described herein ,
  • the sample manipulation device may in particular be movable along Cartesian axes relative to the sample carrier, for example by a first arm which is movable within a substantially horizontal plane at a substantially constant distance to a sample support table and a further arm mounted on the first arm, which in one Direction orthogonal to the plane is movable.
  • the first gripping portion of the gripping device can then be provided for example on the first arm, while the second and, if present, the third gripping portion can be provided on the further arm.
  • the sample manipulating means may be for depositing samples of biological, microbiological and / or chemical material from sample storage devices used in the chemical, biochemical, pharmaceutical or biological industries and research.
  • the samples may contain certain reagents, which may be of a chemical, biochemical or biological nature and are to be stored under predetermined environmental conditions.
  • the samples can be stored at freezing temperatures up to -20 ° C, especially even between -50 ° C and -90 ° C, and sometimes even below.
  • the sample manipulation device can be equipped with a transport unit for transporting sample carriers between a storage area for sample carriers and a sample vessel removal station.
  • sample manipulation device can also be used for storing sample containers in the sample storage device.
  • the corresponding sample carriers to be stored can be be removed from a first sample carrier and stored in a further sample carrier, which is then brought by means of the transport unit in the storage area.
  • the sample manipulation device can have a control device, which is configured to carry out the above-described method steps during a pickup manipulation and / or during a dispensing manipulation.
  • FIG. 1 shows a perspective view of a detail of a sample manipulation device with gripping device according to an embodiment in a configuration during a pickup manipulation before lifting a sample vessel from a sample carrier;
  • FIG. 2 shows a perspective view of the detail of the sample manipulation device according to FIG. 1 with gripping device in a configuration during a pickup manipulation when the sample container is brought into engagement with the holder;
  • FIG. 3 shows a perspective view of a holder and a centering device of a first gripping section of the gripping device according to FIGS. 1 and 2 attached thereto;
  • Figure 4 In a view from the front, the holder and centering device of Figure 3;
  • FIG. 5 shows a perspective view of the centering device according to FIGS. 3 and 4;
  • FIG. 6 In a view from below, the centering device according to FIG. 5;
  • FIG. 7 shows a side view of the centering device according to FIGS. 5 and 6.
  • like reference numerals designate like or similar components.
  • FIG. 1 shows a perspective view of a detail of a sample manipulation device 10 with gripping device 12 according to an embodiment.
  • the gripping device 12 is in a configuration prior to the start of lifting a sample vessel 18 from a sample carrier 16 in ablazeemanipulation.
  • FIG. 2 shows a perspective view of the detail of the sample manipulation device 10 according to FIG. 1 with gripping device 12 in a configuration at the end of the lifting operation during picking manipulation, namely when the sample vessel is brought into engagement with a holder 34 of a first gripping section 30.
  • the sample manipulation device 10 comprises a sample stage 14 with sample carriers 16 mounted thereon (of which only two sample carriers are exemplarily provided with the reference number 16 in FIGS. 1 and 2).
  • Each sample carrier 16 comprises a plurality of sample receptacles in which individual sample containers 18 (of which only two sample containers are provided by way of example with the reference number 18 in FIGS. 1 and 2) can be stored.
  • the gripper device 12 is used to carry out a sample manipulation, in which one of the sample containers 18 is picked up from the sample carrier 16.
  • the sample recordings can be in the form of a rectangular matrix with rows and columns as in FIGS. 1 and 2 or be arranged in any other configuration, for example, with offset of two adjacent rows or columns to each other.
  • the sample vessels 18 can have any configuration that is compatible with the particular sample carrier used. Conventional sample containers 18 have a substantially cylindrically shaped body region with a diameter matched to the sample carriers 16 used, which is generally slightly smaller than the diameter of the sample carrier holders used in each case.
  • the sample carriers 16 can be transported between a storage area for sample vessels 18 and the manipulation area for sample vessels 18 shown in the figures by means of a sample carrier conveying system (also referred to as "tray shuttle") not shown in detail.
  • the gripping device 12 is designed in such a way that it can remove sample containers 18 individually from the respective assigned sample carrier 16 from sample carriers 16 located in the manipulation area or sample containers 8 individually in a sample vessel receptacle of a
  • the sample manipulation device 10 has a first manipulator arm 20, which in a first direction (x-direction) along a first linear guide mechanism 22 is linearly movable by means of a drive not shown in detail.
  • the first manipulator arm 20 runs essentially along a second direction (y-direction), which is orthogonal to the first direction.
  • the first and second directions span a plane, hereinafter referred to as the xy plane.
  • the xy plane extends essentially horizontally.
  • a second manipulator arm 24 is movably mounted linearly along the first manipulator arm 20.
  • the second manipulator arm 24 extends substantially orthogonal to the xy plane and is linearly displaceable along the first manipulator arm 20 (ie in the y direction).
  • This is a generally designated 26 drive.
  • the first manipulator arm 20 in this case has a guide mechanism, which is not described in detail, for the linear movement of the second manipulator arm 24 in the y-direction.
  • the second manipulator arm 24 By moving the first manipulator arm 20 along the guide mechanism 22 and the second manipulator arm 24 along the first Manipulatorams 20, the second manipulator arm 24 so that each position in the xy plane above (ie in vertical projection up) of the sample carrier recordings on the sample table 14 reach.
  • the gripping device 12 On the second manipulator arm 24, the gripping device 12 is arranged, more precisely, a first gripping portion 30 of the gripping device 12 is arranged on the second manipulator arm 24, as described in more detail below.
  • the first gripping portion 30 is mounted in such a way on the second manipulator arm 24, that the first gripping portion 30, although in principle along the second manipulator arm 24 - and thus in a direction orthogonal to the xy plane - is displaced.
  • this displaceability of the second gripping portion orthogonal to the xy plane is not critical, so that - at least for the purposes of the present invention - this mobility of the second gripping portion 30 could be waived.
  • the first gripping portion 30 of the gripping device 12 with respect to the second manipulator arm 24 stored in a fixed position on the second manipulator arm 24 is.
  • the fixed position is selected so that a height of the first gripping portion 30 of the gripping device 12 with respect to the sample table 14 is selected so that the first gripping portion 30 of the gripping device 12 is located at such a distance above the top of the sample vessels 18 mounted in the sample carriers 16 in that neither when the second manipulator arm 24 moves along the first manipulator arm 20 nor during the movement of the first manipulator arm 20 along the guide mechanism 22 does a collision occur with sample vessels received in the sample carriers 16.
  • a movement of the first gripping portion 30 of the gripping device 12 in the z-direction neither in the course of an on-picking manipulation still take place in the course of Abgabemanipulation.
  • the first gripping section 30 of the gripping device 12 is arranged on the second manipulator arm 24 so that it is located above the upper side of the sample vessels 18 accommodated on the sample table 14 in the sample carriers 16 with a sufficient distance.
  • the first gripping portion 30 is disposed at a lower end of the second manipulator arm 24 (at least a portion of the second manipulator arm 24 supported on the first manipulator arm 20).
  • the first gripping section 30 comprises a holder 34, which serves for fixing a sample vessel 18 to be accommodated.
  • the first gripping portion 30 also includes a centering device 36.
  • the centering device 36 which will be explained in more detail below, the holder 34 is assigned in the sense that the centering device 36 of the holder is upstream, based on an imaginary stroke of a As shown in the figures, the centering device 36 may be mounted on the holder 34, in particular on an underside of the Hallt réelle 34th
  • the holder 34 may be releasably attached to the second manipulator arm 24, for example by means of a screw connection, as shown in FIGS. 1 and 2.
  • the gripping device 12 also has a second gripping portion 32.
  • the second gripping portion 32 is disposed below the sample table 14 and is therefore located below the sample containers 18 received in the sample carriers 16.
  • the second gripping portion 32 is coupled to the first gripping portion 30 in such a manner that upon movement of the first gripping portion 30 in the xy Plane of the second gripping portion 32 moves in a plane parallel to the xy plane. This is realized, for example, by attaching the second gripping section 32 to a manipulator arm 40 parallel to the first manipulator arm 20, the manipulator arm 40 being guided on a guide device parallel to the guide mechanism 22. Joint movement of the two manipulator arms 20 and 40 in the x-direction can be done by appropriate mechanical coupling of the two manipulator arms 20 and 40.
  • Joint movement of the first gripping portion 30 along the first manipulator arm 24 and the second gripping portion 32 along the manipulator arm 40 can be done, for example, that the first gripping portion 30 and the second gripping portion 32 each have their own drive is assigned, and the drives by suitable mechanisms ( electrically and / or mechanically) are synchronized with each other.
  • suitable mechanisms electrically and / or mechanically
  • the second gripping portion 32 is disposed at an upper end of an arm portion projecting upwardly from the manipulator arm 40.
  • the second gripping portion 32 comprises an upwardly extendable punch 38 (see Figure 2).
  • the first and second manipulator arms 20, 24 move first into a position in which the first gripping section 30 and the second gripping section 32 are in a projection of a central axis of the respective sample holder in the direction of the z-axis. If this position is reached, the second gripping section 32 moves with its punch 38 upwards until the punch 38 comes into abutment with an underside of the respective sample vessel 18.
  • the punch 38 raises the sample container 18 in the course of its further upward movement until the upper side of the sample container 18 comes into engagement with the holder 34 attached to the first gripping portion 30. Once the sample vessel 18 is in engagement with the holder 34, the punch 38 is no longer needed and moved back to its original position.
  • the gripping device 12 also has a third gripping portion 42.
  • the third gripping portion 42 serves to aid in disengaging engagement between sample cup 18 and holder 34, as required in the course of a dispensing manipulation.
  • the third gripping section 42 is arranged on the second manipulator arm 24, just like the first gripping section 30, above the upper side of the sample vessels 18 accommodated in the sample carriers 16 on the sample table 14.
  • the third gripping section 42 is even located so far above the first gripping section 32 that it comes into contact with this sample vessel 18 from above a sample vessel 18 held in the holder 34.
  • the third gripping portion 42 may include, for example, a punch 44 which is extendable downwards.
  • the first and second manipulator arm 20, 24 move to a position in the first and third gripping portion of a projection of a central axis of the respective sample holder in the direction of the z-axis are located.
  • the third gripping section 42 moves downwards with its plunger 44 until the plunger 44 comes into contact with an upper side of the respective sample vessel 18.
  • the punch 44 pushes the sample vessel 18 downwards in the course of its further downward movement, the engagement of the sample vessel 18 with the holder 34 being released.
  • the sample vessel 18 then falls downwards due to its gravity and is collected in the associated sample receptacle of the sample carrier 16.
  • the punch 38 of the second gripping section 32 can also participate by moving the plunger 38 upwards before the solution between the sample vessel 18 and the holder 34 is released and then after the release of the intervention, the falling movement of the sample vessel 18 intercepts and thus the sample vessel 18 gently leads down.
  • Figure 3 shows a perspective view of the holder 34 with attached to the underside centering device 36.
  • Figure 4 shows this arrangement in a side view from the front in Figure 3.
  • a sample vessel 18 is in engagement with the holder 34.
  • a Upper edge of the sample vessel 18 can be seen in Figure 3 at the top of the holder 34, a lower edge of the sample vessel 18 can be seen in Figure 4 slightly above a bottom of the centering unit 36 protruding.
  • the punch 44 of the third gripping portion 42 engages, which has been omitted in FIGS. 3 and 4 for the sake of better clarity.
  • a sensor 48 can be seen at the top of the holder 34 at which the third gripping portion 42 is attached to the holder 34 (see Figure 1 and 2).
  • This sensor 48 serves to detect whether a sample vessel 18 is located in the holder 34 and is correctly engaged with the holder 34.
  • a clamping mechanism 50 not shown, which serves to hold the sample container 18 in the holder.
  • the centering device 36 comprises an upper flange 52, a lower flange 54, a substantially cylindrical side wall 56 and a spring element 58.
  • the two flanges 52, 54 and the side wall 56 of the centering device 36 defined cylindrical passage I, as shown more clearly in Figures 5 to 7 can be seen.
  • Figures 5 to 7 show the mounted on the underside of the holder 34 centering device 36 in detail, wherein the sake of clarity, the holder 34 is omitted.
  • Figure 7 is a perspective view of the centering device 36, while Figure 6 and 7 show the centering device 36 in views from below from the side. In contrast to FIGS. 3 and 4, in FIGS.
  • the centering device 36 has a spring element 58, which is formed in the embodiment shown by three coil springs (tension springs) 58 a, 58 b, 58 c, which are arranged symmetrically about a central axis A of the passage I around.
  • the spring element 58 extends in a direction orthogonal to the axis A of the passage I level.
  • the three spring elements 58a, 58b, 58c are arranged at the same angle to one another (see the double arrows in FIG. 6) and essentially form the configuration of an equilateral triangle.
  • Each of the coil springs 58a, 58b, 58c is interposed between a pair of associated end pegs 62a, 62a; 62b, 62b; 62c, 62c, wherein in the rest position shown in the figures (i.e., without clamping engagement with a sample vessel 18) the coil springs 58a, 58b, 58c are slightly biased to tension.
  • the coil springs 58a, 58b, 58c are similar. They have in particular a same spring characteristic and bias.
  • Each of the coil springs 58a, 58b, 58c could also be replaced by a different kind of spring element, for example a cup spring element, an elastic cord, an elastic band and the like.
  • any other configuration could also be chosen.
  • an elastic band or elastic cord as spring element 58, only a single spring element could be stretched in a triangular, polygonal or even circular configuration about the axis A.
  • a circle K inscribed in the spring element 58 ie a circle K of maximum diameter, so that the circle K contacts the coil springs 58a, 58b, 58c which is just touching but not cutting on the inside Diameter slightly smaller than the diameter of the passage I.
  • This circle K defines the cross section of a passage formed by the spring element 58.
  • a sample vessel 18 whose outer diameter is matched to the diameter I of the passage formed by the flanges 52, 54 also has a slightly larger outer diameter than the circle K.

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  • Engineering & Computer Science (AREA)
  • Robotics (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)
  • Automatic Analysis And Handling Materials Therefor (AREA)

Abstract

La présente invention concerne un dispositif de préhension (12), destiné à recevoir un récipient d'échantillon (18), en particulier un récipient d'échantillon (18) rempli d'un liquide, d'un porte-échantillon (16), comprenant : une première section de préhension (30), conçue pour prendre le récipient d'échantillon (18) venant du premier côté et une deuxième section de préhension (32), conçue pour prendre le récipient d'échantillon (18) venant du deuxième côté, opposé au premier côté, la première section de préhension (30) comportant un support (34) pour le récipient d'échantillon (18) et la deuxième section de préhension (32) étant conçue pour mettre en prise le récipient d'échantillon (18) du support (34) prévu avec le premier support (34), la première section de préhension (30) comportant un dispositif de centrage (36), indépendant du support (34), pour le récipient d'échantillon (18), lequel comprend au moins un élément de ressort (58).
PCT/EP2017/063497 2016-06-16 2017-06-02 Dispositif de préhension WO2017215957A1 (fr)

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DE102016111042.6A DE102016111042A1 (de) 2016-06-16 2016-06-16 Greifvorrichtung
DE102016111042.6 2016-06-16

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US10973226B2 (en) 2018-10-05 2021-04-13 TMRW Life Sciences, Inc. Apparatus to preserve and identify biological samples at cryogenic conditions
US11607691B2 (en) 2019-10-29 2023-03-21 TMRW Life Sciences, Inc. Apparatus to facilitate transfer of biological specimens stored at cryogenic conditions
USD1002868S1 (en) 2020-12-09 2023-10-24 TMRW Life Sciences, Inc. Cryogenic vial carrier
US11817187B2 (en) 2020-05-18 2023-11-14 TMRW Life Sciences, Inc. Handling and tracking of biological specimens for cryogenic storage
US12017227B2 (en) 2020-12-10 2024-06-25 TMRW Life Sciences, Inc. Specimen holder with wireless transponder for attachment to specimen collection body
US12099890B2 (en) 2020-10-02 2024-09-24 TMRW Life Sciences, Inc. Interrogation device and/or system having alignment feature(s) for wireless transponder tagged specimen containers and/or carriers

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US5948360A (en) * 1994-07-11 1999-09-07 Tekmar Company Autosampler with robot arm
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US10973226B2 (en) 2018-10-05 2021-04-13 TMRW Life Sciences, Inc. Apparatus to preserve and identify biological samples at cryogenic conditions
US11252956B2 (en) 2018-10-05 2022-02-22 TMRW Life Sciences, Inc. Apparatus to preserve and identify biological samples at cryogenic conditions
US11607691B2 (en) 2019-10-29 2023-03-21 TMRW Life Sciences, Inc. Apparatus to facilitate transfer of biological specimens stored at cryogenic conditions
US11817187B2 (en) 2020-05-18 2023-11-14 TMRW Life Sciences, Inc. Handling and tracking of biological specimens for cryogenic storage
US12099890B2 (en) 2020-10-02 2024-09-24 TMRW Life Sciences, Inc. Interrogation device and/or system having alignment feature(s) for wireless transponder tagged specimen containers and/or carriers
USD1002868S1 (en) 2020-12-09 2023-10-24 TMRW Life Sciences, Inc. Cryogenic vial carrier
US12017227B2 (en) 2020-12-10 2024-06-25 TMRW Life Sciences, Inc. Specimen holder with wireless transponder for attachment to specimen collection body

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