GB2551991A

GB2551991A - Device for handling vials

Info

Publication number: GB2551991A
Application number: GB1611634.5A
Authority: GB
Inventors: Wolf Ralf
Original assignee: Stratec Biomedical AG
Current assignee: Stratec Biomedical AG
Priority date: 2016-07-04
Filing date: 2016-07-04
Publication date: 2018-01-10
Also published as: GB201611634D0

Abstract

A device and method for handling vials, comprising at least two spring loaded gripping fingers 30 surrounding a plunger 90. The first end of the plunger is connected to a drive for moving the plunger. The grippers are opened by contact with the end of the plunger and the plunger may release a vial by pushing it out of the grippers. The device may comprise sensors, preferably three sensors (20, 21, 22, Fig 1), for detecting the position and/or movement of the plunger. The device may also comprise flags 10 and 11 which trigger sensor signals indicating the status of the system, such as the presence or absence of a vial. The device may include vial retaining hooks for securing vials in a vial carrier and the gripper may engage with the vial retaining hooks to open them.

Description

(71) Applicant(s):

Stratec Biomedical AG

Gewerbestr 37, 75217 Birkenfeld, Germany (72) Inventor(s):

Ralf Wolf (74) Agent and/or Address for Service:

24IP Law Group Sonnenberg Fortmann CharlottenstraBe 80,10117, Berlin, Germany (51) INT CL:

G01N 35/04 (2006.01) B01L 9/00 (2006.01) (56) Documents Cited:

EP 1295843 B1 WO 2014/002953 A1

WO 2011/017586 A1 US 5948360 A US 5455006 A (58) Field of Search:

INT CL B01L, B25J, F16B, G01N Other: EPODOC, WPI (54) Title of the Invention: Device for handling vials

Abstract Title: Vial handling device with grippers and plunger (57) A device and method for handling vials, comprising at least two spring loaded gripping fingers 30 surrounding a plunger 90. The first end of the plunger is connected to a drive for moving the plunger. The grippers are opened by contact with the end of the plunger and the plunger may release a vial by pushing it out of the grippers. The device may comprise sensors, preferably three sensors (20, 21,22, Fig 1), for detecting the position and/or movement of the plunger. The device may also comprise flags 10 and 11 which trigger sensor signals indicating the status of the system, such as the presence or absence of a vial. The device may include vial retaining hooks for securing vials in a vial carrier and the gripper may engage with the vial retaining hooks to open them.

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Title: Device for handling vials

Field of the Invention [0001] The field of the invention relates to a device for handling vials.

Background of the invention [0002] Automated analyser systems for use in clinical diagnostics and life sciences are produced by a number of companies. For example, the Stratec Biomedical AG, Birkenfeld, Germany, produces a number of devices for specimen handling and detection for use in automated analyser systems and other laboratory instrumentation.

[0003] Sample vials are used for processing probes or liquids in automated analyzer systems. The vials have to be moved during processing of its content. A common technic for handling vials is a gripper with a linear radial displacement of gripper fingers actuated by a linear spindle for each finger or a common spiral drive like a jaw chuck. The number of fingers can vary.

[0004] One used technic for gripping vials is the use of a collet chuck which is pulled or pushed by a coaxial linear actuator. Another technic is based on the linear radial displacement of gripping fingers actuated by a linear spindle for each finger or alternatively by a spinal drive like a jaw chuck.

[0005] A disadvantage of systems known from the state of the art is that they are related to large system diameters, caused by their design and mode of action. Thus, high hardware costs result causing high costs for complex mechanics and electronics.

[0006] Furthermore, a limitation of gripping radial size is related to the known designs and a movement in z-Axis may occur primarily by radial gripping action. The prior art devices do not provide for a separate unlocking functionality for locked vials resulting in high costs for load sensing electronic status supply, e.g. load cell or strain gauge, which are necessary.

[0007] Thus, there is a need for a device and method for a gripping device suitable for gripping vials of various diameter and length within a strictly limited operating area concerning available radial space.

Object of the Invention [0008] It is an object of the present invention to provide a device handling vials of different diameter and length within a limited available space.

Summary of the Invention [0009] The present disclosure provides a device for handling vials, comprising a gripper surrounding a plunger, wherein a first end end of the plunger is connected to a drive for moving the plunger in a longitudinal direction and a second end of the plunger is arranged to engage into at least two gripping fingers, wherein the at least two gripping fingers are spring loaded.

[0010] The gripper shall be movable in the same direction than the plunger.

[0011] The device may further comprise sensors for detecting the position and/or movement of the plunger.

[0012] Three sensors and flags can be connected to gripper and plunger, wherein the flags trigger sensor signals indicating the status of the system.

[0013] An indicted status of the system may be the presence or absence of a vial and the system being ready to take a vial.

[0014] The second end of the plunger can comprise a T-fitting.

[0015] The device may further comprise a vial retaining hooks for securing vials in position in a vial carrier, wherein the gripper engages into the vial retaining hooks for opening them.

[0016] Another object of the instant invention is a method for handling vials, comprising the steps of:

Moving a motor driven plunger with a first end in a longitudinal axis in the direction of at least two spring loaded gripper

Distributing the actuating force of the plunger to the at least two gripper for opening them by bringing the first end of the plunger and a first end of the gripper in contact.

[0017] The method may additionally encompass the step of releasing a vial by moving the first end of the plunger out of the first end of the gripper so that the spring load opens the at least two spring loaded gripper.

[0018] It is envisaged that the plunger may actively push a vial out of the at least two fingers.

Summary of the Figures [0019] The invention will be described on the basis of figures. It will be understood that the embodiments and aspects of the invention described are only examples and do not limit the protective scope of the claims in any way. The invention is defined by the claims and their equivalents. It will be understood that features of one aspect or embodiment of the invention can be combined with a feature of a different aspect or aspects and/or embodiments of the invention. It shows:

[0020] Figure 1 [0021] Figure 2 [0022] Figure 3 [0023] Figure 4 [0024] Figure 5 [0025] Figure 6

Schematic depiction of a first embodiment with sensors

Sectional view of first embodiment with initialization of the gripper

Sectional view of first embodiment in closed position

Sectional view of first embodiment in a gripped position

Sectional view of second embodiment without vial

Detailed depiction of coil spring loaded gripping fingers [0026] Figure 7,8,9

Sectional view on vial releasing mechanism [0027] Figure 10 Embodiment with joint cam bone for actuating gripping fingers

Detailed Description of the Invention and the Figures [0028] The present disclosure provides a device with a compact design, which has a diameter that is only slightly larger than the size of a vial to be gripped. The gripper of the instant invention is able to use only a small collar that is accessible for gripping a vial. The status whether a vial is gripped or not can be indicated by a spring loader design. The spring loaded external slave actuator mechanism can be an integral part of the gripper of the insatnt invention.

[0029] The invention relates basically to two gripper designs for different vial types. One design uses two gripper fingers, and the other design uses three gripper fingers. The operating principle of gripping and finger status detection is the same for both versions. Additionally, one design has a releasing feature to release a vial from an external tube holder.

[0030J Figure 1 shows a gripper (1) design with a main flag (10) and a utility flag (11). Three sensors are comprised, an open sensor (20), a closed sensor (21) and a gripped sensor (22). The design in figure 1 shows two fingers (30) and a vial (40).

[0031] Figure 2 shows the initialization of the gripper (1). The open sensor (20) is not triggered, but the closed sensor (21) is triggered. The gripped sensor (22) is not triggered by the utility flag (11). Thus, the gripper indicates that the fingers are open and no vial is gripped.

[0032] Figure 3 shows the design of the previous figures in an closed position. The open sensor (20) is triggered by utility flag (11). The closed sensor (21) is not triggered as well as the gripped sensor (22) is not triggered. This means that the gripper indicates that no vial is gripped.

[0033] Figure 4 shows the gripper in a gripped position. The closed sensor (21) is not triggered by a flag, whereas the open sensor (20) and the gripped sensor (22) are triggered by a flag. The fingers (30) cannot fully close, because of the gripped vial. The inner part (not shown) moves to the left and the shaft (55) remains at its position, so that the fingers (30) remain in their position, which is detected by the utility flag (11). The gripper indicates that a vial is present.

[0034] Figure 5 shows another design of a gripper (1) based on the same working principles than the design described above. The design comprises a motor (60), a status mechanism as described above, a shaft (55), gripping fingers (30) and vial releasing features.

[0035] The gripper has its own motor (60) to empower the central shaft (55) to move the fingers (30). The entire gripper is Z (main) controlled by an external linear actuator (not part of the invention, not shown) as well as there could be even more axes in Y and X direction, for positioning purposes. The external Z drive is used to place the gripper in Z direction above a chosen vial, and it is co-used for the external vial releasing function [0036] The motor (60) does not have to be arranged in proximity of the finger so that the design can be smaller. Figure 6 shows that the fingers (30) are opened by a coil spring (31) arranged at each finger.

[0037] The gripper finger status detection mechanic is designed to indicate a status of the system, which can be one of: vial present, no vial, ready to take a vial. This mechanic transfers the introduced linear move of the motor via a spring loaded mechanism and the plunger (55) to the gripping fingers (30). Due to the three sensor signals and the real travel length of the plunger (55) it is possible to detect three different system conditions (as already described above). The external vial releasing feature (70) is able to move coaxial along the gripper [0038] Figure 6 shows gripping fingers (30) and coil spring (31) used for opening the gripping fingers (30). A coil spring (31) may be added to each gripping finger (30).

[0039] Figure 7 shows the vial releasing feature (70) in more detail. The vial releasing feature (70) can be separated into a primary mechanism with vial retaining hooks (41) and a secondary mechanism with secondary hooks (42). A vial (40) interacts with the secondary mechanism, by using also the already mentioned external Z-drive to actuate the vial retaining hooks (41).

[0040] Figure 8 shows the vial releasing feature (70) opening the vial retaining hooks (41) so that the vial drops to secondary hooks (42). In figure 9, the vial releasing feature (70) stops and the gripper (1) moves inside the vial releasing to take the vial from the carrier.

[0041] The same central actuating mechanism as described above can be used in connection with different designs of gripping fingers (30). It is intended that a shaft (55) actuates the gripping fingers (30) via a joint cam bone (56) as shown in figure 10.

[0042] The vial retaining and active discard is introduced via the shaft (55) and cam bone (56) by pushing the vial (40) in parallel with the opening move of the gripping fingers (30) which are in mechanical contact with the cam bone (56) and the shaft (55). In this cascade the stroke of the shaft (55) is used to actuate the fingers (30) and the vial (40). Figure 10 is representing the open position and the vial is pushed out (contact between cam bone and vial).

[0043] The advantages of the invention can be summarized as follows:

a. Vials could be processed within a very limited space environment

b. All actuators and sensors are operating the gripping fingers over a large distance

c. Vials could be processed deep inside adjoining environment

d. Robust and simple design

e. A external vial retaining device can be operated by the gripper with the vial releasing feature

f. No unintended “second move” while gripping

Reference Number List

I gripper main flag

II utility flag open sensor closed sensor gripped sensor finger coil spring vial vial retaining hooks secondary hooks shaft joint cam bone motor the vial releasing feature 80 carrier plunger

Claims

1. A device for handling vials, comprising a gripper surrounding a plunger, wherein a first end end of the plunger is connected to a drive for moving the plunger in a longitudinal direction and a second end of the plunger is arranged to engage into at least two gripping fingers, wherein the at least two gripping fingers are spring loaded.

2. The device of claim 1, wherein the gripper is movable in the same direction than the plunger.

3. The device of any one of claims 1 or 2, comprising sensors for detecting the position and/or movement of the plunger.

4. The device of claim 3, comprising three sensors and flags connected to gripper and plunger, wherein the flags trigger sensor signals indicating the status of the system.

5. The device of claim 4, wherein the status can be the presence or absence of a vial and being ready to take a vial.

6. The device of any one of claims 1 to 3, wherein the second end of the plunger comprises a T-fitting.

7. The device of any one of claims 1 to 4, comprising vial retaining hooks for securing vials in position in a vial carrier.

8. The device of claim 7, wherein the gripper engages into the vial retaining hooks for opening them.

9. A method for handling vials, comprising the steps of:

- Moving a motor driven plunger with a first end in a longitudinal axis in the direction of at least two spring loaded gripper

- Distributing the actuating force of the plunger to the at least two gripper for opening them by bringing the first end of the plunger and a first end of the gripper in contact.

10. The method of claim 4, comprising additionally the step of releasing a vial by moving the first end of the plunger out of the first end of the gripper so that the spring load opens the at least two spring loaded gripper.

11. The method of one of claims 4 or 5, wherein the plunger actively pushes a vial out of the at least two fingers.

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Application No: GB1611634.5 Examiner: Dr Sarah Narramore