Pipetting device and method for liquid transfer

Abstract

The present invention relates to a method and a device for transferring a fluid from a dispensing container, such as a sample container (921) and / or a reagent container (951a, 951b), into at least one receiving container (201), wherein a moving pipette (300) of the pipetting device is designed so that it can move along a first direction (x), and it has at least one pipetting module (3011) which can move along an arm (304) of the pipette (300) in a second direction (y), which is substantially perpendicular to the first direction (x), and at least one hollow needle (307) thereof is designed so that it can be lowered into the respective container (921, 951a, 951b, 201). According to the present invention, the arm (304) of the movable pipette (300) has a base structure (340) that can move in the x-direction and two rods (341, 342) are fixed to the base structure, aligned in parallel and protruding horizontally in their direction, and corresponding pipetting modules (3011, 3012) are arranged on their facing longitudinal sides, which can pass each other independently, wherein each pipetting module (3011, 3012) has at least one hollow needle (307) that can be lowered into the respective container (921, 951a, 951b, 201).

Description

[0001] The present invention relates to an automatic pipetting device for transferring a liquid from a dispensing container, such as a sample container and / or a reagent container, into at least one receiving container, wherein the movable pipette of the pipetting device is designed to be movable in a first direction and comprises at least one pipetting module, which is movable along an arm of the pipette in a second direction, which is substantially orthogonal to the first direction, and wherein at least one hollow needle of the pipetting module is designed to be lowered into a separate container. The present invention also relates to a method for transferring a liquid from a dispensing container, such as a sample container and / or a reagent container, of an automatic pipetting device into a receiving container.

[0002] Known in the prior art are pipetting machines or pipetting devices for transferring a limited amount of liquid between different liquid containers distributed in a grid-like manner on a surface. For example, in the case of preparing samples for the measurement of chemical and physical parameters in an analytical device, physical, chemical or biological liquid samples can be treated with specific reagents or diluents. The machine has one or more pipetting units, each of which has an associated pipetting needle for aspirating and dispensing liquids. These pipetting units can move in one or more horizontal directions relative to the surface on which the liquid container is located and can be lowered into the liquid container. In addition, a needle washing unit is required to prevent residues of liquid substances adhering to the needle from being carried into other containers. In addition to accurately metering the liquid, the construction of the pipetting machine always aims to achieve as many pipetting operations as possible per unit time (high throughput).

[0003] Furthermore, pipetting devices of the aforementioned type are also used in automatic analyzers. Such analyzers are routinely used, for example, in clinical diagnostics, analysis, and microbiology, with the aim of determining various properties and compositions of liquid samples rapidly, accurately, and reproducibly using chemical and / or biochemical reagents, in particular using optical methods.

[0004] In order to better understand the present invention, several basic technical terms used in this application will be defined in more detail:

[0005] Pipetting unit:

[0006] This refers to the entire system of an automated pipetting device for transferring liquids between different containers. It consists of one or more movable pipettes, as well as all movable and fixed parts required for their operation, including fluid components for supply purposes (hose connections, pumps, valves, containers, etc.), sensors, controllers and power supplies.

[0007] Pipette:

[0008] This describes a component of a pipetting unit that is linearly movable relative to a receiving container, sample container, reagent container, reaction container or cuvette in the x-direction. The pipette comprises a suspension element with at least one pipetting module that is movable in the y-direction, which is essentially orthogonal to the x-direction.

[0009] Pipetting module:

[0010] This refers to a device mounted on the pipette and movable in the y-direction, comprising a holder movable in the perpendicular z-direction and intended to hold at least one cannula or hollow needle, and its fluid connection elements.

[0011] Hollow needle:

[0012] This refers to a needle or cannula mounted on a holder of a pipetting module, which is intended to aspirate liquid from a dispensing container and to dispense a metered amount of the aspirated liquid into a receiving container.

[0013] Assign container:

[0014] A container or receptacle containing a liquid to be aspirated by a hollow needle and transferred to a receiving container. Dispensing containers used to store and provide liquid chemical and biochemical reagents for sample processing and / or analysis are also referred to as reagent containers. Dispensing containers used to provide liquid samples, specifically analytical samples from which smaller sample quantities (aliquots) can be extracted, are also referred to as sample containers.

[0015] Receiving container:

[0016] A container or receptacle for receiving liquids transferred from one or more dispensing containers by one or more hollow needles. Receiving containers can be wells in microtiter plates, vials, special reaction vessels, and cuvettes for photometric and luminescence measurements.

[0017] EP 2 410 342 A2 (Hoffmann-La Roche) discloses a pipetting device with a pipette, which has a plurality of flat frame elements, which are arranged adjacent to each other and can move together with the pipette needle of the pipette in a horizontal x-direction on a main frame body, which is orthogonal to the main frame body. The pipetting device is used to transfer a sample or reagent from a first row of containers to a second row of containers, which are offset along the x-direction. The pipette needle is first adjusted along the y-direction according to the spacing of the first row of containers to absorb the sample liquid or reagent liquid, and then adjusted according to the spacing of the second row of containers to distribute the sample liquid or reagent liquid. However, the independent movement of the two pipette needles along the x-direction and the y-direction is not provided. The motion modules in the y-direction and the z-direction (the rise and fall of the pipette needle) are arranged in the gap between flat, adjacent frame elements to keep a small spacing between each pipette needle. However, the independent movement of the pipette needle along the y-direction is only possible within a limited range. For example, the frame elements cannot be moved relative to each other on the transfer arm, which results in the pipetting needle having mutually restricted freedom of movement in the y direction. Such pipetting devices find useful applications in particular in connection with microtiter plates.

[0018] WO 2011 / 119441 A1 (BIONEX SOLUTIONS) discloses a device for transferring and testing materials, comprising an independently movable carrier device and a receiving device. The carrier device, movable in the X and Z directions and equipped with a hollow needle, is suspended from the underside of a fixed beam structure supported at both ends of the device. The receiving device is movable in the Y direction and rotatable in the X / Y plane and, for example, is equipped with a microtiter plate into the recess of the microtiter plate. The combined translational and rotational motion of the carrier device and receiving device minimizes travel distance.

[0019] US 5,897,837 A (TOA MEDICAL) describes an automatic pipetting device or pipetting machine for pre-treating samples for immunoassay analyzers. As shown in FIG1 of the present application, the pipetting machine 10 has a first pipette 20 that is movable horizontally in the x and y directions and is equipped with two pipetting needles 11 and 12 that can be lowered or raised independently of each other in the vertical direction. In this case, one of the two needles 11 can be assigned to the reagent, while the other needle 12 is assigned to the samples, which are arranged in different sections 14 to 19 of the workbench plane 23. In addition, there is a second pipette 21 that is movable in the xy direction and has a lowerable pipetting needle 13.

[0020] The first horizontally movable pipette 20 carries a needle washing unit 22 that can be moved horizontally back and forth between the vertical descending paths of the two pipetting needles 11 and 12. In each case, either needle can be cleaned while the other needle is performing a pipetting operation. The two pipetting needles 11 and 12 of the first pipette 20 can only be moved together in the x-direction and / or the y-direction.

[0021] The disadvantage of this is that the weight of the robotic components of the pipette 20 cannot be distributed across the two horizontal axes of motion x and y, so the weight of the second pipetting unit must also be constantly accelerated in order to move into position in the y direction. Similarly, the weight of the needle washing unit 22 together with the needle washing container must also always be accelerated in both horizontal directions.

[0022] In addition, DE 10 2005 049 920 A1 (MANZ AUTOMATION) discloses a robot assembly for the field of life sciences, which includes a plurality of robot modules 131. As shown in FIG2 of the present application, each coupling module 131 is equipped with a fixed X-axis arm 132, and at least one Y-axis arm 133 is arranged on the X-axis arm so that it can move in the X direction. A coupling device for detachably connecting a working module 134 is provided on the Y-axis arm 133, and the coupling device can move in the Y direction. The working module 134 can be designed as a pipetting module with a plurality of pipetting needles 135, or can be designed as a gripper module. The sample 136 to be pipetted is arranged on a working platform 137, wherein an interchangeable distribution module 138 is arranged in a column 139, which connects the working platform 137 to the X-axis arm 132, and the distribution module is connected to the working module 134 via a hose line. According to one embodiment variant, the Y-axis arm 133 may have two coupling devices for the working modules 134 on opposite sides of the Y-axis arm 133. The coupling devices can then move independently of each other in the Y direction. Multiple modules 131 can be coupled so that their X-axis arms are adjacent to each other, wherein the Y-axis arms on adjacent modules can move but cannot move past each other.

[0023] Finally, US Pat. No. 7,998,432 B2 (Immunodiagnostic System) discloses an automated analyzer for performing biochemical (clinical chemistry) and blood coagulation tests, which are measured photometrically. The analyzer is also suitable for performing heterogeneous immunoassays using luminescence detection. The automated analyzer is essentially divided into an area for storing samples and reagents and an area for performing optical measurements and analysis. A pipetting device can be moved along these two areas, thereby transferring liquid samples and reagents from the storage area to a cuvette in the measurement area.

[0024] The object of the present invention is to significantly shorten the average time of a pipetting process in a pipetting machine or pipetting device and thus to achieve the greatest possible throughput at relatively low cost, in particular in the case of pipetting tasks in which the type and quantity of dispensed reagents and samples vary continuously between individual pipetting operations.

[0025] According to the invention, this object is achieved in that the arm of the movable pipette has a base structure movable in the X direction, two beams are attached to the base structure, said beams being oriented parallel to each other and projecting horizontally in the Y direction, and pipetting modules, each of which can be moved independently past each other, are arranged on mutually facing longitudinal sides of said beams, each pipetting module having at least one hollow needle which can be lowered into the respective container.

[0026] For each pipetting module, the travel distance available on each crossbar of the pipette can be used in its entirety, irrespective of the position of the respective other pipetting modules.

[0027] According to the invention, in order to increase the torsional rigidity of the arm, the two beams of the arm may be connected at the ends remote from the base structure, thereby forming a frame structure.

[0028] According to the present invention, by placing the pipetting modules opposite each other, a relatively small spacing between the two hollow needles can be achieved, wherein, when the pipetting modules pass each other, the hollow needles of the two pipetting modules that can move past each other preferably have a minimum spacing in the x-direction of 2 mm to 16 mm, preferably 2 mm to 4 mm. Thus, the two hollow needles can be lowered simultaneously and enter a receiving container having an opening with a diameter of 6 mm to 20 mm without colliding.

[0029] According to an advantageous variant of the invention, the pipette can have a mounting on the outside of at least one of the beams, which is movable in the y-direction and is provided for attaching a working module. The dispensing and receiving containers of the pipetting device can be transferred or exchanged with the aid of a gripper of the working module.

[0030] The following advantages are therefore obtained for the pipette according to the invention:

[0031] Due to the rigid suspension on the base structure, both beams can be moved jointly in the x-direction, ie only one drive is required in the x-direction.

[0032] The beams are preferably connected on the side opposite the suspended mounting portion, thereby forming a frame in order to achieve maximum mechanical stability (eg resistance to bending during acceleration or deceleration) at the lowest possible weight.

[0033] - The hollow needles mounted on the mutually facing sides of the two beams can be moved past each other at very close spacing (eg a minimum spacing of 2 mm in the x-direction). Thus:

[0034] a) The individual movement distances (e.g., between dispensing the sample and subsequently dispensing the reagent from two different hollow needles into a receiving container) can be kept as short as possible: the hollow needle of the first beam, containing the sample, is positioned over the opening of the cuvette for the first pipetting step; the hollow needle of the second beam, containing the reagent, is then positioned over the cuvette for the second pipetting step. To achieve this, the pipette only needs to move a short distance of a few millimeters in the x-direction, which corresponds to the distance between the two hollow needles in the x-direction.

[0035] b) The offset movement between the position of the hollow needles of the first and second beams of the needle washing unit moving together with the pipette can be kept very small (for example in the region of 2 mm).

[0036] c) According to a variant of the invention, it is also possible to lower two hollow needles together into a container with a narrow inlet opening (diameter from 6 mm).

[0037] d) When using hollow needles arranged oppositely on the inner sides of two beams, the length in the x-direction of the movement track including the drive required to move the pipette in the x-direction across the entire working surface of a given side length can be much shorter than in known embodiments with hollow needles on opposite sides of an arm with the same mechanical stiffness.

[0038] The method according to the invention for transferring a liquid from a dispensing container of an automatic pipetting device, for example from a sample container and / or a reagent container, to a receiving container is characterized by the following steps:

[0039] 1) moving the hollow needle of the pipetting module of the first beam of the pipette in the advanced position across the horizontal working surface to a predetermined x / y position of the extraction opening of the dispensing container;

[0040] 2) lowering the hollow needle of step 1) into the dispensing container, sucking a predetermined amount of liquid, and raising the hollow needle to a travel position;

[0041] 3) moving the hollow needle of step 2) across the horizontal working surface to a predetermined x / y position of a receiving container, such as a notch of a microtiter plate, a vial, a reaction vessel, or a cuvette;

[0042] 4) lowering the hollow needle of step 3) into the receiving container to dispense a predetermined amount of liquid, and raising the hollow needle to an advanced position; and

[0043] 5) While executing steps 1)-4), the hollow needle of the pipette module of the second beam of the pipette is moved along the y direction to the receiving opening of the needle washing unit. The needle washing unit can move synchronously with the pipette along the x direction without considering the current position of the hollow needle of the pipette module of the first beam, or the hollow needle of the pipette module of the second beam is maintained in the traveling position.

[0044] Since the two pipetting modules can be moved unimpeded past each other in the y-direction, an increase in throughput is achieved, wherein the first pipetting module can, for example, pipette a sample while the hollow needle of the second pipetting module can be cleaned simultaneously, regardless of the position of the first pipetting module.

[0045] One embodiment variant of the invention provides that the pipettes of the pipetting device have pipetting modules which have different hollow needles which differ in the type of material used, the internal volume and / or the geometry of the hollow needle.

[0046] For certain pipetting tasks that require the use of two different types of hollow needles, it can be advantageous to use two different hollow needles on the same pipette. For example, one of the pipetting modules attached to the pipette may have a hollow needle with a particularly small internal volume in the microliter range to improve precision, while the second hollow needle has a correspondingly larger internal volume to dispense larger volumes. In another embodiment according to the present invention, one of the hollow needles may be at least partially made of a different material (e.g., a corrosion-resistant alloy, plastic, or steel), or the inside and / or outside of the hollow needle may be coated with a hydrophobic or hydrophilic substance to control wetting. The needles may also differ through other modifications that do not necessarily concern only the surfaces in contact with the medium, such as, for example, conductive needle components that are part of or in contact with the hollow needle, sensors, heating devices, or cooling devices. However, the second needle may also differ in its geometry; for example, it may have a different tip angle to facilitate droplet separation, or it may have a different length or diameter to better adapt the needle to the relevant pipetting task.

[0047] Thus, by using different pipetting modules that can be independently moved in the y-direction on the same pipette, a variety of pipetting tasks can be performed without the need for additional pipettes or needle exchange units.

[0048] Regardless of the type of pipetting task, a further increase in throughput is achieved when the pipette of the pipetting device has at least one needle washing unit for two pipetting modules, which can be moved together with the pipette. For example, a pipetting process can be carried out on one hollow needle while a second hollow needle is being cleaned at the same time. The construction of the pipette is characterized in that the individual pipetting modules can be moved in the y-direction without also moving the needle washing unit weight carried by the pipette, so that the two pipetting modules can be accelerated and decelerated more quickly in the y-direction (compared to US 5,897,837 A).

[0049] It is particularly advantageous if the movable needle washing unit is arranged on a supporting structure which is attached to a movable base structure or to at least one beam of an arm of the pipette. However, it is also possible to provide the needle washing unit with a separate movement track and drive and to electronically control its exact positioning relative to the movable pipette. A specific advantage of the movement of the needle washing unit on a separate track is that there is no need for a separate mechanism which brings the inlet opening of the needle washing unit into the x position of the corresponding hollow needles of the two beams in the x direction. When following the movement of the pipette, the needle washing unit can be exchanged between the two hollow needles on the opposite beams by means of a slight offset movement in the X direction, without any additional actuator being provided for this purpose.

[0050] The first pipetting module and the second pipetting module are designed to be movable substantially parallel to one another, at least in the region of the two beams of the pipette.

[0051] According to one embodiment variant of the present invention, a pipetting module having two hollow needles (double needle) that can move together is arranged on at least one beam of the pipette, and the hollow needles are connected via a lifting mechanism so that the two hollow needles can move in opposite directions (in an anti-parallel manner) along the z direction.

[0052] According to a simple embodiment, the pipetting modules on the two beams can each have only one hollow needle. In addition, a pipetting module with a double needle can be arranged on one beam, and a module with a single needle can be arranged on the other beam. Finally, the pipetting modules on both beams can have a double needle.

[0053] The present invention will be explained in more detail below based on partially illustrated exemplary embodiments. In the accompanying drawings:

[0054] FIG1 shows a three-dimensional view of a first automatic pipetting device for transferring samples and reagents according to the prior art;

[0055] FIG2 shows a three-dimensional view of a second automatic pipetting device for transferring samples and reagents according to the prior art;

[0056] Figure 3aAn automatic pipetting device according to the invention is shown in a three-dimensional view for transferring a liquid from a dispensing container into at least one receiving container, said container being arranged on a work surface;

[0057] Figure 3b It shows that according to the present invention Figure 3a A variation of the illustrated automated pipetting device, which is part of an automated analyzer, with samples and reagents arranged below the working surface;

[0058] Figure 3c Shown Figure 3b An enlarged detailed view of the pipetting device in the area of ​​the needle wash unit;

[0059] Figure 3d Shown from different viewing angles Figure 3c Detailed view of

[0060] Figure 3e A detailed view of a pipetting module of an automatic pipette according to the present invention is shown, the pipetting module having a double needle;

[0061] Figure 3f Shown Figure 3e A variation of the pipetting module having a single needle;

[0062] Figure 4a The enlarged cross-sectional view shows Figures 3a to 3d Needle washing unit of automatic pipette;

[0063] Figure 4b Shown Figure 4a A variant of the needle washing unit for simultaneously receiving two hollow needles;

[0064] Figure 5 The schematic diagram shows Figure 3a or Figure 3b The fluidic components of the pipetting module; and

[0065] Figure 6 The schematic diagram shows Figure 4a Fluidic components of the needle wash unit.

[0066] In the various embodiment variants, components having the same function are provided with the same reference symbols.

[0067] The automatic pipetting device shown in FIG. 1 has been described in detail in the background art section of the specification (see US Pat. No. 5,897,837 A).

[0068] The automatic pipetting device shown in FIG. 2 has already been described in detail in the background art section of the specification (see DE 10 2005 049 920 A1).

[0069] Figure 3a The pipetting device according to the invention shown in FIG is generally used for transferring liquids from a dispensing container to a receiving container when handling or processing chemical or biological liquids, for example, for transferring a sample from a sample container 921 in a sample reservoir 920 located on a table surface or work surface 114, and for transferring reagents from various reagent containers 951 a, 951 b to at least one receiving container 201, such as a vial or a reaction vessel (see FIG. Figure 3a ), analyzer cuvette (see Figure 3b ), or a recess of a microtiter plate. A plurality of receiving containers 201 can be arranged in the preparation area or measurement area 200, for example in a row as a linear array or also in a two-dimensional array, for example in the form of a microtiter plate.

[0070] To simplify Figure 3a and Figure 3b The description in FIG. 1 shows only those parts of the automatic pipetting device that are important for the present invention, wherein other parts of the pipetting device, such as pumps, valves, control units and drive units, which are preferably arranged below the working surface 114 oriented parallel to the x / y plane, will not be discussed in detail here.

[0071] Figure 3a and Figure 3b The pipetting device shown in FIG has a pipette 300 that is movable in the x-direction, wherein two pipetting modules 3011, 3012 that are movable in the y-direction, which is substantially orthogonal to the x-direction, are arranged on a horizontally projecting arm 304 of the pipette 300. The arm 304 of the movable pipette 300 has a base structure 340 that is movable in the x-direction and to which two beams 341, 342 are attached, which are oriented parallel to each other and project horizontally in the y-direction. Two pipetting modules 3011, 3012 that can be moved independently past each other are arranged on mutually facing longitudinal sides of the beam, each pipetting module 3011, 3012 having at least one hollow needle 307 that can be lowered into a respective container 921, 951a, 951b, 201. The two pipetting modules 3011 , 3012 are moved in the y-direction by a linear drive (eg a toothed belt drive), which is not shown here.

[0072] The two beams 341, 342 of the pipette 300 can be connected at the end faces of the arm 304 by a connecting web 351, thereby forming a substantially rectangular frame structure 343 to strengthen the pipette against deformation in the x-direction. If reinforcing elements 349 are provided inside the frame structure at the intersection between the beam 341 or 342 and the connecting web 351 or the base structure 340 (not shown), the resulting frame structure can be made even stiffer.

[0073] Particularly suitable materials for the arm 304 and the base structure 340 are light metal alloys or fiber composite materials with high tensile strength.The pipette 300 consisting of the structural features according to the invention can be manufactured from one or more parts.

[0074] The arm 304 is suspended on the horizontal travel rail 111 via a base structure 340, for example a trapezoidal shape, which enables the pipette 300 to move longitudinally, defined as the x-direction, on the working surface 114 of the sample and reagent platform 930. Figure 3a or Figure 3b In the variant shown, the arm 304 can be moved by a linear drive, such as a toothed belt drive (not shown), which is connected to a servo motor 347. The travel rail 111 is anchored to a solid, vertically oriented back plate 348, which is suitable both as a counterweight for the acceleration and deceleration of the pipette 300 and for cooling the travel rail 111. In a typical embodiment according to the invention, the back plate 348 can be made of aluminum and can have a weight of 20 kg; the machine frame (not shown in detail) below the working surface 114 can have a weight of >300 kg.

[0075] To guide the fluid lines and any power supply and signal lines in the y-direction, the two pipetting modules 3011 and 3012, which can be moved on the inside of the beams 341, 342, have energy chains 3111, 3112, which can be deployed on the upper side of the corresponding beams. To guide the lines in the x-direction, an energy chain 310 is provided for this purpose, which can be deployed on the running rails 111.

[0076] The pipette 300 of the pipetting device has a needle washing unit 700 , which can move together with the pipette 300 and is used to clean the two hollow needles 307 corresponding to the two pipetting modules 3011 and 3012 .

[0077] The needle washing unit 700 is carried on the suspension support structure 344 on the pipette 300, wherein the needle washing unit 700 is connected to the drive unit 346 (see Figure 3d ) together with an actuator acting in the x-direction so that the position of the needle washing unit 700 on the support structure 344 can be changed, so that a single needle washing unit 700 can be used to wash the hollow needles 307 of two pipetting modules 3011 and 3012 moving in the y-direction. In addition, the possibility of changing the x-position of the needle washing unit 700 can be provided by suspending it on a horizontally rotatable boom of a rotary actuator (not shown). Figure 3a and Figure 3b As shown, the support structure 344 can be rigidly connected to the arm 304 or the base structure 340.

[0078] A separate energy chain 312 may be provided to guide the fluid lines in the x-direction as well as any power supply lines and signal lines of the needle wash unit 700. However, it is also possible for these lines to be carried in a deployable energy chain 310 along the pipette 300.

[0079] According to a variation of an embodiment, a separate needle washing unit 700 may also be provided for each of the two pipetting modules 3011 and 3012 , each of the needle washing units being fixedly assigned to one of the pipetting modules 3011 or 3012 .

[0080] According to another advantageous embodiment variant, a single needle washing unit 700 can be fixedly arranged on the support structure 344, just between the hollow needles 307 of the two pipetting modules 3011 and 3012 to be cleaned, wherein the opening of the needle washing unit 700 can be designed as a groove as follows (see Figure 4b ), so that the hollow needles 307 of the pipetting modules 3011 and 3012, which move relative to each other at a small distance along the x-direction on the inner sides of the beams 341, 342, can be lowered one after another or even simultaneously into the opening of the needle washing unit 700. In this variant, it is advantageous that no actuator is required for moving or pivoting the needle washing unit.

[0081] As an alternative to carrying the needle wash unit 700 along the pipette 300, the needle wash unit can also be guided electronically across the range of motion of the arm 302 of the pipette 300 to the rear of the pipette. In this case, an additional travel track must be provided, along with a horizontal linear drive in the x-direction, such as a toothed belt drive. One advantage of this is that the weight of the needle wash unit 700 and its power supply circuit does not need to be moved on the pipette 300.

[0082] The pipette 300 of the pipetting device according to the present invention can advantageously have a mounting member 305 for attaching a working module (not shown) on the outside of at least one beam 341, 342, said mounting member being movable in the y direction. The working module may comprise a holder for transferring or exchanging containers (e.g. microtiter plates or cuvettes). For example, the movement of the working module may be coupled to the movement of the pipetting module 3011 or 3012 moving on the other side of the relevant beam 341, 342 via a suitable entrainment mechanism. The working module is optionally fixed to Figure 3a or Figure 3b The holder can be mounted on the mounting element 305 shown, or it can be moved along a lateral extension (not shown here) of one of the pipetting modules 3011 or 3012. The power supply line of the gripper can then be carried very easily along one of the two energy chains 3111 or 3112 together with the power supply line of the adjacent pipetting module 3011 or 3012.

[0083] When the pipetting device according to the invention is used in an automatic analyzer for analyzing biological or chemical samples by means of optical measurements in a cuvette 201 (see Figure 3b ), the gripper of the working module can be used to transfer the cuvette from the cuvette storage portion to the optical measurement unit 500 or the cuvette processing container (not shown).

[0084] Figure 3b It shows that according to the present invention Figure 3a A variation of the shown automated pipetting device as part of an automated analyzer for analyzing liquid biological / chemical samples. Figure 3b The device structure shown is designed to transfer liquid samples and reagents from the sample and reagent storage sections 920 and 950a, b of the sample and reagent platform 930 of the analyzer to a cuvette 201 arranged in the measurement area 200 of the optical measurement unit 500, in which the reaction mixture containing the analyte to be determined can be analyzed using optical methods (photometry or luminescence). The working surface 114, which serves as a cover, is arranged close to the sample container 921 and the reagent containers 951a, 951b and above the top edge of the receiving container 201 (cuvette). The unimpeded movement of the needle washing unit 700 along the x-axis on its support structure 344 is ensured by the slotted opening 936 in the working surface 114, which is located at Figure 3b Shown in.

[0085] In order to make it easier to maintain and fill the above-mentioned storage areas 920 and 950a, b, these storage areas are arranged on the front longitudinal side of the analyzer, and the sample storage part 920 has a strip rack 933, which the user can manually insert into the corresponding storage slot, and the storage slot is located under the cover 935 having a through hole 931 for the hollow needle 307.

[0086] For example, Figure 3b As shown, after folding the cover 935 having through holes for the hollow needles 932 of the pipetting modules 3111 and 3112 to the side, the reagent storage portion in which the reagent containers 951a and 951b are held can be manually exchanged from above. In order to easily manually remove the reagent containers 951a and 951b, it is particularly advantageous if the reagent containers are stored in a box 934 that can be pulled out toward the front.

[0087] Figure 3c Shown Figure 3b An enlarged detailed view of the pipetting device of FIG. 30 , looking towards the inner side of the beam 342 , wherein the pipetting module 3012 of the two movable pipetting modules 3011 , 3012 arranged in the region of the needle washing unit 700 can be seen. Figure 3cThe figure in shows a pipetting module 3012 with a vertical toothed belt 335 , to which two needle holders 330 , 331 are clamped, each needle holder holding at least one hollow needle 307 .

[0088] Figure 3c and Figure 3d The figures in the figure show together a needle washing unit 700 with a hollow needle 307 which is lowered into the needle washing unit for cleaning, wherein the power supply line can be guided to the needle washing unit 700 over a particularly short distance if it is not guided by the energy chain 310 or a component of the pipette 300, but by a separate energy chain 312 which extends in the x-direction.

[0089] Figure 3e and Figure 3f The lifting mechanism 332 shown by way of example in the figure has a toothed belt 335, which is clamped vertically between a lower pulley 333 and an upper pulley 334 serving as a drive pulley, and is suitable for moving the needle holders 330 or 331 and the hollow needles 307 clamped therein in the z-direction on the downwardly protruding and vertically oriented rail section 306. The individual hollow needles 307 of the pipetting modules 3011, 3012 located opposite each other in the x-direction are thus clamped at the edge of the needle holders 330 or 331, so that the hollow needles 307 can move past each other at a small distance when the pipetting modules pass each other.

[0090] It is particularly advantageous that the hollow needles 307 that are close to each other have a minimum spacing of 2 mm to 16 mm, preferably 2 mm to 4 mm, between each other in the x-direction when they pass each other in the y-direction, so that they can be lowered into a receiving container 201 having an opening with a diameter of 6 mm to 20 mm without colliding.

[0091] Each hollow needle 307 is connected at its upper end via a connector 338 and through a flexible pressure transfer channel 712 to a Figure 5 The fluid element shown can change the pressure in the hollow needle 307 accordingly through the fluid to aspirate and dispense the liquid.

[0092] according to Figure 3e In the illustrated embodiment variant of pipetting modules 3011 and 3012, two hollow needles 307 are arranged on a lifting mechanism 332 and can thus be moved in opposite directions, or in an antiparallel manner, along the z-direction because the needle holders 330 and 331 of the hollow needles act on the oppositely running sections of a toothed belt 335. Furthermore, other mechanical elements can be used instead of rotating toothed belts, as long as they function in the same manner. For example, vertically oriented supports on both sides, each with a needle holder 330 or 331, can act on pulleys or drive wheels 334.

[0093] according to Figure 3f In the embodiment variant of the pipetting module 3011 or 3012 shown, the pipetting module can be attached to the beam 341 of the arm 304 of the mounting member 305, which can be moved in the y direction. The pipetting module carries a single hollow needle 307, which can be moved vertically via a lifting mechanism 332.

[0094] Another advantageous embodiment variant of the pipetting device can have a pipetting module 3011 or 3012, such a module comprising Figure 3e and / or Figure 3f A plurality of lifting mechanisms of the type shown in the exemplary embodiment of the present invention are arranged adjacent to each other in the y-direction, thereby enabling the plurality of hollow needles 307 to be moved independently of each other in the z-direction on the beam 341 or 342.

[0095] By arranging two lifting mechanisms 332 adjacent to each other (not shown), different variants of pipetting modules 3011 or 3012 can be realized, each with a total of two, three or four hollow needles 307. It is also possible to combine the number of lifting mechanisms, depending on the task, to form more than two pipetting modules. In this way, a larger number of hollow needles 307 can be provided for different pipetting tasks, or if the proportion of lifting mechanisms each having only one hollow needle 307 is increased ( Figure 3f ), a larger number of hollow needles 307 that can move independently along the Z direction can be provided.

[0096] All hollow needles 307 of the pipette 300 may be made of different materials and / or may have different internal volumes and thus be used for different tasks.

[0097] Design examples and exemplary key performance indicators of the pipetting device according to the present invention:

[0098] In a typical application of the pipetting device according to the invention, the defined maximum travel time for a complete diagonal movement of the pipetting modules 3011 , 3012 of the pipette 300 across a working surface 114 measuring 1 m x 0.5 m is <500 ms.

[0099] The maximum travel time is Figure 3b This is particularly important in the case of the automated analyzers shown, whose working surface has the aforementioned dimensions and which must achieve a particularly high throughput of pipetting and gripping operations at the typically randomly distributed, non-adjacent receiving and dispensing locations.

[0100] During the motion in the x-direction, the acceleration that can be measured on the structure of the pipette 300 is>17 meters per square second, and the instantaneous speed reaches 3.6 meters per second. When the arm is typically made of aluminum alloy, the weight of the arm 304 is approximately 5 kilograms, and the lateral force in the x-direction measured on the connecting web 351 of the frame structure 343 of the arm 304 during acceleration is>85 Newtons. Although the lateral force is very large, it is necessary to prevent the vibration / bounce of>0.5 millimeters of bending offset or the arm 304 and its pipetting modules 3011, 3012, because this may, for example, cause errors in pipetting due to liquid loss during horizontal motion (or undesirable contact with the liquid container wall approaching when the subsequent hollow needle 307 descends). In addition, vibration damage may be caused to the entrained electronic parts of the pipetting modules 3011, 3012, for example, vibration damage may be caused to the bonding circuit contacts of the integrated circuit of the filling level and / or pressure measurement system.

[0101] The servo motor 347 of the pipette 300 has an output power greater than 0.8 kilowatts, thereby ensuring the desired motion power value of the pipette during operation when moving along the x-direction of the work surface.

[0102] Figure 4a The structure of the needle washing unit is shown in an enlarged cross-sectional view. The needle washing unit is marked with reference numeral 700 and is arranged on the base structure 340 or on the arm 304. The needle washing unit receives the hollow needle 307 of the pipetting module 3011, 3012. Figure 3a and Figure 3b 710. The hollow needle 307 is introduced through a receiving opening 711 in the housing 710 of the needle washing unit 700, wherein the inner cavity of the needle is cleaned simultaneously with a cleaning fluid or system fluid from a pressure transfer channel 712, and the outside of the needle is cleaned with a flushing fluid 714, which is supplied from an annular chamber 715 via a lateral cleaning nozzle 713. In order to clean the inside and outside of the hollow needle 307 by repeatedly aspirating and discharging the cleaning fluid from the lower part of the needle washing device, the cleaning fluid can be supplied via a radial inlet 716 and can then be emptied via an extraction opening 717.

[0103] Figure 4b The embodiment variant of the needle washing device shown is Figure 4a The embodiment variant shown differs essentially in the receiving opening 711 a which is designed as a slot and can receive and simultaneously clean two hollow needles 307 .

[0104] Figure 5The fluid circuit diagram of the hollow needle 307 is shown, which is connected to a precision piston pump 325, preferably a positive displacement pump (diluter) driven by a stepper motor, via a pressure transfer channel 712 filled with degassed liquid. The positive displacement pump has an additional liquid connection on the side, which is connected to a supply unit 320 for system liquid via a solenoid valve 326. This unit delivers, for example, degassed deionized water from a storage container 322 via a flushing pump 321. The storage container can be refilled or pressurized via a solenoid valve 323.

[0105] To detect malfunctions, the pressure transfer channel 712 also has a connection to a pressure sensor 324 near the pipetting needle 301 , which is connected to an evaluation and monitoring unit (not shown here), for example in order to detect a blockage of the hollow needle 307 .

[0106] Description of the pipetting procedure: For example, use Figure 3a The pipetting module 3011 shown in the figure is used to transfer a prescribed amount of liquid. The pipetting module first moves horizontally to a distribution container (e.g., a sample container 921), sucks 5 microliters of air (spacer) into the end of the hollow needle 307, and lowers the hollow needle 307 toward the liquid surface of the first container 921. In order to ensure that the hollow needle 307 has a sufficient but not excessive immersion depth, the downward movement of the hollow needle 307 is stopped at a prescribed immersion depth by a signal from a liquid surface detection device (not shown), for example, using a capacitance detection principle. In order to aspirate a prescribed amount of liquid with high precision in the microliter range, the hollow needle 307 is then lowered by using a liquid surface detection device (not shown). Figure 5 The working piston of the positive displacement pump (diluter) shown moves downward, generating a negative pressure in the hollow needle 307 of the pipetting module 3011, which causes the corresponding volume of liquid to be aspirated from the first container. The pipetting module 3011 then moves together with the aspirated liquid to the second container (e.g., receiving container 201), wherein the process is then reversed and the aspirated liquid is distributed into the second container through the end of the hollow needle 307, the aspirated liquid being separated from the system liquid by a separate air bubble (partition). At least between two pipetting processes involving different liquids, the internal and external cleaning of the hollow needle 307 is always performed in the needle washing unit 700. During the pipetting process using the pipetting module 3011, the hollow needle 307 of the second pipetting module 3012 can be cleaned and dried in the needle washing unit 700.

[0107] Figure 6 Shown according to Figure 4aFIG2 is a fluid circuit diagram of a needle washing unit 700 into which the hollow needle 307 is lowered. The housing 710 of the needle washing unit has a concentrically extending annular chamber 715 in the upper region, which serves as a medium supply for a plurality of internally concentrically oriented cleaning nozzles 713 and is connected to a supply unit 719 for a flushing liquid (e.g., deionized water) and a supply unit 727 for drying air via corresponding solenoid valves.

[0108] The inlet 716 radially arranged at the middle height of the housing 710 of the needle washing unit 700 is also connected to the solenoid valve and is only used to supply the cleaning liquid containing the surfactant from the supply unit 723 .

[0109] The supply unit 719 for rinsing liquid and the supply unit 723 for cleaning liquid each have a pump 720, 724, which delivers the rinsing liquid or the cleaning liquid containing a surfactant from a corresponding storage container 721, 725, which can be refilled or pressurized via a solenoid valve 722, 726. The supply unit 727 for air has an air pump 728 for supplying compressed air and optionally a drying device (not shown).

[0110] The extraction opening 717 at the bottom of the needle washing device 700 is connected to a wastewater collection unit 729 via a solenoid valve 718. The wastewater collection unit is in a vacuum state and basically consists of a collection container 730. The collection container has a connection to a vacuum pump 731 in the gas space above the liquid. The vacuum pump is connected to the collection container 730 via a solenoid valve. The collected wastewater can be discharged via a solenoid valve 732 at the bottom of the collection container 730 and can be fed to other wastewater treatment units.

[0111] Description of the needle washing process:

[0112] In a typical process for cleaning the hollow needle 307 of the pipetting modules 3011, 3012, the needle is first moved horizontally to the needle washing unit 700 and lowered into the lower holding position of the washing chamber. All waste water generated when cleaning the hollow needle 307 is sucked away via the extraction opening 717 located at the bottom, collected, and optionally post-processed. The residual amount of the last transferred liquid in and on the needle end is then emptied and sucked away via the precision piston pump 325, which is pumped in the bottom of the needle. Figure 5 Finally, the descending hollow needle 307 is flushed from behind by means of a supply device 320 for system liquid, which is shown in FIG. Figure 5 Shown in.

[0113] In the next step (with the solenoid valve 718 at the extraction opening 717 closed), a prescribed volume of a cleaning liquid containing a surfactant is introduced through the inlet 716 in the housing 710 of the needle washing unit 700, so that the chamber in the lower part is filled with a defined level of cleaning liquid. The hollow needle 307 is lowered until the outside of the needle is wetted by immersion in the cleaning liquid, and the inside of the hollow needle 307 is wetted by the cleaning liquid being drawn into the needle. The drawn-in cleaning liquid is then discharged again, and the process of drawing in and discharging the cleaning liquid can be repeated multiple times to improve the cleaning effect.

[0114] In the final step, the contaminated cleaning liquid is sucked away and the interior of the hollow needle 307 is rinsed with system water (e.g., degassed deionized water), while the exterior of the hollow needle 307 is simultaneously rinsed with rinsing liquid from a supply unit 719 by a concentrically arranged cleaning nozzle 713 located at the top, with the tip of the hollow needle 307 moving upward from the bottom to improve the cleaning effect.

[0115] Once the simultaneous internal and external flushing is complete, the hollow needle 307 moves back to the lower holding position, the medium supply to the cleaning nozzle 713 is switched to the compressed air supply unit 727, and the tip of the hollow needle 307 moves upward from the bottom again, thereby quickly removing the adhering water droplets from the needle surface. The hollow needle 307 can then be moved out of the needle washing unit 700 and is ready for pipetting again.

[0116] Example:

[0117] Figure 3a and Figure 3b The automatic pipetting device shown operates, for example, in the following manner:

[0118] Before a pipetting task, the control unit (not shown) of the pipetting device assembles all data required for transferring liquids (eg samples, reagents and other liquids) in the form of a transfer protocol from known and previously entered information.

[0119] Starting from a specific analysis procedure for a specific analysis of a sample using two reagents, the transfer procedure includes, for example, all instructions for transferring a liquid sample (located in a sample container 921 in the sample storage section 920) and transferring a first liquid reagent and a second liquid reagent (stored in two reagent containers 951b in the reagent storage sections 950a, 950b), the x / y positions of the extraction openings of the sample container 921 and the two reagent containers 951a, 951b, the x / y positions of the filling opening of the free receiving container 201, as well as the liquids to be transferred and the amounts of the liquids.

[0120] For the sake of simplicity, in the following example, it is assumed that the first pipetting module 3011 on the first beam 341 and the second pipetting module 3012 on the second beam 342 each carry only one hollow needle 307. If they carry multiple hollow needles, the control unit will select the appropriate hollow needle in each case, taking into account the transfer volume and the material of the needle.

[0121] In order to move in the x-direction and / or y-direction of the working surface, all hollow needles 307 must always be in a travel position in the z-direction or must be brought into said position. The travel position is selected so that when the pipette 300 is moved, all hollow needles can move across the working surface without colliding. In the lifting mechanism in the case of the double needle variant, this is the position in the z-direction in which the two hollow needles 330, 331 are at the same height. The exception is when the hollow needles are immersed in the needle washing unit 700.

[0122] Example 1

[0123] The following step of listing relates to the transfer procedure of exemplary sample processing and / or analysis, and this procedure will use two kinds of liquid reagents to carry out on liquid sample.In this case, sample should be present in the sample container 921 in the sample storage unit 920.First reagent should be present in the first reagent container 951a in the first reagent storehouse 950a.Second reagent should be present in the second reagent container 951b in the second reagent storehouse 950b.Should be introduced in the receiving container 201 by the amount of the sample, first reagent and second reagent specified by analysis procedure in sequence, this receiving container is positioned in preparation area or measurement area 200.

[0124] In step 1 , by simultaneously moving the pipette 300 in the horizontal x direction and the first pipetting module 3011 in the horizontal y direction, the hollow needle 307 of the first pipetting module 3011 is brought into the x / y position of the opening of the sample container 921 selected by the control unit.

[0125] In step 2, the hollow needle 307 positioned in step 1 is lowered into the sample container 921 along the z direction so that the end of the hollow needle is immersed in the sample liquid, and then a certain amount of sample liquid specified by the control device is sucked into the descending hollow needle, and then the hollow needle is raised again along the z direction to the travel position.

[0126] In step 3, by simultaneously moving the pipette 300 in the horizontal x direction and the first pipetting module 3011 in the horizontal y direction, the hollow needle 307 filled with the sample liquid in step 2 is brought into the x / y position of the filling opening of the receiving container 201 specified by the control unit. The receiving container is, for example, Figure 3a The reaction vessel 201 or Figure 3b The cuvette 201 in FIG.

[0127] In step 4 , the hollow needle filled with the sample liquid in step 2 is lowered in the z direction into the receiving container 201 to dispense a predetermined amount of the sample liquid, and then is raised again in the z direction into the travel position.

[0128] During all the movements of the hollow needle 307 of the first pipetting module 3011 described in the above steps 1-4, regardless of the current position of the hollow needle of the first pipetting module 3011, the hollow needle 307 of the second pipetting module 3012 can remain in the travel position or can move along the y direction to the y position of the inlet opening of the needle washing unit 700 that moves synchronously with the pipette 300 along the x direction. After lowering the needle tip, it can be cleaned in the needle washing unit and then can be raised to the travel position again.

[0129] Further steps 5-8 are similar to steps 1-4, except that now it is the hollow needle 307 of the second pipetting module 3012 that transfers the reagent liquid from the dispensing container 951a to the receiving container 201, while the hollow needle 307 of the first pipetting module 3011 is being cleaned.

[0130] The subsequent steps 9-12 are similar to steps 5-8, except that the hollow needle 307 of the first pipetting module 3011 now transfers the second reagent liquid from the dispensing container 951b to the receiving container 201, while the hollow needle 307 of the second pipetting module 3012 is being cleaned.

[0131] Thus, in a variant according to example 1, the pipetting needle of one of the two pipetting modules 3011 , 3012 can pipette samples and reagents while the pipetting needle of the other pipetting module is being cleaned and / or remains on standby in the travel position.

[0132] Example 2

[0133] The step of listing in example 2 relates to the exemplary transfer procedure of sample processing and / or analysis, and this procedure will use the second liquid of for example reagent liquid to carry out on the first liquid of for example sample liquid.In this case, for example the first liquid of sample liquid should be present in the sample container 921 of sample storage unit 920.For example the second liquid of reagent liquid should be present in the first reagent container 951a of the first reagent storage unit 950a.The quantity of the first liquid and the second liquid (sample and reagent) specified by the analysis procedure should be introduced in order into the receiving container 201, and this container is positioned in preparation area or measurement area 200.

[0134] In the following, the first liquid is a sample liquid and the second liquid is a reagent liquid. However, other clusters are also conceivable; for example, the first liquid can be a sample liquid, a reagent, or an active ingredient, while the second liquid can be a diluent liquid. The first liquid and the second liquid can also be different reagents.

[0135] In step 1 , by simultaneously moving the pipette 300 in the horizontal x direction and the first pipetting module 3011 in the horizontal y direction, the hollow needle 307 of the first pipetting module 3011 is brought into the x / y position of the opening of the sample container 921 selected by the control unit.

[0136] In step 2, the hollow needle positioned in step 1 descends along the z direction into the sample container 921 so that the end of the hollow needle is immersed in the sample liquid, after which the descending hollow needle inhales a certain amount of sample liquid specified by the control device, and then the hollow needle rises again along the z direction to the travel position.

[0137] In step 3, by simultaneously moving the pipette 300 in the horizontal x direction and the second pipetting module 3012 in the horizontal y direction, the hollow needle 307 of the second pipetting module 3012 is brought into the x / y position of the opening of the reagent container 951a selected by the control unit.

[0138] In step 4, the hollow needle 307 positioned in step 3 descends along the z direction into the reagent container 951a so that the tip of the hollow needle is immersed in the reagent liquid, after which the descending hollow needle inhales a certain amount of reagent liquid specified by the control device, and then the hollow needle rises again along the z direction to the travel position.

[0139] In step 5, by simultaneously moving the pipette 300 in the horizontal x direction and the second pipetting module 3012 in the horizontal y direction, the hollow needle 307 of the first pipetting module 3011 filled with sample liquid in step 2 is brought into the x / y position of the filling opening of the receiving container 201, while at the same time, the hollow needle 307 of the second pipetting module 3012 filled with reagent liquid in step 4 only needs to be brought into the y position of the receiving container 201 by simultaneously moving the pipetting module 3012 in the horizontal y direction.

[0140] In step 6 , the hollow needle filled with the sample liquid is lowered in the z direction into the receiving container 201 to dispense a predetermined amount of the sample liquid, and then is raised again in the z direction into the travel position.

[0141] In step 7 , the hollow needle filled with the reagent liquid is brought into the x / y position of the filling opening of the receiving container 201 by moving the pipette 300 in the horizontal x direction.

[0142] Therefore, in step 7, it is no longer necessary to move the second pipetting module 3012 into the y position of the receiving container, since the corresponding hollow needle has already been brought into this position in step 5. The beam configuration, which moves together with the pipetting module on the inner longitudinal side, makes it possible to bring the two hollow needles closer to each other in the x direction to a distance within the millimeter range in step 5, so that in step 7, the movement distance and movement time of the pipette in the x direction can be kept very short.

[0143] In step 8 , the hollow needle 307 filled with the reagent liquid is lowered in the z direction into the reagent container 201 to dispense a predetermined amount of the first reagent liquid, and then is raised again in the z direction to the travel position.

[0144] After the action in step 6 has been performed, the hollow needle 307 of the first pipetting module 3011 moves to the y position of the inlet opening of the needle washing unit 700, and after descending, the needle tip is cleaned therein, and then rises again to the travel position. Afterwards, once the action in step 8 has been performed, the hollow needle 307 of the second pipetting module 3012 moves to the y position of the inlet opening of the needle washing unit 700, and after descending, the needle tip is cleaned therein, and then rises again to the travel position.

[0145] Example 3

[0146] The steps listed in Example 3 relate (as in Example 2) to an exemplary sample processing and / or analysis transfer procedure that uses a second liquid, such as a reagent liquid, over a first liquid, such as a sample liquid, with both liquids being dispensed simultaneously.

[0147] In the following, the first liquid is a sample liquid and the second liquid is a reagent liquid. However, other clusters are also conceivable; for example, the first liquid can be a sample liquid, a reagent, or an active ingredient, while the second liquid can be a diluent liquid. The first liquid and the second liquid can also be different reagents.

[0148] Steps 1-5 are substantially similar to those in Example 2.

[0149] In step 6, the hollow needle 307 of the first pipetting module 3011 filled with sample liquid in step 2 and the hollow needle 307 of the second pipetting module 3012 filled with reagent liquid in step 4 are simultaneously lowered along the z direction into the dispensing container 201, thereby dispensing a predetermined amount of sample liquid and a predetermined amount of reagent liquid, respectively, and then rise again along the z direction to the travel position.

[0150] In step 7, the hollow needle 307 of the first pipetting module 3011 and the hollow needle 307 of the second pipetting module 3012 are moved continuously or simultaneously to the x / y position of the receiving opening 711a of the needle washing unit 700 that moves synchronously with the pipette 300, so that the imaginary common center of the two needles 307 is located above the slot-shaped receiving opening 711a of the needle washing unit 700. After the needle tips are lowered, these needles are cleaned continuously or simultaneously therein (see Figure 4b ), then rises again into the travel position.

[0151] Compared with step 7 of Example 2, the step of moving the pipette 300 along the x-direction can be omitted in Example 3.

Claims

1. An automatic pipetting device for transferring a liquid from a dispensing container comprising a sample container (921) and / or a reagent container into at least one receiving container (201), wherein: The movable pipette (300) of the pipetting device is designed to be movable in a first direction (x) and has at least one pipetting module (3011), the at least one pipetting module being movable along the arm (304) of the pipette (300) in a second direction (y), the second direction being substantially orthogonal to the first direction (x), and the at least one hollow needle (307) of the at least one pipetting module being designed to be lowered into respective containers, characterized in that the arm (304) of the movable pipette (300) has a base structure (340), the base structure being movable in the x-direction, and two beams being attached to the same base structure, the beams being oriented parallel to each other and projecting horizontally in the y-direction, and the pipetting modules being able to move independently past each other are arranged on mutually facing longitudinal sides of the beams, each of the pipetting modules having at least one hollow needle (307), the at least one hollow needle being able to be lowered into respective containers.

2. The liquid transfer device according to claim 1, wherein The two beams of the arm (304) are connected at the end remote from the base structure (340) to form a frame structure (343).

3. The liquid transfer device according to claim 1 or 2, wherein: When the pipetting modules pass each other, the minimum spacing between the hollow needles (307) of the two pipetting modules that can move past each other along the x-direction is 2 mm to 16 mm.

4. The pipetting device according to any one of claims 1 to 3, characterized in that The pipette (300) has a mounting (305) on the outside of at least one of the beams, which is movable in the y-direction and is provided for attaching a working module.

5. The pipetting device according to any one of claims 1 to 4, characterized in that The sample container (921), reagent container and / or receiving container (201) are arranged in a predetermined area on the working surface (114) of the sample and reagent platform (930) of the pipetting device.

6. The pipetting device according to any one of claims 1 to 4, characterized in that The sample container (921) and / or reagent container is arranged below the working surface (114) of the sample and reagent platform (930), wherein the working surface (114) has a through hole for the hollow needle (307) of the two pipetting modules, and the through hole corresponds to the position of the sample container (921) and / or reagent container.

7. The liquid transfer device according to claim 6, wherein: An openable cover (935) is arranged in the work surface (114) at least in the region of a single interchangeable holder (933) and / or cassette (934).

8. The liquid transfer device according to claim 6 or 7, wherein: The working surface (114) of the sample and reagent platform (930) has a slotted opening (936) along the row of receiving containers (201), and the hollow needles (307) of the two pipetting modules can be lowered through the slotted opening into at least one needle washing unit (700) arranged below the working surface (114).

9. The pipetting device according to any one of claims 1 to 8, characterized in that The pipette (300) of the pipetting device has at least one pipetting module, which has different hollow needles (307) that differ in the type of material used, the internal volume and / or the geometry of the hollow needles (307).

10. The pipetting device according to any one of claims 1 to 9, characterized in that The pipette (300) of the pipetting device has at least one needle washing unit (700) for the two pipetting modules, and the at least one needle washing unit is capable of moving synchronously with the pipette (300).

11. The liquid transfer device according to claim 10, wherein: The movable needle washing unit (700) is arranged on a support structure (344) attached to the movable base structure (340) or to at least one of the beams of the arm (304).

12. The liquid transfer device according to claim 10 or 11, wherein: The needle washing unit (700) has a receiving opening (711), which is suitable for receiving the hollow needle (307) of one of the pipetting modules (3011) and the hollow needle (307) of the other pipetting module (3012) at the same time.

13. The liquid transfer device according to claim 10, wherein: The needle washing unit (700) is designed to be movable or pivotable between a washing position for the hollow needle (307) of one of the pipetting modules (3011) and a washing position for the hollow needle (307) of another pipetting module (3012).

14. The pipetting device according to any one of claims 1 to 13, characterized in that A pipetting module having two hollow needles (307) capable of moving together is arranged on at least one beam of the pipette (300), and the hollow needles are connected via a lifting mechanism (332) so that the two hollow needles (307) can move in opposite directions along the z direction.

15. A method for transferring a liquid from a dispensing container comprising a sample container (921) and / or a reagent container of an automatic pipetting device according to any one of claims 1 to 14 to a receiving container (201), characterized by the following steps: 1) moving the hollow needle (307) of the pipetting module (3011) of the first beam (341) of the pipette (300) in the travel position across the horizontal working surface (114) to a predetermined x / y position of the extraction opening of the dispensing container; 2) lowering the hollow needle (307) of step 1) into the dispensing container, sucking a predetermined amount of liquid, and raising the hollow needle (307) to a travel position; 3) moving the hollow needle (307) of step 2) across the horizontal working surface (114) to a predetermined x / y position of the filling opening of the receiving container (201); 4) lowering the hollow needle (307) of step 3) into the receiving container (201) to dispense a predetermined amount of liquid, and raising the hollow needle (307) to an advanced position; and 5) While executing steps 1)-4), the hollow needle (307) of the pipetting module (3012) of the second beam (342) of the pipette (300) is moved along the y direction to the receiving opening (711) of the needle washing unit (700) or the hollow needle is maintained in the travel position, and the needle washing unit can move synchronously with the pipette along the x direction without considering the current position of the hollow needle (307) of the pipetting module (3011) of the first beam (341).

16. A method for transferring a liquid from a dispensing container comprising a sample container (921) and / or a reagent container of an automatic pipetting device according to any one of claims 1 to 14 to a receiving container (201), characterized by the following steps: 1) moving the hollow needle (307) of the pipetting module (3011) of the first beam (341) of the pipette (300) in the travel position across the horizontal working surface (114) to a predetermined x / y position of the extraction opening of the first dispensing container; 2) lowering the hollow needle (307) of step 1) into the first dispensing container (921), sucking a predetermined amount of the first liquid, and raising the hollow needle (307) to a travel position; 3) moving the hollow needle (307) of the pipetting module (3012) of the second beam (342) of the pipette (300) in the advanced position across the horizontal working surface (114) to a predetermined x / y position of the extraction opening of the second dispensing container; 4) lowering the hollow needle (307) of step 3) into the second dispensing container, sucking a predetermined amount of second liquid, and raising the hollow needle (307) to the travel position; 5) simultaneously moving the hollow needle (307) of the first pipetting module (3011) filled with the first liquid to the x / y position of the filling opening of the receiving container (201), and moving the hollow needle (307) of the second pipetting module (3012) filled with the second liquid to the y position of the filling opening of the receiving container (201); 6) lowering the hollow needle (307) filled with the first liquid in step 3) into the receiving container (201), dispensing a predetermined amount of the first liquid, and raising the hollow needle (307) to the travel position; 7) moving the hollow needle (307) of the second pipetting module (3012) filled with the second liquid to the x position of the filling opening of the receiving container (201), lowering the hollow needle (307) filled with the second liquid into the receiving container (201), dispensing a predetermined amount of the second liquid, and raising the hollow needle (307) to the travel position; 8) After step 6), the hollow needle (307) of the first pipetting module (3011) is moved along the y direction to the receiving opening (711) of the needle washing unit (700), and the hollow needle (307) of the first pipetting module (3011) is cleaned in the needle washing unit (700), and the needle washing unit is capable of synchronously moving along the x direction together with the pipette (300); and 9) The hollow needle (307) of the second pipetting module (3011) is moved along the y direction to the receiving opening (711) of the needle washing unit (700), and the hollow needle (307) of the second pipetting module (3012) is cleaned in the needle washing unit (700), and the needle washing unit is capable of moving synchronously with the pipette (300) along the x direction.

17. A method for transferring a liquid from a dispensing container comprising a sample container (921) and / or a reagent container of an automatic pipetting device according to any one of claims 1 to 14 to a receiving container (201), characterized by the following steps: 1) moving the hollow needle (307) of the pipetting module (3011) of the first beam (341) of the pipette (300) in the travel position across the horizontal working surface (114) to a predetermined x / y position of the extraction opening of the first dispensing container; 2) lowering the hollow needle (307) of step 1) into the first dispensing container (921), sucking a predetermined amount of the first liquid, and raising the hollow needle (307) to a travel position; 3) moving the hollow needle (307) of the pipetting module (3012) of the second beam (342) of the pipette (300) in the advanced position across the horizontal working surface (114) to a predetermined x / y position of the extraction opening of the second dispensing container; 4) lowering the hollow needle (307) of step 3) into the second dispensing container, sucking a predetermined amount of second liquid, and raising the hollow needle (307) to the travel position; 5) simultaneously moving the hollow needle (307) of the first pipetting module (3011) filled with the first liquid and the hollow needle (307) of the second pipetting module (3012) filled with the second liquid to the x / y position of the filling opening of the receiving container (201); 6) simultaneously or sequentially lowering the hollow needle (307) of the first pipetting module (3011) filled with the first liquid and the hollow needle (307) of the second pipetting module (3012) filled with the second liquid into the receiving container (201), dispensing a predetermined amount of the first liquid and the second liquid into the receiving container (201), and raising the two hollow needles (307) to the travel position; and 7) Simultaneously or sequentially moving the hollow needles (307) of the two pipetting modules along the y direction to the receiving opening (711a) of the needle washing unit (700), and simultaneously or sequentially cleaning the hollow needles (307) of the two pipetting modules in the needle washing unit (700), wherein the needle washing unit is capable of synchronously moving along the x direction together with the pipette (300).

18. Use of the automatic pipetting device according to any one of claims 1 to 14 for transferring a liquid from a dispensing container comprising a sample container (921) and / or a reagent container to at least one receiving container (201) in an automatic analyzer for performing chemical, biochemical and / or immunochemical analysis of a liquid sample.

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