Filtration system and automated filtration process for testing liquids with consumable filtration units

Abstract

The invention relates to a filtration system and an automated filtration process for testing a liquid using a consumable filtration unit.

Description

Field of the Invention

[0001] This application relates to a filtration system and an automated filtration process for testing liquids using a disposable filtration unit. Background Art

[0002] In the fields of biocontamination and bioburden testing, water testing, pharmaceuticals, cosmetics, food processing, semiconductor manufacturing, electronics, and environmental (water) monitoring, common laboratory test equipment used in conjunction with test procedures that require filtering liquids (mostly biological liquids) includes enclosed disposable (single-use) filtration units or filtration assemblies, which typically include a base with an outlet, a funnel attached to the base, a filter membrane disposed on the base between a space or volume defined by the funnel and the outlet, and a lid or cover (hereinafter only the term "lid" will be used) for closing the upper opening of the funnel, most of which are snap-fitted or form-locked to the peripheral edge of the funnel opening and have or do not have a hinge defining relative movement between the lid and the funnel.

[0003] Typical examples of this type of ready-to-use sterile filtration unit are commercially available, for example, under the trademark MILLIFLEX OASIS from Merck KGaA, Darmstadt, Germany, which has a filtration or funnel volume of 100 mL and a mesh membrane filter with a diameter of 49 mm in a single device, providing a complete solution for bioburden testing.

[0004] Some filtration units or filtration assemblies (hereinafter only the term "filtration unit" will be used) are not particularly suitable for automated processing. For automated processing equipment, it is particularly difficult to firmly grasp, hold, and transfer an object or a part thereof (such as a lid) having an irregular shape with a generally smooth or thin and delicate outer peripheral surface, because they require a defined position and orientation for grasping, and there is a high risk that the lid will be inadvertently or irregularly opened, displaced, or removed, or the contents will overflow during handling at various stages of the process, thus compromising the test results due to cross-contamination or posing safety problems to the operator. On the other hand, it is necessary to ensure the traceability of each test operation, which also requires the precise repetition of the steps of the process each time such a process is performed.

[0005] Some of the processing steps (such as opening a snap-fitted lid) involve a rather complex sequence or pattern of holding tasks and tasks for applying force or momentum, because the force used to overcome the initial high friction of the snap-fitted connection must be rapidly reduced to avoid overflow during further processing. This is the reason why manual processing is still commonly performed in such test procedures.

[0006] Obviously, the manual handling of such devices involves the risk of contamination during handling (e.g., after a lid, cover, or seal has been opened), as well as the risk of unsafe transfer of the device or its components during further handling, especially when the device is filled with substances and / or multiple tests are being processed continuously.

[0007] Automation has become the preferred method used, for example, by pharmaceutical companies in their critical processes in order to reduce the risk of cross - contamination, improve quality, and enhance production capacity. There is a general industry trend towards fully automated processes.

[0008] However, the automation of processes requires a significant level of investment and available space to comply with regulations. Automation may require large systems with potentially hazardous devices enclosed in units, and their maintenance can also be costly. This is why many users seek solutions that are less expensive and / or require less space or footprint to automate certain processes.

[0009] This is why an alternative way to automate certain processes is to design small, integrated, dedicated modules capable of performing specific tasks. Such systems can be designed to fit into existing laboratory infrastructure and can greatly facilitate their integration therein. Other examples are collaborative robots, as these robots can safely interact with humans and can thus be more easily integrated into laboratory or production environments without significant investment.

[0010] However, those solutions perform limited and basic tasks such as pipetting, lifting, and transferring. They do not have the versatility and adaptability to execute the entire workflow of complex handling that requires consumables.

[0011] Another alternative solution for the automated filtration of consumables could be an automated system that can handle the entire process due to a combination of robotic arms and tools that can mimic a human operator. A dual - arm robot can be implemented with a suitable set of tools and supports for consumables to perform the complex tasks required for filtration. However, the system is too large and versatile for most applications. The operations required for some consumables are specific, making it inefficient to adapt a complex robotic unit to perform the process. Additionally, in the case of a centralized processor for each step of the filtration process, the scalability of the solution is greatly limited.

[0012] US2015 / 0322400 A1 discloses an automatic cell separation system, which includes a lid removal device, a pipette device, a cell observation device, and an automatic cell separation device disposed on both sides of a central track. A general-purpose robot is arranged to be movable along the track, and this general-purpose robot serves as a transfer device for a culture container in the form of a disc-shaped transparent dish from an incubator to various devices of the system. The robot includes a multi-joint arm and a hand, and the hand has a pair of rod-shaped fingers for clamping the side portion of the culture container mounted to the distal end of the arm. When removed from the inside of the incubator, the culture container is in a state covered by a lid. The lid removal device is a device for removing the lid from the culture container and includes a suction pad connected to a vacuum pump. The robot transfers the culture container covered by the lid directly below the suction pad, and then vertically lifts the culture container so that the lid is adsorbed and held by the suction pad, and subsequently vertically lowers the culture container. In this way, the lid is removed from the culture container. The lid removal device includes a rotation mechanism configured to rotate the arm supporting the suction pad. Each lid adsorbed and held by the suction pad is stacked at a storage position adjacent to the adsorption position. The lid removal device may include a lift / lower mechanism for lifting and lowering the suction pad.

[0013] US 9,631,223 B2 discloses a method for processing liquid biological materials in a liquid handling system. The liquid handling system includes a framework defining a predetermined working space, a physicochemical device and a workbench disposed within the framework, and a general-purpose dual-arm robot disposed within the framework. The framework section forms a rectangular working space and defines the operable range of the robot. The physicochemical device is within the range of the robot's arm and includes biological laboratory instruments and consumables operated by an electric power supply unit, single-use general-purpose containers and instruments, a bracket for holding the general-purpose containers, and so on.

[0014] However, the automation of filtration systems and filtration processes for testing liquids using disposable filter units is subject to specific challenges for several reasons:

[0015] - It is necessary to ensure the safety of the filtration device, that is, it is generally necessary to protect the membrane, for example, inside a closed container when the filtration device is not in use or being processed. Then, during operation, the container lid must be safely opened to perform filtration. This requires a combination of consumable handling and fluid management while managing the risk of cross-contamination;

[0016] - The automation solution should be compatible with existing consumables and workflows to facilitate user adoption. However, existing consumables are made for manual use. Repeating some tasks may be complex because they require a combination of muscle compliance, fine handling, and accurate monitoring of the operation;

[0017] - The user must adapt the automation system in an existing laboratory. Therefore, the automation must be adapted to the user's needs and resources by restricting the size of the automation system;

[0018] - Finally, the filtration process is usually part of a conventional test carried out in large volumes. For it to be efficient and ecological for the user, the solution should be able to automate the process with high productivity, repeatability, and good scalability.

[0019] Accordingly, the object to be solved by the present invention is to provide a filtration system and an automated filtration process for testing liquids using a precision disposable filtration unit, which, despite its inherent complexity in a small footprint, enables a safe, fast, simple, and traceable self-filtration process. Summary of the Invention

[0020] The present invention relates to a filtration system and an automated filtration process for testing liquids using a disposable filtration unit.

[0021] To solve the problems described above, the present invention provides a filtration system having the features of claim 1 and an automated filtration process having the features of claim 13. Preferred embodiments of the filtration system and the filtration process are defined in the dependent claims.

[0022] In particular, the present invention provides a filtration system for testing liquids using a disposable filtration unit, each such filtration unit comprising a base having a discharge portion, a funnel attached to the base, a membrane disposed on the base between the space defined by the funnel and the discharge portion, and a lid for closing the upper opening of the funnel, the filtration system comprising:

[0023] a support for receiving the disposable filtration unit, the support comprising locking means configured to releasably fix the filtration unit to the support;

[0024] a liquid flow path having one side that is in communication with the downstream side of the discharge portion when the filtration unit is fixed to the support, the other side of the liquid flow path being adapted to be connected to a pump for drawing liquid from the discharge portion when the filtration unit is fixed to the support; and

[0025] a load cell arranged to detect the weight of the filtration unit fixed to the support.

[0026] In the filtration system, the load cell is preferably arranged to monitor the combined weight of the support and the filtration unit fixed to the support.

[0027] The filtration system preferably includes an elastic support element that connects the support to a fixed frame or base so as to provide for movement of the support in the direction of gravity.

[0028] In the filtration system, the resilient support element preferably comprises a resilient foil or membrane arranged so as to shield components beneath the support from overflow of liquid from the filtration unit.

[0029] The filtration system preferably comprises a mechanical manipulator configured to selectively engage with a lid on the filtration unit and to move the engaged lid to selectively open / close the upper opening of the funnel.

[0030] In the filtration system, the mechanical manipulator preferably comprises a manipulator arm configured to selectively engage with a part of the lid, the manipulator arm being pivotable about a horizontal manipulator axis which is preferably parallel or coaxial with the pivot axis of the lid of the funnel attached to the filtration unit.

[0031] In the filtration system, the manipulator arm preferably supports a suction cup for engaging with a part of the outer surface of the lid.

[0032] The filtration system preferably comprises an unlocking actuator configured to initially unlock the lid from engagement with the rim of the funnel (preferably by applying an upward pulling or pushing force to a section of the outer peripheral part of the lid).

[0033] In the filtration system, the operation of the unlocking actuator is preferably coordinated with the operation of the mechanical manipulator.

[0034] The filtration system preferably comprises an arrangement of jaws configured to selectively engage with the outer periphery of the filtration unit, the operation of the arrangement of jaws being preferably coordinated with the operation of the mechanical manipulator and / or the unlocking actuator (if provided).

[0035] In the filtration system, the unlocking actuator is preferably mounted to one of the jaws.

[0036] The filtration system preferably comprises a controller arranged to communicate with a load cell, a locking device of the support, the mechanical manipulator (if provided) and the unlocking actuator (if provided), the controller being configured to autonomously control the operation of these components based on the detection results of the load cell and a predefined operation sequence.

[0037] The invention particularly also provides an automated filtration process for testing a liquid using a disposable filtration unit and a filtration system according to the invention comprising a mechanical manipulator and an unlocking actuator, such filtration units each comprising a base having a discharge section, a funnel attached to the base, a membrane disposed on the base between the space defined by the funnel and the discharge section, and a lid for closing the upper opening of the funnel, the filtration process comprising the following steps, preferably in sequence:

[0038] a) Place the filter unit on the support (preferably by an external device), use a load cell to detect the presence of the filter unit on the support, and in the affirmative case operate the locking device to fix the filter unit on the support;

[0039] b) Operate the manipulator arm of the mechanical manipulator to engage a part of the lid and apply a force to the lid in the closing direction of the lid;

[0040] c) Engage the unlocking actuator with a section of the outer peripheral part of the lid and apply an upward pulling force or pushing force to this section to unlock the lid from the engagement with the edge of the funnel, while maintaining the application of a certain force to the lid in the closing direction by the mechanical manipulator;

[0041] d) Disengage and separate the unlocking actuator and the manipulator arm of the mechanical manipulator from the lid, and tare the load cell;

[0042] e) Operate the manipulator arm of the mechanical manipulator to engage a part of the lid and apply a force to the lid in the opening direction of the lid;

[0043] f) Introduce a limited amount of the liquid to be tested into the space of the funnel, preferably using a load cell to monitor and control the introduced amount;

[0044] g) Operate the manipulator arm of the mechanical manipulator and apply a force to the lid in the closing direction to bring the lid into a position where it preferably substantially closes the opening of the funnel but in any case does not lock to the funnel edge;

[0045] h) Use a pump connected to the other side of the liquid flow path to draw the liquid to be tested from the funnel through the membrane and discharge part of the filter unit via the liquid flow path, preferably using a load cell to monitor and control the drawn amount;

[0046] i) Operate the manipulator arm of the mechanical manipulator and apply a force to the lid in the closing direction to bring the lid into a position where it locks to the funnel edge; and

[0047] j) Disengage and separate the manipulator arm of the mechanical manipulator from the lid, operate the locking device to release the fixing of the filter unit on the support, and remove the filter unit from the support (preferably by an external device).

[0048] The automated filtering process preferably includes, in step a), aligning the axis of the hinge of the lid with the manipulator axis of the manipulator arm of the mechanical manipulator before operating the locking device to fix the filter unit on the support.

[0049] The automated filtration process preferably includes: in step c), before engaging the unlocking actuator with a section of the outer peripheral portion of the lid, engaging the arrangement of the jaws with the outer periphery of the filtration unit and applying an upward pulling force or pushing force to this section to unlock the lid from its engagement with the edge of the funnel; and in step d), disengaging the arrangement of the jaws from the outer periphery of the filtration unit before taring the load cell. Description of the Drawings

[0050] The present invention will be described in detail hereinafter by reference to the accompanying exemplary schematic diagrams based on preferred but non - limiting embodiments and some variations, in which

[0051] Figure 1 a schematic side view of a filtration system according to a first embodiment is shown in a partial cross - sectional view;

[0052] Figure 2 details of the unlocking actuator of the first embodiment are shown;

[0053] Figure 3 details of the unlocking actuator of the second embodiment are shown;

[0054] Figures 4a to 4i the sequence of characteristic steps of an automated filtration process using the filtration system according to the first embodiment is shown;

[0055] Figures 5a to 5i the sequence of characteristic steps of an automated filtration process using the filtration system according to the second embodiment is shown;

[0056] Figure 6 a variation of the first embodiment is shown, in which an alternative concept for implementing the unlocking actuator; and

[0057] Figure 7 details of a variation of the manipulator for engaging with the lid of the filtration unit are shown. Detailed Description of the Invention

[0058] Now the present invention will be described in connection with Figure 1 the first embodiment shown in. It should be noted that the functions, structures or conceptual features of the various components of the filtration system according to the first embodiment will be further described in connection with the second embodiment, variations and the filtration process described hereinafter.

[0059] The filtration system 1 is specifically designed for testing liquids using a consumable filtration unit A of a type known in the art and generally described above ( Figure 1 The filtration unit A arranged in the system is shown; also see Figure 2)。Each such filtration unit A includes a base B having a discharge portion F (integrally or as a separate member), a funnel C attached to the base B (depending on the type, the term "attached" may also include "integral", although structures made of two members assembled or attached together in a fixed or separable manner are most commonly used), a filtration membrane D disposed on the base B between the space or volume H defined by the funnel C and the discharge portion F, and a lid or cover E for closing the upper opening of the funnel C.

[0060] In the examples used to describe the present invention, the lid or cover E is attached to the peripheral edge of the opening of the funnel by snap-fit or form-locking connection to avoid accidental opening during handling, and the lid is connected to the funnel by a hinge J that defines the relative movement between the lid and the funnel. The lid is also provided with a tab K that projects radially outward from the peripheral edge of the lid. These aspects are preferred but not absolutely necessary.

[0061] In use, the lid is opened and the liquid to be tested is filled into the space or volume H of the funnel, forced through the filtration membrane D and then discharged for disposal or further processing. The filtration membrane D is then subjected to further processing and evaluation.

[0062] The filtration system 1 includes a support 2 for removably receiving a consumable filtration unit A. The support 2 includes a locking device 2b configured to actively and releasably fix and seal the filtration unit A on the seat 2a of the support 2. Thus, the locking device 2b is understood to provide the function of a head-tightening actuator. The portion of the support 2 that is in direct contact with the base B of the filtration unit is referred to as the "head", which is designed to be removable for cleaning potentially contaminated outer surfaces and internal channels through which the filtrate drawn from the space H of the filtration unit A is directed to the liquid flow path 3 of the filtration system 1 under the action of an external suction or lift pump 4.

[0063] This removable portion or head of the support 2 may also be designed to receive a plurality of filtration units A in communication with a common internal manifold (not shown), or to receive one or more filtration units of different types or sizes.

[0064] The head-tightening actuator or locking device 2b is capable of generating, in a controlled manner, a force transmitted to the portion of the support in contact with the filtration unit A (i.e., the seat 2a) to activate the sealing features. The sealing features include lockable mechanical and fluid interfaces relative to the filtration unit A.

[0065] The locking function can be achieved by a vacuum or a pressure lower than the ambient pressure, which is selectively generated by a vacuum pump (not shown) or a mechanical lock (not shown) at the interface between the seat of the support member 2 and the base B of the filter unit A. The vacuum pump or the mechanical lock selectively engages a surface or locking feature on the base B of the filter unit A to force and hold it in place on the seat 2a of the support member 2. The details of these components are not described and can be varied as long as the function of releasably holding the base in a sealed manner in the seat of the support member is achieved.

[0066] The internal passage of the support member 2 forms a liquid flow path 3, which has a side 3a that communicates with the downstream side of the discharge portion F when the filter unit A is fixed and sealed to the support member 2. The other side 3b of the liquid flow path 3 is adapted to be connected to a pump 4 for drawing liquid from the discharge portion F when the filter unit A is fixed to the support member 2. The liquid flow path 3 guides the filtrate from the filter unit A to the suction or lift pump 4, and the liquid is discharged from the suction or lift pump 4 to a downstream pipeline (not shown) into a collection container.

[0067] The filtration system 1 further includes a load cell or scale 5, which is connected to a fixed base or the system frame (not shown in detail) and is arranged to measure and detect the combined weight of the support member 2 and the filter unit A fixed to the support member 2 (and its liquid content in the space H) throughout the process. Since the weights of the functional components of the system are known, the change or variation in the weight monitored over time during the process can be attributed to (and thus indicate) the change caused by the filter unit A fixed to the support member (or its absence) and the change in the amount of its content. The expected change and / or the gradient of the change over time in a defined and known process can be evaluated and used to determine the correctness or completion of certain steps or the volume of the liquid to be tested present in the funnel space at any given time point. It can also be used as an input to the controller of the system to trigger the operation and control the components of the system to achieve an autonomous and automatic process as further described below.

[0068] The filtration system 1 may include an elastic support element 6, which connects the support member 2 to a fixed frame or base 7 so as to provide substantially unhindered relative movement of the support member 2 at least in the direction of gravity. This movement - typically caused by the above-mentioned change in the weight of the support member due to the attachment of the filter unit or the filling / extraction of the liquid to be tested in the funnel - is detected by the load cell or scale 5. Depending on the type of the load cell or scale 5, the relative movement can be very small, as is known from commercially available scales.

[0069] The resilient support element 6 can for example comprise resilient support cords or bands or springs (all not shown) known in the art, and is used to mechanically relax the support 2 from the frame to allow weight measurement to be possible. The resilient support element 6 can also for example comprise an impermeable resilient foil or film 6a as shown in Figure 1 , which is arranged so as to shield the components below the seat 2a of the support 2 from the overflow of liquid from the filtration unit A. In other words, only the removable part (i.e., the head) of the support having the seat 2a for the filtration unit A can be located above the resilient foil or film 6a. It should be noted that this shielding function can be provided by the resilient foil or film 6a independently of the resilient support of the support 2 for the weighing function, which resilient support can be achieved by a separate component.

[0070] The filtration system 1 (see for example Figure 4a ) comprises a mechanical manipulator 8, which is used to selectively engage with the lid E on the filtration unit A and to move the engaged lid E to selectively open / close the upper opening of the funnel C to provide access to the space or volume H. The mechanical manipulator 8 comprises a manipulator arm 8a, which is configured to selectively engage with a part of the lid E. The manipulator arm 8a can pivot about a horizontal manipulator axis 8c, which can be achieved by a manipulator rotation axis 8d, which projects laterally from or is integrated with the manipulator arm 8a, and is arranged to be selectively driven by a manipulator actuator 8f for rotation in opposite directions about the manipulator axis 8c. The rotation axis 8d can of course be part of the actuator 8f, which is connected to the manipulator arm to transmit the driving momentum.

[0071] The manipulator actuator 8f can be a hydraulic / pneumatic motor or an electric motor, preferably a servo motor. As mentioned, the rotary actuator can be replaced by a linear actuator in combination with a suitable transmission linkage. However, compared with the motor actuator, this variant has a smaller rotation range of the manipulator. The manipulator axis 8c can be parallel or preferably coaxial with the pivot axis of the hinge J of the lid E attached to the funnel C of the filtration unit A. Thus, the manipulator 8 is movable / rotatable in a single degree of freedom, which significantly simplifies the kinematics and structure as well as the robustness and speed compared with a multi-degree-of-freedom kinematic robotic arm.

[0072] In one variant, the manipulator arm 8a supports a suction cup 8b, which is used to engage with a part of the outer surface of the lid E to selectively grasp and release the lid. As Figure 7As shown in an enlarged view, the suction cup 8b is preferably arranged approximately midway between the manipulator axis 8c and the forward pushing end 8e of the manipulator arm 8a. The manipulator arm 8a is preferably curved or spoon-shaped or bridge-shaped so as to extend above and over the lid, thereby providing a clearance for the suction cup 8b. The contact plane 8g defined by the peripheral edge of the suction cup 8b is slightly displaced by an offset X from the contact plane or contact point 8h of the forward pushing end 8e towards the side of the lid.

[0073] In Figure 6 In another possible variant of the manipulator 8 shown in Figure 6 , the suction cup on the manipulator arm 8a can be replaced by a mechanical lever arrangement 12. The mechanical lever arrangement 12 includes a movable finger 12a on the manipulator arm 8a and mainly includes a movable finger 12a pivotable about an axis 12c, and the axis 12c is defined approximately midway in the axial extension of the movable finger 12a. The axis 12c is provided in the front section or forward section of the manipulator arm.

[0074] A hook 12b is formed at the front end of the movable finger 12a, and a linear actuator 12d links the distal end or rear end of the movable finger 12a to the manipulator arm 8a at a rearward portion near the manipulator axis 8c. When the linear actuator 12d contracts and thus pulls the movable finger 12a, the movable finger 12a rotates clockwise, and the hook 12b relaxes and disengages from a tab K protruding from the peripheral edge of the lid or from the peripheral edge itself. When the linear actuator 12d extends and thus pushes the movable finger 12a, the movable finger 12a rotates counterclockwise, and the shape of the hook 12b and its kinematics unlock the lid E of the filter unit A from the shape-locking or snap-fit engagement with the peripheral edge or rim of the funnel C in the initial stage of opening the lid, thus acting as an unlocking actuator 9, 9b, or lifting the entire lid if necessary. In this stage, the lid remains engaged with the manipulator arm 8a because it rests on the forward pushing end 8e. Therefore, the manipulator arm provides a certain balance and controlled reaction force against the force acting on the lid through the operation of the unlocking actuator to prevent the lid from suddenly and uncontrollably "popping up" when the unlocking actuator overcomes the holding force of the shape-locking or snap-fit connection.

[0075] Then, further rotation of the lid engaged with the manipulator arm 8a is achieved by selectively driving the manipulator arm 8a to rotate in opposite directions about the manipulator axis 8c by means of the manipulator actuator 8f as described above.

[0076] As Figure 1The filtration system 1 shown in FIGS. 1 to 5 preferably includes another variant of the dedicated unlocking actuator 9, 9a, which is configured to initially unlock the lid E from its shape-locked or snap-fitted engagement with the outer peripheral edge or rim of the funnel C, preferably by applying an upward pulling or pushing force to a section of the outer peripheral portion of the lid E, which may be a tab K protruding from the outer peripheral edge of the lid or the peripheral edge itself as described above.

[0077] Such unlocking actuators 9, 9a are mounted, for example, on a separate swing arm 13, which is arranged to be driven for rotation by an actuator 14 supported on the system frame (not shown), and the actuator can position the unlocking actuator below the tab K or the edge or in the retracted position (see Figure 2 ). This allows the area around the filtration unit to be relaxed, so as to facilitate introducing it into the seat 2a of the support 2 and removing it from the support 2 at the start and end of the filtration process respectively. The swing arm can be replaced by and / or combined with a linearly extensible / retractable arm or an eccentric driver (not shown) or any other mechanical device, which provides the above-described function of selectively moving the unlocking actuator towards and away from the filtration unit locked to the support 2.

[0078] In an alternative mode of the embodiment shown in Figure 3 , the unlocking actuator can include an arrangement of moving jaws 10, which are configured to selectively engage with the outer periphery (i.e., the funnel or the base or both) of the filtration unit A by a linearly extensible or retractable arm 15 (the jaws 10 are mounted to the arm 15) under the action of an actuator 16 supported on the system frame (not shown). The shape and structure of the jaws can be adapted or conform to the outer shape of the filtration unit used.

[0079] The unlocking actuators 9, 9a are preferably mounted to one of the jaws 10, such that the operation of the jaws 10 into engagement with the outer periphery of the filtration unit A automatically brings the unlocking actuator into its operating position relative to the lid. The linearly extensible or retractable arm 15 can be replaced by and / or combined with a swing arm or an eccentric driver (not shown) or any other mechanical device, which provides the above-described function of selectively moving the jaws 10 and the unlocking actuator towards and away from the filtration unit locked to the support 2.

[0080] The operation of the arrangement of the jaws 10 is preferably coordinated with the operation of the mechanical manipulator 8 and / or the unlocking actuators 9, 9a to allow the filtration unit to be firmly maintained in a fixed arrangement on the support 2 while unlocking the lid with the unlocking actuator. The arrangement of the jaws 10 can of course be provided independently of the concept of the unlocking actuator used in the system to enhance the firm fixing of the filtration unit on the support at the initial stage of opening the lid or during all or selected stages of the filtration process.

[0081] The operation of the unlocking actuators 9, 9a, 9b is preferably coordinated with the operation of the mechanical manipulator 8, i.e., the mechanical manipulator 8 first engages with the lid, and by operating the unlocking actuators, a certain balanced and controlled reaction force against the force acting on the lid is provided to prevent the lid from suddenly and uncontrollably "popping up" when the unlocking actuators overcome the holding force of the form-locking or snap-fit connection.

[0082] To coordinate the operation of the various components of the filtration system within a defined schedule to perform the filtration process autonomously, the filtration system 1 includes a controller that is arranged to communicate with the load cell or scale 5, the locking device 2b of the support 2, the mechanical manipulator 8 (if provided), and the unlocking actuators 9, 9a, 9b (if provided). The controller is configured (i.e., programmed) to trigger the operation and autonomously control the operation of these components based on the detection / monitoring results of the load cell 5 over time and a predefined operating sequence that defines the filtration process. The controller can be an integral part of the system or can be located at a remote location.

[0083] Now will be described by reference to Figures 4a to 4i and Figures 5a to 5i the order of the typical autonomous and automatic filtration processes performed by the filtration system described above for the first and second embodiments, these figures respectively showing the order of the characteristic steps of the process and omitting the parts of the system that are unnecessary for explaining the basic functions:

[0084] Figure 4a - Step 1: The filtration system is ready to receive a new filtration unit, where the unlocking actuators 9, 9a are in the retracted position and the manipulator arm 8a is in the open position.

[0085] Figure 4b - Step 2: The filtration unit A is placed on the seat 2a of the support 2 by an external device. The hinge axis of the lid of the filtration unit is aligned with the manipulator axis 8c, i.e., arranged to be parallel or preferably concentric. At this step, the load cell 5 is used to detect the presence of the filtration unit A on the support 2. Then, the locking device 2b is activated to fix the filtration unit A, i.e., press it onto the seat 2a.

[0086] Figure 4c - Step 3: The manipulator arm 8a rotates downward to contact the lid of the filtration unit in order to apply a mechanical force thereto. It allows ensuring that the filtration unit is correctly inserted onto the seat 2a of the support 2.

[0087] Figure 4d- Step 4: While the manipulator arm 8a maintains the mechanical force applied to the lid of the filtration unit, the swing arm 13 moves to place the unlocking actuator 9a under the tab K of the lid E of the filtration unit. The unlocking actuator 9a then pushes the tab upward, which at least partially unlocks the lid from the peripheral edge of the funnel of the filtration unit.

[0088] Figure 4e - Step 5: The manipulator arm 8a is raised in the open position to tare the weighing sensor 5, and the unlocking actuator 9a moves away in its retracted position.

[0089] Figure 4f - Step 6: The manipulator arm 8a moves downward so that the suction cup 8b contacts the unlocked lid and lifts it upward into a stable open position. The suction cup vacuum is deactivated, and the manipulator arm 8a rotates slightly away from the lid. Then, the external device places the liquid to be tested / filtered into the funnel of the filtration unit. The amount of the transferred liquid is monitored by the weighing sensor 5 until the requested amount of liquid has been discharged.

[0090] Figure 4g - Step 7: The manipulator arm 8a rotates temporarily downward to place the lid of the filtration unit in its "closed but not locked" filtration position. This allows minimizing the exposure of the interior of the filtration unit to the environment. Then, the suction pump 4 is started to continue the filtration of the liquid in the funnel of the filtration unit. The weighing sensor 5 is used to monitor the filtration process, evaluate whether the filtration follows the expected distribution / schedule, and detect the end of the filtration.

[0091] Figure 4h - Step 8: When the filtration is completed, the manipulator arm 8a rotates downward to lock the lid of the filtration unit downward onto the funnel. This allows protecting the interior of the filtration unit while creating a slightly compressed air in the space of the funnel of the filtration unit. This allows gently pushing out the filter membrane on the base of the filtration unit, facilitating subsequent transfer to a gelling medium (for example).

[0092] Figure 4i - Step 9: The manipulator arm 8a rotates upward to its open position. This relaxes the surroundings of the filtration unit to facilitate its extraction. Then, the locking device 2b is deactivated to relax the filtration unit A on the receptacle 2a and allow it to be removed by the external device.

[0093] By reference Figures 5a to 5i to the order Figures 4a to 4i to explain the filtration process performed by the filtration system of the second embodiment, this order corresponding to Figure 5d and Figure 5e except for the order of steps 4 and 5 in

[0094] Figure 5d- Step 4: The jaws 10 move towards the filtration unit to apply a mechanical holding force on the funnel of the filtration unit. The movement of the jaws simultaneously positions the unlocking actuator 9b under the tab of the lid of the filtration unit. The unlocking actuator 9b then pushes the tab upwards, which unlocks the lid of the filtration unit.

[0095] Figure 5e - Step 5: Open the jaws 10 and then open the lid of the filtration unit. Tare the weighing sensor.

[0096] On this basis, the present invention provides in a general manner an automated and autonomous filtration process for testing a liquid using a disposable filtration unit A of the type described above, the disposable filtration unit A using a filtration system 1 according to the present invention, the filtration system 1 comprising a mechanical manipulator 8 and unlocking actuators 9; 9a; 9b, the filtration process comprising the following steps, preferably carried out in sequence:

[0097] a) Place the filtration unit A on the support 2 (preferably by an external device), use the weighing sensor 5 to detect the presence of the filtration unit A on the support 2, and in the affirmative case operate the locking device 2b to fix the filtration unit A in the seat 2a of the support 2;

[0098] b) Operate (preferably rotate) the manipulator arm 8a of the mechanical manipulator 8 to engage with a part of the lid E and apply a force on the lid E in the closing direction;

[0099] c) Engage the unlocking actuator 9; 9a; 9b with a section of the outer peripheral part of the lid E (i.e., the tab, if provided) and apply an upward pulling or pushing force on this section to unlock the lid E from its engagement with the edge of the funnel C, while maintaining a certain force being applied by the mechanical manipulator 8 on the lid E in the closing direction;

[0100] d) Disengage and separate the unlocking actuator 9; 9a; 9b and the manipulator arm 8a of the mechanical manipulator 8 from the lid E and tare the weighing sensor 5;

[0101] e) Operate (preferably rotate) the manipulator arm 8a of the mechanical manipulator 8 to engage with a part of the lid E and apply a force on the lid E in the opening direction;

[0102] f) Introduce a limited quantity of the liquid to be tested into the space H of the funnel C, preferably using the weighing sensor 5 to monitor and control the quantity introduced;

[0103] g) Operate (preferably rotate) the manipulator arm 8a of the mechanical manipulator 8 and apply a force on the lid E in the closing direction to bring the lid E into a position where it preferably substantially closes the opening of the funnel C but in any case does not lock to the edge of the funnel C;

[0104] h) Using a pump 4 connected to the other side 3b of the liquid flow path 3, draw the liquid to be tested through the liquid flow path 3 from the funnel C via the membrane D and the discharge section F of the filtration unit A. Preferably, use a load cell 5 to monitor and control the amount drawn.

[0105] i) Operate (preferably rotate) the manipulator arm 8a of the mechanical manipulator 8 and apply a force in the closing direction to the lid E to bring the lid E to a position where it locks to the edge of the funnel C; and

[0106] j) Disengage and separate the manipulator arm 8a of the mechanical manipulator 8 from the lid E, operate the locking device 2b to release the fixation of the filtration unit A on the seat 2a of the support 2, and remove the filtration unit A from the support 2 (preferably by an external device).

[0107] In the case where a filtration unit with a hinged lid is used, the automated filtration process includes, in step a), aligning the axis of the hinge J of the lid E with the manipulator axis 8c of the manipulator arm 8a of the mechanical manipulator 8 when the filtration unit is placed on the seat of the support or in a separate action thereafter, before operating the locking device 2b to fix the filtration unit A to the support 2.

[0108] In the case where the filtration system is equipped with the locking jaws 10 as described above in connection with the second embodiment, the automated filtration process includes, in step c), engaging the arrangement of the jaws 10 with the outer periphery of the filtration unit A and applying an upward pulling or pushing force to the section before engaging the unlocking actuator 9; 9a; 9b with a section of the outer peripheral part of the lid E to unlock the lid E from the engagement with the edge of the funnel C. In step d), the process includes disengaging the arrangement of the jaws 10 from the outer periphery of the filtration unit A before taring the load cell 5.

[0109] Although the invention has been described in connection with two basic embodiments and variations, the present disclosure should include combinations of components or features that can be used together in a useful way to enhance the operation and function of the system and are not true alternatives.

Claims

1. A filtration system (1) for testing a liquid using a consumable filtration unit (A), such filtration units (A) each comprising a base (B) having a discharge portion (F), a funnel (C) attached to said base (B), a membrane (D) disposed on said base (B) between a space (H) defined by said funnel (C) and said discharge portion (F), and a lid (E) for closing an upper opening of said funnel (C), said filtration system (1) comprising: A support (2) for receiving said consumable filtration unit (A), said support (2) comprising locking means (2b) configured to releasably fix said filtration unit (A) to said support (2); A liquid flow path (3) having one side (3a) which is in communication with a downstream side of said discharge portion (F) when said filtration unit (A) is fixed to said support (2), the other side (3b) of said liquid flow path (3) being adapted to be connected to a pump (4) for pumping liquid from said discharge portion (F) when said filtration unit (A) is fixed to said support (2); And A load cell (5) arranged to detect the weight of said filtration unit (A) fixed to said support (2).

2. The filtration system (1) according to claim 1, wherein, Said load cell (5) is arranged to monitor the combined weight of said support (2) and said filtration unit (A) fixed to said support (2).

3. The filtration system (1) according to claim 1 or claim 2, comprising an elastic support element (6) connecting said support (2) to a fixed frame or base (7) so as to provide movement for said support (2) in the direction of gravity.

4. The filtration system (1) according to claim 3, wherein, Said elastic support element (6) comprises an elastic foil or membrane (6a) arranged so as to shield components beneath said support (2) from overflow of liquid from said filtration unit (A).

5. The filtration system (1) according to any one of claims 1 to 4, comprising a mechanical manipulator (8) for selectively engaging said lid (E) on said filtration unit (A) and for moving the engaged lid (E) to selectively open / close the upper opening of said funnel (C).

6. The filtration system (1) according to claim 5, wherein Said mechanical manipulator (8) comprises a manipulator arm (8a) configured to selectively engage a part of said lid (E), said manipulator arm (8a) being pivotable about a horizontal manipulator axis (8c), said manipulator axis (8c) preferably being parallel or coaxial with a pivot axis of said lid (E) attached to said funnel (C) of said filtration unit (A).

7. The filtration system (1) according to claim 6, wherein, Said manipulator arm (8a) supports a suction cup (8b) for engaging a part of an outer surface of said lid (E).

8. The filtration system (1) according to any one of claims 1 to 7, comprising an unlocking actuator (9; 9a; 9b), the unlocking actuator (9; 9a; 9b) being configured to initially unlock the lid (E) from engagement with the edge of the funnel (C), preferably by applying an upward pulling or pushing force to a section of the outer peripheral portion of the lid (E).

9. The filtration system (1) according to claim 8 in combination with any one of claims 5, 6 and 7, wherein, The operation of the unlocking actuator (9; 9a; 9b) is coordinated with the operation of the mechanical manipulator (8).

10. The filtration system (1) according to claim 8 or claim 9, comprising an arrangement of jaws (10) configured to selectively engage the outer periphery of the filtration unit (A), the operation of the arrangement of jaws (10) being preferably coordinated with the operation of the mechanical manipulator (8) and / or the unlocking actuator (9; 9a; 9b) where provided.

11. The filtration system (1) according to claim 10, wherein, The unlocking actuator (9; 9a) is mounted to one of the jaws (10).

12. The filtration system (1) according to any one of claims 1 to 11, comprising a controller arranged to communicate with the weighing sensor (5), the locking device (2b) of the support (2), the mechanical manipulator (8) where provided, and the unlocking actuator (9; 9a; 9b) where provided, the controller being configured to autonomously control the operation of these components based on the detection result of the weighing sensor (5) and a predefined operation sequence.

13. An automated filtration process for testing a liquid using a disposable filtration unit (A) and using the filtration system (1) according to claim 12 comprising a mechanical manipulator (8) and an unlocking actuator (9; 9a; 9b), each such filtration unit (A) comprising a base (B) having a discharge portion (F), a funnel (C) attached to the base (B), a membrane (D) disposed on the base (B) between a space (H) defined by the funnel (C) and the discharge portion (F), and a lid (E) for closing the upper opening of the funnel (C), the filtration process comprising the following steps: a) Preferably by an external device, placing the filtration unit (A) on the support (2), using the weighing sensor (5) to detect the presence of the filtration unit (A) on the support (2), and operating the locking device (2b) to fix the filtration unit (A) to the support (2) in the affirmative case; b) Operating the manipulator arm (8a) of the mechanical manipulator (8) to engage a portion of the lid (E) and applying a force to the lid (E) in the closing direction of the lid (E); c) Engaging the unlocking actuator (9; 9a; 9b) with a section of the outer peripheral portion of the lid (E) and applying an upward pulling or pushing force to the section to unlock the lid (E) from engagement with the edge of the funnel (C), while maintaining the application of a certain force by the mechanical manipulator (8) to the lid (E) in the closing direction; d) Disengage and separate the unlocking actuator (9; 9a; 9b) and the manipulator arm (8a) of the mechanical manipulator (8) from the lid (E), and tare the weighing sensor (5); e) Operate the manipulator arm (8a) of the mechanical manipulator (8) to engage with a part of the lid (E), and apply a force in the opening direction of the lid (E) to the lid (E); f) Introduce a limited quantity of the liquid to be tested into the space (H) of the funnel (C), preferably using the weighing sensor (5) to monitor and control the introduced quantity; g) Operate the manipulator arm (8a) of the mechanical manipulator (8) and apply a force in the closing direction to the lid (E) to bring the lid (E) to a position where it preferably substantially closes the opening of the funnel (C) but in any case does not lock to the edge of the funnel (C); h) Use a pump (4) connected to the other side (3b) of the liquid flow path (3) to draw the liquid to be tested from the funnel (C) through the membrane (D) and the discharge part (F) of the filtration unit (A) via the liquid flow path (3), preferably using the weighing sensor (5) to monitor and control the drawn quantity; i) Operate the manipulator arm (8a) of the mechanical manipulator (8), and apply a force in the closing direction to the lid (E) to bring the lid (E) to a position where it locks to the edge of the funnel (C); and j) Disengage and separate the manipulator arm (8a) of the mechanical manipulator (8) from the lid (E), operate the locking device (2b) to release the fixation of the filtration unit (A) on the support (2), and preferably remove the filtration unit (A) from the support (2) by an external device.

14. The automated filtration process according to claim 13, including, in step a), aligning the axis of the hinge (J) of the lid (E) with the manipulator axis (8c) of the manipulator arm (8a) of the mechanical manipulator (8) before operating the locking device (2b) to fix the filtration unit (A) on the support (2).

15. The automated filtration process according to claim 13 or 14, including, in step c), before engaging the unlocking actuator (9; 9a; 9b) with a section of the outer peripheral part of the lid (E), arranging the jaws (10) to engage with the outer periphery of the filtration unit (A), and applying an upward pulling force or pushing force to the section to unlock the lid (E) from the engagement with the edge of the funnel (C); and in step d), before taring the weighing sensor (5), disengaging the arrangement of the jaws (10) from the outer periphery of the filtration unit (A).

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