Apparatus for automatically handling lidded vessels

Abstract

The present invention relates to an apparatus (1) for an automatic processing dish (2), the dish having a lid (3) which, when the dish (2) is closed by the lid (3), is secured to the dish (2) by a screw-on connector (4). The apparatus includes a lid-moving module (5) configured to hold the dish (2) by a lower holding device (6) and the lid (3) by an upper holding device (7), wherein the upper holding device (7) and the lower holding device (6) are rotatable relative to each other to open and / or close the dish (2), wherein the upper holding device (6) and / or the lower holding device (7) include an opening actuator (8) configured to cause relative rotational movement of the dish (2) and / or the lid (3) to open or close the screw-on connector (4).

Description

Technical Field

[0001] This invention relates to an apparatus for automatically processing covered containers. In particular, this invention relates to a novel apparatus for cleanroom air sampling, which can be used to process covered containers containing culture media for air sampling. Background Technology

[0002] There are usually legal and / or organizational regulations requiring air sampling in cleanrooms. Cleanroom air sampling monitors air quality, particularly the cleanliness of the cleanroom air.

[0003] Air sampling is typically performed by exposing a culture medium to cleanroom air for a predetermined exposure time. Microorganisms, spores, and / or bacteria, and possibly fungi, can grow on the culture medium, enabling more effective detection. Because the concentration of microorganisms, spores, and / or bacteria in cleanrooms is usually extremely low, direct monitoring of microorganisms, spores, and / or bacteria in cleanroom air is often impossible. Since the culture medium provides nutrients for microorganisms, spores, and / or bacteria for a certain period, allowing them to proliferate, the exposed culture medium can serve as a basis for subsequent testing, enabling accurate assessment of cleanroom air cleanliness even in cleanrooms with extremely high cleanliness levels.

[0004] Air sampling typically requires meeting specific requirements, which are prerequisites for conducting tests using culture media and accurately determining the cleanliness of cleanroom air. One common requirement is that air sampling must always be performed in the same location within the cleanroom, especially during culture media exposure; the culture media must not be moved within the cleanroom. Such movement can cause air turbulence in the cleanroom, disrupting exposure conditions and distorting test results. Another common requirement is strict adherence to the required culture media exposure time.

[0005] Furthermore, there is a general requirement to achieve the most continuous possible monitoring of cleanroom air through a continuous supply of culture medium. Since the exposure time of a single culture medium is usually relatively limited, and the operation of personnel entering the cleanroom to change the culture medium is complicated and may interfere with the main process flow in the cleanroom, there is an urgent need for a device that can automatically replace the exposed culture medium.

[0006] Culture media are typically stored in covered containers, with the lids secured to the containers by screw-on fasteners. Handling such covered containers (including opening and closing the lids) presents considerable challenges. Summary of the Invention

[0007] The object of this invention is to at least partially solve the aforementioned problems existing in the prior art. In particular, it is intended to disclose an apparatus especially suitable for automatic vessel handling, such as a vessel handling apparatus for automatic air sampling in clean rooms.

[0008] The present invention achieves the above-mentioned objectives through the technical features of the independent claims. The dependent claims, the specification, and especially the description of the drawings further define the preferred embodiments of the invention. It should be noted that those skilled in the art can combine the various technical features in a technically reasonable manner to form other embodiments of the present invention.

[0009] This document discloses an apparatus for automatically processing a dish, the dish having a lid, which, when closed by the lid, is secured to the dish by a screw-on connector. The apparatus includes a lid-moving module configured to hold the dish by a lower holding device and the lid by an upper holding device, wherein the upper and lower holding devices are rotatably relative to each other to open and / or close the dish; wherein the upper and / or lower holding devices include an opening actuator configured to cause relative rotational movement of the dish and / or lid to open or close the screw-on connector.

[0010] This device is based on the understanding that to successfully handle lidded vessels with lids secured to them by a screw-on connector, a lid-moving module is needed that can automatically open the screw-on connector and automatically reclose it. For this purpose, the vessel and lid must be held and rotated relative to each other.

[0011] Conventional screw-on fasteners for such vessels are, for example, threaded fasteners, with threads on the vessel and matching threads on the lid. However, such screw-on fasteners can also be bayonet fasteners, in which case the vessel and lid each have mating claw structures that engage with each other through relative rotational movement of the vessel and lid. In principle, the apparatus disclosed herein is suitable for handling vessels with lids equipped with various types of screw-on fasteners.

[0012] Such vessels and their lids are typically rigid enough to hold the vessel and / or lid securely in place during opening and closing without causing deformation. However, the force applied to the vessel and / or lid must not exceed a certain limit to avoid damaging the lid or the vessel.

[0013] The vessel and lid are preferably made of a plastic-based material, such as PMMA. The wall thickness of the vessel and lid is typically between 0.5 mm and 2 mm. The height of the lidded vessel is typically between 5 mm and 20 mm. The diameter of the vessel and lid is preferably between 30 mm and 100 mm. The vessel is preferably round and flat. The height of the vessel preferably extends along its axis. When the vessel is placed in the lid-moving module and held by the lower holding device, the vessel's axis coincides with the axis of the lid-moving module.

[0014] The lid-removing module is preferably configured to open and close the vessel. That is, the lid-removing module is preferably used to open and close the screw-on connection between the vessel and the lid. As used herein, "opening the vessel" always refers to opening the screw-on connection and removing the lid from the vessel; in principle, closing the vessel is the reverse operation. First, the lid is moved to the vessel and / or placed on the vessel; then, a relative rotational movement is made between the lid and the vessel to close the screw-on connection and secure the lid to the vessel.

[0015] During the rotational movement of opening or closing the lid, axial relative movement may occur between the lid and the vessel simultaneously. This axial movement can be caused by the rotational movement, for example, due to the pitch of the thread of the screw-on connector.

[0016] The lid-removing module includes an upper holding device and a lower holding device, which work together to open and close the vessel. Preferably, the upper and lower holding devices are not only rotatable relative to each other, but in a preferred embodiment, they can also move relative to each other. This allows, for example, the lid to be removed from the vessel.

[0017] Preferably, the lower holding device and / or the upper holding device are provided with grippers that can hold the vessel and / or lid in the holding device.

[0018] In particular, each holding device is provided with two opposing grippers. In some embodiments, the holding device may also be provided with more grippers, such as three, four, five or six grippers.

[0019] More preferably, at least one of the grippers is designed to have two force transmission points arranged at intervals, such that when holding the vessel and / or lid, the pressure applied by the grippers to the vessel and / or lid reaches its maximum value at the force transmission point.

[0020] Preferably, the grippers are radially movable relative to the vessel and lid.

[0021] Preferably, both the upper and lower holding devices are provided with grippers; in particular, both the upper and lower holding devices are provided with two grippers that are movable in the radial direction (radial to the axis of the vessel).

[0022] The jaws of the upper holding device and / or the jaws of the lower holding device are preferably equipped with an actuator that allows the jaws to approach each other radially to hold the vessel and / or lid between the jaws; in addition, the jaws are preferably also radially disengaged to release the vessel and / or lid.

[0023] In some embodiments, at least one gripper of the upper holding device and / or at least one gripper of the lower holding device are radially elastically mounted, allowing for a certain degree of rebound when the gripper abuts against the vessel and / or lid. This limits the force exerted by the gripper on the vessel and / or lid. The elastically mounted gripper enables force control without requiring active adjustment of the gripper force. In particular, in the same holding device, the other gripper opposite the elastically mounted gripper is a displacement-controlled moving gripper. The force exerted by this gripper on the vessel and / or lid cannot be precisely set; instead, the force exerted by the elastic gripper and the displacement-controlled gripper on the vessel and / or lid is preset by the spring force of the elastic mounting structure. In particular, the lower holding device has one elastically mounted gripper and one displacement-controlled moving gripper.

[0024] In another embodiment, the grippers of the upper holding device and / or the grippers of the lower holding device employ active force-displacement control, and the driver can precisely set the radial position of the grippers and the force applied by the grippers to the vessel and / or lid at that position.

[0025] In a particularly preferred embodiment, the gripper of one of the two holding devices (upper holding device or lower holding device) is controlled by an active force-displacement mechanism, and the gripper of the other holding device (lower holding device or upper holding device) is the aforementioned elastic mounting structure.

[0026] The two grippers are preferably linked, moving synchronously towards the vessel and / or lid when clamping. Active force-displacement control applies a precisely set force to the vessel and / or lid, and this force setting is unaffected by the actual diameter of the vessel and / or lid. In particular, the upper holding device employs active force-displacement control.

[0027] In a preferred embodiment, the upper holding device is rotatable while the lower holding device is non-rotatable (i.e., fixed) and stationary relative to the vessel axis; alternatively, the arrangement can be reversed, i.e., the lower holding device is rotatable while the upper holding device is fixed.

[0028] Preferably, at least one gripper of at least one holding device is designed to have at least two force transmission points. Particularly in a preferred embodiment where the holding device has two opposing grippers, at least one of the grippers has at least two force transmission points. Preferably, only the lower holding device has a gripper with two force transmission points; the other gripper of the holding device preferably has one force transmission point. The force transmission point is characterized in that the force exerted by the gripper on the vessel and / or lid reaches its maximum value at this point, decreasing in the surrounding area. When the holding device holds the vessel and / or lid, the gripper preferably fits along a radial line or surface surrounding the vessel and / or lid; the pressure exerted by the gripper on the vessel is greatest at the force transmission point and decreases radially outward along the circumferential direction of the vessel and / or lid. Although the force is concentrated at the force transmission point, the force transmitted by the gripper to the vessel and / or lid is preferably distributed along a section of its periphery.

[0029] Since one of the grippers transmits force through two spaced-apart force transmission points, connecting these two points forms a holding surface. These spaced-apart force transmission points stabilize the vessel when held by the device. The distance between the two spaced-apart force transmission points on the gripper is preferably greater than 20% of the diameter of the vessel to be held. Studies have found that this stabilizing effect is crucial for the safe opening and closing of the vessel, and in particular, it effectively prevents the vessel from tilting along the holding axis that moves radially along the gripper.

[0030] To create a force transmission point on one of the two grippers, the gripper preferably has a flexible region that separates the two holding sections of the gripper from each other. This flexible region can be achieved through cuts on the gripper that disperse the force transmitted from the gripper to the vessel.

[0031] Furthermore, preferably, at least one adapter dish and / or lid in the gripper has a circular outline.

[0032] Preferably, the grippers are provided with contact surfaces that conform to the outline of the container and / or lid, and these contact surfaces fit the container when the holding device holds the lid and / or container. The grippers or their contact surfaces are preferably arc-shaped, with the radius of the arc segment matching the radius of the lid and / or container.

[0033] The jaws are adapted to the contours of the vessel and / or lid, which increases the contact area between the jaws and the vessel and / or lid, thereby making the force transmission from the jaws to the vessel and / or lid more effective and avoiding local stress concentration.

[0034] Furthermore, preferably, at least one of the grippers extends through a circumferential angle of at least 45° over the vessel and / or lid.

[0035] The angle segment through which a single gripper extends is preferably greater than 75°, especially greater than 90°, or even greater than 105°.

[0036] Furthermore, it is preferable that the grippers of the lower retaining device and the grippers of the upper retaining device grasp the cover from different radial directions.

[0037] Preferably, the grippers of the holding devices (upper holding device and lower holding device) are arranged opposite to each other; when the holding devices hold the vessel or lid, the grippers move closer to each other along the holding axis and simultaneously move towards the axis of the vessel and / or the lid-moving module. The holding axis is preferably perpendicular to the axis of the vessel and / or the lid-moving module. When the lower holding device holds the vessel, the upper holding device holds the lid, and the screw-on connector is closed, the radial movement direction of the upper holding device grippers is preferably at a 90° angle to the radial movement direction of the lower holding device grippers; when the screw-on connector is opened, the upper holding device and the lower holding device rotate relative to each other, and the angle between them changes accordingly.

[0038] In some embodiments, the jaws of the upper and lower holding devices extend over a total circumferential angle of less than 360°; particularly, the angle extended by a single jaw is less than 90°. The fact that the angle extended by a single jaw is less than 90° and the total angle extended by all jaws is less than 360° allows the jaws of the upper and lower holding devices to interlock. This interlocking specifically refers to the upper holding device jaws being able to move into the gap area between the lower holding device jaws to hold the vessel and remove it from the lower holding device. As mentioned earlier, the upper holding device is preferably rotated by an actuator, which adjusts the posture of the upper holding device relative to the lower holding device, aligning the upper holding device jaws with the gap area so that the jaws can enter the gap area when the upper holding device moves downwards.

[0039] In embodiments where the angle through which the gripper covers the vessel is greater than 90°, or the total angle through which all grippers extend is greater than 360°, the grippers of the upper and lower holding devices cannot be interlaced or arranged on the same plane.

[0040] At this time, the grippers of the upper holding device and the lower holding device are preferably designed such that the upper holding device can hold the vessel in the high engagement area near the swivel connector.

[0041] At least one of the two holding devices (preferably the upper holding device) is movable vertically along the axis; preferably, the holding devices are movable to a position close enough that the upper holding device engages with the lower holding device, and the jaws of the upper holding device and the lower holding device are in the same plane along the axis. In this way, the upper holding device, which holds the lid during the opening operation, can also hold the vessel for subsequent processing. After the lid is placed in the lid intercalation position (described in detail below), the upper holding device is idle, and the vessel can be moved to any position to complete subsequent processing.

[0042] In addition, preferably, the grippers are provided with a non-slip surface.

[0043] The anti-slip surface can be achieved through the contact surface of the grippers, which is coated with an anti-slip coating or adhered with an anti-slip material; the anti-slip coating or anti-slip material may contain at least one of the following materials: Vulkollan, EPDM (EPDM = ethylene-propylene-diene rubber), Viton, or silicone rubber.

[0044] The non-slip surface that contacts the gripper when holding the vessel is preferably formed on a non-slip element fixed to the gripper; the non-slip element is preferably made of at least one of the following materials: Vulkollan, EPDM, Viton or silicone rubber.

[0045] Particularly preferably, the anti-slip element is embedded in a groove in the gripper; the groove may be provided with barbs to secure the anti-slip element within it. Preferably, the anti-slip element is attached to the gripper without adhesive, particularly by interference fit alone.

[0046] Particularly preferably, the upper retaining device or its grippers are designed to hold the top surface area of ​​the lid, so that the force applied by the grippers to the lid is directly transmitted to the top surface of the lid, rather than indirectly through the side walls of the lid (the side walls of the lid extend downwards, and the screw-on connector is also located on the side walls). This securely holds the lid and prevents deformation of the lid side walls and the screw-on connector. Preferably, the grippers act on the lid such that the contact surface of the grippers extends upwards beyond the lid or the top surface of the lid.

[0047] Particularly preferably, the lower holding device or its grippers are designed to hold the bottom area of ​​the vessel, so that the force applied by the grippers to the vessel is directly transmitted to the bottom surface of the vessel, rather than indirectly through the side wall of the vessel (which extends upwards to the screw-on connector). This securely holds the vessel and prevents deformation of the side wall and screw-on connector. Preferably, the grippers act on the vessel such that the contact surface of the grippers extends downwards beyond the vessel or the bottom surface of the vessel.

[0048] Furthermore, preferably, the device is configured to perform air sampling using culture medium in a cleanroom vessel; wherein the device can open the vessel lid to expose the culture medium to cleanroom air during the air sampling period; the device further includes at least one culture medium carrier supply station for storing pre-prepared vessels containing culture medium for air sampling; the device further includes at least one culture medium carrier placement station for placing vessels containing culture medium that have been used for air sampling; the device includes a manipulator configured to remove the vessel containing culture medium from the culture medium carrier supply station, expose the vessel to cleanroom air at a fixed sampling station, and then place the vessel at the culture medium carrier placement station; wherein an upper holding device for holding and moving the lid or vessel is arranged on the manipulator, and a lower holding device is arranged at the opening station for opening the vessel.

[0049] In principle, the air sampling device described above is equipped with the lid-moving module described herein, which can open and close containers with lids featuring screw-on connectors.

[0050] However, this air sampling device can also be used to process lidded containers that are fastened to the vessel by holding force without a screw-on connector; the lid removal module or device described herein can also be used to process such containers.

[0051] Preferably, the manipulator is equipped with a transmission mechanism with an axis and is configured to rotate around the axis and move axially along the axis, thereby moving the container from the culture medium carrier supply station to the sampling station, and after sampling, to the culture medium carrier placement station.

[0052] The “culture medium carrier supply station” or “culture medium carrier placement station” mentioned below refers to multiple placement positions for placing containers containing culture medium carriers; these multiple placement positions for placing containers containing culture medium carriers are collectively referred to here as culture medium carrier supply stations or culture medium carrier placement stations.

[0053] The axis of the actuator transmission mechanism is preferably parallel to, but offset from, the axis of the vessel and / or the lid-moving module; the actuator preferably supports the upper holding device of the lid-moving module; in particular, rotation of the actuator about the axis of the transmission mechanism can move the upper holding device above the lower holding device (along the axis of the vessel and / or the lid-moving module); subsequently, the upper holding device and the lower holding device of the lid-moving module can cooperate to open and / or close the vessel.

[0054] The upper holding device, mounted on the manipulator, serves two purposes: firstly, it functions as part of the lid-moving module, working in conjunction with the lower holding device to open and / or close the vessel; secondly, it holds lidded or uncovered vessels, allowing the manipulator to move them. Specifically, the grippers of the upper holding device employ the aforementioned active force-displacement control, enabling precise setting of the holding force applied to the vessel and / or lid. For example, the holding force required to move lidded or uncovered vessels is typically much less than the holding force required when opening the lid using the lid-moving module; the active force-displacement control of the grippers allows for precise adjustment of the force applied by the upper holding device's grippers according to the usage scenario. Uncovered vessels are more fragile, and the advantage of independently setting the force is particularly evident when the manipulator or its upper holding device holds them; in this case, no lid support is needed, and the active force-displacement control can precisely reduce the holding force of the upper holding device.

[0055] Preferably, the manipulator is configured to move the upper holding device along a circular path; at least one culture medium carrier supply station, at least one culture medium carrier placement station, and a cap-moving module (lower holding device), i.e., a vessel opening station, are all arranged on the circular path; the sampling station preferably coincides with the opening station and is also arranged on the circular path; by rotating the manipulator, the vessel can be transported from the culture medium carrier supply station to the opening station, the sampling station, and then to the culture medium carrier placement station.

[0056] Furthermore, preferably, the containers are stacked in the culture medium carrier supply station and / or culture medium carrier placement station.

[0057] Preferably, the manipulator or its holding device operates the culture medium carrier supply station and the culture medium carrier placement station from the top; during sampling, the containers are always taken out from the top of the culture medium carrier supply station; after taking them out, the original second layer of containers is raised to the top layer, and so on, until all containers are taken out; conversely, when placing containers into the culture medium carrier placement station, they are stacked from the top down until the culture medium carrier placement station is full of culture medium containers that have been exposed to cleanroom air.

[0058] In addition, preferably, both the culture medium carrier supply station and the culture medium carrier placement station are equipped with movable top rods to adjust the stacking position of the vessels, so that the top layer of vessels is within the range of motion of the manipulator, so that the manipulator can hold them in place.

[0059] The movable top rod of the culture medium carrier supply station and / or culture medium carrier placement station can precisely lift and lower the stack of containers, so that the top container is in a preset position.

[0060] In particular, the culture medium carrier supply station and / or culture medium carrier placement station are provided with at least one limiting member, and the top layer of vessels is positioned against the limiting member; in particular, a spring is provided below the vessel stack to continuously press the top layer of vessels against the limiting member from below.

[0061] When the upper holding device of the manipulator holds the vessel, the manipulator moves the vessel laterally out of the limiting device in the culture medium carrier supply station, or pushes it laterally into the limiting device in the culture medium carrier placement station.

[0062] Preferably, a clamping spring is integrated inside the top rod, and the spring travel can compensate for the thickness tolerance of the vessel; the movable top rod can roughly send the top vessel to the preset height, while the spring ensures that the top vessel is clamped to the limiting member from below.

[0063] In addition, preferably, at least one culture medium carrier supply station and at least one culture medium carrier placement station are equipped with replaceable containers, which can replace all the containers in the station at one time.

[0064] Preferably, the device is maintained periodically, removing the culture medium-containing vessels that have been used for air sampling from the culture medium carrier placement station and replenishing the culture medium carrier supply station with new culture medium-containing vessels that have not been used for sampling. During maintenance, the entire device can be moved out of the clean room (e.g., through a pass-through window), and the sampled vessels from the culture medium carrier placement station can be taken out of the clean room for testing, while new vessels are loaded into the culture medium carrier supply station. Alternatively, the device can remain in the clean room, and the sampled vessels from the culture medium carrier placement station can be moved out of the clean room through the pass-through window, while new vessels are transferred to the clean room and loaded into the culture medium carrier supply station of the device.

[0065] The replaceable container of the culture medium carrier supply station and / or culture medium carrier placement station can be designed as a frame structure, in which multiple vessels containing culture medium can be stacked vertically within the frame, which can be placed on a pre-set structure of the device; the top rod can extend into the container from below to accurately position the vessels inside the container.

[0066] Air samples collected in a cleanroom using the apparatus described herein are preferably tested outside the cleanroom, for example, in a dedicated laboratory using a dedicated testing method, after the sampled culture medium / vessel has been removed from the culture medium carrier placement station.

[0067] The preparation of culture medium in containers (i.e., filling the containers with culture medium) is preferably completed outside the clean room before being loaded into the culture medium carrier supply station. In practical applications, containers that have been used and have participated in clean room air sampling can be cleaned and refilled with culture medium. In preferred application scenarios, disposable culture medium containers are used.

[0068] In addition, preferably, the vessel opening station also serves as the sampling station; the device is configured such that after the vessel is opened and the culture medium is exposed, the lid is held on the upper holding device and moved to the lid intermediate storage position by the manipulator.

[0069] The intermediate storage position of the lid is preferably determined by the specific posture of the manipulator, and is therefore located on the circular path of the manipulator's movement.

[0070] In a preferred embodiment, the intermediate storage position of the lid does not require an additional fixing structure; when the lid is temporarily stored, it is suspended on the upper holding device, maintaining a distance from the vessel containing culture medium in the sampling station, so that the culture medium in the vessel is fully exposed to the clean room air.

[0071] Furthermore, preferably, the sampling station is located at a different position from the opening station, and the device is configured such that the container is moved to the sampling station by a manipulator after the opening station is opened.

[0072] The sampling station is preferably located on the circular path along which the upper holding device moves with the manipulator.

[0073] In this embodiment, the lid intermediate temporary storage position is preferably provided with a lid placement platform; after the upper holding device moves the lid to the intermediate temporary storage position, the jaws open to release the lid and place the lid on the dedicated placement platform.

[0074] Subsequently, the manipulator drives the upper holding device back to the opening station or the lower holding device holding the vessel containing the culture medium; the lid has already been removed from the vessel in the previous step (before being placed in the intermediate storage position) by the upper holding device and the lower holding device through the lid transfer module; after the lid is placed, the upper holding device and its gripper hold the vessel as a clamp, remove the vessel containing the culture medium from the lower holding device, and transfer it to the sampling station far away from the opening station.

[0075] In addition, the preferred sampling station is the active sampling station, which can actively deliver cleanroom air to the culture medium.

[0076] The active sampling station is preferably equipped with a suction device to draw air from the cleanroom and allow it to flow through the culture medium in the vessel. Such active sampling stations are usually located away from the opening station. The sampling station is equipped with a vessel placement slot, where opened culture medium vessels can be placed. If necessary, the active sampling station is also equipped with a sampling station cover, which can be closed after the opened culture medium vessels are placed in. The lower holding device of the cap-moving module is located at the opening station. Therefore, it is more advantageous to separate the active sampling station from the opening station, as the sampling station does not need to be equipped with a lower holding device at the same time.

[0077] As mentioned above, preferably, the culture medium carrier supply station and the culture medium carrier placement station are arranged on a circular path surrounding the axis of the transmission mechanism.

[0078] In addition, the device preferably includes a controller configured to actuate the manipulator to periodically replace the culture medium exposed in the sampling station vessel at a preset time interval.

[0079] The above-mentioned operations performed by the sampling device on the culture medium (transferring the vessel from the culture medium carrier supply station to the opening station, opening the cap, exposing the culture medium at the sampling station, and transferring the vessel to the culture medium carrier placement station, etc.) are preferably stored in the controller in the form of control instructions for controlling the manipulator and the cap-moving module.

[0080] Furthermore, preferably, the manipulator, sampling station, at least one culture medium carrier supply station, and at least one culture medium carrier placement station are all arranged on the base housing, which can accommodate the drive components and controller of the device.

[0081] The shell is preferably formed into a base plate, and the manipulator, the start station, the sampling station, the culture medium carrier supply station and the culture medium carrier placement station are all installed on the base plate.

[0082] When the device is used to handle containers with lids that have no screw-on connectors and are simply placed on the container and held in place by a holding force, the function of relative rotation between the upper and lower holding devices can be selectively canceled or disabled.

[0083] Such devices are configured to perform air sampling using culture media in cleanroom containers; the devices can open the container lids to expose the culture media to cleanroom air during the air sampling period; the devices also include at least one culture media carrier supply station for storing pre-prepared containers containing culture media for air sampling; the devices also include at least one culture media carrier placement station for placing containers containing culture media that have been used for air sampling; the devices include a manipulator configured to remove the container containing culture media from the culture media carrier supply station, expose the container to cleanroom air at a fixed sampling station, and then place the container at the culture media carrier placement station; wherein an upper holding device for holding and moving the lid or container is arranged on the manipulator, and a lower holding device is arranged at the opening station for opening the container.

[0084] The lid-moving module of such a device is preferably configured to hold the vessel by a lower holding device and the lid by an upper holding device; the upper holding device and the lower holding device can move axially relative to each other along the axis of the vessel and the lid to open and / or close the vessel.

[0085] The alternative design eliminates the need for an opening actuator that drives the upper and lower retaining devices to rotate relative to each other; the axial movement of opening or removing the lid can be driven by a manipulator. Attached Figure Description

[0086] The present invention and its technical background will be described in detail below with reference to the accompanying drawings. The drawings illustrate preferred embodiments and do not limit the present invention. It should be noted that the drawings and the scale shown are for illustrative purposes only.

[0087] In the attached image: Figure 1 : Shows a partial top view of the automatic vessel handling device; Figure 2 : Shows a partial side view of the automatic vessel handling device; Figure 3 This illustrates one embodiment of the lower retaining device of this apparatus; Figure 4 : Show Figure 3 A partial view of the retaining device shown; Figure 5 : A schematic front view of the air sampling vessel processing device is shown; Figure 6 : A top view of the first embodiment of the air sampling vessel processing apparatus is shown; and Figure 7 : Shows a top view of a second embodiment of the air sampling vessel processing device. Detailed Implementation

[0088] Figure 1 and Figure 2 The apparatus 1 shown includes a lid-removing module 5 for handling a covered vessel 2. The lid 3 of the vessel 2 is fixed to the vessel 2 via a screw-on connector 4. The vessel 2 has a rotationally symmetrical structure, as shown... Figure 1 and Figure 2As shown, all are aligned along the second axis 30. Device 1 or lid-moving module 5 includes a lower holding device 6 and an upper holding device 7. The lower holding device 6 holds the vessel 2, and the upper holding device 7 holds the lid 3. Both the upper holding device 6 and the lower holding device 7 have two grippers 9, which are movable relative to each other radially 10 to securely hold the lid 3 and / or the vessel 2 between the grippers 9. The inner radius of the grippers 9 adapts to the radius of the vessel 2 and / or the lid 3. Each gripper 9 extends over a corner segment 11 on the periphery of the vessel 2 and / or the lid. Preferably, the corner segment 11 is less than 90° and as large as possible, for example, greater than 70° or greater than 80°. A larger corner segment 11 facilitates the transfer of force from the grippers 9 to the vessel 2 and / or the lid 3. The corner segments 11 of the jaws 9 of the lower holding device 6 and the jaws 9 of the upper holding device 7 are preferably adapted to each other to avoid overlap of the jaws 9; preferably, an angular gap 33 is left between the jaws 9 of the lower holding device 6 and the jaws 9 of the upper holding device 7. This ensures that the jaws 9 of the upper holding device 7 and the jaws 9 of the lower holding device 6 can be arranged on the same plane. In other words, a gap area 43 for the jaws 9 of the lower holding device 6 is provided between the jaws 9 of the upper holding device 7, and vice versa. This allows the jaws 9 of the upper holding device 7 to better hold the vessel 2, and makes it particularly easy to remove the vessel from the lower holding device 6.

[0089] The grippers 9 of the upper holding device 7 and the grippers 9 of the lower holding device 6 can be arranged on the same plane, which is only one possible way for the grippers 9 of the upper holding device 7 to securely hold the vessel 2. In an alternative embodiment, the grippers 9 of the upper holding device 7 can also hold the vessel 2 in the high engagement area 44 near the snap-fit ​​connector 4, which has been schematically marked in the figure.

[0090] Depend on Figure 2 As can be seen, the vessel 2 has a bottom surface 34 and a radially surrounding sidewall 37; the lid 3 has a top surface 35 and a radially surrounding sidewall 38. The screw-on connector 4 is preferably disposed on the lid sidewall 38 and the vessel sidewall 37, for example, as a threaded or interlocking claw structure.

[0091] The gripper 9 of the upper retaining device 7 preferably acts on the lid 3, so that the retaining force applied by the gripper 9 acts mainly directly on the top surface 35 of the lid, and is not (or only slightly) indirectly transmitted to the top surface 35 of the lid through the side wall 38 of the lid. The gripper 9 of the lower retaining device 6 preferably acts on the vessel 2, so that the retaining force applied by the gripper 9 acts mainly directly on the bottom surface 34 of the vessel, and is not (or only slightly) indirectly transmitted to the bottom surface 34 of the vessel through the side wall 37 of the vessel. Preferably, the retaining force applied by the gripper 9 is transmitted as completely as possible to the bottom surface 34 of the vessel or the top surface 35 of the lid; preferably, the retaining force applied by the gripper 9 is not transmitted or is only slightly transmitted to the screw fastener 4.

[0092] For the gripper 9 of the upper holding device 7 Figure 2 The arrangement of the lid fitting the top surface 35 is shown, slightly extending upwards beyond the top surface 35 of the lid, which can effectively transfer the holding force to the top surface 35 of the lid.

[0093] Figure 2 The vessel 2 (i.e., the bottom surface 34 of the vessel) is also shown resting on the support 36; optionally, the lid 3 (i.e., the top surface 35 of the lid) can be supported from above by the upper abutment 39. This allows the vessel 2 or the lid 3 to be stabilized when the gripper 9 applies a holding force.

[0094] After the grippers 9 of retaining devices 6 and 7 apply a holding force to the vessel 2 and the lid 3, the vessel 2 and the lid 3 can move relative to each other, opening the screw-on connector 4. The holding force can apply a torque about the second axis 30 to the screw-on connector 4, causing the lid 3 to be removed from the vessel 2. Opening the vessel 2 requires relative movement between the lid 3 and the vessel 2, which can be achieved by moving the lid 3, moving the vessel 2, or moving the vessel 2 and the lid 3 simultaneously.

[0095] Figure 3 The lower holding device 6 of this device or its lid-moving module is shown. The gripper 9 extends circumferentially over the vessel 2 at an angle greater than 90°; such grippers 9 can only engage with or be arranged on the same plane as the grippers 9 of the upper holding device 7 (not shown) when they are adapted to fit into the gap region 43 indicated in the figure. Preferably, Figure 3 When the lower holding device 6 is used for the lid transfer module 5, the upper holding device 7 is used in conjunction, and its claws 9 act on the vessel 2 in the high engagement area 44 near the screw fastener 4.

[0096] Figure 3 The key feature of the lower holding device 6 shown is that one of the grippers 9 is designed with two force transmission points 41, and the other gripper 9 is designed with one force transmission point 41. The force transmission point 41 is characterized in that the force exerted by the gripper 9 on the vessel 2 and / or lid 3 reaches its maximum value at this point, decreasing in the surrounding area. The gripper 9 adheres to the vessel 2 along a radial line or surface surrounding it; the pressure exerted by the gripper 9 on the vessel 2 is maximum at the force transmission point 41 and decreases radially outward along the circumference of the vessel 2. Although the force is concentrated at the force transmission point 41, the force transmitted by the gripper 9 to the vessel 2 is preferably distributed along the peripheral area of ​​the corresponding corner segment 11.

[0097] Since one of the grippers 9 transmits force through two spaced-apart force transmission points 41, connecting the two force transmission points 41 forms a holding surface 42. The spaced-apart force transmission points 41 can stabilize the vessel 2 when the lower holding device 6 holds the vessel 2. The two spaced-apart force transmission points 41 on the gripper 9 are spaced 50 mm apart. Studies have found that this stabilizing effect is crucial for the safe opening and closing of the vessel 2, and in particular, it can effectively prevent the vessel 2 from tilting along the holding axis 45 that moves radially along the gripper 9.

[0098] To create a force transmission point 41 on one of the two grippers 9, the gripper 9 preferably has a flexible region 40 that separates the two holding sections 46 of the gripper 9 from each other. The flexible region 40 can be achieved by a cut on the gripper 9, which can disperse the force transmitted by the gripper 9 to the vessel 2.

[0099] Figure 4 An example is shown along Figure 3 The cross-sectional view of the gripper 9 is shown by section line AA. The anti-slip surface 47 that contacts the gripper 9 when holding the vessel 2 is preferably formed on the anti-slip element 49 embedded in the groove 48 of the gripper 9.

[0100] Figure 5 A schematic front view of the air sampling vessel processing device 1 is shown. The device 1 is arranged in a clean room 13 (shown schematically) for clean room air sampling. During sampling, the culture medium 12 in the vessel 2 is exposed to the sampling station 17 for a preset time, and microorganisms / impurities present in the clean room 13 can be detected on the culture medium 12 thereafter.

[0101] Device 1 includes Figure 1 and Figure 2 The cover-moving module 5. The lower holding device 6, upper holding device 7, and gripper 9 of the cover-moving module 5 are schematically shown, and their structures are as follows: Figure 1 and Figure 2 The vessel 2 with lid 3 is aligned along a second axis 30. The device 1 includes an opening actuator 8, disposed above the lid-moving module 5, configured to rotate the lid 2 relative to the vessel 3 to open the vessel. The device 1 also includes a manipulator 16, with an upper retaining device 6 fixed to the manipulator 16, which is capable of moving the vessel 2 and / or the lid 3. The manipulator 16 can perform a rotational movement 21 or an axial movement 22. The opening actuator 8 is disposed inside the manipulator 16.

[0102] The device 1 includes a culture medium carrier supply station 14, which stores covered containers 2 containing pre-prepared culture medium 12. The device 1 is configured such that the manipulator 16 removes the containers 2 one by one from the culture medium carrier supply station 14; the upper holding device 7 of the cap removal module 5 holds the cap 3 and removes the containers 2; the manipulator 16 moves the containers 2 to the position of the lower holding device 6, which forms an opening station 18, and the upper holding device 7 and the lower holding device 6 cooperate to open the screw-on connector 4.

[0103] In embodiment 1, the opening station 18 also serves as the sampling station 17, where the culture medium 12 in the vessel 2 is exposed to the air in the cleanroom 13 for a preset time. For this purpose, the lid 3 held by the upper holding device 7 can be moved to the lid intermediate storage position 25.

[0104] After sampling is completed or the culture medium 12 has been exposed for a preset time, the lid 3 can be placed back into the vessel 2 and the vessel 2 can be closed again. The lid removal module 5 can open the vessel 2 with the lid having a screw-on connector, and can also close such a vessel 2 in the reverse direction.

[0105] The device 1 also includes a culture medium carrier placement station 15 for placing a covered container 2 containing culture medium 12 that has been sampled in the cleanroom 13 air. The manipulator 16 preferably places the covered container 2 in the culture medium carrier placement station 14; preferably, the lid 3 is held by the upper holding device 7, moved to the culture medium carrier placement station 15 and placed there.

[0106] Both the culture medium supply station 14 and the culture medium placement station 15 are preferably equipped with a container 24, in which covered containers 2 are stacked vertically. Preferably, each container 24 is equipped with a limiting member 32, and the top container 2 is positioned against the limiting member 32 to ensure that the position of the top container 2 is fixed. The container 24 can be removed from the culture medium supply station 14 and / or the culture medium placement station 15 to load new containers 2 outside the clean room 13, or to remove containers 2 containing exposed culture medium 12. Preferably, the culture medium supply station 14 and the culture medium placement station 15 are equipped with a movable push rod 23, which can push the containers 2 stacked upward to ensure that the top container 2 is always in the top position determined by the limiting member 32 (as needed).

[0107] The manipulator 16, the culture medium carrier supply station 14, the culture medium carrier placement station 15, and other components of the device 1 are preferably all mounted on the same housing 28. The housing 28 preferably houses the drive components and controller 27 required for the operation of the device 1.

[0108] The following text combines Figure 6 and Figure 7 Different embodiments of device 1 are illustrated from a top view. Figure 6 and Figure 7 Schematic based on Figure 5 , Figure 5 The same applies to Figure 6 and Figure 7 .

[0109] Figure 6 A top view of a first embodiment of the air sampling vessel handling apparatus 1 is shown. The diagram shows a manipulator 16, a cap-moving module 5, a culture medium supply station 14, and a culture medium placement station 15. Both the sampling station 17 and the opening station 18 are located at the cap-moving module 5. The cap-moving module 5, the culture medium supply station 14, and the culture medium placement station 15 are all arranged on the same circular path 26, and the manipulator 16 can reach all positions via a rotational movement 21. A temporary cap storage position 25 is also arranged on the circular path 16. When the culture medium 12 in the vessel 2 is exposed to cleanroom air at the sampling station 17, the manipulator 16 moves the cap 3, which is suspended from the upper holding device 7, to the temporary cap storage position 25.

[0110] The actuator 16 is equipped with a transmission mechanism 19 with a shaft 20. The drive component 29 that drives the actuator 16 is shown in the schematic diagram.

[0111] Figure 7 A top view of the second embodiment of the air sampling container processing device 1 is shown. Figure 7 The structure shown is the same as Figure 6 Basically the same, for reference Figure 6 Related explanations. (And...) Figure 6 Different implementation methods Figure 7 In this implementation, the opening station 18 with the cover-moving module 5 is separate from the sampling station 17. Figure 7 The sampling station 17 is also aligned along the circular path 26. The sampling station 17 is equipped with an active suction device 31, which actively delivers air from the cleanroom 13 to the vessel 2 (i.e., the culture medium 12 inside the vessel 2). During sampling, the opened vessel 2 is transferred from the opening station 18 to the sampling station 17.

[0112] Therefore, the upper holding device 7 of the cap-moving module 5 needs to actively place the lid 3 of the container 2 in the dedicated lid intermediate temporary storage position 25. If necessary, the sampling station 17 itself has a station cover (not shown), which needs to be removed before the container 2 is placed in and replaced afterward. Preferably, the station cover also has a dedicated placement station (not shown separately), which is also arranged on the circular path 26 accessible to the manipulator 16, allowing the manipulator 16 to operate the station cover; preferably, the station cover can also be held by the upper holding device 7. The lid 3 cannot be suspended on the upper holding device 7 during sampling. After the lid 3 is placed, the opened container 2 can be held by the upper holding device 7 of the cap-moving module 5, and the manipulator 16 moves the container 2 to the sampling station 17. After the culture medium 12 has been exposed, the manipulator 16 moves the vessel 2 back to the opening station 18 or the cap removal module 5. Then, the manipulator 16 moves the upper holding device 7 to the cap intermediate storage position 25, retrieves the cap 3, and re-closes the screw-on connection 4 between the vessel 2 and the cap 3. The closed vessel 2 (same as above) Figure 6 (Implementation method) Transfer to culture medium carrier supply station 15.

[0113] List of reference numerals 1 device 2. Vessels 3. Lid 4. Snap-fit ​​connector 5. Cover removal module 6. Lower retaining device 7. Upper retaining device 8. Open the drive 9 grippers 10 Radial direction 11 angle segments 12 Culture medium 13 Cleanroom 14. Culture medium carrier supply station 15. Culture medium carrier placement station 16. Manipulator 17 sampling stations 18 Opening Station 19 Transmission Mechanism 20 axis 21 Rotational motion 22 Axial movement 23 Top Rod 24 Material Boxes 25. Temporary storage space for lids 26 Circular Path 27 Controller 28. Shell 29 Drive components 30 Second Axis 31 Suction Device 32 Limiting components 33 angular spacing 34 Bottom surface of the vessel 35. Top surface of the lid 36 Support components 37. Side wall of the vessel 38. Lid sidewall 39 Upper abutment component 40 Flexible Areas 41. Force transmission point 42. Maintain surface 43 Gap area 44 High-level junction area 45. Maintain axis 46. ​​Holding section 47. Anti-slip surface 48 Grooves 49 Anti-slip elements 50mm spacing

Claims

1. A device (1) for automatically processing a dish (2), the dish (2) having a lid (3) which, when the dish (2) is closed by the lid (3), is securely attached to the dish (2) by a screw-on connector (4), the device comprising a lid-moving module (5) configured to hold the dish (2) by a lower holding device (6) and the lid (3) by an upper holding device (7), wherein, The upper holding device (7) and the lower holding device (6) are rotatable relative to each other to open and / or close the vessel (2), wherein the upper holding device (7) and / or the lower holding device (6) include an opening actuator (8) configured to cause relative rotational movement of the vessel (2) and / or the lid (3) to open or close the screw fastener (4).

2. The apparatus (1) according to claim 1, wherein, The lower holding device (6) and / or the upper holding device (7) are designed with grippers (9) that are capable of holding the vessel (2) and / or the lid (3) in the holding device (6, 7).

3. The apparatus (1) according to claim 2, wherein, At least one of the grippers (9) is designed to have two force transmission points (41) spaced apart, such that when holding the vessel and / or lid (3), the pressure exerted by the grippers (9) on the vessel (2) and / or lid (3) reaches its maximum value at the force transmission point (41).

4. The apparatus (1) according to claim 2 or 3, wherein, The gripper (9) is able to move in the radial direction (10) relative to the vessel (2) and the lid (3).

5. The apparatus (1) according to any one of the preceding claims, wherein, The circular outline of at least one adapter dish (2) and / or lid (3) in the gripper (9).

6. The apparatus (1) according to any one of the preceding claims, wherein, At least one of the grippers (9) extends over a corner segment (11) of greater than 45° over the vessel (2) and / or lid (3).

7. The apparatus (1) according to any one of the preceding claims, wherein, The jaws (9) of the lower retaining device (6) and the jaws (9) of the upper retaining device (7) grip the cover (3) from different radial directions (10).

8. The apparatus (1) according to any one of the preceding claims, wherein, The gripper (9) has an anti-slip surface (47).

9. The apparatus (1) according to any one of the preceding claims is configured for air sampling using a culture medium (12) supplied in a dish (2) within a cleanroom (13), wherein, The device (1) allows the lid (3) of the vessel (2) to be opened, so that the culture medium (12) can be exposed to the air in the clean room (13) during the air sampling period. The device (1) also includes at least one culture medium carrier supply station (14), at which the pre-made vessel (2) containing the culture medium (12) for air sampling can be stored. The device (1) also includes at least one culture medium carrier placement station (15), at which the vessel (2) containing the culture medium (12) that has been used for air sampling can be placed. The device (1) includes a manipulator (16) configured to remove a vessel (2) containing culture medium (12) from the culture medium carrier supply station (14), expose the vessel to the air of a clean room (13) at a fixed sampling station (17), and then place the vessel (2) at the culture medium carrier placement station (15). An upper holding device (7) for holding and moving the lid (3) or the vessel (2) is arranged on the manipulator (16), and a lower holding device (6) is arranged on the opening station (18) for opening the vessel (2).

10. The apparatus according to claim 9, wherein, The manipulator (16) has a transmission mechanism (19) with a shaft (20) and is configured to rotate (21) about the shaft (20) and move axially (22) parallel to the shaft (20) as a means of moving the transport vessel (2) to transport the vessel (2) from the culture medium carrier supply station (14) to the sampling station (17) and after sampling to the culture medium carrier placement station (15).

11. The apparatus (1) according to any one of claims 9 to 10, wherein, The opening station (18) for opening the vessel (2) also serves as the sampling station (17). The device (1) is configured such that after opening the vessel (2) and exposing the culture medium (12), the lid (3) is held on the upper holding device (7) and moved by the manipulator (16) to the lid intermediate storage position (25).

12. The apparatus (1) according to any one of claims 9 to 11, wherein, The sampling station (17) is located at a different position from the opening station (18), and the device (1) is configured such that after the vessel (2) is opened at the opening station (18), the manipulator (16) moves the vessel to the sampling station (17).

13. The apparatus (1) according to any one of claims 9 to 12, wherein, The culture medium carrier supply station (14) and the culture medium carrier placement station (15) are arranged on a circular path (26) around the axis (20) of the transmission mechanism (19).

14. The apparatus (1) according to any one of claims 9 to 13, comprising a controller (27) configured to actuate a manipulator (16) such that the culture medium (12) exposed in the vessel (2) at the sampling station (17) is periodically replaced at a preset time interval.

15. The apparatus (1) according to any one of claims 9 to 14, wherein, The manipulator (16), sampling station (17), at least one culture medium carrier supply station (14) and at least one culture medium carrier placement station (15) are all arranged on the housing (28), which houses the drive component (29) and controller (27) of the device (1).

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