Apparatus and container for automated diagnostic analysis of liquid samples

Abstract

To improve the size and functionality of analyzers known in the art, an apparatus for automated analysis of liquid samples is disclosed, wherein the apparatus is arranged in a housing with a sample tray, a reagent tray, a measuring device, a loading opening, and a robotic arm for transporting containers from the loading opening to an analysis area, wherein the robotic arm comprises an elongated finger having a vertically extending central longitudinal axis, wherein the finger has an engagement mechanism for releasable engagement with a sample container and / or a reagent container, wherein the engagement mechanism comprises at least one engagement element which can be moved from a release position to a locking position by moving in a direction perpendicular and away from the central longitudinal axis of the finger.

Description

Technical Field

[0001] This invention relates to an automated analysis apparatus for liquid samples, wherein the apparatus has a housing and within the housing are arranged: an analysis area including a sample tray for receiving sample containers, at least one reagent tray for receiving reagent containers, and at least one measuring device for measuring physical or chemical properties; a loading opening for receiving containers and a robotic arm for transporting containers from the loading opening to the analysis area, wherein the robotic arm has an end effector for grasping and transporting containers. Furthermore, this invention relates to containers used in the aforementioned apparatus, wherein the containers have at least one sample / reagent cavity for receiving samples or reagents. Background Technology

[0002] With increasing automation in the medical and veterinary diagnostic fields, automated analysis equipment for liquids (so-called analyzers) is widely used. These analytical devices are designed to automatically extract reagents from containers and combine them with the sample to be analyzed, performing the analytical process within a reaction vessel.

[0003] Typically, an analyzer has an analysis area that includes a sample tray, at least one reagent tray, and at least one reaction tray, which provide slots for receiving and holding the respective containers. Furthermore, the analysis area includes measuring devices for determining the physical or chemical parameters (process parameters) of the reaction mixture in the reaction vessel. These measuring devices perform measurement techniques such as spectrophotometry, colorimetry, ion-selective electrode methods, coagulation methods, and GLIA.

[0004] To remove reagents or samples and transfer them to reaction vessels, the analytical area typically includes an automated pipetting device with a pipette arm comprising a pipette needle connected to a pump unit for drawing liquid into the needle and ejecting liquid again from the needle. The pipette arm can move in the XY directions or by rotating over the working area where the sample tray, reagent tray, and / or reaction tray are located.

[0005] Existing technology

[0006] WO 2021 / 219352 A1 discloses an analyzer whose analytical area is arranged in a housing, wherein a loading opening is provided in the housing for receiving sample containers and reagent containers individually or in pre-packaged form in a holder. The loading opening includes a robotic arm for transporting the sample containers and reagent containers individually or in pre-packaged form from the loading opening to a sample tray and / or a reagent tray.

[0007] Thanks to the robotic arm, the operator of the analytical apparatus does not need to manually insert new samples and / or reagents into the sample or reagent trays. Manual insertion would require halting all movement within the analytical area to avoid any contact with moving parts such as pipette arms and / or rotary tables. By using the robotic arm to transport sample and reagent containers to the sample and / or reagent trays, all processes within the analytical area can continue, as any movement of the robotic arm can be perfectly coordinated with automated movements within the analytical area. Whenever a timeslot exists for loading a sample or reagent into the corresponding tray in the analyzer, the robotic arm can grasp the sample or reagent from the loading area and transport it to the corresponding tray.

[0008] The robotic arm disclosed in WO 2021 / 219352 A1 includes an end effector having at least two fingers movable relative to each other for grasping and transporting sample containers and reagent containers individually or in the form of pre-packaged supports. The design of two or more fingers allows for grasping objects of different sizes and shapes, such as various containers, supports, or even other objects.

[0009] However, for the grasping action to occur, the fingers must be brought to positions on two opposite sides of the container, where the fingers are moved by decreasing the distance between them to grasp the container. Clearly, when picking up a container in the loading area or placing it on one of the trays, the grasping action requires some space next to the corresponding container wall. Therefore, there must be sufficient space between two adjacent containers for the grasping action. Summary of the Invention

[0010] Problems to be solved

[0011] To save space in the laboratory for operating analyzers, the size of the equipment design needs to be minimized. Because the size of an analyzer depends on the size and arrangement of its components, the need for minimization applies to the design, function, and arrangement of all analyzer components, such as sample trays, reagent trays, reaction trays, measuring devices, and pipetting devices. Where the analyzer includes a loading area for automated sample or reagent loading via a robotic arm, the need for minimization also applies to the design of the robotic arm within that loading area.

[0012] According to the technical solution of the present invention

[0013] To improve the size and functionality of known analyzers in the art, this invention discloses a device for automated analysis of liquid samples, wherein the device has a housing and the following are arranged within the housing: - The analysis area includes a sample tray for receiving sample containers. - At least one reagent tray for receiving reagent containers, - At least one measuring device for measuring physical or chemical properties. - Loading opening for receiving containers, - A robotic arm for transporting containers from a loading opening to an analysis area, wherein the robotic arm has an end effector. The device is characterized in that the end effector is an elongated finger having a vertically extending central longitudinal axis, wherein the finger has an engagement mechanism for releasably engaging with a container, wherein the engagement mechanism includes at least one engagement element that can be moved from a released position to a locked position by moving along a direction perpendicular to and away from the central longitudinal axis of the finger.

[0014] According to the invention, the end effector is a single vertical finger having at least one engagement element for releasably engaging with a container. For the "grabbing process," the finger is moved into the cavity of the container, and then the engagement mechanism engages with the inner wall of the container cavity by moving the engagement element on the finger in a direction perpendicular to and away from the central longitudinal axis of the finger, thus completing the "grabbing" process.

[0015] By using only a single vertical finger, the grasping action eliminates the need for two fingers to be positioned on opposite sides of the container, thus saving space next to the container walls. Therefore, sample and / or reagent containers can be arranged in a space-saving manner within both the loading and analysis areas.

[0016] In this application, the term "loading opening" refers to an area within the wall of the device where sample / reagent containers can be placed by an operator or by a conveyor for pickup by a robotic arm. Conversely, the term "loading area" refers to an area outside the loading opening where an operator can place sample / reagent containers individually or in pre-packaged holders.

[0017] According to the present invention, the loading opening is designed to receive new sample containers and / or new reagent containers, which are placed manually into the loading opening by the analyzer operator individually or in the form of pre-packaged holders. A robotic arm can then pick up the containers / holders and transport them to the sample tray and / or reagent tray. Conversely, empty containers / holders can be removed from the sample tray and / or reagent tray by the robotic arm and transported to the loading opening, where the operator can remove the containers / holders. Therefore, the "loading opening" of the present invention is not only a "loading opening" but also an "unloading opening."

[0018] The "analysis area" is the area where the sample tray, reagent tray, reaction tray, and pipetting device of the device of the present invention are located. In a preferred embodiment, the analysis area is a plane in which these devices are positioned side by side.

[0019] The term "robotic arm" refers to a movable transport device with an end effector for transporting sample containers and / or reagent containers individually or in the form of a support carrying sample containers and / or reagent containers.

[0020] Specific aspects and implementation methods

[0021] In one embodiment, the robotic arm has a oscillating element with a rotation axis passing through one end of the oscillating element. An end effector (referring to the rotation axis), arranged at the other end of the oscillating element, can move along a circular path around this rotation axis.

[0022] In another preferred embodiment, the swing arm can move along a vertical axis, and in another preferred embodiment, the swing element or the entire robotic arm can move along a horizontal axis. In particular, preferably, the swing element can move along both a vertical and a horizontal axis.

[0023] All possible movements around the axis of rotation, along the vertical axis, and along the horizontal axis define the working area of ​​the robotic arm, in which the end effector can be moved to a loading opening for sample containers and / or reagent containers, and to a slot for receiving sample containers or reagent containers in a sample tray and / or reagent tray.

[0024] To grasp containers and / or supports, the robotic arm includes vertical fingers as end effectors, wherein the vertical fingers include engagement mechanisms for performing the grasping process. In a locked position, at least one engagement element engages with the container or support, wherein in a released position, the engagement is released. To bring the engagement element to the locked position, during the "grasping action," the distance between the outermost end of the engagement element and the central longitudinal axis of the fingers is increased compared to the distance in the released position.

[0025] In the locked position, the engaging element engages with the inner surface of a cavity in the liquid container. Preferably, the cavity with which the engaging element engages with the container is a separate gripping cavity, which is spaced apart from the cavity for receiving samples or reagents. Separate gripping cavities are advantageous because they avoid potential contamination of the sample or reagent when a single finger actuator of the present invention moves into the same cavity.

[0026] To properly fit into the grasping cavity, the vertical finger-shaped object geometrically corresponds with a gap in the grasping cavity within the container. For example, if the inner wall of the grasping cavity is a vertically oriented rectangle, forming a cuboid cavity, the outer wall of the vertical finger-shaped object is geometrically a corresponding vertically oriented rectangle, thus forming a cuboid vertical finger-shaped object that can be inserted into the cavity with a gap.

[0027] The press-fit engagement of the vertical finger-like engagement mechanism with the inner wall of the cavity in the container is sufficient to grip and lift some containers, especially lightweight containers. However, in a preferred embodiment, the engagement mechanism is designed to engage with at least one geometrically corresponding recess provided in the inner wall of the gripping cavity.

[0028] The engagement between the engagement mechanism and the inner wall of the gripping cavity and / or the recess provided in the inner wall of the gripping cavity can be a form fit and / or a force fit. When the engagement mechanism engages with the vertical inner wall of the gripping cavity, the engagement is preferably a force fit. When the engagement mechanism engages with the recess in the inner wall of the gripping cavity, the engagement is preferably a form fit.

[0029] The form-fit joint minimizes the risk of the container accidentally falling, such as in cases where the mating surfaces are fogged or slightly damp due to prior cooling or very cold liquid contents. Furthermore, the form-fit joint allows for the inclusion of a gripping cavity with slightly tapered inner walls, forming a cavity with an inverted truncated pyramid shape. Vertical fingers with geometrically corresponding slightly tapered outer walls (thus forming an inverted truncated pyramid shape) can then be easily inserted into and secured within the cavity.

[0030] In some embodiments of the invention, the engagement mechanism includes an engagement element movably arranged on a vertical finger to be brought from a release position to a locked position, wherein the engagement element engages in a recessed shape in the inner wall of the gripping cavity. In alternative embodiments of the invention, the engagement mechanism includes two, three, four, or even more engagement elements.

[0031] In a specific embodiment of the invention, the engagement mechanism includes at least two engagement elements arranged such that they move in opposite directions when brought from the release position to the locking position, and vice versa.

[0032] This invention covers various geometries of engagement mechanisms, such as a bar with a rectangular or circular cross-section, the longitudinal axis of which is arranged vertically relative to the longitudinal axis of a vertical finger. In some embodiments, the at least one engagement element has a locking nose protruding from the outer surface of the finger. In those cases, the locking nose is designed for locking engagement with a corresponding locking recess in the gripping cavity.

[0033] In some embodiments, at least one engaging element moves from a released position to a locked position and returns to a released position by force provided by, for example, an electric motor, a magnetic mechanism, compressed air, or a spring.

[0034] In some other embodiments, the finger includes a vertically movable displacement element that, when moved upward along the central longitudinal axis of the finger, moves at least one engaging element to a locked position. In some specific embodiments of these embodiments, the displacement element is pulled upward by a force provided by, for example, an electric motor, a magnetic mechanism, compressed air, or a spring. In some other specific embodiments of these embodiments, in the released position, the displacement element extends beyond the lower end of the finger, while in the locked position, it does not extend beyond the lower end of the finger, wherein the displacement element is designed to move upward upon contact with the bottom part of the gripping cavity.

[0035] In addition to the device of the present invention described in detail above, the present invention also relates to a container of the present invention used in the aforementioned device, wherein the container has at least one sample / reagent cavity for receiving a sample or reagent. The container of the present invention is characterized in that, in addition to the sample / reagent cavity, the container also has a separate and individual grasping cavity for receiving the fingers of the robotic arm of the device.

[0036] Some embodiments of the container of the present invention have at least one recess in at least one of the inner walls of the gripping cavity for receiving at least one engaging element of a finger, wherein, in a locked position, the engaging element engages in a shape-fitting manner with the recess. In specific embodiments, two, three, or four recesses are present in the inner wall of the gripping cavity. In even more specific embodiments of these embodiments, at least two recesses are provided on opposite inner walls of the gripping cavity.

[0037] The container of the present invention can be made of different materials. Preferably, the container of the present invention is made of plastic. In some embodiments, the container consists of two or more separate parts made of different materials. In particular, the container can consist of a gripping cavity part of one (plastic) material and a sample / reagent cavity part of another (plastic) material, which are fixedly mounted together. In yet another embodiment, the container of the present invention is made of one (plastic) material formed as a single piece, including both the gripping cavity and the sample / reagent cavity.

[0038] In some embodiments, the container of the present invention includes an additional, separate container unit having a cavity for receiving liquids and / or powders and / or beads, wherein the separate container unit is releasably attached to a container body including a gripping cavity and a reagent / sample cavity.

[0039] In some embodiments of the container of the present invention, the opening at the top of the container for filling and / or removing samples or reagents is closed in a fluid-tight manner. In some embodiments, a fluid seal means a seal only for liquids. In some embodiments, a fluid seal means not only a seal for liquids but also a seal for gases (such as air).

[0040] In some embodiments, the container of the present invention includes a single cavity for use only with a sample or reagent. In other embodiments, the container of the present invention includes two, three, or more cavities for receiving liquids such as samples or reagents. In these embodiments, an opening at the top of the container for filling and / or removing samples or reagents is fluid-tightly closed by one or more caps. In a preferred embodiment, all sample or reagent openings are fluid-tightly closed by a common cap. In these embodiments, an opening at the top of the container for filling and / or removing samples or reagents is fluid-tightly closed by one or more caps.

[0041] The at least one fluid-tightly closed cap can be form-fitted and / or force-fittedly fixed to one or more container openings. In some embodiments, at least one cap is fluid-tightly welded to the opening.

[0042] In some implementations, filling and / or removing a sample or reagent requires removing the cap from the container. In a specific implementation, one or more caps are provided with puncturable septa for each opening of a sample / reagent cavity within the container.

[0043] In addition to the device and container of the present invention described in detail above, the present invention also relates to an automated analysis system comprising the device of the present invention and at least one container of the present invention.

[0044] A specific embodiment of the automated analysis system of the present invention is characterized by multiple containers of the present invention being loaded onto a container holder, wherein the engagement mechanism of the fingers is adapted to releasably engage with a grasping cavity disposed in the container holder. In addition to or instead of the containers of the present invention, the holder may also include containers containing control media or calibrators.

[0045] When the automated analysis system of the present invention is running, each container can be placed individually in the loading opening, or the containers can be placed on a container holder and then the holder is placed in the loading opening. In the case of pre-packaged holders, the robotic arm either grasps the individual containers but leaves the holder on the conveyor, or grasps the entire holder including the containers.

[0046] Some embodiments of the automated analysis system of the present invention include a conveyor for transporting the containers of the present invention individually or in the form of the aforementioned pre-packaged supports to or from the loading opening.

[0047] The automated analysis system of the present invention may include a guide rail along a conveyor, and these containers and / or supports have guide grooves at their bottoms, wherein the guide grooves in the containers / supports geometrically mate with the guide rails of the device. Therefore, in a specific embodiment, the containers of the present invention are characterized by having guide grooves for engaging with the guide rails at their bottom ends.

[0048] In a specific embodiment of the invention, at least one guide groove and at least one mating guide rail are designed to prevent the container from moving about a deflection axis. In some embodiments of the invention, at least one guide groove and at least one mating guide rail are designed to prevent the container from moving about a tilting axis. In a very specific embodiment of the invention, there are at least one guide groove and at least one mating guide rail designed to prevent the container from moving about a deflection axis, and there are at least one guide groove and at least one mating guide rail designed to prevent the container from moving about a tilting axis.

[0049] The housing of the analyzer of the present invention is preferably formed by a floor, a ceiling, a rear wall, side walls, and a front wall. In a preferred embodiment, the loading opening is arranged in the front wall of the housing. Preferably, the loading opening is arranged in the middle between the left and right edges of the front wall.

[0050] In specific embodiments of the invention, the housing of the analytical device includes a base and an openable cover, wherein the analytical region is arranged on top of the base, and wherein the cover completely covers the analytical region in its closed state. In those embodiments, the loading opening is preferably arranged in the front wall of the base or the cover, or extends across both the front walls of the base and the cover. Regardless of which of the above alternatives is implemented, the loading opening allows samples and / or reagents to be loaded into the analytical device without opening the cover.

[0051] In a specific embodiment of the invention, the device includes a conveyor for transporting sample containers and / or reagent containers individually or in the form of pre-packaged supports to or from a loading opening. The conveyor extends horizontally to the left and / or right along the wall of the housing where the loading opening is arranged from the loading opening.

[0052] In some embodiments, one end of the conveyor is outside the loading opening, while the other end extends into the loading opening. A loading area is located at the end outside the loading opening, in which multiple sample containers and / or reagent containers can be placed individually or in the form of pre-packaged supports on the conveyor. The conveyor then transports the containers / supports one by one into the loading opening. Furthermore, this conveyor allows used or even empty sample containers and / or reagent containers that have been removed from the sample or reagent tray and placed into the loading opening by a robotic arm to the outer end of the conveyor. In these cases, the conveyor is bidirectional, and the loading area also serves as an unloading area.

[0053] In other embodiments, one end of the conveyor is on the left side of the loading opening, while the other end of the conveyor extends through the loading opening and from the loading opening along the wall to the right. In those embodiments, the loading and unloading areas of the conveyor are separate, i.e., a loading area exists on one side of the loading opening, and an unloading area exists on the other side.

[0054] In some embodiments, these containers / stands have labels with one-dimensional barcodes, two-dimensional barcodes (matrix codes), or RFID (Radio Frequency Identification). Furthermore, some embodiments of the automated analysis system of the present invention are equipped with cameras or barcode readers for reading one-dimensional and two-dimensional barcodes and / or RFID readers for reading RFID codes. Preferably, the camera or reader is located in the loading area or loading opening.

[0055] To differentiate between samples and between different reagents, the operator places containers in the loading area and moves each container to the reader, for example by a conveyor or robotic arm, before transporting it to its destination. The robotic arm then performs the corresponding transport action based on the information read from the code.

[0056] The device of this invention is capable of performing various analytical processes. In a preferred embodiment, the physical or chemical properties measured by at least one measuring device are selected from the results of immunoassays, clinical chemistry assays, coagulation assays, or ion-selective electrode assays in the reaction vessel. In some specific embodiments, there is a combination of one immunoassay unit and one clinical chemistry unit. In other embodiments, there is a combination of two immunoassay units or two clinical chemistry units.

[0057] In some embodiments, the device includes an access control unit that coordinates access to the central sample tray by the robotic arm in the loading area and access to the central sample tray by the analytical units arranged around it. Specifically, the control unit determines the access rules and time slots allowed for different requesting units (robotic arm, analytical unit).

[0058] The control unit is connected to different components of the analyzer via a signal transmission connection (such as via wires or Bluetooth). Through this connection, the robotic arm and analytical units (e.g., immunoassay unit, clinical chemistry unit) can communicate. Specifically, via this connection, the robotic arm and these analytical units can request multiple time slots for accessing the central sample tray to place or remove sample containers or sample container holders from the sample tray, or to retrieve aliquots of samples from sample containers placed in the sample tray.

[0059] Preferably, the time slot request is associated with a periodicity attribute that defines the time period for which the time slot is required. Even more preferably, the time slot request is further associated with a priority attribute that defines at least two priority levels (e.g., high / low), where a high priority level indicates that allocating a time slot within the defined time period is necessary for correct operation, and where a low priority level indicates that allocating a time slot within the defined time period is not necessary for correct operation. The control unit then analyzes all requests, optionally including the time period and / or priority attribute, and calculates an optimal operation chart for allocating a specific time slot to each access request. Finally, the control unit transmits relevant information about the corresponding time slot to each requesting unit.

[0060] In embodiments where a barcode reader, QR code reader, RFID reader, or camera is included in the loading area, the control unit is connected to the control unit via a signal transmission connection (such as via wired connection or Bluetooth). Through this connection, the control unit can receive information about the corresponding container placed in the loading opening. Based on this information, the control unit can decide whether to place the container in a sample tray or a reagent tray. The control unit then transmits information about the designated location of the container to the robotic arm.

[0061] For the purposes of the original disclosure, it should be noted that any feature that a person skilled in the art can gather from this specification, drawings, and claims (even if described only in conjunction with specific additional features) can be combined individually and in any combination with any other feature or group of features disclosed herein, unless expressly excluded, or the technical conditions would make such combination impossible or meaningless. A full and explicit discussion of any possible combinations of features has been omitted solely for the sake of brevity and readability of the description and claims.

[0062] Specifically, it should be noted that those features mentioned in the context of one of the above aspects of the invention may be combined with features mentioned in the context of another of the above aspects of the invention.

[0063] Furthermore, it should be noted that, as will be apparent to those skilled in the art, the accompanying drawings and the detailed description below are merely illustrative examples of possible configurations of the invention, which are presented as exemplary embodiments. Therefore, those skilled in the art will readily understand that, in addition, all other structures having the features or combinations of features according to the invention as described in the claims are also within the scope of protection of this invention. A full and explicit representation of all conceivable embodiments is omitted herein only for the sake of brevity and readability. Attached Figure Description

[0064] In the attached diagram Figures 1 to 6 middle: Figure 1 This is a schematic diagram of a specific embodiment of the analyzer of the present invention, shown in a view viewed from above the top of the analyzer. Figure 2 A perspective view of the robotic arm of a specific embodiment of the analyzer of the present invention is shown. Figure 3 This is a schematic cross-sectional view of a specific embodiment of the container of the present invention, "grabbed" by the end effector of the robotic arm of the analyzer of the present invention. Figure 4 A perspective view showing a specific embodiment of the container of the present invention is provided. Figure 5 A side view and a top view of a specific embodiment of the container of the present invention are shown. Figure 6 A perspective view of a specific embodiment of the container of the present invention placed on the transmitter of an analyzer is shown. Detailed Implementation

[0065] Figure 1 A perspective view is shown from the top of a specific embodiment of the analyzer 1 of the present invention. In the analysis area 2 of the analyzer 1, there are two reagent trays 5 and 6, both of which are rotatable disks. Furthermore, in the analysis area 2, two reaction trays 9 and 10 are positioned, one of which, reaction tray 9, is a rotatable reaction disk, and the other, reaction tray 10, is a static reaction ring 10.

[0066] The center of analytical region 2 is defined by the rectangle formed by the dashed line connecting the rotation axes of reagent trays 5 and 6 and the rotation axes of reaction trays 9 and 10. The rotation axis of sample tray 3 intersects this center of analytical region 2. Therefore, sample tray 3 is positioned at the center of analytical region 2.

[0067] Adjacent to sample tray 3, there are two reagent trays 5 and 6, located to the right and left of sample tray 3, respectively. Additionally, adjacent to sample tray 3, there are two reaction trays 9 and 10, one on the right and one on the left.

[0068] Between sample tray 3 and each of the two reaction trays 9 and 10, there are pipetting devices 15 and 16. Additionally, there are two pipetting devices 17 between reaction tray 9 and reagent tray 5, and one pipetting device 18 between reaction tray 10 and reagent tray 6. The pipetting devices 15 and 16 between sample tray 3 and reaction trays 9 and 10 are used to transfer liquid samples from sample container 4 in sample tray 3 to reaction containers 11 and 12 in reaction trays 9 and 10. The pipetting devices 17 and 18 between reagent trays 5 and 6 and reaction trays 9 and 10 are used to transfer reagents from reagent containers 7 and 8 in reagent trays 5 and 6 to reaction containers 11 and 12 and reaction trays 9 and 10.

[0069] Pipettes 15, 16, 17, and 18 are swiveling pipette arms with a rotation axis 19 (represented by a circle in the figure) at one end of the pipette arm, and a pipette needle 20 (represented by a triangle in the figure) at the other end of the pipette arm that can move along a circular path around this rotation axis. The rotation axis 19 of pipettes 15, 16, 17, and 18 is located between sample tray 3 and each reaction tray 9, 10, or between each reagent tray 5, 6 and its corresponding reaction tray 9, 10.

[0070] Adjacent to each reaction tray 9, 10, there are measuring devices 13, 14. The measuring device 14 adjacent to reaction tray 10 is a PMT detector with a photomultiplier tube, used to measure chemiluminescence in immunoassays. The measuring device 13 adjacent to reaction tray 9 is a photometer used to measure the optical properties of clinical chemistry reaction mixtures. Sample tray 3 has receiving cavities 28 for receiving elongated sample container holders 24, each holder having five slots for receiving sample containers 4, arranged side-by-side along the longitudinal axis of the holder. The receiving cavities 28 are radially oriented on sample tray 3. In this embodiment, there are ten receiving cavities 28. Therefore, sample tray 3 of this embodiment, when fully loaded, can hold 10 sample container holders, each with 5 slots. Thus, sample tray 3 can hold a maximum of 50 sample containers in total.

[0071] The reagent tray 6 has 14 receiving recesses for receiving reagent container holders, each holder having 3 slots for receiving reagent containers 8. The reagent container holders are radially oriented on the outer peripheral edge of the reagent tray 6.

[0072] The reagent tray 5 has 24 recesses for receiving reagent container holders 23, and each reagent container holder has two slots for receiving reagent containers 7. The recesses for receiving reagent container holders are arranged in two rows, one row located at the outer periphery of the reagent tray 5 and the other row located at the center of the reagent tray 5.

[0073] The reaction tray 9 has approximately 100 slots on its outer peripheral edge for receiving reaction containers 11. In this embodiment, the reaction containers are cuvettes for photometric analysis of the reaction mixture contained therein. By rotating the tray 9, each reaction container 11 can be transported to a photometer 13 for measuring the optical properties of the reaction mixture contained therein.

[0074] according to Figure 1 The illustrated embodiment of the analyzer 1 has an analytical area arranged on a plane and inside a housing 21, wherein the housing 21 has a loading opening 22 in its front wall 26. This loading opening 22 is used to receive sample containers 4 individually or pre-packaged in supports 23, 24. The loading opening 22 includes a robotic arm 25 for transporting sample containers 4 individually or in the form of pre-packaged supports 23, 24 from the loading opening 22 to sample trays 3 or reagent trays 5, 6. Furthermore, the robotic arm 25 can transport sample containers from sample tray 3 to reagent trays 5, 6 and back. In embodiments where reagent trays 5, 6 are cooled, the sample container support 24 carrying sample containers filled with reference standards can be transferred to reagent trays 5, 6 for cooling to extend the reference standard lifetime.

[0075] In the illustrated embodiment, the robotic arm 25 is a swing arm with a rotation axis at one end, and the other end is movable along a circular path about the rotation axis. At the end of the arm located on the opposite side from the rotation axis, the robotic arm has an end effector for grasping and transporting sample containers and reagent containers individually or in the form of pre-packaged holders.

[0076] The robotic arm can move along a horizontal axis from the left (reagent tray 6 is on the left) to the right (reaction tray 5 is on the right) to place or remove reagent containers / staples onto or from reagent trays 5 or 6. Furthermore, the robotic arm 25 can move along a vertical axis to pick up containers / staples from the horizontal plane of the loading opening 22 located below the horizontal plane of the analysis area 2, transport the containers / staples to the horizontal plane of the analysis area, and place them, for example, in reagent tray 5 or 6.

[0077] The circular motion of the swing arm, combined with its mobility along the horizontal and vertical axes, allows the robotic arm 25 to move the end effector within the working area, whereby the end effector is able to individually or in the form of pre-packaged supports grasp sample containers and / or reagent containers from loading openings 22, reagent trays 5, 6 and / or sample trays 3, transport them from one of the devices or transport them to one of the devices and / or place them in one of the devices or place them in one of the devices.

[0078] A horizontal recess is provided in the front wall 26 of the housing 21 to provide a conveyor 27 that extends from left to right and passes through the loading opening 22. Containers / stalls to be loaded into sample trays 3 and / or reagent trays 5, 6 can be placed on the conveyor 27, which transports the containers / stalls to the loading opening 22, where a robotic arm 25 can pick up the containers / stalls and bring them to the analysis area.

[0079] Figure 2 A perspective view of a robotic arm 25 according to a specific embodiment of the analyzer of the present invention is shown. This embodiment of the robotic arm has a vertical element 32 extending vertically from a horizontal element 33. The horizontal element 33 is slidably arranged on horizontal guide rails 48, 49. The vertical element 32 is rotatably arranged on the horizontal element 33, wherein the axis of rotation extends along the central vertical axis of the vertical element 32. A swing element 31 is arranged on the vertical element 32, which rotates about the central vertical axis of the vertical element 32 when the vertical element 32 rotates about its central axis. Furthermore, the swing element 31 can be moved vertically to different height levels along the vertical extension range of the vertical element 32. An end effector 28 is arranged at the radial end of the swing element 31, wherein... Figure 2 In the specific illustration, the end effector is engaged with the container support 34.

[0080] Figure 3 This is a schematic cross-sectional view of a specific embodiment of the container of the present invention, "grabbed" by the end effector of a specific embodiment of the robotic arm of the analyzer of the present invention. Specifically, Figure 3 A reagent container 7 with a gripping cavity 35 is shown, which extends in the upper half of the reagent container 7. Figure 3 Schematic diagram a) shows the end effector 29 of the robotic arm 25 interacting with the reagent container 7 during the grasping process. Figure 3The specific stage shown in a) is the state where the finger of the end effector 29 has entered the gripping cavity 35 of the reagent container 7. Specifically, the end effector 29 has been introduced into the gripping cavity 35 to a depth where the displacement element 47 has slightly contacted the bottom of the gripping cavity 35. However, the contact force is insufficient to push the displacement element 47 upward. Therefore, the engagement element 30 remains in the unlocked release position. In this unlocked release position, the locking nose 45 provided on the engagement element 30 is in a retracted position, so that the locking nose 45 does not engage with the corresponding locking recess 46.

[0081] and Figure 3 Compared to a), Figure 3 Figure b) illustrates different states of the gripping process. In this case, the end effector 29 is further introduced into the gripping cavity 35, thereby pushing the displacement element 47 more forcefully towards the bottom of the gripping cavity 35. In this position, the contact force is sufficient to push the displacement element 47 upward, thereby forcing the locking nose 45 on the engagement element 30 to move from the unlocked release position to the locked position by moving in a direction perpendicular to and away from the central longitudinal axis of the end effector. Thus, the locking nose 45 engages with the locking recess 46, and in this state, the gripping process is completed, allowing the reagent container 7 to be gripped by the end effector 29. The gripped reagent container 7 can then be moved from its original position to any desired location within the robotic arm's range.

[0082] Figure 4 and Figure 5 A specific embodiment of the reagent container 7 of the present invention is shown. The reagent container 7 includes separate reagent chambers 36 and 37 and a separate gripping chamber 35. Figure 4 As can be seen in perspective views a) and b), the locking recess 46 extends from the gripping cavity 35 to the outer wall of the reagent container 7, thereby forming an opening in the outer wall of the reagent container 7. This opening allows access to the gripping cavity 35, and allows the reagent container 7, gripped by the end effector of the robotic arm, to be unlocked and released from the outside. Therefore, by pushing the locking nose through the opening in the wall of the reagent container 7 to the unlocked / released position, the reagent container 7 can be released from the end effector.

[0083] In addition, Figure 4 The diagram shows anti-yaw grooves 38 and 39 and anti-pitch grooves 40 and 41. Anti-yaw grooves 38 and 39 are located on each lateral side of the reagent container 7 at the bottom. Anti-pitch grooves 40 and 41 are also located at the bottom of the reagent container 7. However, in the case of anti-pitch grooves 40 and 41, they are arranged such that the openings of grooves 41 and 42 are in the horizontal direction, while in the case of anti-yaw grooves, their openings are in the vertical direction. Figure 6 The diagram shows how the anti-deflection grooves 38 and 39 and the anti-tilt grooves 40 and 41 engage with the corresponding anti-deflection guide rails 50 and 51, respectively.

[0084] Figure 5 Schematic diagrams a) and b) show, as Figure 4 The side and top views of embodiment 7 of the reagent container are shown. Figure a) shows the locking recess 46 extending from the outside to the grasping cavity. Details of the geometry of the anti-deflection groove 38 and the anti-tilt groove 40 can also be seen. The top view of Figure b) shows the grasping cavity 35 opening at the top, while the reagent cavities are closed by diaphragms 42 and 43, which can be penetrated by a pipette but are tightly closed again after the pipette is retracted. Figure 5 In illustration b), the reagent container is shown in a state after diaphragms 42 and 43 have been punctured.

[0085] exist Figure 6 The image shows a perspective view of a specific embodiment of the container of the present invention placed on the conveyor of an analyzer. Specifically, it shows the reagent container 8 engaging with the anti-deflection guide rail 50 via its anti-deflection groove. Furthermore, the container 8 engages with the anti-tilt guide rail 51 via its anti-tilt groove. It should also be noted that in this specific embodiment of the reagent container 8, not only are two reagent chambers 36 and 37 and a gripping chamber 35 provided, but a mixing tube 44 is also provided. Suspended reagent components can be provided in the volume of this mixing tube 44, wherein the suspended reagent components are kept uniformly distributed by means of a homogenizing rip within the tube by rotating the tube 44 about its vertical axis.

[0086] Reference number: 1. Equipment (analyzer) for automated analysis of liquid samples. 2. Analysis Area 3 Sample trays 4. Sample container 5 First Reagent Plate 6 Second Reagent Disk 7 First reagent container 8 Second reagent container 9. Reaction Plate 10 Reaction ring 11 First reaction vessel 12 Second Reaction Vessel 13 First Measuring Device 14 Second measuring device 15 First pipetting device 16 Second pipetting device 17 First pipetting apparatus 18 Second pipetting device 19. Axis of rotation 20 pipettes 21. Shell 22 Loading opening 23. Reagent container holder 24 Sample container holder 25 robotic arms 26 Anterior wall 27. Transporter 28 End effector 29 End effector tip 30 Connecting elements 31 Oscillating element 32 Vertical components 33 Horizontal Components 34 Sample container holder 35 Grasp the cavity 36. Reagent Chamber 37. Reagent Chamber 38 Anti-deflection groove 39 Anti-deflection groove 40 Anti-tilting groove 41 Anti-tilting groove 42 Diaphragm 43 Diaphragm 44 Mixing tube 45. Lock the nose 46 Locking recess 47. Shifting element 48 Transport rails 49 Transport rails 50 Anti-deflection guide rail 51 Anti-tilt guide rail 52. Mixing tube opening.

Claims

1. An automated analysis device for liquid samples (1), wherein, The device has a housing and the following are arranged in the housing: -Analytical area (2), the analytical area including a sample tray (3) for receiving sample containers (4), at least one reagent tray (5, 6) for receiving reagent containers (7, 8), and at least one measuring device (13, 14) for measuring physical or chemical properties, and - Loading opening (22), the loading opening being used to receive the containers (4, 7, 8). - A robotic arm (25) for transporting the containers (4, 7, 8) from the loading opening (22) to the analysis area (2), wherein the robotic arm (25) has an end effector (28). The end effector (28) is characterized in that it is an elongated finger having a vertically extending central longitudinal axis, wherein the finger has an engagement mechanism for releasably engaging with the containers (4, 7, 8), wherein the engagement mechanism includes at least one engagement element (30), which moves from a released position to a locked position by moving along a direction perpendicular to and away from the central longitudinal axis of the finger.

2. The device according to claim 1, characterized in that, The engagement mechanism includes at least two engagement elements, which are arranged such that the at least two engagement elements move in opposite directions when brought from the release position to the locking position, and vice versa.

3. The device according to any one of claims 1 and 2, characterized in that, At least one of the engagement elements is a nose protruding from the outer surface of the finger.

4. The device according to any one of claims 1 to 3, characterized in that, The finger includes a vertically movable displacement element that, when moved upward along the central longitudinal axis of the finger, brings the engaging element to the locked position.

5. The device according to claim 4, characterized in that, In the released position, the shifting element extends beyond the lower end of the finger, while in the locked position, the shifting element does not extend beyond the lower end of the finger.

6. A container for use in a device according to any one of claims 1 to 9, wherein the container has at least one sample / reagent cavity for receiving a sample or reagent, characterized in that, The container also has a gripping cavity for receiving the fingers of the robotic arm of the device.

7. The container according to claim 6, characterized in that, The grasping cavity contains at least one recess for receiving at least one engaging element of the finger.

8. The container according to any one of claims 6 and 7, characterized in that, The container has a guide groove at its bottom end for engaging with a guide rail.

9. The container according to any one of claims 6 to 8, characterized in that, The container is made of plastic and is formed as a single piece.

10. The container according to any one of claims 6 to 9, characterized in that, The container has at least one opening for filling and / or removing a sample or reagent, wherein the opening is fluid-sealed by a cap welded to the opening.

11. An automated analysis system comprising the device according to any one of claims 1 to 5 and at least one container according to any one of claims 6 to 10.

12. The automatic analysis system according to claim 11, characterized in that, The automated analysis system includes a plurality of sample containers and / or reagent containers and at least one container support, wherein at least some of the sample containers and / or reagent containers are mounted on the at least one container support, and wherein the engagement mechanism is adapted to releasably engage with the at least one container support.

13. The automatic analysis system according to any one of claims 11 and 12, characterized in that, The automated analysis system includes a conveyor (27) for transporting the container individually or in the form of a pre-packaged support to or from the loading opening.

14. The automatic analysis system according to any one of claims 11 to 13, characterized in that, The device has a guide rail along the conveyor, and the container and / or the support has at least one guide groove at the bottom of the container and / or the support, the at least one guide groove cooperating with the guide rail.

15. The automatic analysis system according to any one of claims 11 to 14, characterized in that, At least some of the sample tubes and / or reagent containers have labels having a one-dimensional code (barcode), a two-dimensional code (matrix code), or an RFID code (radio frequency identification), and the device is equipped with a camera or barcode reader for reading the one-dimensional code, the two-dimensional code, and / or an RFID reader for reading the RFID code.

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