Multichannel pipetting system

Abstract

The invention relates to a pipetting system comprising: - a frame (100) that comprises a base (2) provided with at least one tray (9) configured to accommodate at least one consumable, and a tower (3) that extends from the base (2) and comprises at least one linear guide rail (30) that extends along a vertical axis (V); - a pipetting head (1); - means for translating the pipetting head (1); - control means (500) that comprise: o means (501) for measuring an item of information representative of the separation of the pipetting head (1) from the base (2); o means (502) for analysing the item of information representative of the separation of the pipetting head (1) from the base (2) so as to infer therefrom the position of the pipetting head (1); o control means (503) configured to activate the motor (50) according to the position of the pipetting head (1) and at least one predefined stop, the at least one predefined stop being located between the maximum position and the minimum position of the pipetting head (1).

Description

[0001] DESCRIPTION

[0002] TITLE: MULTICHANNEL PIPETTING SYSTEM

[0003] Field of invention

[0004] The present invention relates to the field of pipetting systems, such as sampling pipettes, also called pipetting systems, laboratory pipetting systems, or laboratory pipettes, or liquid transfer pipettes, intended for the calibrated sampling and introduction of liquid into containers.

[0005] The invention is preferably applied to motorized or semi-motorized pipetting systems, with manual or servo-controlled movement of the pipetting head and motorized pipetting, but can also be applied to manual pipetting systems.

[0006] The invention applies to air displacement or positive displacement pipetting systems.

[0007] State of the prior art

[0008] For many years, the design of pipetting systems, whether motorized, semi-motorized or even manual, has been the subject of numerous improvements.

[0009] From the prior art, pipetting systems are known comprising a pipetting head, a base comprising one or more trays intended to come opposite the pipetting head, and a tower extending from the base and comprising a linear guide rail.

[0010] Conventionally, the pipetting head comprises one or more channels, arranged on a rectangular matrix of one or more rows and one or more columns. Each of these pipetting channels is conventionally provided with a tip intended to cooperate with a pipetting cone, which may be disposable, by fitting so as to receive or dispense liquid.

[0011] This pipetting head can, in a known manner, be moved in translation along said linear guide rail between at least one maximum position and one minimum position. This movement of the pipetting head can be done either manually by a user who can, for example, grasp the pipetting head in his hands so as to exert upward or downward pressure in order to respectively raise or lower the pipetting head, or in a fully automated manner by means of a drive motor, the user then most often having to simply press a button or operate a lever in order to set the pipetting head in motion.

[0012] A disadvantage of pipetting systems with manually operated pipetting heads is that the accuracy of pipetting head positioning depends on how easily the pipetting head can be moved and stopped at a desired position, for example, to insert pipetting tips or perform a pipetting operation. Furthermore, this accuracy can be reduced by the inertia of the pipetting head due to its weight as well as by the accuracy of the user. It should also be noted that inertia can cause the pipetting head to slow down during its movement.

[0013] Motorized pipetting systems, on the other hand, have the disadvantage of being relatively expensive, particularly from an energy and maintenance point of view, due to the fact that the motor is continuously used, which causes significant energy consumption as well as premature wear of the motor as well as the various components enabling the movement of the pipetting head. In addition, an automated system typically only leaves the user the choice of positioning the pipetting head among predefined positions in the pipetting system's on-board computer, which leaves little possibility of movement. Furthermore, such motorized pipetting systems can be relatively noisy in the event of long and repeated uses.

[0014] There is therefore a need to improve the existing system, and in particular to implement a reliable pipetting system, which allows more freedom of movement of the pipetting head to be offered to a user, and which allows the pipetting head to be precisely positioned in a desired position while limiting any risk of damage to the head, while reducing the energy consumption of such a pipetting system.

[0015] Statement of the invention

[0016] The invention aims to remedy at least in part the drawbacks mentioned above relating to the techniques of the prior art.

[0017] To this end, the invention relates to a pipetting system comprising: a frame comprising a base provided with at least one tray configured to accommodate at least one consumable, and a tower extending from said base and comprising at least one linear guide rail extending along a vertical axis V; a pipetting head housing at least one pipetting channel intended to be provided with a tip configured to cooperate with a pipetting cone so as to receive or dispense liquid, said pipetting head being able to be moved in translation along said linear guide rail in at least one predefined range of movement between at least one maximum position forming a maximum spacing with said base and a minimum position forming a minimum spacing with said base;means for driving said pipetting head in translation comprising: o a motor for driving said pipetting head in translation, comprising a motor shaft mounted to rotate along a motor axis R fixed relative to said frame and substantially orthogonal to said vertical axis V; o a toothed pinion mounted to rotate along said motor axis; o a movement transmission roller arranged between said motor and said toothed pinion so as to transmit a rotational movement between said motor and said toothed pinion;o a rack mounted so as to move in translation along said vertical axis V, said rack being integral with said pipetting head so as to drive it in translation, and being arranged in contact with said toothed pinion so that a rotation of said toothed pinion causes a translation of said rack along said vertical axis V and that a translation of said rack along said vertical axis V causes a rotation of said toothed pinion, control means comprising: o means for measuring information representative of said spacing of said pipetting head with said base; o means for analyzing said information representative of said spacing of said pipetting head with said base, so as to deduce therefrom said position of said pipetting head;o control means configured to activate said motor as a function of said position of said pipetting head and at least one predefined stop, said at least one predefined stop being located between said maximum position and said minimum position of the pipetting head.;

[0018] Thus, the invention provides a novel and inventive approach to at least partially resolving some of the drawbacks of the prior art.

[0019] In particular, by implementing control means that enable the motor to be activated and therefore powered simply when necessary and with the necessary power, the pipetting system is ensured to be economical in terms of energy consumption. In addition, wear and tear on components, particularly drive and control means, is also limited.

[0020] Furthermore, this provides a pipetting system that allows a user great freedom of control, as they can pre-set stops and maneuver the pipetting head within a pre-defined range of motion.

[0021] Finally, such a pipetting system implements control means which are relatively simple mechanically and relatively inexpensive.

[0022] According to one aspect of at least one embodiment of the invention, when said pipetting head reaches the height of said at least one predefined stop, the control means activate said motor so as to block the translational movement of said pipetting head along said linear guide rail. This also makes it possible to only switch on the motor at a predefined blocking power when necessary and with the necessary power, the pipetting system thus being economical in terms of energy consumption.

[0023] According to one aspect of at least one embodiment of the invention, the measuring means comprise a magnetic encoder provided with at least one magnet and a magnetometer, said at least one magnet being fixed to said toothed pinion and being arranged opposite said magnetometer fixed to said frame of the pipetting system and configured to measure a value of a magnetic field of said at least one magnet so that a rotation of said toothed pinion around said motor axis R causes a variation of said value of said magnetic field of said at least one magnet measured by said magnetometer.Furthermore, said information representative of a spacing of said pipetting head is measured by said magnetic encoder, and comprises a number of revolutions made by said toothed pinion as well as said value of the magnetic field of said at least one magnet, said analysis means deducing from said measured value of said magnetic field of said at least one magnet and from the number of revolutions made by said toothed pinion said position of said pipetting head.

[0024] Thus, the measuring means have an angular magnetic encoder type operation, with revolution counter, so as to provide measurements of the value of said magnetic field of said magnet which are relatively precise and quick to obtain.

[0025] According to one aspect of at least one embodiment of the invention, said motion transmission roller has a protrusion extending along said motor axis R and around which said toothed pinion is rotatably mounted. Furthermore, said toothed pinion comprises two oblong holes symmetrical with respect to said motor axis R, said motion transmission roller having two pins extending in projection opposite said toothed pinion so that each of said two pins is slidably mounted in one of said two oblong holes by movement of said motion transmission roller with respect to said toothed pinion, said two pins and said motor axis R being aligned in a plane orthogonal with respect to said vertical axis V.

[0026] According to one aspect of at least one embodiment of the invention, said at least one magnet is arranged in a housing formed in said protrusion and is mounted to move in helical rotation around said motor axis R, said number of revolutions made by said notched pinion depending on a distance of said magnet relative to said magnetometer.

[0027] According to one aspect of at least one embodiment of the invention, said at least one magnet is arranged on a support linked to said toothed pinion and mounted to move in rotation around an axis M fixed relative to the toothed pinion and parallel relative to said motor axis R.

[0028] According to one aspect of at least one embodiment of the invention, one of said two pins forms said axis M of rotation of said support, said axis M being parallel offset relative to said motor axis R, said value of said magnetic field of said at least one magnet measured by said magnetometer depending on a position of each of said two pins in said two oblong holes.

[0029] According to one aspect of at least one embodiment of the invention, said measuring means are configured to detect a movement of said pipetting head by a sliding of each of said two pins in said two oblong holes from a default position in which each of said two pins is centered relative to the oblong hole in which it is slidably mounted, and an offset position in which each of said two pins is offset relative to the center of the oblong hole in which it is slidably mounted. Furthermore, said control means are configured to control a speed and a direction of rotation of said motor so as to return each of said two pins to said default position.

[0030] According to one aspect of at least one embodiment of the invention, when said pipetting head reaches the height of said at least one predefined stop, each of said two pins comes into abutment against an edge of said oblong hole in which it is slidably mounted.

[0031] According to a particular aspect of at least one embodiment of the invention, the measuring means comprise an angular encoder provided with two magnets and two angle sensors, a first of said two magnets being fixed to said toothed pinion and being arranged opposite a first of said two angle sensors fixed to said frame of the pipetting system and configured to measure an angle variation at said toothed pinion, a second of said two magnets being fixed to said motor and being arranged opposite a second of said two angle sensors fixed to said frame of the pipetting system and configured to measure an angle variation at said motor, so that a rotation of said toothed pinion around said motor axis causes a variation of said angle value of said first of said two magnets measured by said first of said two angle sensors,and causes a phase shift between said angle value of said first of said two magnets measured by said first of said two angle sensors and said angle value of said second of said two magnets measured by said second of said two angle sensors.,

[0032] Furthermore, said information representative of a spacing of said pipetting head is measured by said angular encoder, and comprises a number of revolutions made by said toothed pinion as well as a phase shift value between said angle value of said first of said two magnets measured by said first of said two angle sensors and said angle value of said second of said two magnets measured by said second of said two angle sensors, said analysis means deducing from said phase shift value and the number of revolutions made by said toothed pinion said position of said pipetting head.

[0033] According to a particular aspect of at least one embodiment of the invention, said number of revolutions made by said toothed pinion is deduced from the rotation of said second of said two magnets. According to a particular aspect of at least one embodiment of the invention, said motion transmission roller has a protrusion extending along said motor axis and around which said toothed pinion is rotatably mounted. Furthermore, said toothed pinion comprises two oblong holes symmetrical with respect to said motor axis, said motion transmission roller having two pins extending in projection opposite said toothed pinion so that each of said two pins is slidably mounted in one of said two oblong holes by movement of said motion transmission roller with respect to said toothed pinion, said two pins and said motor axis being aligned in a plane orthogonal with respect to said vertical axis.

[0034] According to a particular aspect of at least one embodiment of the invention, when said pipetting head reaches the height of said at least one predefined stop, each of said two pins comes into abutment against an edge of said oblong hole in which it is slidably mounted.

[0035] According to a particular aspect of at least one embodiment of the invention, each of said two pins is connected on either side of one of said two oblong holes by means of two return springs in position so as to return each of said two pins to said default position. According to one aspect of at least one embodiment of the invention, the drive means of said pipetting head comprise at least one constant force spring connected to said rack and configured to maintain said pipetting head in a given position.

[0036] This provides stability to the pipetting head by ensuring that it remains in a given position, which may correspond to a position desired by a user.

[0037] According to one aspect of at least one embodiment of the invention, further comprises monitoring means, arranged on said pipetting head and / or on said tower and intended to be positioned opposite said tray.

[0038] According to one aspect of at least one embodiment of the invention, the control means comprise monitoring means capable of delivering information belonging to the group comprising: information on the presence of a support on said tray; a number of pipetting cones not yet used; information relating to a protocol step to be carried out, in progress, or carried out; information on the date or time of carrying out a pipetting protocol; a planned maintenance date; information identifying consumables present on the tray; information identifying the pipetting system; information on the arrival in the stop position of the pipetting head; information on the vertical position of the pipetting head and / or on a distance between the pipetting head and the base.According to one aspect of at least one embodiment of the invention, said control means comprise data storage means and / or data communication means capable of communicating with a remote terminal.

[0039] The invention also relates to a method for controlling a pipetting system according to one of the aforementioned embodiments, implemented by said control means, the method being characterized in that it comprises the following steps: a step of measuring, by means of said measuring means, information representative of said spacing of said pipetting head with said base; a step of analyzing, by means of said analysis means, said information representative of said spacing of said pipetting head with said base, so as to deduce therefrom said position of said pipetting head; a step of controlling said motor, by said control means, as a function of said position of said pipetting head and at least one predefined stop, said at least one predefined stop being located between said maximum position and said minimum position of the pipetting head.

[0040] According to one aspect of at least one embodiment of the invention, the method comprises a prior step of configuring said at least one predefined stop.

[0041] According to one aspect of at least one embodiment of the invention, the method comprises a prior step of calibrating the measuring means.

[0042] According to one aspect of at least one embodiment of the invention, the method comprises a step of positioning said pipetting head from a storage position to said predefined range of movement or from said predefined range of movement to a storage position.

[0043] According to one aspect of at least one embodiment of the invention, the method comprises a step of detecting the movement of the pipetting head by detecting, by said measuring means, a sliding of each of said two pins in said two oblong holes from a default position in which each of said two pins is centered relative to the oblong hole in which it is slidably mounted, and an offset position in which each of said two pins is offset relative to the center of the oblong hole in which it is slidably mounted.

[0044] In this case, according to one aspect of at least one embodiment of the invention, the method comprises a step of controlling the rotation speed of said motor, by said control means, so as to return each of said two pins to said default position.

[0045] According to one aspect of at least one embodiment of the invention, the method comprises a step of detecting an arrival at said at least one predefined stop, the control means activating said motor so as to block the translational movement of said pipetting head along said linear guide rail.

[0046] Presentation of figures

[0047] The invention, as well as the various advantages that it presents, will be more easily understood in the light of the following description of an illustrative and non-limiting embodiment thereof, and of the appended drawings among which:

[0048] [Fig. 1] is a side perspective view of a pipetting system according to a first embodiment of the invention;

[0049] [Fig. 2] is a perspective view of a portion of the pipetting system of Fig. 1;

[0050] [Fig. 3] is another perspective view of a portion of the pipetting system of Fig. 1, with the pipetting head in the maximum position;

[0051] [Fig. 4] is another perspective view of a portion of the pipetting system of Fig. 1, with the pipetting head in the minimum position;

[0052] [Fig. 5] is another perspective view of part of the pipetting system of Fig. 1;

[0053] [Fig. 6] is a detailed perspective view of a portion of Figure 5;

[0054] [Fig. 7] is a diagram showing the control means of the pipetting system according to the first embodiment of the invention

[0055] [Fig. 8] is another front perspective view of part of the pipetting system of Fig. 1;

[0056] [Fig. 9] is a sectional view of Figure 8;

[0057] [Fig. 10] is another side perspective view of a portion of the pipetting system of Fig. 1 with the pins in an offset position;

[0058] [Fig. 11] is another side perspective view of a portion of the pipetting system of Fig. 1, with the pins in another offset position relative to Fig. 10;

[0059] [Fig. 12] is another side perspective view of part of the pipetting system of Fig. 1, with the pins in a default position;

[0060] [Fig. 13] is a perspective sectional view of a portion of a pipetting system according to a second embodiment of the invention;

[0061] [Fig. 14] is a side view of a portion of a pipetting system according to the second embodiment of the invention;

[0062] [Fig. 15] is a side view of a portion of a pipetting system according to a third embodiment of the invention;

[0063] [Fig. 16] is another side view of a portion of a pipetting system according to the third embodiment of the invention;

[0064] [Fig. 17] is another side view of a portion of a pipetting system according to the third embodiment of the invention;

[0065] [Fig. 18] is a perspective view of a pipetting system according to any one of the three embodiments;

[0066] [Fig. 19] is a side perspective view of a portion of a pipetting system according to the fourth embodiment of the invention;

[0067] [Fig. 20] is another side perspective view of a portion of a pipetting system according to the fourth embodiment of the invention;

[0068] [Fig. 21] is a sectional side perspective view of a portion of a pipetting system according to the fourth embodiment of the invention;

[0069] [Fig. 22] is a side view of a portion of a pipetting system according to the fourth embodiment of the invention, and

[0070] [Fig. 23] is a side view of a portion of a pipetting system according to the fourth embodiment of the invention.

[0071] Detailed description of an embodiment of the invention

[0072] The general principle of the invention is based on the implementation of control means making it possible to collect information representative of a distance between the pipetting head and the base, to analyze it so as to deduce the position of the pipetting head, and to activate the motor as a function of the position of the pipetting head and at least one predefined stop.

[0073] Pipetting head to base clearance refers to the distance between the pipetting head and the base.

[0074] In other words, the pipetting head to base clearance refers to a distance between a bottom wall of the pipetting head, which is the wall directly opposite the base, and a top wall of the base, which is the wall directly opposite the pipetting head.

[0075] In other words, the pipetting head to base clearance refers to the shortest distance between the pipetting head and the base.

[0076] Being able to configure stops, and thus having predefined stops, makes it easier to position the pipetting head at one or more precise positions above the tray and any consumables positioned, which avoids any risk of damage to the pipetting head, the tips, or even the consumables.

[0077] The invention can be applied to both air displacement and positive displacement pipetting systems.

[0078] A first embodiment of the invention is now presented in relation to Figures 1 to 12.

[0079] As illustrated, the pipetting system, which is here a semi-motorized pipetting system, comprises: a frame 100 comprising a base 2 provided with at least one tray 9 configured to accommodate at least one consumable, and a tower 3 extending from the base 2 and comprising a linear guide rail 30 extending along a vertical axis V; a pipetting head 1, and means for driving the pipetting head 1 in translation.

[0080] The translational drive means of the pipetting head make it possible in particular to set the pipetting head 1 in motion with the help of a user, that is to say in accompaniment of a movement initiated by a user.

[0081] These drive means comprise: a motor 50 for driving the pipetting head 1 in translation, comprising a motor shaft mounted to rotate along a motor axis R fixed relative to the frame 100 and substantially orthogonal to the vertical axis V; a toothed pinion 52 mounted to rotate along the motor axis R; a movement transmission roller 55 arranged between the motor 50 and the toothed pinion 52 to transmit a rotational movement between the motor 50 and the toothed pinion 52; a rack 51 mounted to move in translation along the vertical axis V, the rack 51 being connected to the pipetting head 1 so as to drive it in translation, and being arranged in contact with the toothed pinion 52 so that a rotation of the toothed pinion 52 causes a translation of the rack 51 along the vertical axis V and that a translation of the rack 51 along the vertical axis V causes a rotation of the toothed pinion 52.

[0082] The pipetting head 1 comprises in this embodiment, and as can be seen in particular in figures 1 and 3, a plurality of pipetting channels arranged on a rectangular matrix of rows and columns.

[0083] Each of the pipetting channels is intended to be provided with a tip 11 configured to cooperate with a pipetting cone 12 so as to subsequently receive or distribute liquid into containers provided for this purpose.

[0084] However, according to another embodiment, the pipetting head could only be provided with a pipetting channel intended to be provided with a tip.

[0085] As also visible in Figure 18, the pipetting head also comprises a casing 10 so as to protect the various components of this pipetting head from the external environment and therefore from premature wear or breakage.

[0086] The pipetting system also comprises a pipetting motor 100 arranged at the pipetting head so as to receive or distribute liquid into the liquid collection or reception containers arranged on the tray 9. More particularly, to receive or distribute liquid into the liquid collection or reception containers arranged on the tray 9, the motor drives pistons 110 which slide in the pipetting channels provided with tips.

[0087] According to the invention, this pipetting head 1 can be moved in translation along the linear guide rail 30 in at least one predefined range of movement, here a predefined range of movement, between at least one maximum position forming a maximum spacing with the base 2 and a minimum position forming a minimum spacing with the base 2.

[0088] It should be noted that this maximum position and this minimum position can be defined structurally, in particular by the size of the rack 51.

[0089] This minimum position and maximum position, and therefore this minimum and maximum spacing between the pipetting head and the base, can also be defined by a user making an adjustment, without this being structural.

[0090] The pipetting head 1 can also assume a storage position which can be within the position range between the minimum position and the maximum position, or be located outside the position range between the minimum and maximum positions.

[0091] To accompany the movement of the pipetting head, and more particularly to maintain the pipetting head 1 in a given position, for example desired by a user, the means for driving the pipetting head 1 comprise at least one constant force spring 53 which can be unrolled along an axis 54, here a single constant force spring, connected to the rack 51 and configured to maintain the pipetting head 1 in a given position.

[0092] In order to facilitate the positioning of the pipetting head 1, and in particular in order to accompany the movement of this pipetting head 1 while providing a pipetting system allowing great freedom of control to the user, the pipetting system 1 further comprises control means 500 making it possible to activate and therefore power the motor simply when necessary.

[0093] According to the invention, the control means 500 comprise: means 501 for measuring information representative of the spacing of the pipetting head 1 with the base 2; means 502 for analyzing the information representative of the spacing of the pipetting head 1 with the base 2, so as to deduce therefrom the position of the pipetting head 1; control means 503 configured to activate the motor 50 as a function of the position of the pipetting head 1 and at least one predefined stop, the at least one predefined stop being located between the maximum position and the minimum position of the pipetting head 1.

[0094] In this embodiment, the measuring means 501 comprise a magnetic encoder provided with a magnet 57 and a magnetometer 56. The magnet 57 is fixed to the toothed pinion 52 and is arranged opposite the magnetometer 56 fixed to the frame 100 of the pipetting system 1.

[0095] In the first embodiment presented, and as more particularly illustrated in figures 8 to 12, the magnet 57 is arranged on a support 58 fixed to the toothed pinion 52 and mounted to move in rotation around an axis M fixed relative to the frame 100 and which is parallel and offset relative to the motor axis R.

[0096] According to a variant, the magnet could be arranged on a support linked to the toothed pinion and mounted to rotate around an axis fixed relative to the toothed pinion and parallel to the motor axis, without the latter being offset.

[0097] The support 58 is held by a pin 528 projecting from a surface of the toothed pinion 52 and housed in a hole formed on the support 58.

[0098] Furthermore, and to block the toothed pinion and the support 58 in translation along the motor axis R, the pipetting system comprises translation blocking means, implemented here in the form of a circlip 8.

[0099] The magnetometer 56 is configured to measure a value of a magnetic field of the magnet 57, such that the information representative of a spacing of the pipetting head 1 comprises the value of the magnetic field of the magnet 57.

[0100] In this way, the rotation of the toothed pinion 52 around the motor axis R causes a variation in the value of the magnetic field of the magnet 57 measured by the magnetometer 56. Indeed, because the magnet 57 is fixed to the toothed pinion which is driven in rotation at the same time as a movement of the pipetting head, while the magnetometer 56 is fixed to the frame, the magnet 57 will be mobile relative to the magnetometer 56 and the value of the magnetic field of the magnet 57 measured by the magnetometer 56 will therefore vary.

[0101] From this variation in the value of the magnetic field, and therefore from the value of the magnetic field of the magnet measured by the measuring means 501, as well as from a number of revolutions made by the toothed pinion 25, the analysis means 502 can deduce a position of the pipetting head 1.

[0102] More particularly, here, the analysis means can deduce a delay or an advance of the rotation of the motor relative to the rotation of the toothed pinion on the rack, as well as a number of revolutions made by the toothed pinion 25, and therefore indirectly deduce the position of the pipetting head. These analysis means 502 can in particular comprise means for acquiring information representative of the distance between the pipetting head 1 and the base 2 measured by the measuring means 501, as well as processing means so as to transform this value of the magnetic field of the magnet measured by the measuring means 501 and this number of revolutions made by the toothed pinion into a position of the pipetting head 1.As for the control means 503, depending on the position of the pipetting head 1 and at least one predefined stop, they will activate the motor 50 so as to accompany the translational movement of the pipetting head 1 and / or to block the translation.

[0103] In particular, when the pipetting head reaches the height of at least one predefined stop, the control means activate said motor so as to block the translational movement of the pipetting head along said linear guide rail.

[0104] It should be noted that this predefined stop can be defined by a user making an adjustment.

[0105] To define this predefined stop, the control means 500 may in particular comprise, as illustrated in FIG. 7, storage means 505, making it possible to store data or information, and communication means 506 capable of communicating data or information with a remote terminal 507, the remote terminal 507 allowing the user to enter a value representative of a predefined stop which would then be stored in the storage means 505.

[0106] The user could also enter several predefined stops.

[0107] In the first embodiment presented, and as more particularly illustrated in Figures 9 to 12, the motion transmission roller 55 has a protrusion 550 extending along the motor axis R and around which the toothed pinion 52 is rotatably mounted. In addition, the toothed pinion 52 comprises two oblong through holes 520a, 520b symmetrical with respect to the motor axis R, the motion transmission roller 55 having two pins extending in projection opposite the toothed pinion 52. In this way, each of the two pins 551a, 551b is slidably mounted in one of the two oblong holes 520a, 520b by movement of the motion transmission roller 55 with respect to the toothed pinion 52.

[0108] In other words, the toothed pinion 52 is mounted to move relative to the movement transmission roller 55 in a range of movement limited by the oblong holes because the freedom of movement is simply left at the level of the sliding of the two pins in the two oblong holes.

[0109] The oblong holes being symmetrical, and the two pins 551a, 551b and the motor axis R being aligned in a plane orthogonal to the vertical axis V, one of the two pins reaches an upper end of the oblong hole in which it circulates when the other of the two pins reaches a lower end of the oblong hole in which it circulates.

[0110] More particularly, Figure 10 shows a view in which the pin 520a has reached a lower end of the oblong hole 551a while the pin 520b has reached an upper end of the oblong hole 551b. In contrast, Figure 11 shows a view in which the pin 520b has reached a lower end of the oblong hole 551b while the pin 520a has reached an upper end of the oblong hole 551a.

[0111] In this embodiment, one of the two pins 551b forms the axis M of rotation of the support 58. As a result, the value of the magnetic field of the magnet 57 measured by the magnetometer 56 depends on a position of each of the two pins 551a, 551b in the two oblong holes 520a, 520b

[0112] Thus, this sliding of the pins in the oblong holes makes it possible to detect a movement of the pipetting head 1 which will cause a rotation of the notched pinion 52 and therefore a sliding of the pins in the oblong holes.

[0113] So that the motor 50 can be activated as soon as the pipetting head 1 is put into motion, in particular to accompany the movement of the pipetting head to compensate for the defects felt when the motor is not powered such as the passage of the teeth of the rack and the motor notches, the measuring means 501 are therefore configured to detect a movement of the pipetting head 1 by a sliding of each of the two pins 551a, 551b in the two oblong holes 520a, 520b from a default position in which each of the two pins 551a, 551b is centered relative to the oblong hole 520a, 520b in which it is slidably mounted, and an offset position in which each of the two pins 551a, 551b is offset relative to the center of the oblong hole 520a, 520b in which it is slidably mounted.

[0114] In optimal operation of the pipetting system according to this embodiment, and so that the action of the motor is sufficient without being overproportionate, the control means 503 are configured to control a rotation speed of the motor 50 so as to return each of the two pins 551a, 551b to the default position.

[0115] Indeed, a sufficient and proportionate rotation speed of the motor not only makes it possible to limit consumption as well as noise pollution linked to the motor, but also makes it possible to attenuate undesirable effects due to the vertical translational movement of the pipetting head, such as the passage of each of the teeth of the rack 51.

[0116] Furthermore, in this embodiment, when the pipetting head reaches the at least one predefined stop, each of the two pins 551a, 551b comes into abutment against an edge of the oblong hole 520a, 520b in which it is slidably mounted. This thus makes it possible to lock the position of the pipetting head at this stop.

[0117] The fact that each of the two pins 551a, 551b comes into abutment against an edge of the oblong hole 520a, 520b in which it is slidably mounted is due to the change in rotation speed of the motor.

[0118] In the first embodiment, the control means 500 illustrated in FIG. 7 further comprise monitoring means 504 capable of delivering information belonging to the group comprising: information on the presence of a support on said tray; a number of pipetting cones not yet used; information relating to a protocol step to be carried out, in progress, or carried out; information on the date or time of carrying out a pipetting protocol; a planned maintenance date; information identifying consumables present on the tray; information identifying the pipetting system; information on the arrival in the stop position of the pipetting head; information on the vertical position of the pipetting head and / or on a distance between the pipetting head and the base.

[0119] The system can also be equipped with monitoring means, arranged on the pipetting head 1 and intended to be positioned opposite the tray 9.

[0120] It should be noted that, alternatively, these surveillance means could also be installed on the tower.

[0121] These surveillance means could also be arranged on or under the platform.

[0122] Such monitoring means may, for example, include a CCD or CMOS camera making it possible to control the number of cone lines fitted, to control whether the consumable (which may be the pipetting cone holder or the pipetting cones) is present or absent from the tray, to control the position of the tray, to control actions carried out (taking of pipetting cones, presence of liquid in consumables), or even to control the type of tray installed in the case of a pipetting system having several rotating trays.

[0123] The monitoring equipment can also be made up of LEDs, for example.

[0124] They can also be composed of one or more accelerometers to monitor the positioning or movement of one or more trays relative to the pipetting head.

[0125] The system may also be equipped with means for recognizing pipetting cone holders. Such recognition means may in particular include a color sensor provided on tower 3, opposite tray 9.

[0126] A second embodiment of the invention is now presented in relation to figures 13 and 14.

[0127] In this embodiment, the features common to the first embodiment are not detailed again.

[0128] As visible in figures 13 and 14 of this embodiment, the toothed pinion 52' comprises a through oblong hole 520b' and a blind oblong hole 520a', symmetrical in extent with respect to the motor axis R. For its part, the movement transmission roller 55' has two pins 551a' and 551b', extending in projection opposite the toothed pinion 52' so that each of the two pins 551a', 551b' is slidably mounted in one of the two oblong holes 520a', 520b' by movement of the movement transmission roller 55' with respect to the toothed pinion 52', one of the two pins 551a' being shorter than the other of the two pins 551b' so as to be able to slide in the blind oblong hole 520a'. The two pins and the motor axis R are here also aligned according to a plane orthogonal to the vertical axis V.

[0129] Here, the measuring means comprise a magnetic encoder provided with two magnets 57a', 57b' and a magnetometer (not shown). One magnet 57b' of these two magnets is arranged on the one of the two pins which is slidably mounted in the through sliding oblong hole 520b', while the other of the two magnets is housed in the toothed pinion 52' so as to be opposite a center of the oblong hole 520a' and therefore configured to be opposite the one of the two pins which is slidably mounted in the blind sliding oblong hole 520a' in the default position.

[0130] A third embodiment of the invention is now presented in relation to Figures 15 to 17.

[0131] The features common to the first and second embodiments are not detailed again.

[0132] In this embodiment, the measuring means comprise a magnetic encoder provided with a 57" magnet and a magnetometer (not shown). This magnet is arranged so as to be coaxial with the 52" toothed pinion and the 55" movement transmission roller.

[0133] More particularly, in this embodiment, the movement transmission roller 55" has a protrusion extending along the motor axis R and around which said toothed pinion 52" is rotatably mounted.

[0134] The 52" toothed pinion comprises two oblong holes symmetrical with respect to the motor axis R, and the movement transmission roller has two pins extending projecting opposite the toothed pinion so that each of the two pins is slidably mounted in one of the two oblong holes by movement of the movement transmission roller with respect to the toothed pinion, the two pins and the motor axis being aligned in a plane orthogonal with respect to the vertical axis V.

[0135] In this embodiment, the magnet 57" is arranged in a housing 5500 formed in the protrusion and is mounted to move in helical rotation around the motor axis R.

[0136] Therefore, the number of turns made by the 52" toothed pinion depends on the distance of the 57" magnet from the magnetometer.

[0137] Therefore, and unlike the measuring means of the first embodiment, the magnet 57" is mounted to be mobile in helical rotation along the motor axis R and therefore rotates on itself on the axis R and moves axially on this same motor axis R as a function of the relative angular displacement of the toothed pinion with respect to the movement transmission roller. Therefore, the magnetometer of this embodiment is a three-axis magnetometer, capable of detecting a variation not only in a plane perpendicular to the motor axis R but also a variation on this motor axis R. On the contrary, the magnetometer of the first embodiment is a two-axis magnetometer, which is only capable of detecting a variation in a plane perpendicular to the motor axis R.

[0138] A fourth embodiment of the invention is now presented in relation to Figures 19 to 23.

[0139] The features common to the other embodiments are not detailed again. In this embodiment, the measuring means 501 comprise an angular encoder provided with two magnets 57'"a, 57"'b and two angle sensors 55'"a, 56"'b.

[0140] More particularly, a first of the two magnets 57"'a is fixed to the toothed pinion 52 and is arranged opposite a first of the two angle sensors 56"'a fixed to the frame 100 of the pipetting system so that it is configured to measure an angle variation at the toothed pinion 52.

[0141] Furthermore, a second of the two magnets 57"'b is fixed to the motor 50 and is arranged opposite a second of the two angle sensors 56"'b fixed to the frame 100 of the pipetting system so that it is configured to measure an angle variation at the motor 50.

[0142] Thus, in this embodiment, a rotation of the toothed pinion 52 around the motor axis R causes a variation in the angle value of the first of the two magnets 57"'a measured by the first of the two angle sensors 56"'a, and therefore causes a phase shift between the angle value of the first of the two magnets 57"'a measured by the first of the two angle sensors 56"'a and the angle value of the second of the two magnets 57"'b measured by the second of the two angle sensors 56"'b.

[0143] Therefore, in this embodiment, the information representative of a spacing of the pipetting head 1 is measured by the angular encoder, and comprises a number of revolutions made by the toothed pinion 52 as well as a phase shift value between the angle value of the first of the two magnets 57"'a measured by the first of the two angle sensors 56"'a and the angle value of the second of the two magnets 57"'b measured by the second of the two angle sensors 56"'b. The analysis means 502 deduce from this phase shift value and from the number of revolutions made by the toothed pinion 52 the position of the pipetting head 1.

[0144] It should be noted that the number of turns made by the toothed pinion can, for example, be deduced from the rotation of the second of the two magnets.

[0145] Furthermore, in this embodiment, and as can be seen in particular in FIG. 21, the movement transmission roller 55 has a protrusion 550 extending along the motor axis R and around which the toothed pinion 52 is rotatably mounted. This toothed pinion 52 comprises two oblong holes 520a, 520b symmetrical with respect to the motor axis R while the movement transmission roller 55 has two pins extending in projection opposite the toothed pinion 52 so that each of the two pins 551a, 551b is slidably mounted in one of the two oblong holes 520a, 520b by movement of the movement transmission roller 55 with respect to the toothed pinion 52. Thus, when the pipetting head reaches the height of the at least one predefined stop, each of the two pins 551a, 551b is slidably mounted in one of the two oblong holes 520a, 520b by movement of the movement transmission roller 55 with respect to the toothed pinion 52. 551b comes into abutment against an edge of the oblong hole 520a, 520b in which it is slidably mounted.

[0146] In this embodiment, each of the two pins 551a, 551b is connected on either side of one of the two oblong holes 520a, 520b by means of two return springs 560 in position so as to return each of these two pins 551a, 551b to said default position.

[0147] Alternatively, the number of springs could be different. For example, one could imagine using four springs to speed up the return to the initial position.

[0148] The invention also relates to a method for controlling a pipetting system according to one of the three embodiments presented, implemented by the control means 500.

[0149] The method comprises the following steps: a step of measuring, by means of the measuring means 501, information representative of the spacing of the pipetting head 1 with the base 2; a step of analyzing, by means of the analyzing means 502, the information representative of the spacing of the pipetting head 1 with the base 2, so as to deduce therefrom the position of the pipetting head 1; a step of controlling the motor 50, by the control means 503, as a function of the position of the pipetting head 1 and at least one predefined stop, this at least one predefined stop being located between the maximum position and the minimum position of the pipetting head 1. In this embodiment, and as described previously, the control method also comprises a prior step of parameterizing the at least one predefined stop.

[0150] This step can be carried out by a user, who can be an operator or a laboratory technician, by means of the control means, and in particular by means of a remote terminal 507 connected to communication means 506 so as to send and receive information to and from the control means 500.

[0151] It should be noted that this configuration step can be repeated several times, for example a number of times corresponding to a number of stops to be programmed.

[0152] Thus, the method may comprise a step of detecting an arrival at the level of at least one predefined stop, the control means then activating said motor so as to block the translational movement of the pipetting head along said linear guide rail.

[0153] It should be noted that the motor can be controlled in time or in force so that this stop is only temporary, for example the time to move a consumable or to move on to a next step of a pipetting protocol. This step of detecting an arrival at the level of the at least one predefined stop can further comprise a step of transmitting information to a user of the arrival at the stop, for example by means of visual, audible, or haptic means.

[0154] The analysis step is at least partially carried out, in this embodiment, by means of a calculation algorithm based on the angular offset measured by the magnetometer.

[0155] In this embodiment, the control method comprises a step of detecting the movement of the pipetting head 1 by detecting, by the measuring means 501, a sliding of each of the two pins 551a, 551b in the two oblong holes 520a, 520b from a default position in which each of the two pins 551a, 551b is centered relative to the oblong hole 520a, 520b in which it is slidably mounted, and an offset position in which each of the two pins 551a, 551b is offset relative to the center of the oblong hole 520a, 520b in which it is slidably mounted.

[0156] Therefore, and following the step of detecting the movement of the pipetting head 1, the control method comprises a step of controlling the rotation speed of the motor 50, by the control means 503, so as to return each of the two pins 551a, 551b to the default position. Before use, such as a pipetting protocol, or at the start of a day, the control method may also comprise a preliminary step of calibrating the measuring means 501 so as to calibrate them before carrying out samples or titrations for example.

[0157] Furthermore, prior to use, such as a pipetting protocol, or at the start of a day, the control method may also include a step of positioning the pipetting head 1 from a storage position to the predefined range of motion.

[0158] Conversely, at the end of the day or after use, the control method may also include a step of positioning the pipetting head from said predefined range of movement to a storage position.

Claims

CLAIMS

1. Pipetting system comprising: a frame (100) comprising a base (2) provided with at least one tray (9) configured to accommodate at least one consumable, and a tower (3) extending from said base (2) and comprising at least one linear guide rail (30) extending along a vertical axis (V); a pipetting head (1) housing at least one pipetting channel intended to be provided with a tip (11) configured to cooperate with a pipetting cone (12) so as to receive or dispense liquid, said pipetting head (1) being able to be moved in translation along said linear guide rail (30) in at least one predefined range of movement between at least one maximum position forming a maximum spacing with said base (2) and a minimum position forming a minimum spacing with said base (2);means for driving said pipetting head (1) in translation comprising: o a motor (50) for driving said pipetting head (1) in translation, comprising a motor shaft mounted to rotate along a motor axis (R) fixed relative to said frame (100) and substantially orthogonal to said vertical axis (V); o a toothed pinion (52) mounted to rotate along said motor axis (R); o a movement transmission roller (55) arranged between said motor (50) and said toothed pinion (52) so as to transmit a rotational movement between said motor (50) and said toothed pinion (52);o a rack (51) mounted to move in translation along said vertical axis (V), said rack being integral with said pipetting head (1) so as to drive it in translation, and being arranged in contact with said toothed pinion (52) so that a rotation of said toothed pinion (52) causes a translation of said rack (51) along said vertical axis (V) and that a translation of said rack (51) along said vertical axis (V) causes a rotation of said toothed pinion (52), control means (500) comprising: o measuring means (501) of information representative of said spacing of said pipetting head (1) with said base (2); o analysis means (502) of said information representative of said spacing of said pipetting head (1) with said base (2), so as to deduce therefrom said position of said pipetting head (i);o control means (503) configured to activate said motor (50) as a function of said position of said pipetting head (1) and at least one predefined stop, said at least one predefined stop being located between said maximum position and said minimum position of the pipetting head (1).;

2. Pipetting system according to claim 1, characterized in that, when said pipetting head reaches the height of said at least one predefined stop, the control means (503) activate said motor so as to block the translational movement of said pipetting head (1) along said linear guide rail (30).

3. Pipetting system according to one of claims 1 or 2, characterized in that the measuring means (501) comprise a magnetic encoder provided with at least one magnet (57, 57'a, 57'b, 57") and a magnetometer (56), said at least one magnet (57, 57'a, 57'b, 57") being fixed to said toothed pinion (52) and being arranged opposite said magnetometer (56) fixed to said frame (100) of the pipetting system and configured to measure a value of a magnetic field of said at least one magnet (57, 57'a, 57'b, 57") so that a rotation of said toothed pinion (52) around said motor axis (R) causes a variation of said value of said magnetic field of said at least one magnet (57, 57'a, 57'b, 57") measured by said magnetometer (56), and in that said information representative of a spacing of said pipetting head (1) is measured by said magnetic encoder,and comprises a number of revolutions made by said toothed pinion (52) as well as said value of the magnetic field of said at least one magnet (57), said analysis means (502) deducing from said measured value of said magnetic field of said at least one magnet (57) and from the number of revolutions made by said toothed pinion (52) said position of said pipetting head (1).,

4. Pipetting system according to claim 3, characterized in that said motion transmission roller (55) has a protrusion (550) extending along said motor axis (R) and around which said toothed pinion (52) is rotatably mounted, and in that said toothed pinion (52) comprises two oblong holes (520a, 520b) symmetrical with respect to said motor axis (R), said motion transmission roller (55) having two protruding pins facing said toothed pinion (52) so that each of said two pins (551a, 551b) is slidably mounted in one of said two oblong holes (520a, 520b) by movement of said motion transmission roller (55) with respect to said toothed pinion (52), said two pins (551a, 551b) and said motor axis (R) being aligned according to a plane orthogonal to said vertical axis (V).

5. Pipetting system according to claim 4, characterized in that said at least one magnet (57") is arranged in a housing formed in said protrusion (550) and is mounted to move in helical rotation around said motor axis (R), said number of revolutions carried out by said toothed pinion (52") depending on a distance of said magnet (57") relative to said magnetometer (56).

6. Pipetting system according to claim 4, characterized in that said at least one magnet (57, 57'a, 57'b) is arranged on a support (58) linked to said toothed pinion (52) and mounted to move in rotation around an axis (M) fixed relative to the toothed pinion (52) and parallel relative to said motor axis (R).

7. Pipetting system according to claim 6, characterized in that one of said two pins (551b) forms said axis (M) of rotation of said support (58), said axis (M) being parallel offset relative to said motor axis (R), said value of said magnetic field of said at least one magnet (57, 57'a, 57'b) measured by said magnetometer (56) depending on a position of each of said two pins (551a, 551b) in said two oblong holes (520a, 520b).

8. Pipetting system according to one of claims 4 to 7, characterized in that said measuring means (501) are configured to detect a movement of said pipetting head (1) by a sliding of each of said two pins (551a, 551b) in said two oblong holes (520a, 520b) from a default position in which each of said two pins (551a, 551b) is centered relative to the oblong hole (520a, 520b) in which it is slidably mounted, and an offset position in which each of said two pins (551a, 551b) is offset relative to the center of the oblong hole (520a, 520b) in which it is slidably mounted, and in that said control means (503) are configured to control a speed and a direction of rotation of said motor (50) of so as to bring each of said two pawns (551a, 551b) back into said default position.

9. Pipetting system according to claim 1, characterized in that, when said pipetting head reaches the height of said at least one predefined stop, each of said two pins (551a, 551b) comes into abutment against an edge of said oblong hole (520a, 520b) in which it is slidably mounted.

10. Pipetting system according to one of claims 1 or 2, characterized in that the measuring means (501) comprise an angular encoder provided with two magnets (57"'a, 57"'b) and two angle sensors (56"'a, 56"'b), a first of said two magnets (57"'a) being fixed to said toothed pinion (52) and being arranged opposite a first of said two angle sensors (56"'a) fixed to said frame (100) of the pipetting system and configured to measure an angle variation at said toothed pinion (52), a second of said two magnets (57"'b) being fixed to said motor (50) and being arranged opposite a second of said two angle sensors (56"'b) fixed to said frame (100) of the pipetting system and configured to measure an angle variation at said motor (50), such that a rotation of said toothed pinion (52) around said motor axis (R) causes a variation in said angle value of said first of said two magnets (57'"a) measured by said first of said two angle sensors (55"'a), and causes a phase shift between said angle value of said first of said two magnets (57"'a) measured by said first of said two angle sensors (56"'a) and said value angle of said second of said two magnets (57"'b) measured by said second of said two angle sensors (56"'b),and in that said information representative of a spacing of said pipetting head (1) is measured by said angular encoder, and comprises a number of revolutions made by said toothed pinion (52) as well as a phase shift value between said angle value of said first of said two magnets (57"'a) measured by said first of said two angle sensors (56"'a) and said angle value of said second of said two magnets (57"'b) measured by said second of said two angle sensors (56"'b), said analysis means (502) deducing from said phase shift value and the number of revolutions made by said toothed pinion (52) said position of said pipetting head (1).,

11. Pipetting system according to claim 10, characterized in that said motion transmission roller (55) has a protrusion (550) extending along said motor axis (R) and around which said toothed pinion (52) is rotatably mounted, and in that said toothed pinion (52) comprises two oblong holes (520a, 520b) symmetrical with respect to said motor axis (R), said motion transmission roller (55) having two protruding pins facing said toothed pinion (52) so that each of said two pins (551a, 551b) is slidably mounted in one of said two oblong holes (520a, 520b) by movement of said motion transmission roller (55) with respect to said toothed pinion (52), said two pins (551a, 551b) and said motor axis (R) being aligned according to a plane orthogonal to said vertical axis (V).

12. Pipetting system according to claim 11, characterized in that, when said pipetting head reaches the height of said at least one predefined stop, each of said two pins (551a, 551b) comes into abutment against an edge of said oblong hole (520a, 520b) in which it is slidably mounted.

13. Pipetting system according to claim 12, characterized in that each of said two pins (551a, 551b) is connected on either side of one of said two oblong holes (520a, 520b) by means of two return springs in position so as to return each of said two pins (551a, 551b) to said default position.

14. Pipetting system according to one of the preceding claims, characterized in that the drive means of said pipetting head comprise at least one constant force spring (53) connected to said rack (51) and configured to maintain said pipetting head (1) in a given position.

15. Pipetting system according to one of the preceding claims, characterized in that it further comprises monitoring means, arranged on said pipetting head (1) and / or on said tower (3) and intended to be positioned opposite said plate (9).

16. Pipetting system according to one of the preceding claims, characterized in that said control means (500) comprise monitoring means (504) capable of delivering information belonging to the group comprising: information on the presence of a support on said tray; a number of pipetting cones not yet used; information relating to a protocol step to be carried out, in progress, or carried out; information on the date or time of carrying out a pipetting protocol; a planned maintenance date; information identifying consumables present on the tray; information identifying the pipetting system; information on the arrival in the stop position of the pipetting head; information on the vertical position of the pipetting head and / or on a distance between the pipetting head and the base.

17. Pipetting system according to one of the preceding claims, characterized in that said control means (500) comprise data storage means (505) and / or data communication means (506) capable of communicating with a remote terminal (507).

18. Method for controlling a pipetting system according to one of claims 1 to 17, implemented by said control means (500), the method being characterized in that it comprises the following steps: a step of measuring, by means of said measuring means (501), information representative of said spacing of said pipetting head (1) with said base (2); a step of analyzing, by means of said analysis means (502), said information representative of said spacing of said pipetting head (1) with said base (2), so as to deduce therefrom said position of said pipetting head (1); a step of controlling said motor (50), by said control means (503), as a function of said position of said pipetting head (1) and at least one predefined stop, said at least one predefined stop being located between said maximum position and said minimum position of the pipetting head (1).

19. Control method according to the preceding claim, characterized in that it comprises a prior step of parameterizing said at least one predefined stop.

20. Control method according to one of claims 18 or 19, characterized in that it comprises a prior step of calibrating the measuring means (501).

21. Control method according to one of claims 18 to 20, characterized in that it comprises a step of positioning said pipetting head (1) from a storage position to said at least one predefined range of movement or from said predefined range of movement to a storage position.

22. Control method according to one of claims 18 to 21, characterized in that it comprises a step of detecting the movement of the pipetting head (1) by the detection, by said measuring means (501), of a sliding of each of said two pins (551a, 551b) in said two oblong holes (520a, 520b) from a default position in which each of said two pins (551a, 551b) is centered relative to the oblong hole (520a, 520b) in which it is slidably mounted, and an offset position in which each of said two pins (551a, 551b) is offset relative to the center of the oblong hole (520a, 520b) in which it is slidably mounted.

23. Control method according to claim 22, characterized in that it comprises a step of controlling the rotation speed of said motor (50), by said means of command (503), so as to return each of said two pins (551a, 551b) to said default position.

24. Control method according to one of claims 14 to 23, characterized in that it comprises a step of detecting an arrival at the level of said at least one predefined stop, the control means (503) activating said motor so as to block the translational movement of said pipetting head (1) along said linear guide rail (30).

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