Gripping device for gripping sample container

Abstract

To provide a method and a device for extending the present latest technology.SOLUTION: A gripping device for gripping a sample container 6 comprises: a gripper body comprising a gripper actuator; at least two gripper fingers 4 each comprising a gripping surface 41, where at least one of the gripper fingers 4 is movably coupled to the gripper body. The gripping device is designed so as to grip the sample container 6 by the gripping surfaces 41 of at least two gripper fingers 4 by moving the at least one movable gripper finger 4. The gripping device comprises at least one resiliently mounted contact surface 51 for resiliently contacting the sample container 6 to be gripped by the gripping device.SELECTED DRAWING: Figure 4B

Description

Technical Field

[0001] Gripping devices for gripping sample containers, gripper fingers, and laboratory equipment for handling samples contained in sample containers are proposed. The device can specifically be used in the fields of medical or chemical laboratories, particularly in the field of in vitro diagnostic testing. However, other application fields are also possible.

Background Art

[0002] In vitro diagnostic testing has a major impact on clinical decisions and provides important information to physicians. In the laboratory, the samples to be processed may be contained in sample containers such as sample tubes. During at least some of the processing steps performed in the laboratory, the sample container may be gripped, for example, by a gripping device within the laboratory equipment.

Summary of the Invention

[0003] The object of the present invention is to provide a method and a device for expanding the current state of the art. For this purpose, a gripping device, gripper fingers, and laboratory equipment for expanding the current state of the art are proposed. For this purpose, a gripping device, gripper fingers, and laboratory equipment having the features of the independent claims are proposed. Specific embodiments that can be implemented alone or in any combination are described in the dependent claims as well as throughout the specification.

[0004] In the following context, the terms “have,” “comprise,” or “include,” or any grammatical variations thereof, are used inclusively. Therefore, these terms may refer to both situations in which the entity described in this context has no further features beyond those introduced by these terms, and situations in which one or more additional features exist. For example, the expressions “A has B,” “A has B,” and “A includes B” may both refer to situations in which A has no other elements besides B (i.e., A consists solely of B and exclusively of B), and situations in which entity A has one or more additional elements besides B, such as element C, elements C and D, or even further elements.

[0005] Furthermore, it should be noted that the terms “at least one,” “one or more,” or similar expressions indicating that a feature or element can exist one or more times are typically used only once when introducing each feature or element. In most cases below, when referring to each feature or element, the expressions “at least one” or “one or more” will not be repeated, despite the fact that each feature or element can exist one or more times.

[0006] Furthermore, where used below, the terms “particularly,” “more particularly,” “specifically,” “more specifically,” or similar terms are used in conjunction with any feature without limiting the possibility of alternatives. Thus, the features introduced by these terms are arbitrary features and are not in any way intended to limit the scope of the claims. The present invention may be carried out by using alternative features, as will be recognized by those skilled in the art. Similarly, features introduced by “in embodiments of the present invention” or similar expressions are intended to be arbitrary features without any limitation with respect to alternative embodiments of the present invention, without any limitation with respect to the scope of the present invention, and without any limitation with respect to the possibility of combining such features with other arbitrary or non-arbitrary features of the present invention.

[0007] A gripping device for gripping sample containers is proposed. The gripping device is: A gripper body equipped with a gripper actuator, At least two gripper fingers, each having a gripping surface, At least one of the gripper fingers is movably attached to the gripper body. The gripping device is designed to grip a sample container with the gripping surfaces of at least two gripper fingers by moving at least one movable gripper finger, It comprises at least one elastically attached contact surface for elastically contacting the sample container to be gripped by the gripping device.

[0008] According to some embodiments, at least one contact surface is designed to raise a sample container that is initially not upright before it is gripped by the gripping device.

[0009] According to some embodiments, at least one contact surface is designed to center an initially uncentered sample container between at least two gripper fingers before the sample container is gripped by the gripping device.

[0010] According to some embodiments, The gripping device is designed to grip a sample container having a sample container axis. At least two gripper fingers define the gripping axis, At least one contact surface is designed to align the sample container axis of the sample container with the gripping axis before the sample container is gripped by the gripping device.

[0011] According to some embodiments, At least two gripper fingers define the gripping axis, When the gripping device is not gripping the sample container, at least one contact surface is designed to be closer to the gripping axis than any of the gripping surfaces.

[0012] According to some embodiments, each of the gripper fingers is movably coupled to the gripper body.

[0013] According to some embodiments, the gripping device is designed to grip a sample container by clamping the sample container between gripping surfaces.

[0014] According to some embodiments, the gripping device comprises at least two contact surfaces.

[0015] According to some embodiments, at least one of the at least one contact surface is attached to the gripper finger.

[0016] According to some embodiments, each of the gripper fingers is fitted with at least one contact surface.

[0017] According to some embodiments, exactly one contact surface is attached to each of the gripper fingers.

[0018] According to some embodiments, at least two contact surfaces are attached to each of the gripper fingers.

[0019] According to some embodiments, exactly two contact surfaces are attached to each of the gripper fingers.

[0020] According to some embodiments, at least one of the at least one contact surface is coupled to the gripper finger.

[0021] According to some embodiments, at least one of the at least one contact surface is coupled to a gripper finger that is movably coupled.

[0022] According to some embodiments, all of the contact surfaces of the gripping device are coupled to the gripper fingers.

[0023] According to some embodiments, at least one of the at least one contact surface is coupled to the gripper body without being coupled to a gripper finger that is movably coupled.

[0024] According to some embodiments, at least one contact surface is elastically attached to the gripper body via an elastic element.

[0025] According to some embodiments, the gripping surface of the gripper finger is inelastically coupled to the gripper body.

[0026] Furthermore, a gripper finger for a gripping device for gripping a sample container is proposed. The gripper finger comprises a gripper finger body having a gripping surface for gripping the sample container. The gripper finger comprises at least one contact surface elastically attached to the gripper finger body.

[0027] According to some embodiments, at least one contact surface itself is rigid.

[0028] According to some embodiments, at least one contact surface is a contact point.

[0029] According to some embodiments, at least one contact surface is a contact surface.

[0030] According to some embodiments, at least one contact surface is elastically attached to the gripper finger body.

[0031] According to some embodiments, at least one contact surface is elastically attached to the gripper finger body via an elastic element.

[0032] According to some embodiments, the elastic element is a spring, and at least one contact surface is spring-mounted to the gripper finger body.

[0033] According to some embodiments, the spring is preloaded.

[0034] According to some embodiments, at least one contact surface and the elastic element are included in a monolithic element, such as a monolithic element of the gripper finger.

[0035] According to some embodiments, the monolithic element is directly attached to the gripper finger body.

[0036] According to some embodiments, at least one contact surface is elastically coupled to the gripper finger body at a first elastic modulus, and the gripping surface is elastically coupled to the gripper finger body at a second elastic modulus, the second elastic modulus being greater than the first elastic modulus, and the greater elastic modulus being an indicator of lower elasticity. <0​​According to some embodiments, the gripping surface is inelastically bonded to the gripper finger body.

[0038] According to some embodiments, the gripping surface is rigid.

[0039] According to some embodiments, both the gripping surface and at least one contact surface are located on the gripping side of the gripper finger, the gripping side being the side of the gripper finger body facing the sample container to be gripped by the gripper finger.

[0040] According to some embodiments, the gripper finger is designed such that, at least in the non-gripping state, the gripping surface is closer to the gripper finger body than at least one contact surface.

[0041] According to some embodiments, the gripper finger is designed such that at least one contact surface is closer to the sample container being gripped by the gripper finger than the gripping surface.

[0042] According to some embodiments, the gripper finger is designed such that at least one contact surface has play that allows at least one contact surface to be pressed to at least the level of the gripping surface.

[0043] According to some embodiments, the play includes elastic play.

[0044] According to some embodiments, the play includes inelastic play.

[0045] According to some embodiments, at least one contact surface is elastically attached to the gripper finger body in a linearly elastic manner.

[0046] According to some embodiments, the gripping surface is positioned below the contact surface.

[0047] According to some embodiments, the gripping surface is located at the lower end of the gripper finger.

[0048] According to some embodiments, at least two contact surfaces are elastically attached to the gripper finger body.

[0049] According to some embodiments, at least one contact surface comprises at least a first section and a second section.

[0050] According to some embodiments, The first section is designed to apply a first force to the sample container that is about to be grasped by the gripper fingers. The second section is designed to apply a second force to the sample container that is about to be grasped by the gripper fingers. The direction of the first force is different from the direction of the second force.

[0051] According to some embodiments, in at least one cross-section, the first direction and the second direction differ from each other by at least 10 degrees.

[0052] According to some embodiments, in at least one cross-section, the first section is not parallel to the second section.

[0053] According to some embodiments, the first section and the second section are adjacent to each other.

[0054] According to some embodiments, the first section and the second section are not adjacent to each other.

[0055] According to some embodiments, in at least one cross-section, the first section and the second section are at an angle to each other.

[0056] According to some embodiments, the angle is 10 degrees or more in at least one cross-section.

[0057] According to some embodiments, in at least one cross-section, at least one contact surface is not flat.

[0058] According to some embodiments, at least one contact surface is curved in at least one cross-section.

[0059] According to some embodiments, in at least one cross-section, at least one contact surface is convex.

[0060] According to some embodiments, at least one contact surface is bent in at least one cross-section.

[0061] According to some embodiments of the gripping device, the gripping device comprises at least one of the gripper fingers according to one of the embodiments relating to a gripper finger.

[0062] According to some embodiments of the gripping device, at least one elastically attached contact surface to a gripper finger according to one of the embodiments relating to a gripper finger is at least one of the at least one elastically attached contact surface according to one of the embodiments relating to an elastically attached contact surface.

[0063] According to several embodiments of the gripping device, at least two gripper fingers according to one of the embodiments relating to gripper fingers are arranged diametrically within the gripping device.

[0064] According to some embodiments of the gripping device, all gripper fingers of the gripping device are gripper fingers according to one of the embodiments relating to gripper fingers.

[0065] Further proposed is laboratory equipment for handling sample containers, comprising one of the gripping devices according to one embodiment of the gripping device.

[0066] According to some embodiments, laboratory equipment is designed to handle samples contained in sample containers.

[0067] According to some embodiments, the laboratory instrument is an analytical laboratory instrument configured to acquire at least one measurement value.

[0068] According to some embodiments, the laboratory equipment is pre-analytical laboratory equipment.

[0069] According to some embodiments, the laboratory equipment is post-analysis laboratory equipment. The following gripping devices, gripper fingers, and laboratory equipment are proposed:

[0070] Further optional features and embodiments are disclosed in more detail in subsequent descriptions of embodiments, for example, in conjunction with dependent claims. Here, each optional feature may be implemented independently and in any viable combination, as will be understood by those skilled in the art. The scope is not limited by the illustrated embodiments. Embodiments are schematically shown in the figures, where the same reference numerals in these figures refer to identical or functionally equivalent elements. [Brief explanation of the drawing]

[0071] [Figure 1] This shows an embodiment of laboratory equipment equipped with a gripping device. [Figure 2A] An embodiment of a gripper finger is shown. [Figure 2B] An embodiment of a gripper finger is shown. [Figure 3] This demonstrates gripping a sample container using gripper fingers. [Figure 4A] This shows a side view of a sample container being gripped by an exemplary gripping device. [Figure 4B] This shows a side view of a sample container being gripped by an exemplary gripping device. [Figure 4C]This shows a side view of a sample container being gripped by an exemplary gripping device. [Figure 5] This shows a bottom view of the gripper fingers of an illustrative gripper device. [Figure 6A] An embodiment of the gripping device is shown in a perspective view. [Figure 6B] An embodiment of the gripping device is shown in a perspective view. [Figure 7A] Figure 6A shows a view from below of an embodiment of the gripping device. [Figure 7B] Figure 6B shows a view from below of an embodiment of the gripping device. [Figure 8A] Further embodiments of the gripper finger are shown. [Figure 8B] Further embodiments of the gripper finger are shown. [Figure 9A] Further embodiments of the gripper finger are shown. [Figure 9B] Further embodiments of the gripper finger are shown. [Figure 10A] Figure 9A shows a perspective view of the embodiment. [Figure 10B] Figure 9B shows a perspective view of the embodiment. [Figure 11A] Figure 9A shows a rear view of the embodiment. [Figure 11B] Figure 9B shows a rear view of the embodiment. [Figure 12A] Further embodiments of the gripper finger are shown. [Figure 12B] Further embodiments of the gripper finger are shown. [Figure 13] This shows the force applied to the sample container by the gripper fingers. [Figure 14A] Further embodiments of the gripper body and two gripper fingers are shown. [Figure 14B] Further embodiments of the gripper body and two gripper fingers are shown. [Modes for carrying out the invention]

[0072] The use of specific terms herein, and their formulations, should not be interpreted as being limited by the selected specific terms, but rather as relating to the general concepts behind those terms.

[0073] A gripping device 3 for gripping the sample container 6 is proposed. The gripping device 3 is, A gripper body 30 equipped with a gripper actuator 31, At least two gripper fingers 4, each having a gripping surface 41, At least one of the gripper fingers 4 is movably connected to the gripper body 30. The gripping device 3 is designed to grip the sample container 6 by the gripping surfaces 41 of at least two gripper fingers 4 by moving at least one movable gripper finger 4, The gripping device 3 comprises at least one elastically attached contact surface 51 for elastically contacting the sample container 6 that is to be gripped by the gripping device 3.

[0074] As used herein, the term “gripping device” is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. The gripping device 3 may be a device designed, for example, to grip a sample container 6 in laboratory equipment 7. The gripping device 3 may comprise a plurality of interacting components and / or a sample container 6 for gripping the sample container 6. An overview of possible components of an exemplary gripping device 3 is shown in Figure 1. Specifically, Figure 1 shows a gripper body 30 comprising a gripper actuator 31 and two gripper fingers 4, each of which has a gripping surface 41 for gripping the sample container 6, and examples of such gripper fingers 4 are shown, for example, in Figures 2A and 2B.

[0075] As shown in Figure 1, the gripping device 3 can be made movable by the moving device 2. By moving the gripping device 3 that grips the sample container 6, the gripped sample container 6 can be moved. The gripping device 3 can be used, for example, to position the sample container 6 in the laboratory equipment 7 at the processing and / or measurement positions.

[0076] As used herein, the term “gripping” is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, gripping includes temporarily connecting the sample container 6 to the gripping device 3 so that the sample container 6 can be lifted or otherwise moved using the gripping device 3. According to some embodiments, gripping may include performing press-fitting and / or shape-fitting with the sample container 6. For example, press-fitting and / or shape-fitting connection can be established between the gripping surface 41 and the sample container 6. For example, gripping may include performing press-fitting, which includes clamping the sample container 6 between the gripping surfaces 41 of two or more gripper fingers 4. In addition to or instead of press-fitting, gripping may include performing shape-fitting. According to some embodiments, the gripping surface 41 is designed to establish shape-fitting connection with the sample container 6, for example, at least a portion of the gripping surface 41 is molded as a negative mold of at least a portion of the sample container 6. The shape-fitting connection between the gripping surface 41 and the sample container 6 allows the sample container 6 to be moved by moving the gripping surface 41 and / or other parts of the gripper device 3. Gripping can be used for one or more of the following purposes: holding, picking, tilting, gripping, lifting, positioning, moving, handling, or transporting the sample container 6.

[0077] As used herein, the term “sample container” is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, a sample container can be designed to contain a sample. According to some embodiments, sample container 6 can be, or include, at least one container designed to contain the contents of a container, such as a sample, for example, a liquid sample, or a reagent, for example, a fluid reagent. According to some embodiments, sample container 6 can be designed to contain a biological sample or a quality control (QC) sample. According to some embodiments, sample container 6 may be designed to contain at least one reagent.

[0078] According to some embodiments, the sample container 6 may have an elongated shape. According to some specific embodiments, the sample container 6 may have a cylindrical shape, such as a tube. According to some embodiments, the sample container 6 may be a laboratory glass or plastic product optionally having a cap at its upper end. For example, the sample container 6 may be a glass or transparent plastic tube. According to certain embodiments, the sample container 6 may be a cylindrical tube, for example, a cylindrical tube having a circular and / or polygonal cross-section. Other types or forms of sample container 6 are also possible.

[0079] According to some embodiments, the sample container 6 may comprise a bottom and a body. The bottom may be designed to enclose the sample container 6 at its lower end. The body may be designed according to the shape of the sample container 6, for example, a tubular shape for a tubular sample container 6. According to some embodiments, the sample container 6 may comprise a cap for sealing the sample container 6.

[0080] As used herein, the term “sample” is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, a sample may be, or may contain, at least one biological material which may potentially contain at least one analyte of interest. According to some embodiments, a sample may be, or may contain, at least one biological specimen. For example, a sample may include body fluids, such as blood, serum, plasma, interstitial fluid, urine, saliva or other types of body fluids. According to some embodiments, a sample may be a liquid sample. According to some embodiments, a sample may be a solid sample, such as at least one specimen of tissue.

[0081] The gripping device 3 comprises a gripper body 30. The term “gripper body” as used herein is a broad term, and its usual and customary meaning should be given to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, the gripper body 30 can be a mounting element. According to some embodiments, the gripper body 30 can be designed so that further elements of the gripping device 3, in particular gripper fingers 4 and / or optionally auxiliary structures, can be attached to the gripper body 30. The gripper body 30 may comprise, for example, a housing and a gripper actuator 31 disposed within the housing.

[0082] The gripper body 30 comprises a gripper actuator 31. The term “gripper actuator” as used herein is a broad term to be given its usual general meaning as understood by those skilled in the art. According to some embodiments, the gripper actuator 31 may be designed to act on at least one further element of the gripping device 3 in at least one way, for example, to directly or indirectly induce movement on at least one further element. For example, the gripper actuator 31 may be designed to perform one or more specific acts on one or more gripper fingers 4, for example, to move the jaws to which the gripper fingers 4 are connected, for example, to move the jaws in a straight line. The gripper actuator 31 may also comprise a motor, which may be designed to comprise at least one of mechanical, electrical, magnetic, and / or pneumatic components, in particular the motor may be an electric motor, a magnetic motor, and / or a pneumatic motor. For example, the gripper actuator 31 may comprise at least one actuator selected from the group consisting of a lever, a permanent magnet, an electromagnet, a turner, or, for example, a turner wheel. According to some embodiments, the gripper actuator 31 is designed to move one or more jaws, thereby moving the gripper fingers 4 attached to the jaws. In this embodiment, the gripper fingers 4 are movably coupled to the gripper actuator 31, thereby to the gripper body 30. The gripper actuator 31 may be mechanically and / or magnetically connected to the jaws, for example.

[0083] According to some embodiments, the gripping device 3 may be attachable to the robotic mobile device 2, for example, the gripper body 30 being attachable to the robotic mobile device 2. The robotic mobile device 2 may comprise a gantry axis system and / or a robotic arm. The gantry axis system may constitute a coordinate system. For example, a plane parallel to the plane defined by the instrument table of the laboratory equipment may be an xy-plane (including an x-axis and a y-axis that is not parallel to the x-axis, e.g., perpendicular), and a direction perpendicular to this plane may be the z-axis. For example, the gantry axis system may comprise three rails, e.g., rails for the x-axis, y-axis, and z-axis. According to some embodiments, the robotic mobile device 2 may be designed to move the gripping device 3, and optionally the sample container 6 gripped by the gripping device 3. Figure 1 shows an exemplary embodiment of a robotic mobile device 2 having a gantry axis system with three rails perpendicular to each other, in which the gripping device 3 is attached to the robotic mobile device 2 such that the gripper body 30 is attached to the robotic mobile device 2 and the gripping device 3 can be moved along the three rails of the x, y, and z axes.

[0084] According to some embodiments, the gripping device 3 may have a control unit 8, and / or be connected to a control unit, for example, as shown in Figure 1, and / or be connected to a control unit, for example, in a communicative manner. The connection can allow the control unit 8 to give commands to the gripping device 3, for example, commands to control the gripping device 3. The connection can be implemented using a wired connection and / or via a wireless connection. According to some examples, the control unit 8 is designed to control the operation of the gripping device 3, for example, the operation of one or more gripper fingers 4 (for example, by controlling the operation of a gripping actuator 31). According to some embodiments, the control unit 8 can be configured to control the gripping of the gripping device 3, for example, gripping a sample container 6 and / or releasing it from gripping.

[0085] According to some embodiments, the control unit 8 may be connected to a robotic mobile device 2 to which the gripping device 3 is attached, and can be connected, for example, in a communicative manner. The connection can be implemented using a wired connection and / or a wireless connection. According to some examples, the control unit 8 is designed to control the operation of the robotic mobile device 2, for example, the operation of moving the gripping device 3 attached to the robotic mobile device 2.

[0086] The gripping device 3 comprises at least one gripper finger 4 having a gripping surface 41. The term “gripper finger” as used herein is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, the gripper finger 4 is an element or composition of elements of the gripping device 3 designed to transmit force provided by the gripper actuator 31 to the sample container 6. The gripping device 3 is designed to grip the sample container 6 by the gripping surfaces 41 of the gripper fingers 4, for example, by moving the at least one movably coupled gripper finger 4 such that the sample container 6 is clamped between the gripping surface 41 of at least one movably coupled gripper finger 4 and the gripping surface 41 of at least one other gripper finger 4.

[0087] According to some embodiments, the gripping device 3 may comprise a plurality of gripper fingers 4, such as two, three, four, or more gripper fingers 4, each having a gripping surface 41. According to some embodiments, at least two gripper fingers 4 may be arranged diametrically within the gripping device 3. For example, the gripping device 3 comprises two gripper fingers 4, each having a gripping surface 41, as shown, for example, in Figure 1. The two gripper fingers 4 may be designed to close to each other at their centers to grip the sample container 6. According to some embodiments, the gripping device 3 may comprise exactly two gripper fingers 4. However, embodiments in which the gripping device 3 comprises three or more gripper fingers 4 are feasible. For example, the gripper device 3 may comprise three or more gripper fingers 4 designed to close to each other at their centers to grip the sample container 6.

[0088] According to some embodiments, the gripping device 3 may include at least one jaws designed to provide a connection between the gripper body 30 and the gripper fingers 4, for example, between the gripper actuator 31 and the gripper fingers 4. For example, the gripper actuator 31 may be designed to act on the jaws, and the jaws may be designed to transmit the operation of the gripper actuator 31 to the gripper fingers 4, the gripper fingers being an example of gripper fingers 4 that are movably coupled to the gripper actuator 31, thereby to the gripper body 30. According to some embodiments, the gripper fingers 4 may be designed to be replaceable from the jaws. According to some embodiments, the gripper fingers 4 are attached to the jaws such that they move in conjunction with the movement of the jaws by the gripper actuator 31.

[0089] According to some embodiments, the gripper finger 4 may comprise a gripper finger body 44. The term “gripper finger body” as used herein is a broad term and should be given its usual customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, the gripper finger body 44 may be a corpus of the gripper finger 4 to which further elements of the gripper finger 4 may be attached. For example, further elements of the gripper finger 4, such as a gripping surface 41 and a contact surface 51, may extend from the gripper finger body 44.

[0090] The gripper finger 4 comprises at least one gripping surface 41. The term “gripping surface” as used herein is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, the gripping surface 41 is designed to apply a gripping force to the sample container 6 being gripped. For example, by using two or more gripping surfaces 41, the gripping force on the gripped sample container 6 can exceed gravity so that the sample container 6 can be lifted, for example, by the gripper device 3. According to some embodiments, the gripping surface 41 may be designed to provide and / or function as at least one gripping point (i.e., at least a 0-dimensional plane), e.g., a gripping surface (i.e., a 2-dimensional plane), between the gripper finger 4 and the sample container 6. For example, the gripping surface 41 may be designed to provide one, two, or more gripping points. According to some embodiments, the gripping surfaces 41 provide clamping surfaces for clamping the sample container 6 between them. According to some embodiments, the gripper finger 4 is designed to have one gripping surface 41 for each gripper finger 4, as shown, for example, in Figures 2A and 2B. According to some embodiments, the gripper finger 4 is designed to have two or more gripping surfaces 41, as shown, for example, in Figures 8A, 8B, 9A, 9B, 10A, 10B, 11A, 11B, 12A and 12B.

[0091] According to some embodiments, the gripping device 3 may be designed to grip the sample container 6 using the gripping surface 41 of at least one of the gripper fingers 4 by moving the gripper fingers 4. According to some embodiments, the gripping surface 41 may be designed to exert a gripping force on the sample container 6, for example, to clamp the sample container 6 together with a second object (e.g., the gripping surface 41 of a second gripper finger 4).

[0092] According to some embodiments, the gripping device 3 may comprise two (or more) gripper fingers 4, each having a gripping surface 41, and the gripping device 3 may be designed to grip the sample container 6 by clamping it between the gripping surfaces 41 of the two (or more) gripper fingers 4. For example, in the case of two gripper fingers 4, each having a gripping surface 41, the two gripping surfaces 41 can function as gripper jaws configured to exert a gripping force on the gripping device 3 to grip the sample container 6.

[0093] The gripper fingers 4 may be positioned so that the gripping surface 41 functions as a parallel jaw gripper.

[0094] According to some embodiments, the gripping surface 41 may be formed monolithically with at least one of the other parts of the gripper finger 4. In particular, the gripping surface 41 may be formed monolithically with the gripper finger 4. According to some specific embodiments, the gripping surface 41 is made from the same material, for example, the same metal alloy, as at least a portion of the gripper finger 4 adjacent to the gripping surface 41. For example, the gripper finger 4 is made from a single material, for example, a single metal alloy.

[0095] As used herein, the term “monolithic” is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, monolithic can refer to a single part. According to some embodiments, monolithic can refer to an element that is not separable without damage. According to some embodiments, monolithic can refer to an element that is not reversibly separable.

[0096] According to some embodiments, the gripping surface 41 may be attached to other parts of the gripper finger 4, for example, the gripper finger body 44.

[0097] According to some embodiments, the gripping surface 41 is made of a different material from the portion of the gripper finger 4 adjacent to the gripping surface 41.

[0098] According to some embodiments, the gripping surface 41 may be inelastically bonded to the gripper body 30, for example, its jaws. The term “inelastically bonded” as used herein is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, the inelastic bond forms a rigid connection. According to some embodiments, the inelastic bond can form a rigid connection. For example, a rigid connection can have an elastic modulus of 0.5 to 500 GPa. According to some embodiments, the inelastic bond can, at least partially, allow force to be transmitted from the gripper body 30 or any part thereof to the gripping surface 41 and / or from the gripping surface 41 to the gripper body 30. For example, more than 90% of the force transmitted from the gripper body 30 to an object (e.g., a sample container) can be transmitted.

[0099] According to some embodiments, the gripping surface 41 may be attached to the inflexible gripper body 30, for example, by using a rigid connection. According to some embodiments, the gripping surface 41 may be inelastically coupled to the gripper body 30 via gripper fingers 4.

[0100] According to some embodiments, the gripping surface 41 can form part of the gripper finger 4, for example, the rigid portion of the gripper finger 4, and the gripper finger is inelastic (but possibly movable) relative to the gripper body.

[0101] According to some embodiments, gripping the sample container 6 may include a press-fit connection between the gripping surface 41 and the sample container 6. For example, the gripping device 3 may be designed to grip the sample container 6 by clamping it between the gripping surfaces 41.

[0102] According to some embodiments, gripping the sample container 6 may include a shape-fit connection between the gripping surface 41 and the sample container 6. According to some embodiments, the shape of the gripping surface 41 may be selected with respect to the design of the sample container 6. According to some embodiments, the gripping surface 41 may have a convex, concave, or planar shape. For example, in Figures 2A and 2B, the gripping surface 41 is convex. The convex and concave shapes may be defined, for example, with respect to the gripping shaft 49.

[0103] According to some embodiments, the gripping surface 41 may be a uniform surface, i.e., a surface without corrugations.

[0104] According to some embodiments, the gripping surface 41 may be a corrugated surface, for example, the gripping surface 41 may have at least one corrugation that enables secure gripping of the sample container 6. The corrugation can reduce slippage of the gripping surface 41 from the sample container 6. The corrugation can increase friction. Examples of corrugated gripping surfaces are shown in Figures 6A, 6B, 8A, 8B, 9A, 9B, 10A, 10B, 14A, and 14B.

[0105] The gripping surface 41 may be designed to grip the sample container 6 below the cap of the sample container 6. This can reduce the possibility of the cap being accidentally removed by gripping, for example, when a so-called soft cap is used. According to some embodiments, the gripping surface 41 may be tapered along the z-direction, i.e., the z-axis, and the z-direction dimension of each gripping surface 41 may be, for example, less than 3 mm. According to some specific embodiments, each gripping surface 41 may be, for example, 36 mm each. 2 The gripping surface 41 is designed to be small, less than . The gripping surface 41, which is narrow and / or small in the z direction, may be designed to be corrugated. This can enable a secure grip of the sample container 6, for example, because the increased friction between the gripper finger 41 and the sample container 6 can be compensated for by the friction reduction effect by being narrow and / or small in the z direction.

[0106] According to some embodiments, the gripping surface 41 may be rigid. According to some embodiments, the gripping surface 41 may be rigid. The term “rigid” as used herein is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, rigidity can refer to a material having an elastic modulus of 0.5 to 500 GPa. According to some embodiments, rigidity can refer to a substantially inelastic material. For example, the gripper finger 4 and gripping surface 41 can provide a rigid contact or interface with the sample container 6. In contrast, the contact surface 51 may be elastically attached to the gripper finger body 44 so that the gripper finger 4 and contact surface 51 provide an elastic contact or interface with the sample container 6.

[0107] According to some embodiments, the gripping surface 41 may be designed to maintain its shape and / or not deform during a normal gripping process. For example, the gripping surface 41 may include at least one rigid material having an elastic modulus of 0.5 to 500 GPa. For example, the rigid material may be specifically a ceramic material or a metal and may have an elastic modulus of 10 GPa to 500 GPa, specifically 50 GPa to 500 GPa, and more specifically 100 GPa to 400 GPa. Furthermore, the rigid material may be a polymer and may have an elastic modulus of 0.5 GPa to 30 GPa, specifically 1 GPa to 15 GPa, and more specifically 2 GPa to 10 GPa. Furthermore, the rigid material may be a composite material and may have an elastic modulus of 1 GPa to 200 GPa, specifically 2 GPa to 150 GPa, and more specifically 5 GPa to 100 GPa. According to some embodiments, for example, the gripping surface 41 may include at least one metal and / or rigid plastic material. For example, the gripping surface 41 may be made of stainless steel. For example, the gripping surface 41 can be made of rigid plastic by overmolding or coating the entire gripper finger 4 or a corresponding portion of the gripper finger 4 with rigid plastic such as ABS, PC / ABS, or PUR.

[0108] According to some embodiments, the gripper finger 4 may have a front surface on which the gripping surface 41 is positioned, and a back surface opposite to the front surface. According to some embodiments, the geometric shape of the gripper finger 4 may be designed to avoid damage to the sample container 6 and / or any elements such as stickers attached thereto when the sample container 6 is touched by the gripper finger 4, for example, the back surface of the gripper finger 4. For example, the back surface of the gripper finger 4 may be at least partially rounded and / or sloped (e.g., in the z and / or x / y directions) so that an adjacent sample container 6 can be gently pushed away when touched by the back surface of the gripper finger 4, examples of which can be seen, for example, in Figures 2, 3, 6 to 10.

[0109] According to the embodiment, the gripping surface 41 may be designed to be tapered in the z direction. For example, the gripping surface 41 may be designed to have less than half the dimension in the z direction compared to the dimension in the x / y direction. A gripping surface 41 that is tapered in the z direction can reduce the risk of the gripping surface 41 touching (and potentially damaging) a sticker attached to the sample container 6, such as a barcode sticker.

[0110] According to some embodiments, at least one of the gripper fingers 4 (e.g., all of the gripper fingers 4) may be movably coupled to the gripper body 30, in particular to the gripper actuator 31. The term “gripper finger is movably coupled to the gripper body” as used herein is a broad term and should be given its usual customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to embodiments, being movably coupled to the gripper body 30 may include being attached to the gripper body 30 and movable relative to the gripper body 30 (e.g., so that the gripper finger 4 moves when the gripper body 30 is moved). For example, the gripper finger 4 is attached to a jaw, which is movably coupled to a gripper actuator 41, thereby movably coupling the jaw of the gripper finger 4 to the gripper actuator 31, and thereby to the gripper body 30. According to some embodiments, the gripper finger 4 may be directly coupled to the gripper body 30, particularly to the gripper actuator 31, or coupled to the gripper body 30, particularly to the gripper actuator 31, using at least one auxiliary structure such as a jaw. According to some embodiments, the gripper 4 may be movably coupled to the gripper body 30, particularly to the gripper actuator 30, by any connection such as using a joint that allows movement of the gripper finger 4 between the gripper finger 4 and the gripper body 30, particularly in at least one direction relative to the gripper body 31. For example, the gripper finger 4 may be movably coupled to the gripper body 30 so that the gripper finger 4 can be moved to grip the sample container 6 (for example, by clamping it against another structure, for example, another gripper finger 4). According to some embodiments comprising multiple gripper fingers 4, at least one of the gripper fingers 4 may be movably coupled to the gripper body 30 so that the gripper fingers 4 can move toward each other, away from each other, or vice versa.For example, in the case of multiple gripper fingers 4, one or more gripper fingers 4 may be movable and the other gripper fingers 4 may be fixed (for example, the movable gripper fingers 4 are designed to move the sample container 6 toward the fixed gripper fingers 4 so that the sample container 6 can be gripped between at least one movable gripper finger 4 and at least one fixed gripper finger 4), or all of the gripper fingers 4 may be movable.

[0111] According to some embodiments, the gripping device 3 may be designed to be a vertical gripper, that is, the gripper fingers 4 may be designed to move in a vertical plane, for example, in a plane containing the principal axis of inertia of the sample container 6 to be gripped.

[0112] According to some embodiments, the gripping device 3 may be a horizontal gripper, that is, the gripper fingers 4 are designed to move in a horizontal plane, for example, in a plane perpendicular to the principal axis of inertia of the sample container 6 to be gripped.

[0113] The gripping device 3 comprises at least one elastically attached contact surface 51 for elastically contacting the sample container 6 to be gripped by the gripping device 3. According to some embodiments, the gripping device 3 may comprise at least two contact surfaces 51. According to some embodiments, the gripping device 3 may comprise one or more contact surfaces 51 per gripper finger 4, for example, two contact surfaces per gripper finger 4. The term “contact surface” as used herein is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, the contact surface 51 may be designed to provide at least one support function to the sample container 6, such as standing the sample container 6 upright and / or centering and / or stabilizing it (for example, before gripping by the gripping surface 41). According to some embodiments, the support function provided by the contact surface 51 can support the gripping of the sample container 6 performed by the gripping surface 41. According to some embodiments, the support function provided by the contact surface 51 can assist the gripping of the sample container 6 performed by the gripping surface 41. According to some embodiments, the support function provided by the contact surface 51 can support the sample container 6 before and / or during gripping by the gripping surface. According to some embodiments, the contact surface 51 may be designed to provide at least one support function, e.g., one or more of the following: uprighting, centering, or stabilizing the sample container 6 to be gripped, before a gripping force is fully or partially applied to the sample container 6. For example, the contact surface 51 may be designed to provide at least one support function before a gripping force is applied to the sample container 6 anyway. For example, the contact surface 51 may be designed to provide at least one support function before a gripping force is applied to the sample container 6 by more than 10%, e.g., more than 20%, e.g., more than 50%. According to some embodiments, the contact surface 51 may be designed to apply a support force, e.g., an upright force (to make the sample container 6 stand upright) and / or a centering force (to make the sample container 6 centered).The contact surface 51 can also be referred to as the support surface.

[0114] According to some embodiments, the contact surface 51 does not need to be designed to apply sufficient support force to the sample container 6 to clamp and lift the sample container 6 during the normal operation of the gripping device 3.

[0115] According to the embodiment, the gripping surface 41 and contact surface 51 of the gripping device 3 (e.g., gripper finger 4) can be designed such that the supporting force exerted on the sample container 6 being gripped and / or being gripped by the contact surface 51 is weaker than the gripping force exerted on the sample container 6 gripped by the gripping surface 41, for example, in such a way that the supporting force exerted by the contact surface 51 itself is not sufficient to lift the sample container 6. The supporting force and the gripping force can be considered as two different forces having different points of application, different lines of application, different directions, and / or different magnitudes. The supporting force and the gripping force have different force vectors. Figure 13 shows exemplary force vectors for the supporting force F1 and the gripping force F2. As shown in Figure 13, the force vector F1 of the supporting force can be applied to the sample container 6 in a different way than the force vector F2 of the gripping force. Furthermore, the force vector F1 may have a smaller magnitude than the force vector F2.

[0116] According to some embodiments, the contact surface 51 can be considered a surface that functions as contact with the sample container 6 without a complete gripping function. Some force can be applied by the contact surface 51, but the contact surface 51 does not have to be designed to perform a gripping function (e.g., overcoming gravity acting on the sample container 6) without the gripping surface 41. The gripping force can be exerted mainly by the gripping surface 41 of the gripper finger 4.

[0117] According to some embodiments, the gripping surface 41 and the contact surface 51 may be different elements of the gripper device 3 (e.g., gripper fingers 4) that perform different functions, for example, separate elements. For example, the contact surface 51 may support the sample container 6 so that the sample container can be held upright by the contact surface 51. For example, the contact surface 51 may be designed to center the sample container 6, which is initially not centered between at least two gripper fingers 4, before the sample container 6 is gripped by the gripper device 3, for example, by the gripping surface 41.

[0118] Contact of the sample container 6 by the contact surface 51 and gripping by the gripping surface 41 can be effective in the same movement of the gripper finger 4 for gripping the sample container 6. For example, uprighting and / or centering of the sample container 6 may be performed in the same movement of the gripper finger 4 for gripping the sample container 6. For example, the gripping surface 41 and the contact surface 51 of the gripping device 3 (e.g., gripper finger 4) During the movement of the gripper finger 4, the contact surface 51 contacts the sample container 6 before the gripping surface 41 exerts full gripping force on the sample container 6 (for example, before the gripping surface 41 contacts the sample container 6); After contact by the contact surface 51, further movement causes the contact surface 51 to exert a supporting force on the sample container 6, such that the supporting force acts, for example, as an uprighting force (to make the sample container 6 stand upright) and / or a centering force (to center the sample container 6); After or during the upright positioning and / or centering of the sample container 6, further movement may be designed to cause the gripping surface 41 to exert a full gripping force on the sample container 6.

[0119] As used herein, the term “elastically attached contact surface” is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to embodiments, being elastically attached may include being attached to at least one further element of the gripping device 3 (for example, to the gripper finger 4 and / or gripper body 30) via elastic connections and / or elastic fastenings and / or elastic fixation to at least one further element of the gripping device 3.

[0120] According to some embodiments, the contact surface 41 may be elastically attached to at least one further element of the gripping device 3. Several options exist for elastically attaching the contact surface 41 to at least one further element of the gripping device 3. For example, the further element may be the gripper finger 4, the jaw, and / or any part connected to the gripper actuator 31. For example, in Figures 2 to 13, the attachment is achieved by elastically attaching the contact surface 51 to the gripper finger 4, which is then attached, for example, inelastically to the gripper body 30.

[0121] According to some embodiments, at least one of the at least one contact surface 51 is attached to the gripper finger 4. According to some embodiments, at least one contact surface 51 may be attached to each of the gripper fingers 4. According to some embodiments, exactly one contact surface 51 may be attached to each of the gripper fingers 4. According to some embodiments, at least two contact surfaces 51 may be attached to each of the gripper fingers 4. According to some specific embodiments, exactly two contact surfaces 51 may be attached to each of the gripper fingers 4. As used herein, the term “attached to the gripper finger 4” is a broad term and should be given its usual customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, the contact surface 51 may be attached to the gripper finger 4 via a connection. According to some embodiments, the contact surface 51 may be attached to the gripper finger 4 via fastening. According to some embodiments, the contact surface 51 may be attached to the gripper finger 4 via a fixing.

[0122] According to some embodiments, at least one of the at least one contact surface 51 may be coupled to the gripper finger 4. The term “coupled to the gripper finger 4” as used herein is a broad term and should be given its usual customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, the contact surface is directly attached to the gripper finger 4 and thereby coupled to the gripper finger 4. According to some embodiments, the coupling of the contact surface 51 to the gripper finger 4 may include being attached to the gripper finger 4, for example, as shown in Figures 2A, 2B, 3, 4B, 4C, 5, 6A, 6B, 7A, 7B, 8A, 8B, 9A, 9B, 10A, 10B, 11A, 11B, 12A, 12B, and 13.

[0123] According to some embodiments, at least one of the at least one contact surface 51 may be coupled to a gripper finger 4 that is movably coupled to the gripper body 30. According to some embodiments, all contact surfaces 51 of the gripping device are coupled to the gripper finger 4. According to some specific embodiments, coupling the contact surface 51 to a movably coupled gripper finger 4 may include, for example, being attached to the gripper finger 4 such that the contact surface 51 moves when the gripper finger 4 is moved, as shown in Figures 2A, 2B, 3, 4B, 4C, 5, 6A, 6B, 7A, 7B, 8A, 8B, 9A, 9B, 10A, 10B, 11A, 11B, 12A, 12B, and 13.

[0124] According to some embodiments, at least one contact surface 51 may be elastically attached to the gripper body 30, for example, by elastically attaching to a gripper finger 4 (elastically or inelastically) attached to the gripper body 30, and / or by elastically attaching directly to the gripper body 30 (e.g., its jaws).

[0125] According to some embodiments, at least one of the at least one contact surface 51 may be coupled to the gripper body 30 without being coupled to a gripper finger 4 that is movably coupled to the gripper body 30. For example, the contact surface 51 may be coupled to a coupled gripper finger 4 that is not movably coupled to the gripper body 30. According to some embodiments, coupling the contact surface 51 to the gripper body 30 may include mounting the contact surface 51 to the gripper body 30 such that the movement of the contact surface 51 is independent of the movement of the gripper finger 4, for example, the contact surface 51 may be coupled to a first jaw of the gripper body 30 and the gripper finger 4 may be coupled to a second jaw of the gripper body 30, and the first and second jaws may move independently of each other. According to some embodiments, coupling each contact surface 51 to the gripper body 30 may include mounting the contact surface 51 to the gripper body 30 such that the movement of the contact surface 51 is independent of the movement of each of the gripper fingers 4, for example, each contact surface 51 and each gripper finger 4 are coupled to independently movable jaws of the gripper body 30. For example, Figures 14A and 14B show embodiments in which the contact surface 51 is elastically attached directly to the gripper body 30, for example, by its jaws. If connected to the same jaws as the gripper fingers 4, the contact surface 51 may move together with the gripper fingers 4 by moving the jaws.

[0126] According to some embodiments, the contact surface 51 may be attached via an elastic element 52. The term “elastic element” as used herein is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, the elastic element 52 may have elastic properties. According to some embodiments, the elastic element 52 may have linear elastic properties according to Hooke's Law. According to some embodiments, the contact surface 51 may be designed to retract in a direction opposite to the supporting force exerted on the sample container 6 by the contact surface 51 (for example, retracting outward when pressed inward toward the sample container 6), for example, by retracting at least partially according to Hooke's Law. For example, the elastic element 52 may exert a spring force that retracts in a direction opposite to the supporting force. According to some embodiments, the contact surface 51 itself may be elastic. According to some embodiments, the contact surface 51 may be designed to deform at least partially when a force is applied to the sample container 6. According to some embodiments, the contact surface 51 may be elastically attached via at least one elastic element 52. In this case, the contact surface 51 can be rigid or elastic.

[0127] According to some embodiments, at least one contact surface 51 may be elastically attached to the gripper finger body 44. According to some embodiments, at least one contact surface 51 may be linearly elastically attached to the gripper finger body 44.

[0128] According to some embodiments, at least one contact surface 51 may be elastically attached to the gripper finger body 44 via an elastic element 52, for example, as shown in Figures 2 to 13. According to some embodiments, the elastic element 52 is a spring 52, and at least one contact surface 51 is spring-mounted to the gripper finger body 44. For example, Figure 5 shows an example of an embodiment in which the contact surface 51 is attached to the gripper finger body 44 via an elastic element 52 which is realized as a helical spring. According to some embodiments, the spring 52 is preloaded, as seen in Figures 2A and 2B.

[0129] According to some embodiments, at least one contact surface 51 and elastic element 52 may be included in the monolithic element 5, for example, the monolithic element 5 of the gripper finger 4. The term “monolithic element” as used herein is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning.

[0130] According to some embodiments, the monolithic element 5 may be a single-part element.

[0131] According to some embodiments, the monolithic element 5 may be an element that cannot be separated without damage.

[0132] According to some embodiments, the monolithic element 5 may be an element that is not reversibly separable.

[0133] According to some embodiments, the monolithic element 5 may be directly attached to the gripper finger body 44. The term “directly attached” as used herein is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, the monolithic element 5 may be attached to the gripper finger body without any additional elastic attachment elements. According to some embodiments, at one end of the monolithic element 5, such as the end closer to the gripper body 30, the monolithic element 5 may be connected to the gripper finger body 44 by a screw connection.

[0134] According to some embodiments, for example, the gripping device 3 may have a jaw portion to which the gripper finger body 44 can be connected, and the monolithic element 5 may be attached to the jaw portion, or, for example, directly attached.

[0135] According to some embodiments, at least one contact surface 51 may be elastically bonded to the gripper finger body 44 with a first modulus of elasticity, and the gripping surface 41 may be elastically bonded to the gripper finger body 44 with a second modulus of elasticity greater than the first modulus of elasticity. A larger modulus of elasticity is an indicator of lower elasticity. According to some embodiments, the second modulus of elasticity may be significantly greater than the first modulus of elasticity. For example, the second modulus of elasticity may be 10 times that of the first modulus of elasticity.

[0136] According to some embodiments, the gripping surface 41 may be inelastically bonded to the gripper finger body 44.

[0137] According to some embodiments, the contact surface 51 and / or at least one elastic element 52 to which the contact surface 51 is attached, for example, to the gripper body 30 or gripper finger body 44, may be designed to absorb the force exerted when it comes into contact with the sample container 6. For example, the contact surface 51 and / or at least one elastic element 52 to which the contact surface 51 is attached to the gripper body 30 or gripper finger body 44 may be at least partially deformed when the sample container 6 comes into contact with the contact surface 51 (for example, as seen in the elastic element 52 of the right-hand contact surface in Figure 4B). The contact surface 51 and / or at least one elastic element 52 to which the contact surface 51 is attached to the gripper body 30 or gripper finger body 44 may be designed to return to its original shape when the sample container 6 is released.

[0138] According to some embodiments, the contact surface 51 and / or the elastic element 52 may have an elastic modulus, particularly a Young's modulus of <0.5 GPa. For example, the contact surface 51 and / or the elastic element 52 may have an elastic modulus δ of 0.001 GPa ≤ δ < 0.5 GPa, more specifically 0.005 GPa ≤ δ < 0.5 GPa, and more specifically 0.01 GPa ≤ δ ≤ 0.1 GPa. According to some embodiments, the contact surface 51 and / or the elastic element 52 to which the contact surface 51 is attached may be made from a material having elastic properties such that certain movements of the sample container 6 can be permitted (for example, when the sample container 6 is in contact but not fully gripped).

[0139] According to some embodiments, the elastic element 52 may be made from a soft or hard plastic. For example, different types of thermoplastic materials such as PEI, POM, PUR, and PVC can be used.

[0140] According to some embodiments, at least one contact surface 51 itself may be rigid. For example, the contact surface 51 may be made from at least one rigid material such as a metal and / or a plastic material such as a rigid plastic. According to some embodiments, the contact surface 51 may be designed to maintain its shape and / or not deform during a normal gripping process. For example, the contact surface 51 may include at least one rigid material having an elastic modulus of 0.5 to 500 GPa. For example, the rigid material may be specifically a ceramic material or a metal and may have an elastic modulus of 10 GPa to 500 GPa, specifically 50 GPa to 500 GPa, more specifically 100 GPa to 400 GPa. Furthermore, the rigid material may be a polymer and may have an elastic modulus of 0.5 GPa to 30 GPa, specifically 1 GPa to 15 GPa, more specifically 2 GPa to 10 GPa. Furthermore, the rigid material may be a composite material and may have an elastic modulus of 1 GPa to 200 GPa, specifically 2 GPa to 150 GPa, and more specifically 5 GPa to 100 GPa. For example, at least one contact surface 51 itself does not have to contain rubber or foam.

[0141] According to some embodiments, the elastic element 52 may be designed to be elastically attached to the gripper body 30.

[0142] For example, the elastic element 52 may be at least one spring, such as a coil spring (e.g., as shown in Figures 4B, 4C, 5, and 13) or a leaf spring (e.g., as shown in Figures 2A, 2B, 3, 9A, 9B, 10A, 10B, 11A, 11B, 12A, 12B, and 14A, and 14B), or may include such a spring. According to some particular embodiments, the spring may be preloaded (e.g., as shown in Figures 2A, 2B, and 12A, and 12B). For example, as shown in Figures 2A and 2B, the contact surface 51 is realized as a leaf spring attached directly to the gripper finger body 44 using screws. The leaf spring is preloaded using a hole, such as a recess, that holds the leaf spring under tension.

[0143] According to some embodiments, the gripper finger 4 may be designed to have play that allows the contact surface 51 to be pushed to at least the level of the gripping surface 41. According to some embodiments, the play may include elastic play resulting from, for example, the deformation of an elastic (mounting) element. For example, when in contact with the sample container 6, the elastic element 52 may be deformed, for example, as shown in Figures 4B and 4C, if it is a compressed spiral spring, so that the contact surface 51 can be pushed to at least the level of the gripping surface 41. For example, if it is a leaf spring, the play may be large enough to allow the leaf spring to bend in the direction of the gripper finger 4, as shown in Figures 12A and 12B. According to some embodiments, the play may include inelastic play resulting from, for example, the play of the mechanical mounting itself. According to some examples, after the initial contact, the play is initially inelastic, and after a certain amount of movement, for example, after the inelastic play has been utilized, the play becomes elastic.

[0144] According to some embodiments, the contact surface 51 may be designed to provide a contact point (i.e., at least a 0-dimensional plane) and / or a contact surface (i.e., at least a 2-dimensional plane) with the sample container 6.

[0145] According to some embodiments, at least one contact surface 51 may be designed as a contact point.

[0146] According to some embodiments, at least one contact surface 51 may be designed as a contact surface.

[0147] According to some embodiments, in at least one cross-section, at least one contact surface 51 does not have to be flat. According to some embodiments, the contact surface 51 may be non-planar. For example, the contact surface 51 may be bent and / or curved.

[0148] According to some embodiments, in at least one cross-section, at least one contact surface 51 may be bent, an example of which is shown in Figure 2, for example.

[0149] According to some embodiments, at least one contact surface 51 may be curved in at least one cross-section, an example of which is shown in Figure 2. For example, as shown in Figure 2A, the contact surface 51 may be curved. According to some embodiments, the curved contact surface 51 may be the basic shape of the contact surface, i.e., it may not be affected by forces and / or further elements.

[0150] According to some embodiments, in at least one cross-section, at least one contact surface 51 may be convex, as shown in Figure 2A.

[0151] According to some embodiments, the gripping surface 41 may be located below the contact surface 51. According to some embodiments, the gripping surface 41 may be located at the lower end of the gripper finger 4, as seen in the example in Figure 2.

[0152] According to some embodiments, the gripper finger 4 has two ends, indicated as an upper end and a lower end. The upper end may be an end connectable to the gripper body 30, and the lower end may be an opposing end of the gripper finger 4. According to some embodiments, the gripping surface 41 may be located below the contact surface 51. The term “below” can refer to the direction downward from the gripper body 30 toward the lower end of the gripper finger 4. According to some embodiments, the contact surface 51 may be located closer to the gripper body 30 than the gripping surface 41. For example, as shown in Figure 4B, the gripping surface 41 of each gripper finger 4 is located at the lower end of the gripper finger 4. The contact surfaces 51 may each be located above the gripping surface 41. The contact surface 51 of each gripper finger 4 extends beyond the gripping surface 41 from the gripper finger body 44, as seen, for example, in the left gripper finger 4 in Figure 4B (the contact surface elastic element 52 of the right gripper finger in the situation in Figure 4B is compressed due to the support force applied to the sample container 6).

[0153] For example, the sample container 6 to be gripped is equipped with a cap, such as a flexible cap, and the gripping device 3 is designed such that the gripping surface 41 grips the sample container 6 below the cap, with the gripping surface 41 in contact with the wall of the sample container 6 but not with the cap, and the contact surface 51 may be designed to contact the cap. This can, for example, allow the cap to be stabilized using the contact surface 51 while the sample container 6 is being gripped (e.g., while it is moving). The elastically mounted contact surface 51 can be adapted to various sizes and shapes of caps.

[0154] According to some embodiments, both the gripping surface 41 and at least one contact surface 51 may be located on the gripping side 40 of the gripper finger 4, the gripping side 40 being the side of the gripper finger body 44 facing the sample container 6 to be gripped by the gripper finger 4. The term “gripped” as used herein is a broad term and should be given its usual customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, the term “gripped” can refer to the state in which the gripping device is operated such that the sample container 6 is held by the gripper finger 4. According to some embodiments, the gripper finger 4 may be designed such that, at least in the non-gripping state, the gripping surface 41 is closer to the gripper finger body 44 than the at least one contact surface 51. According to some embodiments, the contact surface 51 may be more central than the rest of the gripper finger 4. For example, when the gripping device 3 is not gripping the sample container 6, the contact surface 51 may be designed to be closer to the gripping axis 49 than any of the gripping surfaces 41. Such embodiments are shown in the figures, for example, Figures 2A and 2B, Figures 3 and 4A to 4C. Specifically, Figure 2A shows a side view, and Figure 2B shows a front view.

[0155] According to some embodiments, the contact surface 51 and / or elastic element 52 may be attached to the gripper body 30 from the inside of the gripper finger 4 and / or from the outside of the gripper finger 4. The inside of the gripper finger 4 may be the side facing the sample container 6 during gripping, particularly the gripping side 40. The outside may be the side opposite to the inside. For example, the elastic element 52 may be attached to the inside. For example, the elastic element 52 may be attached to the gripper finger 4 by a screw. The elastic element 52 may be located at the first end of the contact surface 51. The opposing ends of the contact surface 51 may be inserted into holes that hold the contact surface 51 and / or elastic element 52 under tension. For example, in the embodiments of Figures 2A and 2B, the contact surface 51 and / or elastic element 52 may be attached to the gripper body 30 from the inside of the gripper finger 4, particularly by an internal screw. Further embodiments of the gripper finger 4 are shown in Figures 9A, 9B, 10A, 10B, 11A, and 11B. In these embodiments, the contact surface 51 and / or elastic element 52 are attached to the gripper body 30 from the inside of the gripper finger 4, particularly visible by the two inner threads. The gripper finger body 44 may have a recess having a depth corresponding to the height of the thread heads. As seen in Figures 11A and 11B showing the back of the gripper finger 4, the extension of the threads on the back can be minimized. In the embodiments of Figures 6A, 6B, and 7A, 7B, the contact surface 51 and / or elastic element 52 may be attached to the gripper body 30 from the outside of the gripper finger 4, particularly visible by the outer threads. Different choices for attaching the contact surface 51 and / or elastic element 52 to the gripper body 30 can allow for taking into account the spatial conditions of the sample container holder and / or the shape of the sample container 6.

[0156] According to some embodiments, at least one contact surface may be designed to initially upright the sample container 6 if it is not upright before it is gripped by the gripping device 3. Uprighting may be performed with the same movement of the gripper finger 4 while the sample container 6 is being gripped. The term “upright” as used herein is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, assembling the sample container 6 may include a process to minimize the inclination angle. According to some embodiments, the angle may be the angle formed by the gripping axis 49 and the sample container axis 69. If these axes are identical, the sample container 6 may be upright. Figure 4C shows an example where the sample container 6 is upright. For successful gripping, it may be beneficial for the sample container 6 to be upright. The sample container 6 may initially be non-upright. In this case, the axes are different and form an inclination angle. Figure 4A shows an example where the sample container 6 is non-upright but inclined. Therefore, the gripping axis 49 and the sample container axis 69 form an inclination angle. The inclination angle is shown as the angle between the gripping axis 49, particularly the z-axis, and the sample container axis 69. The contact surface 51 exerts a supporting force, such as an uprighting force, on the sample container 6, thereby allowing the sample container 6 to stand upright. Uprighting is further illustrated with reference to Figures 3 and 4A to 4C below.

[0157] As outlined above, the gripping surface 41 and contact surface 51 of each gripper finger 4 can be designed such that the contact surface 51 can be a contact point or contact surface for contact with the sample container 6.

[0158] According to some embodiments, at least one contact surface 51 may be designed to center the initially uncentered sample container 6 between at least two gripper fingers 4 before the sample container 6 is gripped by the gripping device 3. The centering may be performed with the same movement of the gripper fingers 4 while the sample container 6 is being gripped. The term “centering” as used herein is a broad term and should be given its usual customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. For example, centering may include the process of aligning the sample container 6 so that the angle between the gripping surface 41 of the gripper fingers 4 and the sample container 6 is as identical as possible, in particular, so that the sample container 6 can be gripped by the gripper fingers 4. Centering is further illustrated with respect to Figures 3 and 4A to 4C.

[0159] The process of uprighting and / or centering can be described with reference to Figures 3 and 4A to 4C. Figures 3 and 4A to 4C show an embodiment in which the gripping device 3 comprises two gripper fingers 4, each having a contact surface 51, and each of the contact surfaces 51 of the two grippers allows for centering in one direction. For example, as shown in Figures 4B and 4C, the gripper fingers 4 can apply two different forces to the sample container 6 at two different points, namely, firstly, a supporting force applied by the contact surfaces 51, which can allow for pre-alignment of the sample container 6 before gripping, and secondly, a gripping force applied by the gripping surfaces 41 (if the gripping surfaces 41 are further moved in the direction of the sample container 6 after the state shown in Figure 4C). Figure 3 shows an example in which the sample container 6 is gripped while it is fully upright by the gripping surfaces 41. Thus, the gripping axis 49 and the sample container axis 69 are identical. Figure 4A shows an example in which the sample container 6 is tilted. Therefore, the gripping axis 49 and the sample container axis 69 form an inclination angle. The inclination angle is shown as the angle between the gripping axis 49, particularly the z-axis, and the sample container axis 69. Figure 4B shows an example of the moment when the sample container 6 is contacted by the contact surface 51 before the gripping surface 41 grips the sample container 6. For example, the contact surface 51 may extend further from the gripper finger body 44 than the gripping surface 41. Therefore, before being gripped by the gripping surface 41, the sample container 6 to be gripped can be contacted by the contact surface 51 which exerts a supporting force on the sample container 6, thereby making the sample container 6 upright and / or centered. This can make it possible to position the sample container 6 in an upright position, as shown in Figure 4C.

[0160] The contact surface 51 can allow the smallest sample container 6 to be slightly lifted during gripping. Furthermore, it can ensure that the sample container 6 is not pulled out beyond its edge after it has been placed. For example, after placement, the contact surface 51 and / or elastic element 52 can also function as a stripper to prevent the cap from being pulled out at the contact surface 51.

[0161] According to some embodiments, the gripping device may be designed to grip a sample container 6 having a sample container axis, and at least two gripper fingers 4 may define the gripping axis 49, and at least one contact surface 51 is designed to align the sample container axis 69 of the sample container 6 with the gripping axis 49 before the sample container 6 is gripped by the gripping device 3. Alignment may be performed with the same movement of the gripper fingers 4 while the sample container 6 is being gripped. The term “sample container axis” as used herein is a broad term and should be given its usual customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. The sample container axis 69 can be the principal axis of inertia. According to some embodiments, the sample container 6 may include at least one axis of symmetry defining the sample container axis 69. For example, in the case of a cylindrical sample container 6, the axis of symmetry may be the axis of the cylindrical sample container 6. The axis of symmetry may extend along or parallel to an elongated extension of the sample container 6. According to some embodiments, at least two gripper fingers 4 can define a gripping axis 49. For example, the gripping axis 49 may be an axis that passes through the center between two gripper fingers 4 and extends particularly in the z direction. For example, the gripping axis 49 may be the axis of symmetry of the gripping device 3, for example, the axis of symmetry of the set of gripper fingers 4 of the gripping device 3. However, other embodiments are also possible. As used herein, the term “align the sample container before it is gripped by the gripping device” is a broad term and should be given its usual customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, alignment may include a process of changing the position of the sample container 6 to be gripped, such as upright and / or centering, before gripping using the gripping surfaces 41 is performed. For example, alignment before the sample container is gripped by the gripping device can be achieved by designing at least one contact surface 51 to be closer to the gripping axis 49 than any of the gripping surfaces 41 when the gripping device 3 is not gripping the sample container 6.

[0162] A gripper finger 4 for a gripping device 3 that grips a sample container 6 is further proposed. The gripper finger 4 comprises a gripper finger body 44 having a gripping surface 41 for gripping the sample container 6. The gripper finger 4 comprises at least one contact surface 51 elastically attached to the gripper finger body 44.

[0163] With regard to embodiments of the gripper finger 4, refer to the above description and the following further description.

[0164] According to some embodiments, the gripping device 3 comprises at least one of the gripper fingers 4 described herein. According to some embodiments, at least one contact surface 51 of the gripper finger 4 is designed as described above or further as described below. According to some embodiments, at least two gripper fingers 4 can be arranged diametrically within the gripping device 3. According to some embodiments, all of the gripper fingers 4 of the gripping device may be the gripper fingers 4 described herein.

[0165] Figures 2A and 2B show an example of a gripper finger 4 in a side view and a front view, respectively. In this example, the gripping surface 41 is located at the lower end of the gripper finger body 44. A connection element to the gripper body 30 is shown at the opposite end of the gripper finger body. As shown in this example, the contact surface 51 and the elastic element 52 can be designed as a monolithic element 5. As a monolithic element 5, in this example it may be directly attached to the gripper finger body 44 by a thread at the upper end of the monolithic element 5. The opposing ends of the monolithic element 5 may be inserted into a hole, for example, a recess, thereby the elastic element 52 may be held under tension, as shown in this example.

[0166] The monolithic element 5 can be implemented as a leaf spring, and the side of the leaf spring facing the gripping side can be designed to be used as a contact surface 51. As seen in the side view of Figure 3, the monolithic element 5, and in particular its contact surface 51, may be positioned to protrude above the gripping surface 41 so as to contact the sample container 6 in front of the gripping surface 41 during normal operation.

[0167] Figure 3 shows two gripper fingers 4 gripping a sample container 6. During gripping, the sample container 6 can be gripped by the gripping surface 41 and in contact with the contact surface 51 of the gripper fingers 4. However, prior to gripping between the gripping surface 41 and the sample container 6, the sample container 6 may first be in contact only with the contact surface 51. The contact surface 51 can support the sample container 6 so that the sample container can be held upright by the contact surface 51. This ensures that the gripping axis 49 and the sample container axis 69 are identical. In this position, the gripper fingers 4 can be moved further together so that the sample container 6 can be clamped between the gripping surfaces 41 of the two gripper fingers 4.

[0168] The contact surface 51 may be elastically attached to the gripper finger 4 with elastic play such that, when the contact surface 51 is moved further toward the sample container 6, the play allows the contact surface 51 to return at least partially, for example, to the level of the gripping surface 41 (an example of which can be seen in Figure 3, where the retraction is effectively achieved by deformation).

[0169] According to some embodiments, at least one contact surface 51 may comprise at least a first section 51.1 and a second section 51.2. The first section 51.1 may be designed to apply a first force to the sample container 6 being gripped by the gripper fingers 4, and the second section 51.2 may be designed to apply a second force to the sample container 6 being gripped by the gripper fingers 4. The direction of the first force may be different from the direction of the second force. For example, as illustrated in Figure 5, at least one contact surface may each have a first section 51.1 and a second section 51.2.

[0170] According to some embodiments, in at least one cross-section, the first section 51.1 does not have to be parallel to the second section 51.2. For example, in at least one cross-section, the first section 51.1 and the second section 51.2 may be at an angle to each other.

[0171] According to some embodiments, in at least one cross-section, the first direction and the second direction can differ from each other by at least 10 degrees.

[0172] According to some embodiments, the first section 51.1 and the second section 51.2 may be adjacent to each other.

[0173] According to some embodiments, the first section 51.1 and the second section 51.2 do not have to be adjacent to each other.

[0174] As shown in the illustration, for example in the embodiment of Figure 5, each of the contact surfaces 51 may be attached to the gripper finger body 44 of each gripper finger 4 via a spring 52. The centering of the sample container 6 is indicated by an arrow. Using the contact surfaces 51 having a first section 51.1 and a second section 51.2 makes it possible to apply forces in different directions to the sample container 6, and thus centering in at least two directions.

[0175] Figures 6A and 6B show perspective views of further embodiments of two gripper fingers 4 connected to a gripper body 30. Two gripping surfaces 41 are shown at the lower end of the gripper finger body 44 of each gripper finger 4. In Figures 6A and 6B, each gripper finger 4 comprises a monolithic element having an elastic element 52 and a contact surface 51. The monolithic element is highlighted in Figure 6B for visualization. In this embodiment, the gripping surface 41 is located at the lower end of the gripper finger body 44, and the contact surface 51 comprises a first section 51.1 and a second section 51.2. The contact surface 51 may be designed as a curved surface having a substantially secondary recess. As shown in Figure 6, the contact surface 51 may be connected to the gripper finger body 44 via the elastic element 52.

[0176] Figures 7A and 7B show a view from below of the embodiment of the gripping device 3 of Figures 6A and 6B. The gripper body 30 is visible, along with two gripper fingers 4 connected thereto. In Figure 7B, the monolithic element comprising the elastic element 52 and contact surface 51 of each gripper finger 4 is highlighted for visualization. As shown, the first section 51.1 and the second section 51.2 of the contact surface 51 of each gripper finger 4 may be designed to be at an angle to each other.

[0177] Figures 8A and 8B show an example of a gripper finger 4 in perspective view. As shown, the gripper finger 4 may comprise a monolithic element comprising an elastic element 52 and a contact surface 51. The monolithic element is highlighted in Figure 8B for visualization. In the example shown, the gripper finger 4 comprises a contact surface 51 comprising two sections 51.1, 51.2 arranged to form an angle with respect to each other. As shown in this example, each of the sections 51.1, 51.2 may be inclined in the z-direction, for example, both upward and downward, which can reduce the risk of damaging a sticker, for example, containing a barcode, attached to a sample container. In the example of Figure 8, the gripping surface 41 is located at the lower end of the gripper finger body 44, particularly below the contact surface 51. As further shown, the gripping surface 41 may be configured, for example, corrugated.

[0178] Figures 9 to 11 show embodiments of the gripper finger 4 in perspective view (Figures 9A and 9B), gripping side view (Figures 10A and 10B), and rear view (Figures 11A and 11B). As shown, the gripper finger 4 may have a structured gripping surface 41 at the lower end of the gripper finger body 44. The shown gripper finger 4 includes a contact surface 51 and an elastic element 52 as part of a monolithic element 5, highlighted in Figures 9B, 10B, and 11B for visualization. As shown, the monolithic element 5 may be attached to the gripper finger body 44 such that the contact surface 51 is elastically attached to the gripper finger body 44. As further shown, the contact surface 51 may comprise two sections 51.1 and 51.2. In the example shown, the two sections 51.1 and 51.2 of the contact surface 51 contact the sample container 6 being gripped at different angles and exert force in different directions. For example, when being gripped by a pair of such gripper fingers 4, this can result in stabilization of the sample container 6 when contact is made, especially when it is in contact but not yet gripped.

[0179] The upper end of the leaf spring may be directly attached to the gripper finger body 44, in this case by a screw. The contact surface 51 may be bent, as shown in the example.

[0180] Figures 12A and 12B show an embodiment of a gripper finger 4 comprising a monolithic element 5 having elastic properties, and thus having contact surfaces 51 with a first section 51.1 and a second section 51.2 comprising an elastic element 52. The monolithic element 5 is highlighted in Figure 12B for visualization. At the lower end of the gripper finger body 44, two gripping surfaces 41 are shown, which in this example are not corrugated.

[0181] Further laboratory equipment 7 for handling a sample container 6 equipped with one of the gripping devices 3 described herein is proposed. An embodiment of the laboratory equipment is shown in Figure 1.

[0182] As used herein, the term “laboratory” is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, laboratory 7 may be in at least one environment comprising several laboratory instruments, such as at least one analyzer and / or at least one instrument configured to analyze at least one sample, in particular at least one biological sample. For example, laboratory 7 may be a place configured to work in the fields of natural science and / or engineering, in the sense that it provides an opportunity to perform corresponding measurements and controls. For example, laboratory 7 may be an analytical laboratory.

[0183] According to some embodiments, laboratory equipment 7 may be part of an in vitro diagnostic (IVD) laboratory. The term “IVD laboratory” as used herein is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, an IVD laboratory may be a laboratory designed to perform at least one test on a sample, for example, a biological sample taken from the body of a human or animal. For example, a test on a sample may include applying at least one reagent to the sample and monitoring for a detectable reaction. According to some embodiments, an IVD laboratory may be a clinical laboratory. According to some embodiments, an IVD laboratory may be a medical laboratory. According to some embodiments, an IVD laboratory may be a forensic laboratory or a blood bank.

[0184] As used herein, the term “laboratory equipment” is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, laboratory equipment 7 can be any device, device component, or device section capable of performing one or more processing steps or workflow steps on one or more samples. For example, a processing step may include physically performing processing steps such as centrifugation, aliquoting, or sample analysis. According to some embodiments, laboratory equipment 7 can be a pre-analysis device, a post-analysis device, and / or an analytical device. For example, a processing step may be a pre-analysis processing step (e.g., aliquoting, sample preparation), an analytical processing step (e.g., an assay to determine the presence and / or concentration of an analyte in a biological sample), or a post-analysis processing step (e.g., archiving a biological sample).

[0185] According to some embodiments, the laboratory instrument 7 may be an analytical laboratory instrument configured to acquire at least one measurement. For example, the analytical instrument may be operable to determine parameter values ​​of a sample or its components through various chemical, biological, physical, optical or other technical procedures. For example, the analytical instrument may be operable to measure the parameters of a sample or at least one analyte and return the acquired measurement. A list of possible analytical results returned by the analytical instrument is not limited to, but includes, the concentration of the sample in the sample, a digital (yes or no) result indicating the presence of the sample in the sample (corresponding to a concentration above the detection level), optical parameters, data obtained from DNA or RNA sequencing, mass spectroscopy of proteins or metabolites, and various types of physical or chemical parameters. According to some embodiments, the analytical instrument may include a unit to assist in pipetting, dispensing, and mixing of samples and / or reagents. According to some embodiments, the analytical instrument may include a reagent holding unit for holding reagents for performing assays. Reagents can be arranged, for example, in the form of containers, cassettes, or cassettes containing individual reagents or groups of reagents, and can be placed in appropriate containers or locations within a storage compartment or conveyor. It may be equipped with a consumable supply unit. According to some embodiments, the analytical instrument may be equipped with processes and detection systems whose workflow is optimized for a particular type of analysis. Examples of such analytical instruments are clinical chemistry analyzers, coagulation chemistry analyzers, immunochemistry analyzers, urine analyzers, and nucleic acid analyzers used to detect the results of chemical or biological reactions or to monitor the progress of chemical or biological reactions.

[0186] According to some embodiments, laboratory equipment 7 can be pre-analysis laboratory equipment. According to some embodiments, pre-analysis laboratory equipment can be, or include, one or more devices for performing one or more pre-analysis container processing steps on one or more sample containers 6, such as samples contained in sample containers 6. According to some embodiments, pre-analysis laboratory equipment may be designed to prepare sample containers 6, in particular the samples contained in sample containers 6, for one or more subsequent analytical tests. For example, pre-analysis container processing steps may include, for example, a centrifugation step, a capping, decapping or re-capping step, an aliquoting step, a step of adding buffer to the sample, etc. According to some embodiments, the laboratory may have at least one pre-analysis laboratory equipment designed to pre-treat biological samples before use, such as preparing plasma from blood, diluting or dissolving viscous fluids. According to some embodiments, pre-treatment may include filtration, distillation, concentration, inactivation of interfering components, and addition of reagents. According to some embodiments, pre-analytical laboratory equipment is designed to render solid or semi-solid biological sample liquids by first dissolving or suspending them in a suitable liquid medium.

[0187] According to some embodiments, the laboratory equipment can be post-analysis laboratory equipment. According to some embodiments, the post-analysis laboratory equipment may be designed to perform at least one post-analysis container processing step. According to some embodiments, the post-analysis laboratory equipment may be designed to automatically process and / or store one or more samples. For example, the post-analysis container processing step may include a recapping step, a step of removing the sample from the sample container 6, or a step of transferring the sample container 6 to a storage unit or a unit for collecting biological waste.

[0188] According to some embodiments, the laboratory equipment 7 may include a sample handling system comprising, for example, at least one sample transfer device 1 as shown in Figure 1. The term “sample transfer device” as used herein is a broad term and should be given its usual and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. According to some embodiments, the sample transfer device 1 may be configured to move and / or transfer and / or transport a sample container 6 from one position to another. The sample transfer device 1 may include a robotic moving device 2.

[0189] Figure 1 shows an exemplary laboratory instrument 7 equipped with a gripping device 3. The laboratory instrument includes a sample transfer device 1 equipped with a robotic mobile device 2. The illustrated gantry system may include rails 20 in the x direction, rails 21 in the y direction, and beams 22 in the z direction. The sample transfer device 1 may be designed to move the gripping device 3 along the three illustrated directions. The sample container 6 may be placed in a rack and may be gripped by the gripping device 3 for purposes such as positioning the sample container for measurement. Furthermore, Figure 1 outlines the components of the exemplary gripping device 3, such as a gripper body 30 equipped with a gripper actuator 31 and two gripper fingers 4.

[0190] It will be understood that many variations can be adopted based on the aforementioned specific structure without departing from the scope of the present invention as defined in the following claims.

[0191] In particular, the following embodiments are proposed:

[0192] Proposal 1: A gripping device for gripping a sample container, A gripper body equipped with a gripper actuator, At least two gripper fingers, each having a gripping surface, At least one of the gripper fingers is movably attached to the gripper body. The gripping device comprises a gripper finger, which is designed to grip a sample container by the gripping surfaces of at least two gripper fingers by moving at least one movable gripper finger, A gripping device comprising at least one elastically attached contact surface for elastically contacting a sample container to be gripped by the gripping device.

[0193] Proposal 2: The gripping device according to Proposal 1, wherein at least one contact surface is designed to make the sample container, which is initially not upright, upright before it is gripped by the gripping device.

[0194] Proposal 3: The gripping device according to Proposal 1 or 2, wherein at least one contact surface is designed to center an initially uncentered sample container between at least two gripper fingers before the sample container is gripped by the gripping device (3).

[0195] Proposal 4: The gripping device is designed to grip a sample container having a sample container axis. At least two gripper fingers define the gripping axis, A gripping device according to any one of proposals 1 to 3, wherein at least one contact surface is designed to align the sample container axis of the sample container with the gripping axis before the sample container is gripped by the gripping device.

[0196] Proposal 5: At least two gripper fingers define the gripping axis, A gripping device according to any one of proposals 1 to 4, wherein, when the gripping device is not gripping a sample container, at least one contact surface is designed to be closer to the gripping axis than any of the gripping surfaces.

[0197] Proposal 6: A gripping device according to any one of proposals 1 to 5, wherein each of the gripper fingers is movably coupled to the gripper body.

[0198] Proposal 7: A gripping device according to any one of proposals 1 to 6, wherein the gripping device is designed to grip a sample container by clamping the sample container between gripping surfaces.

[0199] Proposal 8: A gripping device according to any one of proposals 1 to 7, wherein the gripping device comprises at least two contact surfaces.

[0200] Proposal 9: A gripping device according to any one of proposals 1 to 8, wherein at least one of the contact surfaces is attached to a gripper finger.

[0201] Proposal 10: A gripping device according to any one of proposals 1 to 9, wherein each of the gripper fingers is fitted with at least one contact surface.

[0202] Proposal 11: A gripping device according to any one of proposals 1 to 10, wherein each of the gripper fingers is fitted with exactly one contact surface.

[0203] Proposal 12: A gripping device according to any one of Proposals 1 to 10, wherein each of the gripper fingers is fitted with at least two contact surfaces.

[0204] Proposal 13: A gripping device according to any one of Proposals 1 to 10, 12, wherein each of the gripper fingers is fitted with exactly two contact surfaces.

[0205] Proposal 14: A gripping device according to any one of proposals 1 to 13, wherein at least one of the at least one contact surface is coupled to a gripper finger.

[0206] Proposal 15: A gripping device according to any one of proposals 1 to 14, wherein at least one of the at least one contact surface is coupled to a movably coupled gripper finger.

[0207] Proposal 16: A gripping device according to any one of proposals 1 to 15, wherein all contact surfaces of the gripping device are coupled to gripper fingers.

[0208] Proposal 17: A gripping device according to any one of proposals 1 to 15, wherein at least one of the at least one contact surface is coupled to a gripper body without being coupled to a movably coupled gripper finger.

[0209] Proposal 18: A gripping device according to any one of proposals 1 to 17, wherein at least one contact surface is elastically attached to the gripper body via an elastic element.

[0210] Proposal 19: A gripping device according to any one of proposals 1 to 18, wherein the gripping surface of the gripper finger is inelastically bonded to the gripper body.

[0211] Proposal 20: A gripper finger for a gripping device for gripping a sample container, wherein the gripper finger comprises a gripper finger body having a gripping surface for gripping a sample container, and the gripper finger comprises at least one contact surface elastically attached to the gripper finger body.

[0212] Proposal 21: A gripper finger as described in Proposal 20, wherein at least one contact surface itself is rigid.

[0213] Proposal 22: A gripper finger according to proposal 20 or 21, wherein at least one contact surface is a contact point.

[0214] Proposal 23: A gripper finger according to any one of proposals 20 to 22, wherein at least one contact surface is a contact surface.

[0215] Proposal 24: A gripper finger according to any one of proposals 20 to 23, wherein at least one contact surface is elastically attached to the gripper finger body.

[0216] Proposal 25: The gripper finger according to Proposal 24, wherein at least one contact surface is elastically attached to the gripper finger body via an elastic element.

[0217] Proposal 26: The gripper finger according to proposal 25, wherein the elastic element is a spring, and at least one contact surface is spring-mounted to the gripper finger body.

[0218] Proposal 27: A gripper finger as described in Proposal 26, with a spring preloaded.

[0219] Proposal 28: A gripper finger according to any one of proposals 25 to 27, wherein at least one contact surface and elastic element are included in a monolithic element, e.g., a monolithic element of a gripper finger.

[0220] Proposal 29: A gripper finger as described in Proposal 28, wherein a monolithic element is directly attached to the gripper finger body.

[0221] Proposal 30: At least one contact surface is elastically bonded to the gripper finger body with a first modulus of elasticity, A gripper finger according to any one of proposals 20 to 29, wherein the gripping surface is elastically bonded to the gripper finger body with a second modulus of elasticity, the second modulus of elasticity being greater than the first modulus of elasticity, and the greater modulus of elasticity being an indicator of lower elasticity.

[0222] Proposal 31: A gripper finger according to any one of proposals 20 to 29, wherein the gripping surface is inelastically bonded to the gripper finger body.

[0223] Proposal 32: A gripper finger according to any one of proposals 20 to 31, wherein the gripping surface is rigid.

[0224] Proposal 33: A gripper finger according to any one of proposals 20 to 32, wherein both the gripping surface and at least one contact surface are located on the gripping side of the gripper finger, and the gripping side is the side of the gripper finger body that faces the sample container being gripped by the gripper finger.

[0225] Proposal 34: A gripper finger according to any one of proposals 20 to 33, wherein the gripper finger is designed such that, at least in the non-gripping state, the gripping surface is closer to the gripper finger body than at least one contact surface.

[0226] Proposal 35: A gripper finger according to any one of proposals 20 to 34, wherein the gripper finger is designed such that at least one contact surface is closer to the sample container being gripped by the gripper finger than the gripping surface.

[0227] Proposal 36: A gripper finger according to proposal 34 or 35, wherein the gripper finger is designed such that at least one contact surface has play that allows at least one contact surface to be pressed to at least the level of the gripping surface.

[0228] Proposal 37: A gripper finger as described in Proposal 36, in which play includes elastic play.

[0229] Proposal 38: A gripper finger as described in Proposal 36 or 37, wherein the play includes inelastic play.

[0230] Proposal 39: A gripper finger according to any one of proposals 20 to 38, wherein at least one contact surface is elastically attached to the gripper finger body in a linearly elastic manner.

[0231] Proposal 40: A gripper finger according to any one of proposals 20 to 39, wherein the gripping surface is positioned below the contact surface.

[0232] Proposal 41: A gripper finger according to any one of proposals 20 to 40, wherein the gripping surface is positioned at the lower end of the gripper finger.

[0233] Proposal 42: A gripper finger according to any one of proposals 20 to 41, wherein at least two contact surfaces are elastically attached to the gripper finger body.

[0234] Proposal 43: A gripper finger according to any one of proposals 20 to 42, wherein at least one contact surface comprises at least a first section and a second section.

[0235] Proposal 44: The first section is designed to apply a first force to the sample container that is about to be grasped by the gripper fingers. The second section is designed to apply a second force to the sample container that is about to be grasped by the gripper fingers. A gripper finger as described in Proposal 42, wherein the direction of the first force is different from the direction of the second force.

[0236] Proposal 45: A gripper finger according to Proposal 44, wherein in at least one cross-section, the first direction and the second direction differ from each other by at least 10 degrees.

[0237] Proposal 46: A gripper finger according to any one of proposals 42 to 44, wherein in at least one cross-section, the first section is not parallel to the second section.

[0238] Proposal 47: A gripper finger according to any one of proposals 42 to 46, wherein the first section and the second section are adjacent to each other.

[0239] Proposal 48: A gripper finger according to any one of proposals 42 to 46, wherein the first section and the second section are not adjacent to each other.

[0240] Proposal 49: A gripper finger according to any one of proposals 42 to 47, wherein in at least one cross-section, the first section and the second section are at an angle to each other.

[0241] Proposal 50: A gripper finger according to Proposal 49, wherein the angle in at least one cross-section is 10 degrees or greater.

[0242] Proposal 51: A gripper finger according to any one of proposals 20 to 50, wherein at least one contact surface is not flat in at least one cross-section.

[0243] Proposal 52: A gripper finger according to any one of proposals 20 to 51, wherein at least one contact surface is curved in at least one cross-section.

[0244] Proposal 53: A gripper finger according to any one of proposals 20 to 52, wherein at least one contact surface is convex in at least one cross-section.

[0245] Proposal 54: A gripper finger according to any one of proposals 20 to 53, wherein at least one contact surface is curved in at least one cross-section.

[0246] Proposal 55: A gripping device according to any one of Proposals 1 to 19, comprising at least one of the gripper fingers described in any one of Proposals 20 to 54.

[0247] Proposal 56: The gripping device according to Proposal 55, wherein at least one contact surface elastically attached to the gripper finger according to one of claims 20 to 54 is at least one of the at least one elastically attached contact surface according to one of Proposals 1 to 19.

[0248] Proposal 57: The gripping device according to Proposal 56, wherein at least two gripper fingers described in one of Proposals 20 to 54 are arranged diametrically within the gripping device.

[0249] Proposal 58: A gripping device according to Proposal 56 or 57, wherein all of the gripper fingers of the gripping device are gripper fingers described in one of Proposals 20 to 54.

[0250] Proposal 59: Laboratory equipment for handling sample containers, comprising one of the gripping devices described in Proposals 1 to 19 or 55 to 58.

[0251] Proposal 60: The laboratory equipment according to Proposal 59, wherein the laboratory equipment is designed to handle a sample contained in a sample container.

[0252] Proposal 61: The laboratory equipment according to Proposal 59 or 60, wherein the laboratory equipment is an analytical laboratory equipment configured to obtain at least one measurement value.

[0253] Proposal 62: The laboratory equipment according to Proposals 59 to 61, wherein the laboratory equipment is a pre-analytical laboratory equipment.

[0254] Proposal 63: The laboratory equipment according to Proposals 59 to 62, wherein the laboratory equipment is a post-analytical laboratory equipment.

Explanation of Signs

[0255] 1 Sample transfer device 2 Robot moving device 3 Gripping device 4 Gripper finger 5 Monolithic element 6 Sample container 7 Laboratory equipment 8 Control unit 20 Rail in the x direction 21 Rail in the y direction 22 Beam in the z direction 30 Gripper body 31 Gripper actuator 41 Gripping surface 40 Gripping side 44 Gripper finger body 49 Gripping shaft 51 Contact surface 51.1 First section 51.2 Second section 52 Elastic element 69 Sample container axis

Claims

1. A gripping device (3) for gripping a sample container (6), A gripper body equipped with a gripper actuator (31), It comprises at least two gripper fingers (4), each having a gripping surface (41), At least one of the gripper fingers (4) is movably connected to the gripper body (30), The gripping device (3) is designed to grip the sample container (6) with the gripping surfaces (41) of at least two gripper fingers (4) by moving at least one movable gripper finger (4). The gripping device (3) is characterized in that it comprises at least one elastically attached contact surface (51) for elastically contacting a sample container (6) that is to be gripped by the gripping device (3).

2. The gripping device (3) is designed to grip a sample container (6) having a sample container shaft (69), The at least two gripper fingers (4) define the gripping axis (49), The gripping device (3) according to claim 1, wherein the at least one contact surface (51) is designed to align the sample container axis (69) of the sample container (6) with the gripping axis (49) before the sample container (6) is gripped by the gripping device (3).

3. The gripping device (3) according to claim 1 or 2, wherein each of the gripper fingers (4) is fitted with at least one contact surface (51).

4. The gripping device (3) according to claim 1 or 2, wherein at least one of the at least one contact surface (51) is coupled to a gripper finger (4).

5. The gripping device (3) according to claim 1 or 2, wherein at least one contact surface (51) is elastically attached to the gripper body (30) via an elastic element (52).

6. The gripping device (3) according to claim 1 or 2, wherein the gripping surface (41) of the gripper finger (4) is inelastically bonded to the gripper body (30).

7. A gripper finger (4) for a gripping device (3) that grips a sample container (6), comprising a gripper finger body (44) having a gripping surface (41) for gripping the sample container (6), The gripper finger (4) is characterized in that it comprises at least one contact surface (51) elastically attached to the gripper finger body (44).

8. The gripper finger (4) according to claim 7, wherein the at least one contact surface (51) itself is rigid.

9. The gripper finger (4) according to claim 7 or 8, wherein the at least one contact surface (51) is elastically attached to the gripper finger body (44).

10. The at least one contact surface (51) is elastically attached to the gripper finger body (44) via an elastic element (52), The gripper finger (4) according to claim 9, wherein the at least one contact surface (51) and the elastic element (52) are included in the monolithic element (5).

11. The gripper finger (4) according to claim 7 or 8, wherein the gripper finger (4) is designed such that at least one contact surface (51) is closer to the sample container (6) that is to be gripped by the gripper finger (4) than the gripping surface (41).

12. The gripper finger (4) according to claim 11, wherein the gripper finger (4) is designed to have play that allows the at least one contact surface (51) to be pushed in to at least the level of the gripping surface (41).

13. The at least one contact surface (51) comprises at least a first section (51.1) and a second section (51.2), The first section (51.1) is designed to apply a first force to the sample container (6) that is to be grasped by the gripper fingers (4), The second section (51.2) is designed to apply a second force to the sample container (6) that is to be grasped by the gripper fingers (4), The gripper finger (4) according to claim 7 or 8, wherein the direction of the first force is different from the direction of the second force.

14. The gripping device (3) according to claim 1 or 2, wherein the gripping device (3) comprises at least one of the gripper fingers (4) described in claim 7 or 8, and the at least one contact surface (51) elastically attached to the gripper finger (4) described in claim 7 or 8 is at least one of the elastically attached contact surface (51) described in claim 1 or 2.

15. Laboratory equipment (7) for handling a sample container (6), comprising one of the gripping devices (3) described in claim 1 or 2.

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