Filtration systems and automated filtration processes for liquid testing using consumable filtration units

Abstract

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

Description

[Technical Field]

[0001] The present invention relates to a filtration system and automated filtration process for testing liquids using a consumable filtration unit. [Background technology]

[0002] In the fields of biomonitoring and bioburden testing, water quality testing, pharmaceuticals, cosmetics, food processing, semiconductor manufacturing, electronics, and environmental (water) monitoring, typical laboratory testing equipment used in connection with testing processes requiring filtration of liquids, for biological liquids, most often consists of a sealed, consumable (one-way use) filtration unit or assembly, typically consisting of a base with a drain outlet, a funnel attached to the base, a filtration membrane on the base positioned between the funnel and the drain outlet in the space or volume defined by the funnel, and a lid or cover (hereinafter referred to as "lid") to close the top opening of the funnel, most often with a snap-fit ​​or form-locking connection to the periphery of the funnel opening, with or without a hinge to define the relative movement between the lid and the funnel.

[0003] A typical example of this type of ready-to-use sterile filtration unit, which combines a filtration or funnel capacity of 100 mL and a 49 mm diameter gridded membrane filter in one device to provide a complete solution for bioburden testing, is that available commercially from Merck KGaA, Darmstadt, Germany, under the trademark MILLIFLEX OASIS.

[0004] Some filtration units or filtration assemblies (hereafter referred to only as "filtration units") are not well suited to automated handling. It is particularly difficult for automated handling equipment to firmly grasp, hold, and transport irregularly shaped surfaces, often smooth or thin and delicate, or parts like lids, because a clear position and orientation are required for gripping. Furthermore, there is a high risk that lids will be inadvertently or irregularly opened, dislodged, or removed during handling at various stages of the process, resulting in cross-contamination that can compromise detection results and pose safety hazards for workers. Another aspect is the need to ensure the traceability of all inspection operations, which requires that each step of the process be accurately repeated each time an inspection is performed.

[0005] Some handling procedures, such as opening a snap-fit ​​lid, require a fairly complex sequence and pattern of holding and force / momentum application operations, as the force required to overcome the initial high friction of the snap-fit ​​connection must be quickly reduced to prevent leakage during subsequent steps. As a result, manual handling remains common in these testing processes.

[0006] Clearly, when such devices are handled manually, there is a risk of contamination during handling, for example after opening lids, covers or seals, and there is a risk of unsafe transfer of components of the device during subsequent handling, particularly when the device is filled with material or when multiple tests are handled in succession.

[0007] For example, pharmaceutical companies are prioritizing automation in critical processes to reduce the risk of cross-contamination, improve quality, and increase throughput, and the industry as a whole is trending toward fully automated processes.

[0008] However, automating processes requires significant investment and floor space for regulatory compliance. Automation can require large systems containing potentially dangerous devices within cells, which can be costly to maintain. As a result, many users are looking for solutions that are lower cost or require less floor space or footprint to automate certain processes.

[0009] Therefore, another way to automate specific processes is to design small, integrated, dedicated modules that can perform specific tasks. Such systems can be designed to fit into existing laboratory infrastructure, making integration much easier. Another example is collaborative robots. These robots can interact safely with humans and can be easily integrated into laboratory or production environments without large investments.

[0010] However, these solutions are designed to handle limited, basic tasks such as pipetting, lifting, and transferring, and are not versatile and adaptable enough to perform entire workflows that require complex handling of consumables.

[0011] Another alternative solution for automated consumable filtration is an automated system that can handle the entire process by combining a robotic arm with tools that can mimic a human operator. A two-arm robot can accomplish the complex tasks required for filtration by combining tools and supports appropriate for the consumable. However, this system is too large and multifunctional for most applications. The operations required for some consumables are highly specialized, making the introduction of complex robotic cells an inefficient solution. Furthermore, a centralized handler that manages the entire filtration process severely limits the scalability of the solution.

[0012] US2015 / 0322400A1 discloses an automated cell detachment system equipped with a cover removal device, a pipette device, a cell observation device, and an automated cell detachment device, all located on either side of a central rail. A general-purpose robot is provided to move along the rail and is used to transfer disc-shaped, transparent, dish-like culture vessels from an incubator to each device in the system. The robot includes an articulated arm and a hand attached to the end of the arm, which has a pair of rod-like fingers for gripping the sides of the culture vessel. The culture vessel is removed from the incubator while still covered with a cover. The cover removal device removes the cover from the culture vessel and includes a suction pad connected to a vacuum pump. The robot transports the lid-covered culture vessel directly below the suction pad, lifts the culture vessel vertically, suction-holds the lid to the suction pad, and then lowers the culture vessel vertically, thereby removing the lid from the culture vessel. The cover removal device includes a rotation mechanism that rotates the arm supporting the suction pad. The covers held by the suction pads are stacked in a storage position adjacent to the suction position. The cover removing device may include a lifting mechanism for lifting and lowering the suction pads.

[0013] US9,631,223B2 discloses a method for processing liquid biological materials in a liquid processing system. The liquid processing system includes a frame defining a predetermined workspace, a physiological and chemical instrument and a work table disposed within the frame, and a general-purpose two-arm robot disposed within the frame. The frame sections form a rectangular workspace and define the robot's operating envelope. The physiological and chemical instrument is disposed within the robot's arm, and includes powered biological laboratory equipment and consumables, disposable general-purpose containers and instruments, and a rack for storing the general-purpose containers.

[0014] However, automating filtration systems and processes for liquid testing using consumable filtration units presents unique challenges for several reasons: - The safety of filtration equipment must be ensured, which often means that membranes must be protected, for example, by storing them in sealed containers when not in use or processing, and that the container lid must be safely opened for filtration during operation. This requires a combination of consumable handling and liquid management, while managing the risk of cross-contamination; -Automation solutions must be compatible with existing consumables and workflows to facilitate user adoption. However, existing consumables are designed for manual tasks. Some tasks require a combination of strength, delicate handling, and precise operational monitoring, making them difficult to replicate. -Users need to adapt the automation system to their existing lab, thus limiting the scale of the automation system and tailoring the automation to their needs and resources; Finally, the filtering process is often part of a high volume of routine testing. To ensure an efficient and environmentally friendly solution for users, the process must be automatable, with high throughput, reproducibility and good scalability.

[0015] The object that the present invention seeks to solve is therefore to provide a filtration system and an automatic filtration process for testing liquids using a fine consumable filtration unit that has a small footprint and, despite its inherent complexity, provides a safe, fast, simple and traceable autonomous filtration process. Summary of the Invention [Problem to be solved by the invention]

[0016] The present invention relates to a filtration system and automated filtration process for testing liquids using a consumable filtration unit. [Means for solving the problem]

[0017] To achieve the above object, the present invention provides a filtration system having the features of claim 1 and an automatic filtration process having the features of claim 13. Preferred embodiments of the filtration system and the filtration process are defined in the dependent claims.

[0018] The present invention is particularly directed to a filtration system for testing liquids using consumable filtration units, each of which includes a base with a drain outlet, a funnel attached to the base, a membrane disposed on the base between a space defined by the funnel and the drain outlet, and a lid for closing an upper opening of the funnel, the filtration system comprising: a support for receiving a consumable filtration unit, said support including locking means configured to releasably secure the filtration unit on the support; a liquid flow path, one side of which communicates with the downstream side of the drain outlet when the filtration unit is fixed to the support, and the other side of which is configured to be connected to a pump for extracting liquid from the drain outlet when the filtration unit is fixed to the support; and a weight sensor arranged to detect the weight of the filtration unit fixed to the support; The filtration system includes:

[0019] In the filtration system, a weight sensor is preferably positioned to monitor the combined weight of the support and the filtration unit fixed to the support. The filtration system preferably includes a resilient support element that connects the support to a stationary frame or base and allows for movement of the support in the direction of gravity. In the filtration system, the resilient support element preferably comprises a resilient foil or membrane arranged to protect the components below the support from leakage of liquid from the filtration unit.

[0020] The filtration system preferably includes a mechanical manipulator for selectively engaging a lid on the filtration unit and moving the engaged lid to selectively open / close the top opening of the funnel. In the filtration system, the mechanical manipulator preferably includes a manipulator arm configured to selectively engage a portion of the lid, the manipulator arm being rotatable about a horizontal manipulator axis, which is preferably parallel to or coaxial with the pivot axis of the lid attached to the funnel of the filtration unit. In the filtration system, the manipulator arm preferably carries a suction cup for engaging a portion of the exterior surface of the lid.

[0021] The filtration system preferably includes an unlocking actuator configured to initially unlock the lid from engagement with the edge of the funnel, preferably by applying an upward pulling or pushing force to a peripheral section of the lid. In the filtration system, the operation of the unlocking actuator is preferably linked to the operation of the mechanical manipulator. The filtration system preferably includes an array of jaws configured to selectively engage the outer periphery of the filtration unit, and if provided, operation of the jaw array preferably coordinates with operation of a mechanical manipulator and / or unlocking actuator.

[0022] In the filtration system, preferably an unlocking actuator is attached to one of the jaws. The filtration system preferably includes a controller arranged to communicate with the weighing sensor, a locking means for the support, a mechanical manipulator if provided, and an unlocking actuator if provided, the controller being configured to autonomously control the operation of these components based on the detection results of the weighing sensor and a preset operation sequence.

[0023] The present invention also relates in particular to an automated filtration process for testing liquids using consumable filtration units, each of which comprises a base with a drain outlet, a funnel attached to the base, a membrane disposed on the base between the space defined by the funnel and the drain outlet, and a lid for closing the top opening of the funnel, and using a filtration system according to the present invention, which comprises a mechanical manipulator and a lock-release actuator, the filtration process preferably comprises the following steps in order: a) placing the filtration unit on a support, preferably by an external device, detecting the presence of the filtration unit on the support using a weight sensor, and in the affirmative, operating a locking means to fix the filtration unit on the support; b) operating the manipulator arm of the mechanical manipulator to engage with a portion of the lid and apply a force to the lid in a closing direction; c) engaging an unlocking actuator with a compartment on the periphery of the lid and applying an upward pulling or pushing force to the compartment to unlock the lid from engagement with the edge of the funnel while continuing to apply a constant force to the lid in a closing direction with the mechanical manipulator; d) disengaging and separating the unlocking actuator and the manipulator arm of the mechanical manipulator from the lid to tare the weighing sensor; e) operating the manipulator arm of the mechanical manipulator to engage with a portion of the lid and apply a force to the lid in a direction to open it; f) introducing a predetermined amount of the liquid to be tested into the space of the funnel, preferably monitoring and controlling the amount introduced using a metering sensor; g) operating the manipulator arm of the mechanical manipulator to apply a force to the lid in a closing direction, so as to bring the lid into a position that preferably substantially closes the opening of the funnel, but in any case is not locked onto the edge of the funnel; h) withdrawing the liquid to be tested from the funnel through the liquid flow path via the membrane and the drain of the filtration unit using a pump connected to the other side of the liquid flow path, preferably using a metering sensor to monitor and control the amount withdrawn; i) operating the manipulator arm of the mechanical manipulator to apply a force to the lid in a closing direction, thereby positioning the lid to lock it onto the edge of the funnel; and j) separating the manipulator arm of the mechanical manipulator from the lid, operating the locking means to release the filtration unit from the support, and removing the filtration unit from the support, preferably by an external device; The automated filtration process includes:

[0024] The automated filtration process preferably includes, in step a), aligning the axis of the hinge of the lid with the manipulator axis of the manipulator arm of the mechanical manipulator before operating the locking means to secure the filtration unit on the support.

[0025] The automatic filtration process preferably includes, in step c), after engaging the jaw array with the outer periphery of the filtration unit, engaging the unlocking actuator with a compartment on the outer periphery of the lid and applying an upward pulling or pushing force to the compartment to unlock the lid from engagement with the edge of the funnel, and in step d), disengaging the jaw array from the outer periphery of the filtration unit before taring the weighing sensor. [Brief explanation of the drawings]

[0026] The present invention will be explained in detail below on the basis of preferred but non-limiting embodiments and some variants with reference to the accompanying exemplary schematic drawings.

[0027] [Figure 1] FIG. 1 shows a schematic side view, partially in cross section, of a filtration system according to a first embodiment. [Figure 2] FIG. 2 shows the details of the unlocking actuator of the first embodiment. [Figure 3] FIG. 3 shows details of the unlocking actuator of the second embodiment. [Figure 4a-d] 4a-d show the sequence of characteristic steps in an automated filtration process using the filtration system according to the first embodiment. [Figure 4e-h] 4e-h show the sequence of characteristic steps in an automated filtration process using the filtration system according to the first embodiment. [Figure 4i] FIG. 4i shows the sequence of characteristic steps in an automated filtration process using the filtration system according to the first embodiment. [Figure 5a-c] 5a-c show the sequence of characteristic steps in an automated filtration process using the filtration system according to the second embodiment. [Figure 5d-g] 5d-g show the sequence of characteristic steps in an automated filtration process using the filtration system according to the second embodiment. [Figure 5h-i] 5h-i show the sequence of characteristic steps in an automated filtration process using the filtration system according to the second embodiment. [Figure 6] FIG. 6 shows a variant of the first embodiment in which an alternative concept of the unlocking actuator is implemented. [Figure 7] FIG. 7 shows details of one variant of the manipulator for engaging the lid of the filtration unit. DETAILED DESCRIPTION OF THE INVENTION

[0028] The present invention will be described below based on the first embodiment shown in Figure 1. It should be noted that the functions and structural or conceptual features of the individual components of the filtration system according to the first embodiment will be further described in relation to the second embodiment, variants, and filtration process described below.

[0029] Filtration system 1 is known in the art and is specifically designed for testing liquids using a consumable filtration unit A of the type outlined above (FIG. 1 shows filtration unit A disposed within the system; see also FIG. 2). Each such filtration unit A comprises a base B having a drain F (either integral or as a separate component), a funnel C attached to base B (the term "attached" can also include "integral" in some variations, but most frequently refers to a structure consisting of two components assembled or attached in a fixed or separable manner), a filtration membrane D disposed on base B and between the space or volume H defined by funnel C and drain F, and a lid or cover E closing the top opening of funnel C.

[0030] In the example used to illustrate the invention, a lid or cover E is attached to the periphery of the funnel opening by a snap-fit ​​or form-lock connection to prevent accidental opening during handling, and the lid is connected to the funnel by a hinge J which defines relative movement between the lid and the funnel. The lid is also provided with tabs K which project radially outward from the periphery of the lid. These features are preferred but not required.

[0031] In use, the lid is opened and the liquid to be tested is filled into the space or volume H of the funnel and passed through the filtration membrane D, which is then discharged for disposal or further processing. The filtration membrane D is then ready for further processing and evaluation.

[0032] The filtration system 1 comprises a support 2 for removably accommodating a consumable filtration unit A. The support 2 comprises a locking means 2b configured to actively and removably secure and seal the filtration unit A on a receptacle 2a of the support 2. The locking means 2b is therefore understood to provide the function of a head tightening actuator. The portion of the support 2 that directly contacts the base B of the filtration unit is called the "head" and is designed to be removable for cleaning the external surfaces and internal channels that may be contaminated. Filtrate collected from the space H of the filtration unit A is directed to the liquid flow path 3 of the filtration system 1 under the action of an external suction pump 4.

[0033] This removable portion or head of the support 2 can also be designed to accommodate multiple filtration units A in communication with a common internal manifold (not shown), or to accommodate one or more filtration units of different types or sizes.

[0034] The head clamping actuator or locking means 2b is able to generate in a controlled manner a force that is transmitted to the part of the support that is in contact with the filtration unit A, i.e. the receptacle 2a, to activate the sealing function, which comprises a lockable mechanical and fluidic interface to the filtration unit A.

[0035] The locking function may be achieved by a vacuum or subambient pressure selectively created at the interface between the receptacle of support 2 and base B of filtration unit A by a vacuum pump (not shown) or a mechanical lock (not shown) that selectively engages a surface or locking mechanism on base B of filtration unit A to forcibly secure filtration unit A onto receptacle 2a of support 2. Details of these components are not described and can vary so long as the function of sealingly and releasably holding the base within the receptacle of the support is fulfilled.

[0036] With filtration unit A fixed and sealed to support 2, the internal flow path of support 2 forms liquid flow path 3, one side 3a of which communicates with the downstream side of drain outlet F. With filtration unit A fixed to support 2, the other side 3b of liquid flow path 3 is connected to pump 4 for extracting liquid from drain outlet F. With filtration unit A fixed to support 2, liquid flow path 3 guides the filtrate sent from filtration unit A to suction pump 4, from which the liquid is discharged into downstream piping (not shown) and sent to a collection container.

[0037] Filtration system 1 further comprises a weighing scale 5 connected to a fixed base or system frame (details not shown) and configured to measure and detect the total weight of support 2 and the weight of filtration unit A (and its liquid contents within space H) secured to support 2 throughout the process. Because the weights of the system's functional components are known, changes or variations in weight monitored over time during the process are attributable to and indicative of changes caused by whether filtration unit A is secured to the support or not, as well as changes in its contents. These changes can be used to evaluate expected changes and / or gradients of change over time in a defined and known process, determining the accuracy or completion of a particular step or the amount of liquid under test present within the funnel space at any given time. They can also be used as inputs to the system's controller to trigger operations and control system components, enabling autonomous and automatic processes, as further described below.

[0038] The filtration system 1 may comprise an elastic support element 6 connecting the support 2 to a fixed frame or base 7 to allow substantially unhindered relative movement of the support 2 at least in the direction of gravity. This movement - typically caused by the above-mentioned change in the weight of the support due to the mounting of the filtration unit or the filling / extraction of the liquid to be tested into the funnel - is detected by a weighing sensor or scale 5. Depending on the type of weighing sensor or scale 5, the relative movement may be very small, as is known from commercially available scales.

[0039] The elastic support element 6 may be, for example, an elastic support string, band, or spring (none of which are shown) known in the art, and serves to mechanically release the support 2 from the frame to enable weight measurement. The elastic support element 6 may also include, for example, a waterproof elastic foil or membrane 6a arranged to protect the components below the receptacle 2a of the support 2 from leakage of liquid from the filtration unit A, as shown in FIG. 1 . In other words, only the removable part (i.e., the head) of the support with the receptacle 2a for the filtration unit A may be placed on the elastic foil or membrane 6a. Note that this shielding function may be provided by the elastic foil or membrane 6a independently of the elastic support of the support 2 for the weighing function, which is realized by a separate component.

[0040] Filtration system 1 (see, e.g., FIG. 4a) includes a mechanical manipulator 8 for selectively engaging a lid E of a filtration unit A and moving the engaged lid E to selectively open and close an upper opening of a funnel C to provide access to a space or volume H. Mechanical manipulator 8 includes a manipulator arm 8a configured to selectively engage a portion of lid E, the manipulator arm 8a being rotatable about a horizontal manipulator axis 8c, which is realized by a manipulator rotation axis 8d projecting laterally from manipulator arm 8a or is integral with manipulator arm 8a and configured to be selectively driven to rotate in the opposite direction about manipulator axis 8c by a manipulator actuator 8f. Needless to say, rotation axis 8d may be part of an actuator 8f connected to the manipulator arm to transmit a driving force.

[0041] The manipulator actuator 8f can be a hydraulic / pneumatic motor or an electric motor, preferably a servomotor. The aforementioned rotary actuator can be replaced with a linear actuator combined with an appropriate transmission link. However, this variant narrows the manipulator's rotation range compared to a motor actuator. The manipulator axis 8c can be parallel to, or preferably coaxial with, the pivot axis of the hinge J of the lid E attached to the funnel C of the filtration unit A. In this way, the manipulator 8 can move / rotate with one degree of freedom. This significantly simplifies the kinematics and structure, and also improves robustness and speed, compared to a robot arm with multiple degrees of freedom.

[0042] In one variation, the manipulator arm 8a supports a suction cup 8b for engaging a portion of the outer surface of the lid E to selectively grip and release the lid. 7, the suction cup 8b is preferably positioned approximately midway between the manipulator shaft 8c and the tip pressure end 8e of the manipulator arm 8a, which is preferably curved or spoon- or bridge-shaped to extend above the lid to provide clearance for the suction cup 8b. A contact surface 8g defined by the periphery of the suction cup 8b is slightly offset by an offset X from the contact surface or contact point 8h of the tip pressure end 8e toward the side of the lid.

[0043] In another variant of the manipulator 8 shown in Figure 6, the suction cup on the manipulator arm 8a can be replaced by a mechanical lever mechanism 12 which is provided on the manipulator arm 8a and which mainly comprises a movable finger 12a which is pivotable about an axis 12c defined approximately midway along the axial extension of the movable finger 12a, the axis 12c being provided at the distal or forward end of the manipulator arm.

[0044] A small hook 12b is formed at the tip of the movable finger 12a, and a linear actuator 12d connects the distal or rear end of the movable finger 12a to the manipulator arm 8a at its rear, near the manipulator axis 8c. When the linear actuator 12d retracts and pulls the movable finger 12a, the movable finger 12a rotates clockwise, releasing and disengaging the hook 12b from the tab K protruding from the lid's periphery or from the periphery itself. When the linear actuator 12d expands and pushes the movable finger 12a, the movable finger 12a rotates counterclockwise. Due to the shape and kinematics of the hook 12b, the lid E of the filtration unit A is released from its form-locking or snap-fit ​​engagement with the periphery or edge of the funnel C during the initial stage of lid opening, functioning as the unlocking actuator 9, 9b, or, if necessary, lifting the entire lid. During this stage, the lid remains engaged with the manipulator arm 8a and abuts the leading pushing end 8e. The manipulator arm therefore provides a constant, balanced and controlled reaction force to the force acting on the lid by operation of the unlocking actuator, avoiding a sudden and uncontrollable "popping" of the lid when the unlocking actuator overcomes the retaining force of the form lock or snap fit connection.

[0045] Further rotation of the lid engaged by the manipulator arm 8a is effected by selectively rotationally driving the manipulator arm 8a in the opposite direction as previously described about the manipulator axis 8c by the manipulator actuator 8f.

[0046] The filtration system 1 shown in Figures 1-5 preferably comprises another variation of a dedicated unlocking actuator 9, 9a configured to initially release the lid E from its form-locking or snap-fit ​​engagement with the periphery or edge of the funnel C, preferably by applying an upward pulling or pushing force to a portion of the periphery of the lid E (this may be either a tab K protruding from the periphery of the lid, or the periphery itself as previously described).

[0047] Such unlocking actuators 9, 9a are mounted on separate pivoting arms 13 configured to be rotationally driven, for example, by actuators 14 supported on a system frame (not shown), which allows the unlocking actuators to be positioned under tabs K or edges or in a retracted position (see FIG. 2). This frees up the area around the filtration units to facilitate their introduction into and removal from receptacles 2a of support 2 at the beginning and end of the filtration process. The pivoting arms can be replaced and / or combined with linearly extendable or retractable arms, eccentric drives (not shown), or other mechanical devices that provide the above-mentioned functionality of selectively moving the unlocking actuators toward or away from filtration units locked to support 2.

[0048] In an alternative embodiment shown in Figure 3, the unlocking actuator may be included in the arrangement of moving jaws 10 which are configured to selectively engage the outer periphery of filtration unit A, i.e., the funnel or base, or both, by linearly extending or retracting arms 15 to which jaws 10 are attached under the action of actuators 16 supported on a system frame (not shown). The shape and configuration of the jaws may be adjusted or adapted to suit the contours of the filtration unit being used.

[0049] The unlocking actuator 9, 9a is preferably attached to one of the jaws 10 such that when the jaw 10 engages the outer periphery of the filtration unit A, the unlocking actuator is automatically placed into an operating position relative to the lid. The linearly extending or retracting arm 15 may be replaced or combined with a pivoting arm or eccentric drive (not shown) or other mechanical device that provides the aforementioned function of selectively moving the jaws 10 and unlocking actuator toward or away from a filtration unit locked to the support 2.

[0050] The operation of the positioning of the jaws 10 is preferably coordinated with the operation of the mechanical manipulator 8 and / or the unlocking actuators 9, 9a so as to maintain the filtration unit securely in a fixed position on the support 2 whilst the lid is unlocked by the unlocking actuators. Needless to say, the positioning of the jaws 10 may be provided independently of the concept of the unlocking actuator used in the system to enhance the secure fixation of the filtration unit to the support during the initial stages of lid opening, or all or selected stages of the filtration process.

[0051] The operation of the unlocking actuators 9, 9a, 9b is preferably coordinated with the operation of the mechanical manipulator 8 in the sense that the mechanical manipulator 8 is first engaged with the lid and provides a constant, balanced and controlled reaction force to the force acting on the lid by operation of the unlocking actuators, avoiding a sudden and uncontrolled "popping" of the lid when the unlocking actuators overcome the holding force of the form lock or snap fit connection.

[0052] To coordinate the operation of the individual components of the filtration system within a defined schedule and to autonomously perform the filtration process, the filtration system 1 comprises a controller arranged to communicate with the weighing sensor or scale 5, the locking means 2b of the support 2, the mechanical manipulator 8, if provided, and the unlocking actuators 9, 9a, 9b, if provided. The controller is configured (programmed) to autonomously initiate and control the operation of these components based on the detection / monitoring results of the weighing sensor 5 over time and a predefined sequence of operations that defines the filtration process. The controller may be an integral part of the system or may be located at a remote location.

[0053] A typical autonomous and automatic filtration process performed by the above-described filtration system is described below for a first and second embodiment with reference to the sequence of Figures 4a to 4i and 5a to 5i, which show the sequence of characteristic steps of the process and omit parts of the system that are not necessary for describing the basic functionality.

[0054] Figure 4a - Step 1: Unlocking With the actuators 9, 9a in the retracted position and the manipulator arm 8a in the open position, the filtration system is ready to receive a new filtration unit.

[0055] Figure 4b - Step 2: The filtration unit A is placed on the receptacle 2a of the support 2 by an external device. The hinge axis of the filtration unit's lid is aligned, i.e. parallel, preferably concentrically, with the manipulator axis 8c. In this step, the weighing sensor 5 is used to detect the presence of the filtration unit A on the support 2. The locking means 2b is then activated to fix, i.e. press down, the filtration unit A on the receptacle 2a.

[0056] Figure 4c - Step 3: Rotate the manipulator arm 8a downwards and contact the lid of the filtration unit to apply mechanical force. This confirms that the filtration unit is correctly inserted into the receptacle 2a of the support 2.

[0057] Figure 4d - Step 4: While manipulator arm 8a applies a mechanical force to the filtration unit lid, pivot arm 13 moves and unlock actuator 9a is positioned under tab K of filtration unit lid E. Unlock actuator 9a pushes the tab up, at least partially unlocking the lid from the periphery of the filtration unit funnel.

[0058] FIG. 4e - Step 5: The manipulator arm 8a is raised to the open position, the weighing sensor 5 is tared and the unlocking actuator 9a is moved to the retracted position.

[0059] Figure 4f - Step 6: The manipulator arm 8a is moved downwards, bringing the suction cup 8b into contact with the unlocked lid and lifting it to a stable open position. The vacuum suction of the suction cup is released and the manipulator arm 8a is moved slightly away from the lid. Next, the liquid to be tested / filtered is introduced into the funnel of the filtration unit from an external device. The amount of transferred liquid is monitored by the weighing sensor 5 until the required amount of liquid is dispensed.

[0060] Figure 4g - Step 7: The manipulator arm 8a is momentarily rotated downwards to place the filtration unit lid in the "closed but unlocked" filtration position. This minimizes exposure to the environment inside the filtration unit. The suction pump 4 is then activated to continue filtering the liquid in the funnel of the filtration unit. The weighing sensor 5 monitors the filtration process, assessing whether the filtration follows the expected profile / schedule and detecting the end of filtration.

[0061] Figure 4h - Step 8: When filtration is complete, the manipulator arm 8a rotates downward, and the filtration unit lid is fixed onto the funnel. This protects the inside of the filtration unit while slightly compressing the air inside the funnel. This allows the filtration membrane at the bottom of the filtration unit to be gently pushed out, facilitating transfer to a gel-like medium or other medium.

[0062] Figure 4i - Step 9: Rotate the manipulator arm 8a upward to the open position. This releases the filtration unit A from the receptacle 2a, facilitating its removal. The locking means 2b is then released, releasing the filtration unit A from the receptacle 2a, allowing it to be removed by an external device.

[0063] The filtration process performed by the filtration system of the second embodiment will be described with reference to the sequence of Figures 5a-5i, which corresponds to the sequence of Figures 4a-4i, except for steps 4 and 5 in Figures 5d and 5e (and therefore detailed descriptions of identical steps will not be repeated).

[0064] Figure 5d - Step 4: The jaw 10 is moved towards the filtration unit, applying a mechanical holding force to the funnel of the filtration unit. Simultaneously with the movement of the jaw, the unlocking actuator 9b is positioned under the tab of the lid of the filtration unit. The unlocking actuator 9b pushes up the tab, unlocking the lid of the filtration unit. FIG. 5e - Step 5: Open the jaws 10 and open the lid of the filtration unit. The weighing sensor is tared.

[0065] Based on this, the present invention generalizes and provides an automated autonomous filtration process for testing liquids using a consumable filtration unit A of the type described above, using a filtration system 1 according to the invention comprising a mechanical manipulator 8 and an unlocking actuator 9; 9a; 9b, the filtration process preferably comprising the following steps in sequence: a) placing the filtration unit A on the support 2, preferably by an external device, and detecting the presence of the filtration unit A on the support 2 using the weight sensor 5, and in the affirmative, operating the locking means 2b to fix the filtration unit A on the receptacle 2a of the support 2; b) operating (preferably rotating) the manipulator arm 8a of the mechanical manipulator 8 to engage with a part of the lid E and applying a force to the lid E in a closing direction; c) engaging the unlocking actuator 9;9a;9b with a compartment on the periphery of the lid E (i.e., the tab, if provided) and applying an upward pulling or pushing force to said compartment to unlock the lid E from engagement with the edge of the funnel C, while continuing to apply a constant force to the lid E in the closing direction by the mechanical manipulator 8; d) disengaging and separating the unlocking actuator 9; 9a; 9b and the manipulator arm 8a of the mechanical manipulator 8 from the lid E, and taring the weighing sensor 5; e) operating (preferably rotating) the manipulator arm 8a of the mechanical manipulator 8 to engage with a part of the lid E and applying a force to the lid E in the direction of opening it; f) introducing a predetermined amount of the liquid to be tested into the space H of the funnel C, preferably monitoring and controlling the amount introduced using a metering sensor 5; g) operating (preferably rotating) the manipulator arm 8a of the mechanical manipulator 8 to apply a force to the lid E in the closing direction, preferably placing the lid E in a position that substantially closes the opening of the funnel C, but in any case is not locked onto the edge of the funnel C; h) using a pump 4 connected to the opposite side 3b of the liquid flow path 3 to withdraw the liquid to be tested from the funnel C via the membrane D and the outlet F of the filtration unit A through the liquid flow path 3, preferably using a metering sensor 5 to monitor and control the withdrawal amount; i) operating (preferably rotating) the manipulator arm 8a of the mechanical manipulator 8 to apply a force in the closing direction to the lid E, thereby positioning the lid E to lock it onto the edge of the funnel C; and j) separating the manipulator arm 8a of the mechanical manipulator 8 from the lid E, operating the locking means 2b to release the filtration unit A from the support body 2, and removing the filtration unit A from the support body 2, preferably by an external device; Includes:

[0066] In situations where a filtration unit with a hinged lid is used, the automated filtration process involves aligning the axis of the hinge J of the lid E with the manipulator axis 8c of the manipulator arm 8a of the mechanical manipulator 8, either in step a) where the filtration unit is placed on the receptacle of the support, or in a separate operation thereafter, before operating the locking means 2b to secure the filtration unit A on the support 2.

[0067] In situations where the filtration system is equipped with locking jaws 10 as described above in relation to the second embodiment, the automatic filtration process includes, in step c), engaging the jaw 10 arrangement with the outer periphery of the filtration unit A and applying an upward pulling or pushing force to said section to disengage the lid E from the edge of the funnel C before engaging the unlocking actuators 9; 9a; 9b with a section of the outer periphery of the lid E. Step d) includes disengaging the jaw 10 arrangement from the outer periphery of the filtration unit A before taring the weighing sensor 5.

[0068] Although the present invention has been described in terms of two basic embodiments and variations, the disclosure should include combinations of components or functions that can be used together in a useful manner to enhance the operation and functionality of the system, and are not true substitutes.

Claims

1. A filtration system (1) for testing liquids using a consumable filtration unit (A), each of which includes a base (B) with a drain port (F), a funnel (C) attached to the base (B), a membrane (D) disposed on the base (B) between the funnel (C) and the drain port (F) in a space (H), and a lid (E) for closing the top opening of the funnel (C), wherein the filtration system (1) comprises: a support (2) for receiving a consumable filtration unit (A), said support (2) comprising locking means (2b) configured to releasably secure the filtration unit (A) on the support (2); a liquid flow path (3) having one side (3a) communicating with the downstream side of the drain port (F) when the filtration unit (A) is fixed to the support (2), and having the other side (3b) configured to be connected to a pump (4) for extracting liquid from the drain port (F) when the filtration unit (A) is fixed to the support (2); and a weight sensor (5) arranged to detect the weight of the filtration unit (A) fixed to the support (2); The filtration system (1) comprises:

2. 2. The filtration system (1) according to claim 1, wherein the weight sensor (5) is arranged to monitor the total weight of the support (2) and the filtration unit (A) fixed to the support (2).

3. 3. A filtration system (1) according to claim 1 or 2, comprising a resilient support element (6) connecting the support (2) to a fixed frame or base (7) and allowing movement of the support (2) in the direction of gravity.

4. Filtration system (1) according to claim 3, wherein the elastic support element (6) comprises an elastic foil or membrane (6a) arranged to protect components below the support (2) from leakage of liquid from the filtration unit (A).

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

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

7. 7. The filtration system (1) according to claim 6, wherein the manipulator arm (8a) carries a suction cup (8b) for engaging a portion of the outer surface of the lid (E).

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

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

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

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

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

13. 13. An automated filtration process for testing liquids using a consumable filtration unit (A), each of which includes a base (B) with a drain (F), a funnel (C) attached to the base (B), a membrane (D) disposed on the base (B) between the funnel (C) and the drain (F) in a space (H), and a lid (E) for closing the top opening of the funnel (C), using a filtration system (1) according to claim 12, which includes a mechanical manipulator (8) and a lock-release actuator (9; 9a; 9b), the filtration process comprising the following steps: a) placing the filtration unit (A) on the support (2), preferably by an external device, detecting the presence of the filtration unit (A) on the support (2) using a weight sensor (5), and in the affirmative, operating the locking means (2b) to fix the filtration unit (A) on the support (2); b) operating the manipulator arm (8a) of the mechanical manipulator (8) to engage with a part of the lid (E) and apply a force to the lid (E) in a closing direction; c) engaging the unlocking actuator (9; 9a; 9b) with a compartment on the periphery of the lid (E) and applying an upward pulling or pushing force to the compartment to unlock the lid (E) from engagement with the edge of the funnel (C), while continuing to apply a constant force to the lid (E) in the closing direction by the mechanical manipulator (8); d) disengaging and separating the unlocking actuator (9; 9a; 9b) and the manipulator arm (8a) of the mechanical manipulator (8) from the lid (E) and taring the weighing sensor (5); e) operating the manipulator arm (8a) of the mechanical manipulator (8) to engage with a part of the lid (E) and apply a force to the lid (E) in the direction of opening it; f) introducing a predetermined amount of the liquid to be tested into the space (H) of the funnel (C), preferably monitoring and controlling the amount introduced using a metering sensor (5); g) operating the manipulator arm (8a) of the mechanical manipulator (8) to apply a force to the lid (E) in a closing direction, so as to bring the lid (E) into a position that preferably substantially closes the opening of the funnel (C), but in any case is not locked onto the edge of the funnel (C); h) withdrawing the liquid to be tested from the funnel (C) through the liquid flow path (3) via the membrane (D) and the outlet (F) of the filtration unit (A) using a pump (4) connected to the other side (3b) of the liquid flow path (3), preferably using a metering sensor (5) to monitor and control the amount withdrawn; i) operating the manipulator arm (8a) of the mechanical manipulator (8) to apply a force in the closing direction to the lid (E) and position the lid (E) to lock it onto the edge of the funnel (C); and j) separating the manipulator arm (8a) of the mechanical manipulator (8) from the lid (E), operating the locking means (2b) to release the filtration unit (A) from the support (2), and removing the filtration unit (A) from the support (2), preferably by an external device; The automatic filtration process.

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

15. In step c), after engaging the jaw arrangement (10) with the outer periphery of the filtration unit (A), engaging the unlocking actuator (9; 9a; 9b) with a compartment on the outer periphery of the lid (E) and applying an upward pulling or pushing force to said compartment to unlock the lid (E) from engagement with the edge of the funnel (C); and Step d) involves disengaging the jaw arrangement (10) from the periphery of the filtering unit (A) before taring the weighing sensor (5).

15. The automated filtration process of claim 13 or 14, comprising:

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