Grasper for a laboratory container sorting device

Abstract

To provide a gripper for sorting a laboratory container.SOLUTION: A gripper 10 for a laboratory container sorting device 12 comprises a vacuum gripper 14 and a mechanical gripper 24. The vacuum plunger 14 comprises a suction cup 16 and is configured to move the suction cup 16 between a pickup position 20 and a transfer position 22. The suction cup 16 is configured to pick up a laboratory container 18 when the suction cup 16 is in the pickup position 20, and to transfer the laboratory container 18 when the suction cup 16 is in the transfer position 22. The mechanical gripper 24 is configured to grip and release the laboratory container 18 when the suction cup 16 is in the transfer position 22. A laboratory container sorting device 12, a laboratory system 46, and a method for operating the laboratory system 46 are also disclosed.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure is in the field of automated in vitro diagnostic laboratory testing. Within this field, the present disclosure relates to a gripper for a laboratory container sorting device, a laboratory container sorting device, a laboratory system, and a method of operating a laboratory system. [Background technology]

[0002] In a diagnostic laboratory environment, laboratory containers, such as test sample containers, test reagent containers, or laboratory consumable containers, are transported between multiple areas and / or stations according to a predefined laboratory workflow. For example, laboratory containers are received in a storage area where the laboratory containers are sorted and temporarily held before being dispatched within the laboratory area. Within the laboratory area, the laboratory containers are transported between multiple stations, such as pre-analysis, analysis, and post-analysis stations, to generate accurate and reliable test results that provide vital information for physicians.

[0003] Typically, such laboratory containers are transported within one or more holding devices within a diagnostic laboratory environment. Depending on a predefined laboratory workflow, laboratory containers are sorted or transferred from one holding device to another based on predefined sorting criteria, such as laboratory container type, test sample type, or test order. Laboratory containers can be sorted between two holding devices of the same type. For example, laboratory containers can be sorted between two laboratory container racks. And / or laboratory containers can be sorted between two holding devices of different types. For example, laboratory containers can be sorted from bins to laboratory container racks or other laboratory container carriers. Laboratory container sorting can be performed manually. However, with improved throughput, improved turnaround times, and larger test portfolios in automated diagnostic laboratory systems, the number of laboratory containers that must be sorted is increasing. Therefore, laboratory container sorting devices are used to efficiently and reliably sort laboratory containers in an automated manner.

[0004] U.S. Patent No. 10,509,047 (Patent Document 1) and European Patent No. 2,148,204 (Patent Document 2) disclose laboratory container sorting devices that include mechanical grippers with fingers for gripping and sorting laboratory containers. However, depending on the type of holding device from which the laboratory containers must be sorted, the laboratory containers may be surrounded by other laboratory containers, and such mechanical grippers may not be able to grip the laboratory containers without interfering with or contacting the other laboratory containers, causing damage or changing the position or orientation of the other laboratory containers. This problem can be prevented by using a laboratory container sorting device that includes a vacuum gripper with a suction cup for picking up the laboratory containers at one contact point of the laboratory container. Such vacuum grippers are well known in the art. However, depending on the holding device between which the laboratory container must be sorted and the contact point of the laboratory container at which it is picked up by the suction cup, the vacuum gripper is unable to align the laboratory container with the holding device to which it must be transferred as precisely as a mechanical gripper is able to do, due to the resilient and flexible material of the suction cup. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] U.S. Patent No. 10,509,047 [Patent Document 2] European Patent No. 2148204 Summary of the Invention [Problem to be solved by the invention]

[0006] Therefore, a need exists for sorting laboratory containers in an automated, simple, and flexible manner, thereby better serving the needs of automated in vitro diagnostic laboratory testing. [Means for solving the problem]

[0007] FIELD OF THE DISCLOSURE The present disclosure relates to a grasper for a laboratory container sorting device, a laboratory container sorting device, a laboratory system, and a method of operating a laboratory system.

[0008] The present disclosure relates to a gripper for a laboratory container sorting device. The gripper comprises a vacuum gripper with suction cups. The vacuum gripper is configured to move the suction cups between a pickup position and a transfer position. The suction cups are configured to pick up and hold the laboratory container when the suction cups are in the pickup position and to transfer the laboratory container when the suction cups are in the transfer position. The gripper further comprises a mechanical gripper. The mechanical gripper is configured to grip and release the laboratory container when the suction cups are in the transfer position. The vacuum gripper comprises an extendable and retractable pipe having two ends. The suction cups are attached to one end and a vacuum source is operably coupled to the other end. The extendable and retractable pipe is configured to extend to move the suction cups from the transfer position to the pickup position. The extendable and retractable pipe is configured to retract to move the suction cups from the pickup position to the transfer position. The generated vacuum for holding the laboratory container is inside the extendable and retractable pipe, and the extendable and retractable pipe is configured to retract due to the vacuum inside the extendable and retractable pipe.

[0009] The present disclosure also relates to a laboratory container sorting device comprising a gripper as described herein and a Cartesian positioning device, the gripper being attached to the Cartesian positioning device and configured to position the gripper at a contact point and a release position on the laboratory container.

[0010] The present disclosure further relates to a laboratory system comprising a laboratory container sorting device as described herein, a laboratory container, a first holding device configured to receive, hold, and / or release the laboratory container, and a second holding device configured to receive, hold, and / or release the laboratory container. The laboratory container includes a contact point when the first holding device holds the laboratory container. The second holding device provides a release position.

[0011] The present disclosure further relates to a method of operating the laboratory system described herein, the method comprising the steps of: a) positioning a gripper by a Cartesian positioning device at a contact point of a laboratory container held by a first holding device; b) moving a suction cup by the vacuum gripper to a pick-up position, wherein the suction cup is positioned at the contact point of the laboratory container during step b) if step b) is performed after step a), and the suction cup is positioned at the contact point of the laboratory container during step a) if step b) is performed before step a); c) picking up the laboratory container at the contact point by the suction cup of the vacuum gripper; d) moving the suction cup to a transfer position by the vacuum gripper; e) gripping the laboratory container with a mechanical gripper when the suction cup is in the transfer position; f) releasing the laboratory container by a vacuum gripper; g) positioning the gripper in a release position of the second holding device by a Cartesian positioning device; h) Releasing the laboratory container by a mechanical gripper. is.

[0012] (Detailed explanation) The present disclosure relates to a gripper for a laboratory container sorting device. The gripper comprises a vacuum gripper with suction cups. The gripper comprises a vacuum gripper with suction cups. The vacuum gripper is configured to move the suction cup between a pickup position and a transfer position. The suction cup is configured to pick up and hold the laboratory container when the suction cup is in the pickup position and to transfer the laboratory container when the suction cup is in the transfer position. The gripper further comprises a mechanical gripper. The mechanical gripper is configured to grip and release the laboratory container when the suction cup is in the transfer position. The vacuum gripper comprises an extendable and retractable pipe having two ends. The suction cup is attached to one end and a vacuum source is operably coupled to the other end. The extendable and retractable pipe is configured to extend to move the suction cup from the transfer position to the pickup position. The extendable and retractable pipe is configured to retract to move the suction cup from the pickup position to the transfer position. The generated vacuum for holding the laboratory container is inside the extendable and retractable pipe, and the extendable and retractable pipe is configured to retract due to the vacuum inside the extendable and retractable pipe.

[0013] As used herein, the term "laboratory container" refers to a device adapted to accept, store, transport, and / or release contents such as test reagents (e.g., reagents for histological tests, immunohistochemical tests, clinical chemistry tests, coagulation tests, hematological tests, or molecular biology tests, etc.), test samples (e.g., tissue, blood, urine, serum, plasma, or liquid-based cytology samples, etc.), or laboratory consumables (e.g., pipette tips, cuvettes, glass slides, microwell plates, etc.). Thus, a laboratory container can be a test reagent container, a test sample container, or a laboratory consumables container. A laboratory container can be a vessel having a cylindrical or cubic shape, a closed bottom, and an open top. A laboratory container can include a cap, closure, or lid that can removably fit onto the open top of the laboratory container to protect the laboratory container contents from the environment or prevent spillage of the laboratory container contents. A laboratory container can include a label, such as a barcode, RFID tag, etc., for identification. The material, color (e.g., cap color), and / or geometry (e.g., shape, diameter, side length, height, etc.) of the laboratory container may vary depending on the contents of the laboratory container, the test sample processing steps being performed, and / or the manufacturer.

[0014] As used herein, the term "laboratory container sorting device" refers to a device designed to transport, sort, and / or resort laboratory containers between at least two holding devices configured to accept, hold, and / or release laboratory containers, as further described below. The sorting / resorting can be based on laboratory container attributes to aggregate laboratory containers having substantially the same laboratory container attributes into a dedicated holding device. The holding device to which laboratory containers having substantially the same laboratory container attributes are aggregated can be determined substantially depending on the laboratory container attributes. For example, laboratory containers containing test samples of different test sample types are collected into a first holding device, such as a bin. Then, laboratory containers containing test samples of the same test sample type are sorted from the bin and placed into or on a dedicated second holding device, such as a laboratory container rack, for further processing.

[0015] As used herein, the term "vacuum gripper" refers to a device for picking up, holding, and releasing laboratory containers by applying / discharging underpressure or vacuum. In one embodiment, the suction cup is made of an elastic or flexible material configured to conform to the surface of the laboratory container, which may be flat or curved. In one embodiment, the vacuum gripper comprises one suction cup. In one embodiment, the suction cup is circular, oval, or rectangular. In one embodiment, the suction cup comprises a diameter smaller than the diameter of the laboratory container. In a specific embodiment, the diameter of the suction cup is in the range of 3 mm to 15 mm. In a more specific embodiment, the diameter of the suction cup is in the range of 5 mm to 10 mm. In one embodiment, the vacuum gripper comprises a vacuum source configured to generate air suction through the suction cup to pick up the laboratory container, generate underpressure or vacuum to hold the laboratory container, and dissipate the underpressure or vacuum to release the laboratory container. The subpressure or vacuum for holding the laboratory container is generated when the suction cups contact the laboratory container at the contact point on the laboratory container. In contrast to the fingers of a mechanical gripper, the suction cups of the vacuum gripper have only one contact point or area with the laboratory container to pick up and hold the laboratory container. Therefore, the vacuum gripper can pick up the laboratory container at one contact point with the laboratory container or from one side without interfering with or contacting surrounding or adjacent laboratory containers. For example, if the laboratory container is surrounded by or adjacent to other laboratory containers in a bin, the vacuum gripper can pick up the laboratory container from the upper layer of the laboratory containers without contacting the other laboratory containers in the bin. This is advantageous because such interference could damage or change the position or orientation of surrounding or adjacent laboratory containers.

[0016] As used herein, the term "mechanical gripper" refers to a device for gripping and releasing a laboratory container by mechanical force using fingers. In contrast to the suction cups of a vacuum gripper, the fingers of a mechanical gripper require at least two contact points or areas with the laboratory container so that the laboratory container is gripped when positioned between the mechanical fingers. However, a mechanical gripper can grip the laboratory container very strongly. Such a strong grip may be advantageous for accurate alignment of the laboratory container with the holding device and / or for secure insertion of the laboratory container into the holding device. In one embodiment, the mechanical gripper has two fingers positioned opposite each other. The laboratory container held by the suction cups is positioned between the two fingers when the suction cups are in the transfer position. Therefore, the transfer position is positioned between the two fingers of the mechanical gripper so that the two fingers grip the laboratory container when the suction cups are in the transfer position. In a more specific embodiment, the two fingers are bifurcated. One example of a forked finger is a V- or U-shaped finger that contacts the laboratory container at two distinct contact points or areas. Forked fingers may be advantageous for aligning the longitudinal axis of a cylindrical laboratory container with the vertical axis of the holding slot of the holding device. In another more specific embodiment, the finger is a flat clamp that contacts the laboratory container at two opposing contact lines or areas. A flat clamp may be advantageous for aligning the longitudinal axis of a cubic laboratory container with the vertical axis of the holding slot of the holding device.

[0017] When the suction cups are in the pick-up position and positioned at the contact points on the laboratory containers, the vacuum gripper can pick up the laboratory containers. As used herein, the term "contact point" refers to the portion of the surface of the laboratory container where the suction cups of the vacuum gripper contact the laboratory container to pick up the laboratory container. The contact point can be determined by the position, orientation, and / or geometry of the laboratory container. Thus, the contact point may change as the position and / or orientation of the laboratory containers within or on the holding device changes. Furthermore, the contact point can be determined by the position, orientation, and / or geometry of surrounding or adjacent laboratory containers. For example, surrounding or adjacent laboratory containers can be positioned and oriented such that only a portion of the surface of the laboratory containers to be sorted is accessible to the suction caps of the vacuum gripper. Similarly, the contact point can be determined by the position, orientation, and / or geometry of the holding device holding the laboratory containers to be sorted.

[0018] As used herein, the term "transfer" means that the suction cap of the vacuum gripper releases the laboratory container after the mechanical gripper grips the laboratory container. Therefore, the transfer or handover of the laboratory container from the vacuum gripper to the mechanical gripper includes two phases. In the first phase, the vacuum gripper and the mechanical gripper hold the laboratory container. In the subsequent second phase, the vacuum gripper releases the laboratory container, and the mechanical gripper still holds the laboratory container. Therefore, the term "transfer point" relates to the location where the laboratory container is transferred or handed over from the vacuum gripper to the mechanical gripper. Therefore, the vacuum gripper is configured to transfer or hand over the laboratory container to the mechanical gripper at the transfer position, and the mechanical gripper is configured to take over the laboratory container from the vacuum gripper at the transfer position. The vacuum gripper is configured to move the suction cup between a pick-up position and a transfer position to pick up the laboratory container and then bring the laboratory container to the mechanical gripper. When the suction cup is in the transfer position, the picked-up laboratory container is positioned between the two fingers so that the laboratory container can be grasped by the mechanical gripper and simultaneously held by the vacuum gripper.

[0019] In one embodiment, the vacuum gripper comprises an extendable and retractable pipe having two ends. A suction cup is attached to one end and a vacuum source is operably coupled to the other end. The extendable and retractable pipe is configured to extend to move the suction cup from a transfer position to a pick-up position. The extendable and retractable pipe is configured to retract to move the suction cup from the pick-up position to the transfer position. Thus, the suction cup moves from the transfer position to the pick-up position by extending the extendable and retractable pipe, and the suction cup moves from the pick-up position to the transfer position by retracting the extendable and retractable pipe. In one embodiment, the cross section of the extendable and retractable pipe is circular, oval, or rectangular.

[0020] In one embodiment, the vacuum gripper includes a guide element on which the extendable and retractable pipe is movably connected. The guide element is adapted to guide the extension and retraction of the extendable and retractable pipe to move the suction cup between the pickup position and the transfer position. The vacuum gripper further includes an actuator for moving the extendable and retractable pipe along the guide element. In a specific embodiment, the actuator is an electric motor configured to move the extendable and retractable pipe along the guide element. In another specific embodiment, the guide element is a pneumatic cylinder configured to pneumatically extend and retract the extendable and retractable pipe to move the suction cup between the pickup position and the transfer position, and the actuator is an air compressor configured to generate the air pressure. The extendable and retractable pipe can be made in one piece, with the entire pipe extending from or retracting into the guide element.

[0021] In another embodiment, the generated vacuum for holding the laboratory container is inside the extendable and retractable pipe, and the extendable and retractable pipe is configured to retract due to the vacuum inside the extendable and retractable pipe. Therefore, no additional actuator is required to retract the extendable and retractable pipe. In a specific embodiment, the extendable and retractable pipe is a telescoping pipe, comprising a first pipe segment having one end to which a suction cup is attached and a second pipe segment having another end to which a vacuum source is operably coupled. The first and second pipe segments are movable relative to each other to extend and retract the pipe. The first pipe segment is configured to move toward the second pipe segment when a vacuum is generated to retract the extendable and retractable pipe. Therefore, the first pipe segment moves toward the second pipe segment when a vacuum is generated to retract the extendable and retractable pipe. Thus, the second pipe segment functions as a guide element adapted to guide retraction of the first pipe segment to move the suction cup from the pickup position to the transfer position. The first and second pipe segments form an extendable and retractable pipe capable of generating a subpressure or vacuum therein. In one embodiment, the first pipe segment is located within the second pipe segment. Alternatively, the second pipe segment is located within the first pipe segment.

[0022] In one embodiment, the extendable and retractable pipe is configured to extend by gravity or by a spring force generated during retraction of the extendable and retractable pipe by a spring connecting the first and second pipe segments. Therefore, no additional actuator is required to extend the extendable and retractable pipe. As with the retraction of the first pipe segment, the second pipe segment also functions as a guiding element adapted to guide the extension of the first pipe segment to move the suction cup from the transfer position to the pick-up position. In one embodiment, the extendable and retractable pipe includes a locking mechanism configured to lock / unlock the first pipe segment when the suction cup is in the transfer position. For example, the first pipe segment is locked while positioning the gripper at the contact point of the laboratory container. The first pipe segment is then unlocked to move the suction cup from the transfer position to the pick-up position.

[0023] In one embodiment, the vacuum gripper is further configured to move the suction cup between the transfer position and the parking position. The mechanical gripper is further configured to grip and release the laboratory container when the suction cup is in the parking position. Thus, the mechanical gripper of the gripper can grip the laboratory container without prior pickup by the vacuum gripper. This can be advantageous when laboratory containers must be sorted from one laboratory container rack to another when the laboratory containers are vertically oriented or in an upright position within the laboratory container rack. Thus, the gripper enables sorting of laboratory container racks between different holding device types, where pickup by a vacuum gripper may or may not be required. For example, pickup of a laboratory container may be required when the laboratory container to be sorted is surrounded by other laboratory containers in a bin. Pickup of a laboratory container may not be required when the laboratory container to be sorted is held in a laboratory container rack with individual vertical holding slots for each laboratory container. The individual vertical holding slots are spatially positioned to allow the fingers of a mechanical gripper to grasp a laboratory container without interfering with or contacting adjacent laboratory containers.

[0024] In one embodiment, the extendable and retractable pipe is configured to further retract to move the suction cup from the transfer position to the parking position. The extendable and retractable pipe is configured to extend to move the suction cup from the parking position to the transfer position. Thus, the suction cup moves from the transfer position to the parking position by further retracting the extendable and retractable pipe, and the suction cup moves from the parking position to the transfer position by extending the extendable and retractable pipe. In one embodiment, the vacuum gripper includes a guide element on which the extendable and retractable pipe is movably connected. The guide element is adapted to guide the extension and retraction of the extendable and retractable pipe to move the suction cup between the pickup position and the transfer position and between the transfer position and the parking position. The vacuum gripper further includes an actuator for moving the extendable and retractable pipe along the guide element. In certain embodiments, the actuator is an electric motor configured to move the extendable and retractable pipe along the guide element. In another specific embodiment, the guide element is a pneumatic cylinder configured to pneumatically extend and retract the extendable and retractable pipe to move the suction cup between the pickup position and the transfer position and between the transfer position and the parking position, and the actuator is an air compressor configured to generate air pressure. In a more specific embodiment, the pneumatic cylinder is configured to extend and retract the extendable and retractable pipe to move the suction cup between the pickup position and the parking position. The pneumatic cylinder includes a movable stop element configured to stop the extension and retraction of the extendable and retractable pipe so that the suction cup stops at the transfer position. The pneumatic cylinder can be configured to move the stop element between a stop position and a release position. In the stop position, the stop element stops the retraction or extension of the extendable and retractable pipe so that the suction cup stops at the transfer position. In the release position, the stop element allows the extendable and retractable pipe to retract and extend.For example, the stop element moves to a stop position to move the suction cup from the pick-up position to the transfer position. Thereafter, the stop element moves to a release position to move the suction cup further from the transfer position to the parking position. Thereafter, the stop element moves to a release position to move the suction cup further from the transfer position to the parking position. Or for example, the stop element moves to a stop position to move the suction cup from the parking position to the transfer position. Thereafter, the stop element moves to a release position to move the suction cup further from the transfer position to the pick-up position.

[0025] The present disclosure also relates to a laboratory container sorting device. The laboratory container sorting device includes a gripper as described herein and a Cartesian positioning device. The gripper is attached to the Cartesian positioning device, which is configured to position the gripper at a contact point and a release position on the laboratory container. In one embodiment, while positioning the gripper at the contact point on the laboratory container, the suction cup is in a transfer position, so that after positioning the gripper, there is a distance between the suction cup and the contact point. The suction cup is then moved from the transfer position to a pick-up position by extending the extendable and retractable pipe. This positions the suction cup at the contact point on the laboratory container so that the suction cup contacts the laboratory container at the contact point to pick up the laboratory container. In an alternative embodiment, while positioning the gripper at the contact point on the laboratory container, the suction cup is in a pick-up position, so that positioning the gripper at the contact point on the laboratory container positions the suction cup at the contact point to pick up the laboratory container.

[0026] In one embodiment, the contact point and the release position are spatially separated from each other. For example, the laboratory container includes a contact point when a first holding device holds the laboratory container. The release position is provided by a second holding device. The first and second holding devices are located at two different locations in the laboratory system. After picking up the laboratory container held by the first holding device, the Cartesian positioning device positions the gripper holding the laboratory container at the release position of the second holding device. In one embodiment, the transfer or handover of the laboratory container from the vacuum gripper to the mechanical gripper occurs before positioning the gripper at the release position. In an alternative embodiment, the transfer or handover of the laboratory container from the vacuum gripper to the mechanical gripper occurs while positioning the gripper at the release position. By transferring the laboratory container and simultaneously positioning the gripper at the release position, the time required to sort the laboratory containers can be reduced.

[0027] In certain embodiments, the Cartesian positioning device is a robotic arm. The robotic arm is configured to position the gripper at the contact point of the laboratory container depending on the position and orientation of the laboratory container. For example, the robotic arm includes one or more swivel joints and / or one or more ball-and-socket joints configured to pivot and / or rotate the gripper so that the gripper can be brought to any position or orientation. Thus, laboratory containers in any position or orientation can be picked up by the vacuum gripper of the gripper. For example, the laboratory containers to be sorted can be in a horizontal orientation when held on or positioned on a conveyor belt, in a vertical / upright orientation when held by a laboratory container rack, or in any conceivable orientation when held by or positioned in a bin. In one embodiment, the robotic arm is further configured to position the gripper at the contact point depending on the geometry of the laboratory container. In one embodiment, the robotic arm is configured to position the gripper at a release position that can change over time. For example, the release position is provided by a movable holding device. Alternatively, the release position is a predefined position. For example, the release position is provided by a fixed holding device. Such robotic arms are well known in the art. The robotic arm may be designated as described in EP 2148204, reference numeral 220 in Figures 1-2, reference numeral 320 in Figures 3-5, and the corresponding description.

[0028] In one embodiment, the Cartesian positioning device includes at least one guide rail along each of the three directions x, y, and z of a three-dimensional Cartesian coordinate system, and the gripper is movable along these guide rails in the x, y, and z directions by a suitable drive. The guide rail and the suitable drive are configured to position the gripper at a contact point depending on the position and orientation of the laboratory container. In one embodiment, the guide rail and the suitable drive are further configured to position the gripper at the contact point depending on the geometry of the laboratory container. In one embodiment, the guide rail and the suitable drive are configured to position the gripper at a release position that may change over time. For example, the release position is provided by a movable holding device. Alternatively, the release position is a predefined position. For example, the release position is provided by a fixed holding device.

[0029] In one embodiment, the laboratory container sorting device further comprises a camera system and a control unit communicatively connected to the camera system, the gripper, and the Cartesian positioning device. The camera system is configured to acquire images of the laboratory container. The control unit is configured to determine a position and orientation of the laboratory container based on the acquired images. The control unit is configured to determine a contact point based on the determined position and orientation of the laboratory container.

[0030] In one embodiment, the control unit is further configured to control the Cartesian positioning device to position the gripper at the contact point according to the determined position and orientation of the laboratory container.

[0031] In one embodiment, the control unit is further configured to determine the color (e.g., cap color) and / or geometric form of the laboratory container based on the acquired image. In one embodiment, the contact point and / or transfer position can be determined by the control unit based on the geometric form of the laboratory container. In one embodiment, the release position can be determined by the control unit based on the color and / or geometric form of the laboratory container. In one embodiment, the control unit is further configured to determine the laboratory container type based on the determined color and / or geometric form. In one embodiment, the control unit includes a memory device. The specific color and / or geometric form of the laboratory container for a specific laboratory container type is stored in the memory device. The control unit compares the stored specific color and / or geometric form with the determined color and / or geometric form of the laboratory container to determine the specific laboratory container type. In an alternative embodiment, the control unit transmits the determined color and / or geometric form of the laboratory container to a laboratory management unit communicatively connected to the control unit. The laboratory management unit includes a memory device. The specific color and / or geometric configuration of the laboratory container is stored in a memory device. The laboratory management unit compares the stored specific color and / or geometric configuration of the laboratory container with the received and determined color and / or geometric configuration of the laboratory container to determine the specific laboratory container type. The laboratory management unit then transmits information regarding the specific laboratory container type to a control unit of the laboratory container sorting device. In one embodiment, the control unit is configured to determine a contact point and / or transfer position based on the determined laboratory container type. In one embodiment, the control unit is configured to determine a release position based on the determined laboratory container type.In one embodiment, the control unit is configured to control the laboratory container sorting device to sort / re-sort the laboratory containers based on the determined laboratory container type, e.g., laboratory containers of the same type are sorted into dedicated holding devices, e.g., laboratory containers having substantially the same cap color are sorted into dedicated holding devices.

[0032] In one embodiment, the control unit is further configured to detect a label affixed to the laboratory container based on the acquired image. The affixed label can be a barcode. In an alternative embodiment, the affixed label can be an RFID tag, and the laboratory container sorting device includes an RFID reader communicatively connected to the control unit. The RFID reader is configured to read information or data stored on the RFID tag. The control unit is further configured to determine laboratory container attributes associated with the affixed label. As used herein, the term "laboratory container attribute" refers to a unique laboratory container identity and / or a characteristic of the laboratory container, a characteristic of the laboratory container contents, and / or information related to the laboratory container. The laboratory container characteristic is, by way of non-limiting example, the color and / or the geometric form of the laboratory container. The characteristics of the laboratory container contents may be, by way of non-limiting example, a test sample type, a test sample expiration date, a test sample weight, a test sample volume, a test sequence, a test reagent type, a test reagent expiration date, a test reagent weight, a test reagent volume, a laboratory consumable type, a laboratory consumable expiration date, a laboratory consumable weight, or a number of laboratory consumables. The information related to the laboratory container may be, by way of non-limiting example, information related to an already performed or planned container handling step, such as storing, retrieving, and / or depleting a laboratory container. As used herein, the term "substantially the same laboratory container attribute" refers to laboratory container attributes of at least two laboratory containers that are the same or similar. In one embodiment, the control unit is configured to determine a release position based on the determined laboratory container attribute. For example, laboratory containers containing test samples of the same test sample type or test samples having the same test sample sequence are sorted to the determined release position of a dedicated holding device.

[0033] In one embodiment, the control unit is configured to control the Cartesian positioning device to position the gripper at a contact point on the laboratory container, control the vacuum gripper to move the suction cup from a transfer position to a pick-up position, control the vacuum source to generate air suction through the suction cup to pick up the laboratory container, control the vacuum source to generate a sub-pressure or vacuum to hold the laboratory container, control the vacuum gripper to move the suction cup from the pick-up position to the transfer position, control the mechanical gripper to grip the laboratory container when the suction cup is in the transfer position, control the vacuum source to turn off the sub-pressure or vacuum to release the laboratory container, control the Cartesian positioning device to position the gripper at a release position, and control the mechanical gripper to release the laboratory container at the release position.

[0034] In one embodiment, the control unit controls the Cartesian positioning device to align the longitudinal axis of the cylindrical or cubic laboratory container with the vertical axis of the holding slot of the holding device and / or to insert the cylindrical or cubic laboratory container into the holding slot of the holding device before releasing the laboratory container at the release position.

[0035] In one embodiment, the camera system is configured to acquire images of the holding device. The control unit is configured to determine, based on the acquired images, a release position provided by the holding device. For example, the holding device includes a plurality of holding positions or slots, and the control unit determines, based on the acquired images, which of the plurality of holding positions or slots are free / unoccupied by other laboratory containers to determine the release position.

[0036] The present disclosure further relates to a laboratory system comprising a laboratory container sorting device as described herein, a laboratory container, a first holding device configured to receive, hold, and / or release the laboratory container, and a second holding device configured to receive, hold, and / or release the laboratory container. The laboratory container includes a contact point when the first holding device holds the laboratory container. The second holding device provides a release position. For example, the release position can be a holding position or holding slot of a laboratory carrier (e.g., a holding slot of a laboratory container rack), a position in or covering a bin, or a holding position on a conveyor belt. When the release position is a position covering a bin, a gripper is positioned over the bin to release the laboratory container, so that the lab container drops into the bin after being released.

[0037] In one embodiment, the laboratory container is a test reagent container configured to receive, hold, transport, and / or release test reagents, a test sample container configured to receive, hold, transport, and / or release test samples, or a consumable container configured to receive, hold, transport, and / or release laboratory consumables.

[0038] In one embodiment, the first holding device is a bin, a conveyor belt, or a laboratory carrier. The second holding device is a bin, a conveyor belt, or a laboratory carrier. As used herein, the term "bin" refers to a box, receptacle, or compartment for receiving, holding, and / or releasing laboratory containers. Typically, a bin has a cubical shape with sidewalls, a closed bottom, and an open top. Laboratory containers can be dropped or placed into the bin and can assume any position and / or orientation within the bin. In one embodiment, the bin includes a cover or lid that can removably fit onto the open top of the bin to protect the laboratory container from the environment. In one embodiment, the bin is further configured to transport the laboratory container, e.g., the bin includes wheels. In one embodiment, the bin is configured with a device configured to bulk load laboratory containers into a laboratory station, e.g., a pre-analysis, analysis, or post-analysis station.

[0039] As used herein, the term "conveyor belt" refers to a transport system for distributing laboratory containers to connected pre-analysis, analysis, or post-analysis stations in a laboratory environment. The conveyor belt comprises a surface onto which laboratory containers can be released or placed. In one embodiment, the conveyor belt surface comprises predefined holding positions onto which laboratory containers can be released.

[0040] As used herein, the term "laboratory carrier" refers to a cylindrical or cubic device with a closed bottom and an open top having one or more holding positions or slots for inserting one or more laboratory containers in an upright position. In one embodiment, the laboratory carrier is a laboratory container rack with one or more holding slots. In a more specific embodiment, the one or more holding slots comprise flexible adapters configured to accept laboratory containers of different dimensions. The laboratory container rack can be configured for manual or automated transport. In another embodiment, the laboratory carrier is a transport carrier further configured to transport the laboratory containers on a transport surface of a laboratory transport system. In a more specific embodiment, the transport carrier comprises at least one magnetically active device that interacts with a magnetic field such that a magnetic force is applied to the transport carrier to move the laboratory container carrier on the transport plane. Laboratory container carriers comprising at least one magnetically active device that interacts with a magnetic field and a lower plate for sliding across a transport plane are well known in the art and can be designed as described in EP 2988134, reference number 10 in FIG. 1, and the corresponding description, or as described in EP 3070479, reference 1 in FIGS. 1, 2, and 3, and the corresponding description. The laboratory transport system comprises a number of electromagnetic actuators fixedly arranged below the transport surface and adapted to generate a magnetic field to move the transport carrier. Such transport systems are well known in the art and can be designed as described in EP 2566787, reference 100 in FIG. 1, and the corresponding description. In an alternative embodiment, the transport system comprises a stable transport surface on which the self-propelled transport carrier can move. For example, the transport carrier comprises wheels for moving on the stable transport surface.

[0041] In one embodiment, the first and second holding devices are located at two different locations of the laboratory system. For example, the first holding device can be located at an input area of ​​the laboratory system, and the second holding device can be located at an output area of ​​the laboratory system. The input area is a predefined location and can be configured to accept, hold, and / or release the first holding device. The input area can include a holding position or holding slot for holding the first holding device. The output area is a predefined location and can be configured to accept, hold, and / or release the second holding device. The output area can include a holding position or holding slot for holding the second holding device.

[0042] In one embodiment, the first holding device type (first holding device type) and the second holding device type (second holding device type) are the same. For example, both holding devices are laboratory container racks, and the laboratory container sorting device is capable of sorting / resorting laboratory containers between the two laboratory container racks. In another embodiment, the first holding device type is different from the second holding device type. For example, the first holding device is a bin, and the second holding device is a laboratory container rack, and the laboratory container sorting device is capable of sorting / resorting laboratory containers from the bin to the laboratory container rack. However, any combination of holding device types is possible.

[0043] In one embodiment, the laboratory system includes a third holding device configured to accept, hold, and / or release laboratory containers. The laboratory containers have a contact point when the third holding device holds the laboratory container, or the third holding device provides a release position. In one embodiment, the third holding device is a bin, a conveyor belt, or a laboratory carrier. The laboratory container sorting device can be configured to sort laboratory containers from the first and third holding devices to the second holding device. For example, laboratory containers from multiple bins can be sorted or aggregated into one holding device. Alternatively, the laboratory system can be configured to sort laboratory containers from the first holding device to the second and third holding devices. For example, laboratory containers are distributed from one bin to two holding devices.

[0044] The present disclosure further relates to a method of operating the laboratory system described herein, the method comprising the steps of: a) positioning a gripper by a Cartesian positioning device at a contact point of a laboratory container held by a first holding device; b) moving a suction cup by the vacuum gripper to a pick-up position, wherein the suction cup is positioned at the contact point of the laboratory container during step b) if step b) is performed after step a), and the suction cup is positioned at the contact point of the laboratory container during step a) if step b) is performed before step a); c) picking up the laboratory container at the contact point by the suction cup of the vacuum gripper; d) moving the suction cup to a transfer position by the vacuum gripper; e) gripping the laboratory container with a mechanical gripper when the suction cup is in the transfer position; f) releasing the laboratory container by a vacuum gripper; g) positioning the gripper in a release position of the second holding device by a Cartesian positioning device; h) Releasing the laboratory container by a mechanical gripper. is.

[0045] In one embodiment, the method comprises, before step a), the following step: - acquiring an image of the laboratory container by a camera system; - determining the position and orientation of the laboratory container by the control unit; - determining, by the control unit, the contact points based on the determined position and orientation of the laboratory container. is.

[0046] In one embodiment, the method comprises, before step a), the following step: - determining by the control unit the geometric form of the laboratory container based on the acquired images; - determining by the control unit contact points and / or transfer positions based on the determined geometry of the laboratory container type. is.

[0047] Optionally, the control unit further determines a laboratory container type based on the determined geometric configuration. The contact points and / or transfer locations are determined by the control unit based on the determined laboratory container type.

[0048] In one embodiment, the method comprises, before step a), the following step: - determining, by the control unit, a color of the laboratory container based on the acquired image; - determining by the control unit a laboratory container type based on the determined color; - determining, by the control unit, contact points and / or transfer positions based on the determined laboratory container type. is.

[0049] For example, the laboratory container includes a cap. The color of the cap is determined by the control unit based on the acquired image. The control unit then determines a laboratory container type based on the determined cap color. The determined laboratory container type includes a laboratory container diameter that is used to determine the contact point. The laboratory container diameter is also used to determine a transfer position so that the laboratory container is accurately positioned between two fingers of the mechanical gripper when the suction cup is in the transfer position.

[0050] In one embodiment, the method comprises, before step g), the following step: - determining by the control unit the color and / or the geometric form of the laboratory container based on the acquired image; - determining by the control unit a release position based on the determined color and / or geometry. is.

[0051] Optionally, the control unit further determines a laboratory container type based on the determined color and / or geometric form. A release position is determined by the control unit based on the determined laboratory container type. For example, the laboratory container includes a cap. The color of the cap is determined by the control unit based on the acquired image. The control unit determines the laboratory container type based on the determined cap color. The laboratory container is released at a release position of the dedicated second holding device such that laboratory containers having the same cap color are sorted into the dedicated second holding device.

[0052] In one embodiment, the method comprises, before step g), the following step: - detecting, by the control unit, a label attached to the laboratory container based on the acquired image; - determining by the control unit laboratory container attributes associated with the affixed label; is.

[0053] For example, the determined laboratory container attribute is a unique laboratory container identity for identifying the laboratory container.

[0054] In one embodiment, the method comprises, before step g), the following step: - detecting, by the control unit, a label attached to the laboratory container based on the acquired image; - determining by the control unit laboratory container attributes associated with the affixed label; - determining, by the control unit, a release position based on the determined laboratory container attributes. is.

[0055] For example, the determined laboratory container attributes are characteristics of the laboratory container, characteristics of the laboratory container contents, and / or information associated with the laboratory container. The laboratory container is released at a release position of the dedicated second holding device such that laboratory containers with the same or substantially the same characteristics and / or information associated with the laboratory container are sorted into the dedicated second holding device.

[0056] In one embodiment, the Cartesian positioning device aligns the longitudinal axis of the cylindrical or cubic laboratory container with the vertical axis of the holding slot of the second holding device and / or inserts the cylindrical or cubic laboratory container into the holding slot of the second device before releasing the laboratory container at the release position in step h), e.g., the second holding device is a laboratory container rack comprising vertical holding slots with vertical axes, and the laboratory container is inserted into the vertical holding slots. [Brief explanation of the drawings]

[0057] [Figure 1] FIG. 1 is a schematic diagram of one embodiment of a laboratory system. [Figure 2] 2(A)-2(F) are a sequence of schematic side views of one embodiment of the laboratory system in operation. [Figure 3] 3(A)-3(F) are another sequence of schematic side views of one embodiment of a laboratory system in operation. [Figure 4] 1 is a flowchart of one embodiment of a method of operating one embodiment of a laboratory system. DETAILED DESCRIPTION OF THE INVENTION

[0058] FIG. 1 shows a schematic diagram of one embodiment of a laboratory system (46). The illustrated laboratory system (46) includes a laboratory container sorting device (12), a laboratory container (18), a first holding device (48) configured to accept, hold, and / or release the laboratory container (18), and a second holding device (50) configured to accept, hold, and / or release the laboratory container. The illustrated laboratory carrier (18) is cylindrical, includes a circular cross-section, and a longitudinal axis extending into the plane of projection of FIG. 1. The illustrated laboratory carrier (18) is held by the first holding device (48) and includes contact points (21). The first holding device (48) can be a bin, a conveyor belt, or a laboratory carrier. The second holding device (50) is located in a different plane of the laboratory system and provides a release position (40). The second holding device (50) can be a bin, a conveyor belt, or a laboratory carrier.

[0059] The laboratory container sorting device (12) includes a gripper (10) and a Cartesian positioning device (38). The gripper (10) is attached to the Cartesian positioning device (38). The Cartesian positioning device (38) is configured to position the gripper (10) at a contact point (21) on the laboratory container (18) and at a release position (40) on the second holding device (50). In the illustrated embodiment, the Cartesian positioning device (38) is a robotic arm configured to position the gripper (10) at the contact point (21) on the laboratory container (18) depending on the position and orientation of the laboratory container (18). For example, the robotic arm includes a swivel joint (39) configured to pivot the gripper (10) so that the gripper (10) can be brought to any position or orientation. As shown in FIG. 1 , the laboratory container sorting device (12) may further include a camera system (42) and a control unit (44) communicatively connected to the camera system (42), the gripper (10), and the Cartesian positioning device (38), as shown by dashed lines. The camera system (42) is configured to acquire images of the laboratory container (18), the first holding device (48), and / or the second holding device (50). The control unit (44) is configured to determine the position and orientation of the laboratory container (18) held by the first holding device (48) based on the acquired images. The control unit (44) is further configured to determine a contact point (21) based on the determined position and orientation of the laboratory container (18).

[0060] As further shown in Figure 1, the gripper (10) includes a vacuum gripper (14) and a mechanical gripper (24). The vacuum gripper (14) includes a suction cup (16) and is configured to move the suction cup (16) between a pickup position (20) and a transfer position (22), as indicated by the double vertical arrow in Figure 1 and further shown in Figures 2(A)-2(C). The suction cup (16) is configured to pick up a laboratory container (18) when the suction cup (16) is in the pickup position (20), to hold the laboratory container (18), and to transfer the laboratory container (18) when the suction cup (16) is in the transfer position (22). The vacuum gripper 14 includes a vacuum source 26 configured to generate air suction through the suction cups 16 to pick up the lab container 18, generate an underpressure or vacuum to hold the lab container 18, and release the underpressure or vacuum to release the lab container 18. The illustrated vacuum gripper 14 includes an extendable and retractable pipe 28 having two ends. The suction cups 16 are attached to one end of the extendable and retractable pipe 28, and the vacuum source 26 is operably coupled to the other end of the extendable and retractable pipe 28. In the illustrated embodiment, the extendable and retractable pipe (28) is a telescoping pipe (28) comprising a first pipe segment (30) having one end to which a suction cup (16) is attached and a second pipe segment (32) having the other end to which a vacuum source (26) is operably coupled. The first and second pipe segments (30, 32) are movable relative to one another to extend and retract the extendable and retractable pipe (28). As shown in Figures 2(A)-2(C), the suction cup (16) moves from the transfer position (22) to the pick-up position (20) by extending the extendable and retractable pipe (28), and the suction cup (16) moves from the pick-up position (20) to the transfer position (22) by retracting the extendable and retractable pipe (28).The illustrated vacuum gripper (14) is further configured to move the suction cup (16) from the transfer position (22) to a parking position (34).

[0061] The mechanical gripper (24) of the gripper (10) is configured to grip and release the laboratory container (18) when the suction cup (16) is in the transfer position (22), as indicated by the two horizontal double arrows in Figure 1. The illustrated mechanical gripper (24) includes two bifurcated fingers (36) positioned opposite each other, so that the two bifurcated fingers (36) can grip the laboratory container (18) when the suction cup (16) is in the transfer position (22), as shown in Figure 2(D).

[0062] 2(A)-2(F) show a sequence of schematic side views of the embodiment of the laboratory system (46) shown in FIG. 1 during sorting of a cylindrical laboratory carrier (18) from a first holding device (48) to a second holding device (50). In FIG. 2(A), the cylindrical laboratory carrier (18) to be sorted is held by five other identical cylindrical laboratory carriers by the first holding device (48), which is a bin, with contact points (21). In the illustrated embodiment, the longitudinal axes of the six cylindrical laboratory containers are parallel to one another and extend into the plane of projection of FIG. 2. However, the laboratory containers can have any geometric form or orientation within the bin. Because the laboratory carrier (18) to be sorted is located between two adjacent laboratory carriers, the laboratory container (16) cannot be grasped by the two forked fingers (36) of the mechanical grasper (24) without interfering with the two adjacent laboratory containers.

[0063] 2(A)-2(F) show the same gripper 10 attached to the Cartesian positioning device 38 shown in FIG. 1. In a first step, the Cartesian positioning device 38 positions the gripper 10 at the contact point 21 of the laboratory container 18 held by the first holding device 48, as shown in FIG. 2(A). In the illustrated embodiment, the suction cup 16 is in the transfer position 22 while positioning the gripper 10 at the contact point 21 of the laboratory container 18, so that after positioning the gripper 10, there is a distance between the suction cup 16 and the contact point 21. The suction cup 16 then moves from the transfer position to the pick-up position by extending the extendable and retractable pipe 28. The suction cup 16 is thereby positioned at the contact point 21 of the laboratory container 18 such that the suction cup 16 contacts the laboratory container 18 at the contact point 21, as shown in FIG. 2B. In an alternative embodiment, while positioning the gripper 10 at the contact point of the laboratory container, the suction cup 16 is in the pick-up position 20, so that positioning the gripper 10 at the contact point 21 of the laboratory container 18 positions the suction cup 16 at the contact point 21 of the laboratory container 18. As soon as the suction cup 16 contacts the laboratory container 18, the vacuum source 26 generates air suction through the suction cup 16 to pick up the laboratory container 18. As the suction cup 16 contacts the laboratory container 18, a subpressure or vacuum is created to hold the laboratory container 18. In the illustrated embodiment, the generated vacuum for holding the laboratory container 18 is inside the extendable and retractable pipe 28, causing the extendable and retractable pipe to retract, thereby moving the suction cup 16 from the pickup position 20 to the transfer position 22, as shown in Figure 2(C). When the suction cup 16 is in the transfer position 22, the laboratory container 18 held by the suction cup 16 is located between two fingers 36 of the mechanical gripper 24.As shown in FIG. 2(D), to transfer or hand over the laboratory container 18 from the vacuum gripper 14 to the mechanical gripper 24, the mechanical gripper 24 grips the laboratory container 18 with its two fingers 18, and the vacuum gripper 14 releases the laboratory container 18 by dissipating the subpressure or vacuum inside the extendable and retractable pipe 28. The Cartesian positioning device 38 then positions the gripper 10 with the laboratory container 18 at a release position 40 provided by a second holding device 50, as indicated by the horizontal arrow in FIG. 2(E). In the illustrated example, the second holding device 50 is a conveyor belt onto which the laboratory container 18 is released by the two fingers 26 of the mechanical gripper 24, as shown in FIG. 2(F).

[0064] As further shown in Figure 2(D), the illustrated vacuum gripper (14) is configured to move the suction cup (16) between a transfer position (22) and a parking position (34), as indicated by the double arrow. Optionally, the suction cup (16) can be positioned in the parking position (34) when the Cartesian positioning device (38) positions the gripper (10) in the release position (40) shown in Figure 2(E).

[0065] 3(A)-3(F) show another sequence of schematic side views of the embodiment of the laboratory system (46) shown in FIG. 1 during sorting of a cylindrical laboratory carrier (18) from a first holding device (48) to a second holding device (50). FIGS. 3(A)-3(F) show the same sequence of schematic side views shown in FIGS. 2(A)-2(E). However, in the illustrated example of FIG. 3, the second holding means (50) is a laboratory container rack (50). The illustrated laboratory container rack (50) comprises three vertical holding slots (51) with vertical axes extending parallel to the plane of projection of FIG. 3. The illustrated release position (40) is located within the first holding slot (51) of the laboratory container rack. As shown in Figure 3(F), before releasing the cylindrical laboratory container (18) at the release position (40), the Cartesian positioning device (38) aligns the longitudinal axis of the cylindrical laboratory container (18) with the vertical axis of the retention slot (51) that provides the release position (40) and inserts the cylindrical laboratory container (18) into the retention slot (51). For example, the Cartesian positioning device (38) includes a pivot joint (39) configured to pivot the gripper such that the longitudinal axis of the cylindrical laboratory container (18) pivots from a non-vertical orientation to a vertical orientation. In Figure 3(F), the fingers (36) of the mechanical gripper (24) still hold the cylindrical laboratory container (18), and the cylindrical laboratory container (18) is not yet released at the release position (40).

[0066] Figure 4 shows a flowchart of one embodiment of a method 52 for operating the embodiment of the laboratory system 46 shown in Figure 1. In step a) 54 of the method 52, the Cartesian positioning device 38 positions the gripper 10 at the contact point 21 of the laboratory container 18 held by the first holding device 48. In step b) 56 of the method 52, the vacuum gripper 14 moves the suction cup 16 to the pick-up position 20. If step b) 56 is performed after step a) 54, as shown in Figure 4, the suction cup 16 is positioned at the contact point 21 of the laboratory container 18 during step b) 56. Alternatively, if step b) 56 is performed before step a) 54, the suction cup 16 is positioned at the contact point 21 of the lab container 18 during step a) 54. The suction cup 16 of the vacuum gripper 14 then picks up the lab container at the contact point 21 in step c) 58 of method 52. In step d) 60 of method 52, the vacuum gripper 14 moves the suction cup 16 to the transfer position 22. When the suction cup 16 is in the transfer position 22, the mechanical gripper 24 grips the lab container 18 in step e) 62 of method 52. In step f) 64 of method 52, the vacuum gripper 14 releases the lab container 18. The Cartesian positioning device 38 positions the gripper 10 in the release position 40 of the second holding device 50 in step g) 66 of the method 52. Finally, the mechanical gripper 24 releases the laboratory container in step h) 68 of the method 52.

[0067] In the above description and figures, numerous specific details are set forth to provide a thorough understanding of the present disclosure. However, it will be apparent to those skilled in the art that specific details need not be used to practice the present teachings. In other instances, well-known materials or methods have not been described in detail to avoid obscuring the present disclosure.

[0068] In particular, modifications and variations of the disclosed embodiments are certainly possible in light of the above description, and it is therefore to be understood that, within the scope of the appended claims, the invention may be practiced otherwise than as specifically devised in the above examples.

[0069] References throughout the above specification to "one embodiment," "an embodiment," "one example," or "an example" mean that a particular feature, structure, or characteristic described in connection with an embodiment or example is included in at least one embodiment. Thus, appearances of the phrases "in one embodiment," "in an embodiment," "one example," or "an example" in various places throughout this description do not necessarily all refer to the same embodiment or example. [Explanation of symbols]

[0070] 10 Grip 12 Laboratory Container Sorting Device 14 Vacuum gripper 16 suction cups 18 Laboratory Container 20 Pickup Location 21 contact points 22 Transfer position 24 Mechanical gripper 26 Vacuum source 28 Extendable and retractable pipe 30 First Pipe Segment 32 Second Pipe Segment 34 Parking Position 36 Mechanical gripper fingers 38 Cartesian Positioning Device 39 Swivel joint 40 release position 42 camera system 44 Control Unit 46 Laboratory Systems 48 First Retaining Device 50 Secondary holding device 51 Retention Slot 52 Method 54 Step a) of the method 56 Method step b) 58 Method step c) 60 Method step d) 62 Method step e) 64 Method step f) 66 Method step g) 68 Method step h)

Claims

1. A gripper (10) for a laboratory container sorting device (12), comprising: a vacuum gripper (14) including a suction cup (16), the vacuum gripper (14) configured to move the suction cup (16) between a pick-up position (20) and a transfer position (22), the suction cup (16) configured to pick up a laboratory container (18) and hold the laboratory container (18) when the suction cup (16) is in the pick-up position (20), and to transfer the laboratory container (18) when the suction cup (16) is in the transfer position (22); a mechanical gripper (24) configured to grip and release the laboratory container (18) when the suction cup (16) is in the transfer position (22); the vacuum gripper (14) comprises an extendable and retractable pipe (28) having two ends, the suction cup (16) attached to one end and a vacuum source (26) operably coupled to the other end, the extendable and retractable pipe (28) configured to extend to move the suction cup (16) from the transfer position (22) to the pick-up position (20), the extendable and retractable pipe (28) configured to retract to move the suction cup (16) from the pick-up position (20) to the transfer position (22), a generated vacuum for holding the laboratory container (18) is inside the extendable and retractable pipe (28), and the extendable and retractable pipe (28) is configured to retract due to the vacuum inside the extendable and retractable pipe (28); the mechanical gripper (24) has two fingers (36) positioned opposite each other, and the laboratory container (18) held by the suction cup (16) is positioned between the two fingers (36) when the suction cup (16) is in the transfer position (22); A gripper (10) for a laboratory container sorting device (12), wherein the two fingers (36) are each configured as V- or U-shaped bifurcated fingers configured to contact the laboratory container (18) at two separate contact points or areas.

2. 2. The gripper (10) for a laboratory container sorting device (12) of claim 1, wherein the vacuum gripper (14) comprises the vacuum source (26), configured to generate air suction through the suction cups (16) to pick up the laboratory container (18), create a subpressure or vacuum to hold the laboratory container (18), and release the subpressure or vacuum to release the laboratory container (18).

3. 2. The grasper (10) for a laboratory container sorting device (12) of claim 1, wherein the extendable and retractable pipe (28) is a telescoping pipe (28) comprising a first pipe segment (30) having one end to which the suction cup (16) is attached and a second pipe segment (32) having the other end to which the vacuum source (26) is operably coupled, the first and second pipe segments (30, 32) being movable relative to each other to extend and retract the extendable and retractable pipe (28), and the first pipe segment (30) being configured to move toward the second pipe segment (32) to retract the extendable and retractable pipe (28) when a vacuum is generated.

4. 4. A gripper (10) for a laboratory container sorting device (12) as described in any one of claims 1 to 3, wherein the extendable and retractable pipe (28) is configured to extend by gravity or by a spring force generated during retraction of the extendable and retractable pipe (28) by a spring connecting the first and second pipe segments (30, 32).

5. 5. A gripper (10) for a laboratory container sorting device (12) as described in any one of claims 1 to 4, wherein the vacuum gripper (14) is further configured to move the suction cup (16) between the transfer position (22) and a parking position (34), and the mechanical gripper (24) is further configured to grip and release a laboratory container (18) when the suction cup (16) is in the parking position (34).

6. 6. A gripper (10) for a laboratory container sorting device (12) as described in claim 5, wherein the extendable and retractable pipe (28) is configured to further retract to move the suction cup (16) from the transfer position (22) to the parking position (34), and the extendable and retractable pipe (28) is configured to extend to move the suction cup (16) from the parking position (34) to the transfer position (22).

7. A laboratory container sorting device (12), comprising: A gripper (10) according to any one of claims 1 to 6; a Cartesian positioning device (38), wherein the gripper (10) is attached to the Cartesian positioning device (38), and the Cartesian positioning device (38) is configured to position the gripper (10) at a contact point (21) and a release position (40) of the laboratory container (18).

8. A laboratory container sorting device (12) as described in claim 7, wherein the Cartesian positioning device (38) is a robotic arm configured to position the gripper (10) at the contact point (21) of the laboratory container (18) depending on the position and orientation of the laboratory container (18).

9. A laboratory container sorting device (12) as described in claim 7 or 8, further comprising a camera system (42) and a control unit (44) communicatively connected to the camera system (42), the gripper (10), and the Cartesian positioning device (38), wherein the camera system (42) acquires images of the laboratory container (18), the control unit (44) is configured to determine the position and orientation of the laboratory container (18) based on the acquired images, and the control unit (44) is configured to determine the contact point (21) based on the determined position and orientation of the laboratory container (18).

10. A laboratory system (46), comprising: A laboratory container sorting device (12) according to any one of claims 7 to 9, a laboratory container (18); a first holding device (48) configured to receive, hold, and / or release said laboratory container (18); a second holding device (50) configured to receive, hold and / or release said laboratory container (18); The laboratory container (18) includes the contact point (21) when the first holding device (48) holds the laboratory container (18), and the second holding device (50) provides the release position (40).

11. A laboratory system (46) as described in claim 10, wherein the type of the first holding device (48) is different from the type of the second holding device (50).

12. A method (52) of operating a laboratory system (46) as described in claim 10 or 11, comprising the following steps (54, 56, 58, 60, 62, 64, 66, 68): a) positioning the gripper (10) by means of the Cartesian positioning device (38) at the contact point (21) of the laboratory container (18) held by the first holding device (48); b) moving the suction cup (16) to the pick-up position (20) by the vacuum gripper (14), wherein the suction cup (16) is positioned at the contact point (21) of the laboratory container (18) during step b) if step b) is performed after step a), and the suction cup (16) is positioned at the contact point (21) of the laboratory container (18) during step a) if step b) is performed before step a), c) picking up the laboratory container at the contact point (21) by the suction cup (16) of the vacuum gripper (14); d) moving said suction cup (16) to said transfer position (22) by said vacuum gripper (14); e) gripping the laboratory container (18) with the mechanical gripper (24) when the suction cup (16) is in the transfer position (22); f) releasing said laboratory container (18) by said vacuum gripper (14); g) positioning said gripper (10) in said release position (40) of said second holding device (50) by said Cartesian positioning device (38); h) releasing said laboratory container (18) by said mechanical gripper (24). This is the method (52).

Images