Integrated robotic sample transfer device
Inventors
Silbert, Rolf • Capella, Richard • Cuzens, Justin
Assignees
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Publication Number
US-9068953-B2
Publication Date
2015-06-30
Expiration Date
Abstract
Embodiments include integrated robotic sample transfer devices and components thereof which are used for reliably and accurately transferring small samples of material from one registered position to another registered position. Such transfers of material may be carried out by a single pin tool or an array of pin tools of a pin tool head assembly of robotic sample transfer devices. Some embodiments also include automated cleaning of the pin tools used to transfer the sample material. Some embodiments are fully integrated units having internal fluid supply and waste tanks, vacuum source, fluid pumps, controllers and user interface devices.
Core Innovation
The invention is directed to a robotic sample transfer device comprising a substantially horizontal work surface including a plurality of functional elements configured for small sample processing, and a three axis robotic positioning assembly having a fixed mount portion secured in fixed relation with the work surface. The robotic positioning assembly includes a translatable carrier configured to be translatable in three different axes with respect to the fixed mount portion and work surface, wherein the translatable carrier comprises three stepper motors each corresponding to each of the three axes and at least one linear encoder assembly configured to generate position data for at least one axis.
The device further includes a pin tool head assembly coupled to the translatable carrier, where the pin tool head assembly comprises a plurality of pin tools configured for displacement along an axis perpendicular to lateral surfaces of the pin tool head assembly. Each pin tool comprises a shaft having a sample reservoir at a distal end of the shaft and a collar around the shaft positioned between a proximal end and the distal end, and the pin tool head assembly operates with an axis perpendicular to the lateral surfaces to facilitate sample transfer.
A key aspect is a pin tool displacement block comprising a plurality of slots and one or more relieved channels in a subset of slots, where the relieved channels permit a pin tool shaft and a collar to traverse all or part of the relieved channel, and each slot permits a pin tool shaft but not a collar to traverse all or part of the slot. The pin tool displacement block is moveably disposed relative to the pin tool head assembly, and a controller controls the stepper motors, at least one linear encoder assembly, and movement of the pin tool displacement block into a position that disposes the relieved channels under a first subset of the pin tools for use in sample transfer and does not dispose the relieved channels under a second subset of the pin tools not for use in sample transfer.
Claims Coverage
The partial content identifies one independent claim that covers the core robotic sample transfer device. The independent claim includes five inventive features.
Substantially horizontal work surface with functional elements
A substantially horizontal work surface including a plurality of functional elements configured for small sample processing.
Three-axis robotic positioning assembly with stepper motors and encoder-generated position data
A three axis robotic positioning assembly having a fixed mount portion secured in fixed relation with the work surface, and a translatable carrier configured to be translatable in three different axes with respect to the fixed mount portion and work surface, the translatable carrier comprising three stepper motors each corresponding to each of the three axes and at least one linear encoder assembly configured to generate position data for at least one axis.
Pin tool head with shafts having sample reservoirs and collars between proximal and distal ends
A pin tool head assembly coupled to the translatable carrier, the pin tool head assembly comprising a plurality of pin tools configured for displacement along an axis perpendicular to lateral surfaces of the pin tool head assembly, each pin tool comprising a shaft that comprises a sample reservoir at a distal end of the shaft and a collar around the shaft positioned between a proximal end and the distal end of the shaft.
Moveable pin tool displacement block with relieved channels and slots enabling subset selection
A pin tool displacement block comprising a plurality of slots and one or more relieved channels in a subset of slots, each relieved channel configured to permit a pin tool shaft and a collar to traverse all or part of the relieved channel, each slot configured to permit a pin tool shaft but not a collar to traverse all or part of the slot, wherein the pin tool displacement block is moveably disposed relative to the pin tool head assembly.
Controller-controlled positioning to select a first subset for sample transfer and a second subset not for sample transfer
A controller configured to control the stepper motors, at least one linear encoder assembly, and movement of the pin tool displacement block into a position that disposes the relieved channels under a first subset of the pin tools for use in sample transfer and does not dispose the relieved channels under a second subset of the pin tools not for use in sample transfer.
The claim coverage centers on a robotic sample transfer device that combines a three-axis stepper-motor positioning system with a multi-pin tool head and a moveable pin tool displacement block that selectively enables sample transfer for a first subset of pin tools while leaving a second subset disabled.
Stated Advantages
Documented Applications
No documented applications found
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