Automated pipetting system
First Claim
1. An automated pipetting system for performing programmed pipetting quantitative transfer of fluids between preselected units of an array of test tubes comprising:
- a horizontal table for holding test tube arrays;
a substantially rigid overhead frame defining a horizontal X-Y pipetting area, which is spaced vertically above said horizontal table for holding the test tube arrays;
a pair of X-axis guide shafts fixedly mounted and spaced apart in parallel on two opposite sides of said frame;
a pair of X-axis helical screw shafts rotatably mounted in the frame, each disposed adjacent and parallel to a respective one of said X-axis drive means operatively connected to said pair of X-axis screw shafts for driving said X-axis screw shafts synchronously in rotation;
a subframe assembly having a pair of X-axis roller sections, each X-axis roller section of said pair having a support wall provided with a helix engagement portion which threadedly engages one of said X-axis helical screw shafts for moving said subframe assembly along an associated X-axis guide shaft in the X-axis directions in response to rotation of the associated X-axis helical screw shaft;
a pair of Y-axis guide shafts supported on the subframe assembly by being sections connected at its opposite ends to said pair of X-axis roller operatively, said four X-axis shafts being spaced parallel to each other and perpendicular to said pair of Y-axis guide shafts;
a Y-axis helical screw shaft rotatably mounted in said pair of Y-axis roller sections parallel to the two Y-axis guide shafts;
Y-axis driving means operatively connected to said Y-axis helical screw shaft for driving said Y-axis screw shaft in rotation;
a carriage having a pair of Y-axis roller sections rolling on the pair of Y-axis guide shafts, and further having a support wall provided with a helix engagement portion engaging said Y-axis helical screw shaft for moving said carriage in the Y-axis direction in response to rotation of said Y-axis helical screw shaft;
at least one Z-axis modulator removable unit having at least one row of probes said Z-axis modular unit being removably mounted on said carriage for movement in the Z-axis directions by a Z-axis drive means;
said Z-axis drive means being operatively connected to each probe for independently driving respective ones of said probes in the Z-axis direction relative to the test tube array on said table, said Z-axis direction being perpendicular to said X and Y axes directions; and
computer control means operatively connected to said X, Y and Z axes drive means.
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Accused Products
Abstract
An improved automated pipetting system for programmingly pipetting predetermined quantities of liquid between preselected groups of test tubes, vials or wells arranged on a horizontal table. A substantially rigid overhead frame mounted over the table on which the test tube arrays or the like are arranged. A pair of parallel X-axis guide shafts mounted in the rigid frame. A pair of helical screws rotatably mounted in the frame parallel to the pair of X-axis guide shafts. Each helical screw is driven by a stepper motor coaxially connected thereto. A pair of X-axis roller sections are movably mounted on the pair of X-axis guide shafts and support a Z-axis probe mechanism via a pair of Y-axis guide shafts and a parallel Y-axis helical screw. A stepper motor is drivingly and coaxially connected to the Y-axis screw for moving the Z-axis probe mechanism along the Y-axis guide shafts. The Z-axis probe mechanism is movably mounted on the pair of Y-axis guide shafts. The Z-axis probe mechanism is also connected to at least one stepper motor for moving a corresponding probe along the Z-axis. The Z-axis probe mechanism may include a plurality of probes, each one of which is drivingly connected to a stepper motor. The movement of the stepper motors are controlled by a computer in accordance with a computer program.
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Citations
20 Claims
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1. An automated pipetting system for performing programmed pipetting quantitative transfer of fluids between preselected units of an array of test tubes comprising:
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a horizontal table for holding test tube arrays; a substantially rigid overhead frame defining a horizontal X-Y pipetting area, which is spaced vertically above said horizontal table for holding the test tube arrays; a pair of X-axis guide shafts fixedly mounted and spaced apart in parallel on two opposite sides of said frame; a pair of X-axis helical screw shafts rotatably mounted in the frame, each disposed adjacent and parallel to a respective one of said X-axis drive means operatively connected to said pair of X-axis screw shafts for driving said X-axis screw shafts synchronously in rotation; a subframe assembly having a pair of X-axis roller sections, each X-axis roller section of said pair having a support wall provided with a helix engagement portion which threadedly engages one of said X-axis helical screw shafts for moving said subframe assembly along an associated X-axis guide shaft in the X-axis directions in response to rotation of the associated X-axis helical screw shaft; a pair of Y-axis guide shafts supported on the subframe assembly by being sections connected at its opposite ends to said pair of X-axis roller operatively, said four X-axis shafts being spaced parallel to each other and perpendicular to said pair of Y-axis guide shafts; a Y-axis helical screw shaft rotatably mounted in said pair of Y-axis roller sections parallel to the two Y-axis guide shafts; Y-axis driving means operatively connected to said Y-axis helical screw shaft for driving said Y-axis screw shaft in rotation; a carriage having a pair of Y-axis roller sections rolling on the pair of Y-axis guide shafts, and further having a support wall provided with a helix engagement portion engaging said Y-axis helical screw shaft for moving said carriage in the Y-axis direction in response to rotation of said Y-axis helical screw shaft; at least one Z-axis modulator removable unit having at least one row of probes said Z-axis modular unit being removably mounted on said carriage for movement in the Z-axis directions by a Z-axis drive means; said Z-axis drive means being operatively connected to each probe for independently driving respective ones of said probes in the Z-axis direction relative to the test tube array on said table, said Z-axis direction being perpendicular to said X and Y axes directions; and computer control means operatively connected to said X, Y and Z axes drive means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification