Automated microplate filling device and method

• US 6,148,878 A
• Filed: 10/04/1999
• Issued: 11/21/2000
• Est. Priority Date: 10/04/1999
• Status: Expired due to Term

• Current Assignee: Agena Bioscience Inc. (Mesa Laboratories Inc.)
• Original Assignee: RoboDesign International, Inc. (Rigaku Corporation)
• Inventors: Moulds, Andrew, Ganz, Brian L., Brovold, Christopher T.
• Primary Examiner(s): Douglas, Steven O.
• Application Number:
  US09/411,943
• Time in Patent Office: 414 Days
• Field of Search: 141/129, 141/130, 141/1, 422/99, 422/100, 422/103, 436/174, 436/180
• US Class Current: 141/129
• CPC Class Codes: B01J 2219/00274 Sequential or parallel reactions; Apparatus and devices for combinatorial chemistry or for making arrays; Chemical library technology
• CPC Class Codes: B01L 2300/0829 Multi-well plates; Microtitration plates
• CPC Class Codes: B01L 3/0293 for liquids
• CPC Class Codes: B01L 9/523 for multisample carriers, e.g. used for microtitration plates
• CPC Class Codes: G01N 35/028 having reaction cells in the form of microtitration plates
• CPC Class Codes: Y10T 436/2575 Volumetric liquid transfer

Abstract

An automated machine for filling a plurality of microplates. The automated machine includes at least one input stacking chamber for stacking empty microplates, at least one output stacking chamber for stacking filled microplates, and a microplate filling assembly disposed between the at least one input stacking chamber and the at least one output stacking chamber. The microplate filling assembly has: (1) an input chamber lifting mechanism for periodically lifting all microplates but the bottom microplate in the at least one input stacking chamber, (2) a linear actuator, (3) a walking beam indexer attached to the linear actuator, driven by the linear actuator and positioned to move microplates from the at least one input stacking chamber to the at least one output stacking chamber, (4) a lid lifter attached to the linear actuator, for lifting the lid off of each microplate to permit the microplate to be filled, and after filling to replace the lid, (5) a nozzle in communication with a media source and positioned to fill the microplates after their lids have been lifted off, and (6) an output chamber lifting mechanism for lifting all filled microplates in the at least one output stacking chamber to provide a space for recently filled microplates to be moved to a bottom position in the at least one stacking chamber. In a preferred embodiment of the present invention, there are ten input stacking chambers and ten output stacking chambers and they are mounted on an input carousel and output carousel, respectively.

Claims

1. An automated machine for filling a plurality of microplates, each of said plurality of microplates having a microplate lid, said automated machine comprising:

A) at least one input stacking chamber for stacking empty microplates,

B) at least one output stacking chamber for stacking filled microplates, and

C) a microplate filling assembly disposed between said at least one input stacking chamber and said at least one output stacking chamber, comprising;

1. an input chamber lifting mechanism for periodically lifting all microplates in said at least one stacking chamber except a bottom microplate,

2. a linear actuator,

3. a walking beam indexer attached to said linear actuator, driven by said linear actuator and positioned to move empty microplates from said at least one input stacking chamber to said at least one output stacking chamber,

4. a lid lifter attached to said linear actuator, for lifting the lid off each microplate to permit the microplate to be filled, and after filling to replace the lid,

5. a nozzle in communication with a media source and positioned to fill the empty microplates after their lids have been lifted off, and

6. an output chamber lifting mechanism for lifting all filled microplates in said at least one output stacking chamber to provide a space for recently filled microplates to be moved to a bottom position in said at least one stacking chamber.

2. The automated machine as in claim 1, wherein said at least one input chamber is a plurality of input chambers contained in an input carousel, and wherein said at least one output chamber is a plurality of output chambers contained in an output carousel, wherein said input carousel and said output carousel sequentially align said plurality of input chambers and said plurality of output chambers with said microplate filling assembly.

3. The automated machine as in claim 2, wherein said plurality of input chambers is ten input chambers and said plurality of output chambers is ten output chambers, wherein each of said ten input chambers and ten output chambers can hold twenty-four microplates.

4. The automated machine as in claim 1, wherein the automated machine is controlled by a programmable logic controller.

5. The automated machine as in claim 1, wherein input chamber lifting mechanism comprises:

A) a pivotable pneumatic cylinder,

B) a link singulator pivotally mounted to said pivotable pneumatic cylinder,

C) a rod singulator rigidly mounted to said link singulator, and

D) tab flippers rigidly mounted to said rod singulator,

wherein an expansion of said pivotable pneumatic cylinder causes said tab flippers to rotate downward to lower the plurality of empty microplates, wherein a retraction of said pivotable pneumatic cylinder causes said tab flippers to rotate upward to lift the plurality of empty microplates.

6. The automated machine as in claim 1, wherein said linear actuator comprises a lead screw, wherein said lead screw is actuated via a servo motor.

7. The automated machine as in claim 1, further comprising at least one compact pneumatic cylinder positioned between and attached to said linear actuator and said walking beam indexer, wherein said at least one compact pneumatic cylinder is for vertical motion of said walking beam indexer, wherein said walking beam indexer comprises a plurality of dowel pins for pushing said plurality of microplates from said at least one input chamber, along said microplate filling assembly to said at least one output chamber.

8. The automated machine as in claim 1, wherein said lid lifter comprises:

A) a pneumatic cylinder,

B) a lid lifter top rigidly connected to the top of said pneumatic cylinder, and

C) at least one vacuum cup rigidly connected and extending downward from said lid lifter top, and

D) a vacuum source connected to said at least one vacuum cup,

wherein a retraction of said pneumatic cylinder causes said lid lifter to drop and said at least one vacuum cup to rest on said microplate lid, wherein said vacuum source transfers a vacuum to said at least one vacuum cup, wherein an expansion of said pneumatic cylinder causes said lid lifter to raise lifting said microplate lid.

9. The automated machine as in claim 1, wherein said output chamber lifting mechanism is two pneumatic cylinders wherein an expansion of said two pneumatic cylinders causes said output chamber to lift a first microplate positioned above said output chamber lifting mechanism, and a retraction of one of said two pneumatic cylinders allows a second microplate to move underneath said first microplate, and a retraction of a second of said two pneumatic cylinders causes said output chamber lifting mechanism to drop said first microplate onto said second microplate.

18. The method as in claim 1, wherein said output chamber lifting mechanism is two pneumatic cylinders wherein an expansion of said two pneumatic cylinders causes said output chamber to lift a first microplate positioned above said output chamber lifting mechanism, and a retraction of one of said two pneumatic cylinders allows a second microplate to move underneath said first microplate, and a retraction of a second of said two pneumatic cylinders causes said output chamber lifting mechanism to drop said first microplate onto said second microplate.

10. A method for sequentially filling a plurality of microplates, each microplate having a microplate lid, said method comprising the steps of:

A) lifting via a input chamber lifting mechanism the plurality of empty microplates, wherein the plurality of empty microplates are stacked inside at least one input chamber, wherein said input chamber lifting mechanism is located adjacent to said at least one input chamber, wherein said lifting leaves behind a bottommost empty microplate,

B) removing in sequence the plurality of microplates via a walking beam indexer from said at least one input chamber, wherein said walking beam indexer is attached to a linear actuator,

C) removing in sequence via a lid lifter microplate lids from the plurality of empty microplates, wherein said lid lifter is attached to said linear actuator,

D) filling in sequence the plurality of empty microplates via a nozzle mounted adjacent to said linear actuator,

E) returning in sequence via said lid lifter the microplate lids to the plurality of filled microplates, and

F) restacking via an output chamber lifting mechanism the plurality of filled microplates inside at least one output chamber,

wherein said input chamber singulator, said linear actuator, said walking beam indexer, said lid lifter, said nozzle, and said output chamber lifting mechanism define a microplate filling assembly.

11. The method as in claim 10, wherein said at least one input chamber is a plurality of input chambers contained in an input carousel, and wherein said at least one output chamber is a plurality of output chambers contained in an output carousel, wherein said input carousel and said output carousel sequentially align said plurality of input chambers and said plurality of output chambers with said microplate filling assembly.

12. The method as in claim 11, wherein said plurality of input chambers is ten input chambers and said plurality of output chambers is ten output chambers, wherein each of said ten input chambers and ten output chambers can hold twenty-four microplates.

13. The method as in claim 10, wherein the automated machine is controlled by a programmable logic controller.

14. The method as in claim 10, wherein input chamber lifting mechanism comprises:

A) a pivotable pneumatic cylinder,

B) a link singulator pivotally mounted to said pivotable pneumatic cylinder,

C) a rod singulator rigidly mounted to said link singulator, and

D) tab flippers rigidly mounted to said rod singulator,

wherein an expansion of said pivotable pneumatic cylinder causes said tab flippers to rotate downward to lower the plurality of empty microplates, wherein a retraction of said pivotable pneumatic cylinder causes said tab flippers to rotate upward to lift the plurality of empty microplates.

15. The method as in claim 10, wherein said linear actuator comprises a lead screw, wherein said lead screw is actuated via a servo motor.

16. The method as in claim 10, further comprising at least one compact pneumatic cylinder positioned between and attached to said linear actuator and said walking beam indexer, wherein said at least one compact pneumatic cylinder is for vertical motion of said walking beam indexer, wherein said walking beam indexer comprises a plurality of dowel pins for pushing said plurality of microplates from said at least one input chamber, along said microplate filling assembly to said at least one output chamber.

17. The method as in claim 10, wherein said lid lifter comprises:

A) a pneumatic cylinder,

B) a lid lifter top rigidly connected to the top of said pneumatic cylinder, and

C) at least one vacuum cup rigidly connected and extending downward from said lid lifter top, and

D) a vacuum source connected to said at least one vacuum cup,

wherein a retraction of said pneumatic cylinder causes said lid lifter to drop and said at least one vacuum cup to rest on said microplate lid, wherein said vacuum source transfers a vacuum to said at least one vacuum cup, wherein an expansion of said pneumatic cylinder causes said lid lifter to raise lifting said microplate lid.

19. An automated machine for filling a plurality of microplates, each of said plurality of microplates having a microplate lid, said automated machine comprising:

A) a means for stacking empty microplates,

B) a means for stacking filled microplates, and

C) a microplate filling assembly means disposed between said means for stacking empty microplates and said means for stacking filled microplates, comprising;

1. a lifting means for periodically lifting all microplates in said means for stacking empty microplates except a bottom microplate,

2. a linear actuator means,

3. a walking beam indexer means attached to said linear actuator means, driven by said linear actuator means and positioned to move empty microplates from said means for stacking empty microplates to said means for stacking filled microplates,

4. a lid lifter means attached to said linear actuator means, for lifting the lid off each microplate to permit the microplate to be filled, and after filling to replace the lid,

5. a nozzle means in communication with a media source and positioned to fill the empty microplates after their lids have been lifted off, and

6. an output chamber lifting means for lifting all filled microplates in said means for stacking filled microplates, to provide a space for recently filled microplates to be moved to a bottom position in said means for stacking filled microplates.