EP1877170B1 - Vorrichtung und verfahren zum bewegen von flüssigkeitsbehältern - Google Patents

Vorrichtung und verfahren zum bewegen von flüssigkeitsbehältern Download PDF

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Publication number
EP1877170B1
EP1877170B1 EP06721945A EP06721945A EP1877170B1 EP 1877170 B1 EP1877170 B1 EP 1877170B1 EP 06721945 A EP06721945 A EP 06721945A EP 06721945 A EP06721945 A EP 06721945A EP 1877170 B1 EP1877170 B1 EP 1877170B1
Authority
EP
European Patent Office
Prior art keywords
movement
support
support unit
support element
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP06721945A
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German (de)
English (en)
French (fr)
Other versions
EP1877170A1 (de
Inventor
Adi Zuppiger
Roland Fuchs
Urs Knecht
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tecan Trading AG
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Tecan Trading AG
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Publication date
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Publication of EP1877170A1 publication Critical patent/EP1877170A1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F31/00—Mixers with shaking, oscillating, or vibrating mechanisms
    • B01F31/20—Mixing the contents of independent containers, e.g. test tubes
    • B01F31/22—Mixing the contents of independent containers, e.g. test tubes with supporting means moving in a horizontal plane, e.g. describing an orbital path for moving the containers about an axis which intersects the receptacle axis at an angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F31/00—Mixers with shaking, oscillating, or vibrating mechanisms
    • B01F31/20—Mixing the contents of independent containers, e.g. test tubes
    • B01F31/24—Mixing the contents of independent containers, e.g. test tubes the containers being submitted to a rectilinear movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F31/00—Mixers with shaking, oscillating, or vibrating mechanisms
    • B01F31/20—Mixing the contents of independent containers, e.g. test tubes
    • B01F31/27—Mixing the contents of independent containers, e.g. test tubes the vibrations being caused by electromagnets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F2101/00—Mixing characterised by the nature of the mixed materials or by the application field
    • B01F2101/23—Mixing of laboratory samples e.g. in preparation of analysing or testing properties of materials

Definitions

  • the invention relates to a device for moving liquid containers, which comprises a carrying unit designed to receive liquid containers; a base unit, against which the support unit is mounted substantially horizontally freely swinging by means of connecting elements; and moving means for moving the support unit relative to the base unit.
  • Automated plants typically include a single pipetting device or multiple pipetting devices that are used on liquid containers located on the workstation of a workstation. Such workstations are often able to perform a wide variety of work on these fluid samples, such as optical measurements, pipetting, washing, centrifuging, incubating and filtering.
  • One or more robots now operating on Cartesian or polar coordinates, can be used to process samples at such a workstation. Such robots can be liquid containers, such as. eg carry sample tubes or microplates and reposition.
  • Such robots can also be used as a so-called “robotic sample processor” (RSP), such as a pipetting device for aspirating and dispensing, or as a dispenser for distributing liquid samples.
  • RSP robottic sample processor
  • a pipetting device for aspirating and dispensing
  • a dispenser for distributing liquid samples.
  • RSP robot sample processor
  • shakers move the liquid container itself.
  • Such shakers which move the liquid containers in a thermostatically controlled bath, are, for example US 3,601,372 known:
  • the support device of this shaker is not free swinging special firm, but still connected via three crankshaft movably connected to a resting intermediate floor and can perform a corresponding deflection of the crankshaft circular motion.
  • On one of these crankshaft downwardly directed permanent magnets are fixed, which produce a magnetic coupling to a outside of the water bath and driven by a stuck motor driven permanent magnet.
  • the motor drive and at least mechanically decoupled the wing from each other.
  • shakers perform a rapid circular motion with a hollow rubber dome in which a test tube or sample tube is held by hand.
  • shakers which move a platform in a horizontal plane linear or circular; For example, baths for dyeing polyacrylamide gels, for example, are applied to these platforms.
  • rocking platforms are known.
  • the U.S. Patent 5,409,312 discloses a device with which a magnetic stirrer can be converted into a magnetically driven orbital shaker.
  • This device consists of a horizontally arranged, quadrangular base plate and a likewise quadrangular, arranged parallel thereto support plate.
  • Arranged in the corners and opposite each other are four ball bearings which allow the support plate for receiving a liquid vessel to perform a free or circular orbital motion.
  • the support plate has a circular magnet in the center on its underside, and is thus magnetic coupled with the rotatable magnet of the magnetic stirrer.
  • such magnetic stirrers are known to give off strong vibrations to their environment, especially to the table on which they stand.
  • the U.S. Patent 6,508,582 discloses an electromagnetically driven microplate in-line shaker which vibrates a support plate connected to a base plate via leaf springs to frequencies of 120 Hz (7,200 reciprocal movements per minute).
  • the microplates be it a single standard plate, a single "deep-well micropattern" or entire stacks thereof, are fixed on the support plate by means of tensioning devices.
  • these fixtures are not suitable for automated or robotic loading of the support plate with such microplates.
  • the delivery of strong vibrations to the base must be feared here as well, because the direct movement of the support plate and all liquid container disposed thereon requires a correspondingly strong electromagnet.
  • the published patent application US 2003/0081499 A1 discloses an electromagnetically or mechanically driven multi-directional shaker for microplates or sample tubes.
  • a first support plate is suspended from leaf springs, so that they can swing in a certain first direction substantially horizontally and freely.
  • a second support plate is suspended from leaf springs so that they can swing in a direction perpendicular to the first direction, the second direction substantially horizontally and freely.
  • the vibrations are generated by two electromagnets oriented in the respective vibration direction by providing, for each support plate, a core fixed to the respective support plate, which is partially inserted in each of the electromagnets.
  • the support plates are generated by two aligned perpendicular to the respective vibration direction electric motors with directly acting on the edge of the respective support plate ExzenterTriebraten; In this case, springs counteract the eccentric drive wheels.
  • the delivery of strong vibrations to the pad must be feared because the direct movement of the support plate and all arranged thereon Liquid container requires a correspondingly strong electromagnet or a correspondingly strong electric motor.
  • the present invention is based on the object to propose an alternative device for moving liquid containers, which eliminates or at least minimizes the disadvantages of the prior art.
  • liquid containers are accommodated with a carrying unit - which is mounted substantially horizontally and freely swinging by means of connecting elements relative to a base unit - and this carrying unit is moved relative to the base unit with moving means.
  • the inventive method is characterized in that at least one support element of this support unit, on which at least one moving mass is movably mounted, with a - on the same Carrying element attached - moving means, which is in interaction with this at least one moving mass, is moved so that the movements of these at least one moving mass offset the same supporting support member and the liquid container received with the support unit in corresponding countermovements.
  • FIGS. 1, 2 and 3 represent the side, bottom and elevation of a daily unit of a device 1 for moving liquid containers 2.
  • the carrying unit 3 is designed to receive liquid containers 2.
  • Such liquid containers in the form of sample tubes can be placed on the support unit in suitable racks or racks (not shown).
  • Liquid container in the form of microplates with eg 96 or 384 or more or fewer wells (cf. Figures 3 and 5 ) can also be parked on the support unit 3.
  • Retaining springs 4 or other suitable, attached to the support unit means (not shown) prevent that put on the support unit 3 or placed liquid container 2 to slide around when moving the support unit or otherwise move uncontrollably.
  • Such means also include clamping levers, which can be opened by robotic grippers, so that a fully automatic loading of the support unit 3 with liquid containers 2 and a secure holding these liquid containers on the surface of the support unit 3 is possible.
  • the carrying unit 3 is opposite a base unit 5 (not shown here; Fig. 4 ) By means of connecting elements 7 substantially horizontally swinging freely.
  • FIG. 1 shows a side view of an inventive, horizontally freely oscillating support unit 3 for receiving liquid containers 2.
  • a moving mass 8 is movably arranged, which is movable by a moving means 6.
  • This movement mass 8 comprises a so-called oscillator formed, movable magnet 9, which by a moving means 6 in the form of an electromagnetic coil in the direction of the axis of symmetry 11 (see. Fig. 2 ) can be moved back and forth.
  • the magnet is connected to a plate 10, which is preferably made of iron and forms a closed circle with the magnet 9.
  • the plate 10 thus also belongs to the movement mass. 8
  • the electromagnetic coil 6 is fixedly mounted on the support unit 3.
  • the oscillator 9 or "moving magnet” is movably mounted on the support unit 3.
  • This storage comprises two slide rods 12, which are slidably mounted in a pair of sleeves 13.
  • Two stop plates 14 limit the horizontal mobility of the vibrator 9 and the movement mass 8. So that the transverse flanges 15 of the vibrator 9 does not strike the stop plates 14, are on the transverse flanges 15 and also directed against these stop surfaces 16 of the stop plates 14 strong, against arranged each other equal-pole permanent magnets 17.
  • the support unit 3 consisting of a single support element 20 can perform a rotating pendulum movement which is opposite to the rotational movement of a circulating movement mass 8.
  • This alternative, circular movement of the moving mass 8 can be effected by an electric motor, to whose drive shaft the moving mass 8 is eccentrically mounted (not shown).
  • the support unit 3 is to perform a rotational movement without using rotating electric motors and eccentrically arranged movement masses 8, the support unit 3 preferably comprises two support elements 20, 21.
  • FIG. 4 is a particularly preferred first embodiment of the inventive device for moving liquid containers with a first and second support member 20,21 shown.
  • these two support members 20,21 which are suspended on leaf springs 22, swing substantially at right angles to each other.
  • the support unit 3 moves freely in any substantially horizontal direction.
  • the base unit 5 comprises bent-up support members 23 which carry at least one leaf spring 22 on each side of the base unit 4.
  • the additional leaf springs enhance the spring action, but they also reduce the achievable with the movement of the moving mass 8 deflection.
  • the number and / or spring strength of the leaf springs 22 adapted to the requirements become.
  • leaf springs 22 and connecting elements 7 are clamped here hanging and wear upturned hanging parts 24 of the first support member 20.
  • This first support member 20 includes bent-up support members 25 on which also formed as leaf springs 22 connecting elements 7 are in turn suspended hanging. These leaf springs 22 are also clamped clamped down on the support member 21. Again, three leaf springs are preferably provided, which connect the first and second support members 20,21 together.
  • the horizontal portion 27 of the raised portion 26 of the second support member 21 forms the effective support surface 28 of the support unit 3, which comprises the first and second support member 20,21.
  • the corresponding axis of symmetry 11 "(and movement direction) is in FIG. 4 located.
  • the symmetry axis 11 '(and the direction of movement) of the first support element 20 is at right angles to the illustrated axis of symmetry 11 "and is also indicated here
  • the movement masses or oscillators 8 are preferably linearly movable on friction-minimized plain bearings and laterally supported at least approximately free of play By overlaying the movements of the first and second support elements 20, 21, the support surface 28 moves freely swinging in all directions in a substantially horizontal plane.
  • substantially torsion-resistant leaf springs made of steel generally applies that two support elements 20,21 must be used.
  • This arrangement successfully prevents or minimizes unwanted and uncontrollable swinging of the liquid container bearing support surface 28 of the support member 3 into a pendulum motion about a Z-axis.
  • Such a swinging may occur, in particular, with wings 28 suspended from cords or wires which carry a microplate with asymmetrically only partially filled and partially empty wells.
  • FIG. 4 shown embodiment of a device for moving liquid containers is completely insensitive to unilateral loading. Even several, one-sided filled, stacked microplates are moved without problems and controlled. Thus, solid particles can be kept in suspension in virtually any liquid containers, emulsified unstable emulsions and mixing processes can be supported.
  • a shock-free shaking or mixing of cell cultures is made possible by the device according to the invention. Due to the free-swinging movement of the support surface 28 even a vortex effect in the liquid containers can be achieved without the device emitting vibrations to the immediate environment. Due to the free-swinging suspension of all supporting elements 20,21 and by these free-swinging support elements inherent motion means 6 and masses of movement 8, no radial forces on the device, so that it does not "emigrate". The preferred suspension of the support members 20,21 on leaf springs causes no signs of fatigue in the attachment and also small uncontrolled loosening of screws by vibration.
  • the actual movement of the support plate and thus also the liquid container 2 is determined for each direction of movement in the X- and Y-axis by means of a Hall sensor.
  • This real motion detection is used as a manipulated variable in the control of the movement means 6 and movement masses 8.
  • the driving of the movement means 6 with 2 frequencies and 2 deflections.
  • the deflection of the support surface 28 of the height and the diameter of the liquid container 2, in particular the wells of a microplate can be adjusted. The smaller the deflection, the higher the frequency can be selected.
  • the preferred deflection is about 1/3 to 1/2 of the well diameter, which corresponds to a preferred deflection of about 3 mm, for example, in deep-well microplates.
  • the Frequency of an individually controlled, inventive device 0.1 to over 4000 Hz.
  • any, preferably cyclic movement patterns are generated by the movement means 6 and movement masses inherent in these free-swinging support elements.
  • These can be serrated stars, circles, rotating figure-eight figures and complex circular or elliptical movements, which correspond to the course of a freeform, in particular a Lissajous figure.
  • motion sensors preferably Hall sensors, enable the sensing of the effective movements of the support plate or reservoir 2 in both the X and Y directions of a substantially horizontal plane.
  • the support surface 28 is provided with a non-slip coating, such as a rubber mat or the like and / or with retaining springs 4 or other holding means.
  • a device 1 preferably comprises a blocking device with which the carrying unit 3 and the liquid container 2 accommodated therewith are fixed in a predetermined position. Depending on the selected spring constant and / or number of leaf springs, the support surface 28 is kept so quiet that even such a blocking device can be dispensed with.
  • devices 1 which comprise a housing 31 having on its upper side an opening through which a liquid container 2, in particular a microplate, can be placed on the support unit 3, wherein the support unit 3 a fixing mechanism 4 for holding the liquid container 2 includes. So that this storage robotized or automated can take place, the fixing mechanism 4 for holding the liquid container 2 on the support unit 3 is preferably detachably formed by a microplate handling robot.
  • such a housing 31 may also include a bottom 34, a lid 35 and side walls 36 (bottom and lid removed for clarity) and a movably mounted in this housing 31 slider 37.
  • the housing 31 on at least one side of an opening 38 through which the slide 37 is extendable to receive a liquid container 2, in particular a microplate, to pull into the housing 31 and store on the support unit 3.
  • a support unit comprises a fixing device 4 (not shown) for holding the liquid container 2.
  • FIG. 5 Devices shown are preferably formed as a stackable module, wherein the bottom 34 and the lid 35 are formed as lower and upper stacking surfaces by having complementary to each other formed relief structures, such as ribs and troughs and the like.
  • all the devices or groups thereof may be individually formed as incubators, cold rooms, or merely as shakers.
  • Such stackable devices can be used as modules for populating a workstation or a so-called “robotic sample processor” (RSP).
  • RSP robottic sample processor
  • such devices 1 are preferably designed as incubators by comprising a temperature-controlled heating plate and arranged on the bottom 34 and cover 35 and on all sides 36 heat insulation, which also closes all the openings 33,38.
  • preferred devices 1 are designed as a cooling space by comprising a temperature-controlled cooling plate and arranged on the bottom 34 and cover 35 and on all sides 36 heat insulation, which also closes all openings 38.
  • Peltier elements or so-called "heat pipes" are used for the incubators or cold rooms.
  • Devices for moving liquid containers differing from the shown or described devices form part of the present invention, if one or more moving means 6 and one or more moving masses 8 are movably arranged on their carrying unit, which are movable by these moving means and whose movement causes the carrying unit and put the liquid container thus received in corresponding countermovements.
  • the designated as the support surface 28 part of the support unit 3 may also be formed as a contiguous support frame or as a separate multi-surface.
  • each rotatable movement mass 8 is magnetically connected to a rotating part of a movement means 6.
  • the moving means 6 is an electric motor, which is attached to the base unit 5 and on the drive axle, a permanent or permanent magnet is mounted eccentrically.
  • the corresponding movement masses 8 are then connected via a rotation axis to the support elements 20, 21 or to the support unit 3.
  • the axis of rotation of the moving means 6 is arranged substantially in the geometric axis of the corresponding moving mass 8.
  • the movement masses 8 also have an eccentrically mounted permanent magnet, which represents the opposite pole to the permanent magnet of the corresponding movement means 6.
  • This arrangement is particularly suitable for automated multiple arrangements of fermenters or incubators in biotechnology, which at one of their Have outer walls or at its lid or bottom rotatable movement masses 8 with at least one permanent magnet.
  • These fermenters are then preferably equipped with stirring devices, which are operatively connected to the movement masses 8.
  • This active compound may be mechanical or magnetic in nature. If these fermenters are transported (preferably remotely controlled) from one stirring station to the next, the movement means 6 of the next stirring station, which are arranged identically or differently, interact with one or more of the moving masses 8 of the fermenter, so that one of the stirring stations receives appropriate movement in the fermenter available liquid can be provided.
  • Stirring stations may also differ in temperature and in other physical or chemical parameters. Alternatively, the entire fermenter can be suspended free-swinging and be brought by the masses of movement 8 in corresponding countermovements.
  • the support unit 3 of the device according to the invention comprises a first and second support element 20, 21 with at least two rotatable movement masses 8 fastened to this second support element 21 and the associated movement means 6.
  • the symmetrical arrangement of four electric motors 40 is particularly preferred under the second one Support member 21, wherein the axes of rotation 41 of these electric motors 40 are arranged in the corners of a square. It is particularly preferred to select the direction of rotation of the electric motors (and thus also the direction of rotation of the wheels 43, which are preferably driven by toothed belts 42 and arranged in the center of this square, which are located diagonally opposite one another) in the same direction.
  • each of these two engine pairs controlled synchronously.
  • Fig. 7 For the sake of clarity, only two of the total four wheels are drawn, with only one movement mass 8 being visible.
  • the timing belt 42 dampening against a possible rocking of vibrations.
  • the very close positioning of the wheels 43 with their eccentrically arranged masses of movement on a common central axis 44 additionally helps to minimize the occurrence of undesirable torques.
  • the two support elements 20, 21 of the support unit 3 are preferably arranged the same and formed, as already in connection with the FIGS. 4 and 5 was shown and explained.
  • Such an eddy current brake with a permanent magnet 45 has, inter alia, the advantage that it represents a completely passive system which does not require any control.
  • each such individual eddy current brake is provided for each of the support elements 20,21 . Even a system with leaf spring suspensions can be improved by the use of such eddy current brakes.

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  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Automatic Analysis And Handling Materials Therefor (AREA)
  • Apparatus Associated With Microorganisms And Enzymes (AREA)
  • Mixers With Rotating Receptacles And Mixers With Vibration Mechanisms (AREA)
EP06721945A 2005-05-04 2006-05-04 Vorrichtung und verfahren zum bewegen von flüssigkeitsbehältern Active EP1877170B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH7872005 2005-05-04
PCT/CH2006/000243 WO2006116892A1 (de) 2005-05-04 2006-05-04 Vorrichtung und verfahren zum bewegen von flüssigkeitsbehältern

Publications (2)

Publication Number Publication Date
EP1877170A1 EP1877170A1 (de) 2008-01-16
EP1877170B1 true EP1877170B1 (de) 2010-06-16

Family

ID=36095907

Family Applications (1)

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EP06721945A Active EP1877170B1 (de) 2005-05-04 2006-05-04 Vorrichtung und verfahren zum bewegen von flüssigkeitsbehältern

Country Status (6)

Country Link
US (1) US8215826B2 (https=)
EP (1) EP1877170B1 (https=)
JP (1) JP4964229B2 (https=)
CN (1) CN101213012B (https=)
DE (1) DE502006007232D1 (https=)
WO (1) WO2006116892A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4366860A4 (en) * 2021-07-09 2025-11-05 Fluent Biosciences Inc DEVICES FOR PRODUCE PRE-TEMPLATED IMMEDIATE PARTITIONS

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DE102009048918A1 (de) * 2009-10-10 2011-04-14 Siemens Healthcare Diagnostics Products Gmbh Vorrichtung zum Mischen einer Flüssigkeitsprobe
JP5775086B2 (ja) 2009-10-16 2015-09-09 プロメガ・コーポレーション 加熱、加振、および磁化する装置、ならびにその装置を動作させる方法
DE102011075037A1 (de) 2011-04-29 2012-10-31 Hamilton Bonaduz Ag Stanzvorrichtung mit Aufnahmeplatte
CN104997142A (zh) * 2015-07-05 2015-10-28 博尚生技实业（湛江）有限公司 一种水产饲料快速发酵装置
US11513046B2 (en) * 2018-02-09 2022-11-29 Championx Usa Inc. Flowability testing systems and methods
CN108441402A (zh) * 2018-03-16 2018-08-24 梁多彬 一种医药生物培养装置
DE102018215084A1 (de) * 2018-09-05 2020-04-23 Bernhard Hukelmann Misch- und Knetverfahren
WO2020240722A1 (ja) * 2019-05-29 2020-12-03 株式会社日立ハイテク 分析装置
DE102020133424A1 (de) * 2020-12-14 2022-06-15 Qinstruments Gmbh Laborgerät mit mischmechanismus zum mischen von medium eines objektträgers

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4366860A4 (en) * 2021-07-09 2025-11-05 Fluent Biosciences Inc DEVICES FOR PRODUCE PRE-TEMPLATED IMMEDIATE PARTITIONS

Also Published As

Publication number Publication date
US20090097948A1 (en) 2009-04-16
US8215826B2 (en) 2012-07-10
CN101213012A (zh) 2008-07-02
WO2006116892A1 (de) 2006-11-09
DE502006007232D1 (de) 2010-07-29
EP1877170A1 (de) 2008-01-16
CN101213012B (zh) 2012-02-15
WO2006116892B1 (de) 2007-02-08
JP4964229B2 (ja) 2012-06-27
JP2008540071A (ja) 2008-11-20

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