WO2009029696A1 - Grippers and related systems and methods providing a certain degree of play along the vertical axis - Google Patents

Abstract

A gripper structured to grip an object (114) that comprises at least two opposing side surfaces and at least one top surface, the gripper comprising: at least one passive movement mechanism (108) structured to at least passively move along a z-axis to provide a certain degree of lost motion or play, at least two arms (104) operably connected to the passive movement mechanism and structured to move towards, and away from each other along an x-and/or y-axis, wherein each arm comprises at least a first contact component (pointed plungers 116) that is structured to contact one of the side surfaces of the object when the arms are moved towards one another; at least one stop (112) operably connected to the passive movement mechanism and/or to at least one of the arms, wherein the stop comprises at least a second contact component (120) that is structured to contact the top surface of the object when the gripper is moved towards the object; and, at least one resilient coupling (flat spring 124) that couples at least one of the first and second contact components to the arms and/or the stop.

Description

GRIPPERS AND RELATED SYSTEMS AND METHODS PROVIDING A CERTAIN DEGREE OF PLAY ALONG THE VERTICAL AXIS

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. provisional application serial number 60/968,469, filed August 28, 2007 which is hereby incorporated by reference in its entirety.

FIELD OF THE INVENTION

[0002] The present invention provides grippers, gripper systems, and related methods.

BACKGROUND OF THE INVENTION

[0003] Many industrial fields require the accurate positioning of objects for automated processing. The biotechnology industry, for example, is making rapid advances by transitioning from traditional laboratory bench top processes to high-throughput automated systems. These automated systems typically perform assays or screens using standardized sample plates, such as microplates. Each sample plate typically includes multiple sample wells, generally ranging from a few to thousands of wells. As discrete tests can be performed in each sample well, hundreds or thousands of assays can be performed in each plate.

[0004] For a robotic or other automated system to perform with a high degree of reproducibility and sufficient throughput, the system generally needs to accurately, quickly, and reliably position individual sample plates for analysis or other processing. For example, sample 15 plates must be accurately placed relative to liquid dispensers such that sample or reagent aliquots are deposited into specified wells. A positioning error of only a fraction of a millimeter can result in a sample being dispensed into an incorrect well. Such a mistake can lead to biased assay results which may be relied upon for critical decision making, such as a course of medical treatment for a patient. In addition, positioning errors can also cause needles or tips of liquid dispensers to unintentionally contact walls or other surfaces of a sample plate with a typical consequence being damage to the liquid dispenser.

[0005] Conventional automated or robotic devices typically do not operate with sufficient positioning accuracy, e.g., to reliably and repeatably position high-density sample plates for high-throughput processing. Additionally, conventional devices also typically require one or more regripping steps that further limit throughput. Accordingly, there exists a need for robotic or otherwise automated gripper apparatus and related methods for accurately, reliably, and quickly positioning objects such as sample plates for processing or other manipulation without intervening re-gripping steps. These and other features of the present invention will become apparent upon complete review of the following disclosure.

SUMMARY OF THE INVENTION

[0006] The present invention provides grippers, robotic gripper systems, and related methods for accurately grasping and manipulating objects with higher throughput than many preexisting technologies. In certain embodiments, for example, grippers are configured to grip and translocate microplates or other similarly dimensioned objects. In some embodiments, grippers are configured to contact and passively (e.g., via built in lost motion mechanisms) determine z-axis positions of objects before determining x-and/or y-axis positions of those objects. This passive position determination helps to prevent grippers from contacting objects with excessive force, which could otherwise damage the objects, the gripper, or other system components. This feature also provides for accurate and repeatable object grasping and positioning that involves simple calibration processes. In other words, due to the built in passivity or lost motion along the z-or vertical axis, gripper motion along this axis generally does not need to be as tightly controlled as grippers lacking this feature.

[0007] In a first aspect, the invention relates to a gripper structured to grip an object that comprises at least two opposing side surfaces and at least one top surface. The gripper includes at least one passive movement mechanism (e.g., a linear bearing, etc.) structured to at least passively move along a z-axis. For example, the passive movement mechanism is typically structured to move into an extended or a retracted position under at least an influence of a gravitational force. The gripper also includes at least two arms operably connected to the passive movement mechanism and structured to move towards and away from each other along an x-and/or y-axis. In some embodiments, for example, the arms are operably connected to an actuator that is configured to move the arms towards and away from each other along the x-and/or y-axis. Further, each arm includes at least a first contact component that is structured to contact one of the side surfaces of the object when the arms are moved towards one another. The gripper also includes at least one stop (e.g., two stops, etc.) operably connected to the passive movement mechanism and/or to at least one of the arms. The stop comprises at least a second contact component that is structured to contact the top surface of the object when the gripper is moved towards the object. In some embodiments, the arms and the stop are operably connected to the passive movement mechanism via at least one support structure. In certain embodiments, the arms and the stop are together structured to grip an object having one or more microplate dimensions. In addition, the gripper also includes at least one resilient coupling that couples at least one of the first and second contact components to the arms and/or the stop. In some embodiments, the gripper also includes at least one proximity sensor operably connected to the passive movement mechanism and configured to detect movement of the passive movement mechanism.

[0008] The contact components of the grippers have various embodiments. For example, the first contact components are typically structured to determine the x-and/or y-axis position of the object when the gripper grips the object, whereas the second contact component is generally structured to passively determine the z-axis position of the object when the second contact component contacts the top surface of the object. In some embodiments, each arm comprises at least two first contact components. Optionally, the first and/or second contact component comprises a pivot member. In some embodiments, the second contact component comprises a roller. To further illustrate, in certain embodiments, the first and/or second contact component comprises a pointed plunger. In some of these embodiments, for example, the resilient coupling comprises a spring.

[0009] Typically, the gripper is operably connected to a robot. The robot is configured tomove the gripper with at least one degree of freedom. At least one controller is generally operably connected to the gripper and to the robot, and is configured to control movement of the gripper and the robot. The controller typically comprises at least one logic device having one or more logic instructions that direct the gripper or the robot to: move the arms away from one another along the x and/or y-axis into an open position; move the gripper along the z-axis such that the second contact component of the stop contacts, or is removed from contact with, the top surface of the object; move the passive movement mechanism along the z-axis a selected distance after the second contact component of the stop contacts the top surface of the object; move the arms towards one another along the x-and/or y-axis into a closed position such that the first contact components of the arms contact the side surfaces of the object; move the object when the gripper grips the object from a first position to a second position; and/or stop movement of the arms of the gripper or the robot, if the arms of the gripper or the robot moves beyond a selected distance. [0010] In another aspect, the invention provides a system. The system includes (a) at least one robotic gripper component structured to grip and translocate containers that comprise one or more microplate dimensions. The robotic gripper component includes (i) at least one robot, and (ii) at least one gripper operably connected to the robot. The gripper includes at least one passive movement mechanism (e.g., a linear bearing, etc.) structured to move along a z-axis. The gripper also includes at least two arms operably connected to the passive movement mechanism and structured to move towards and away from each other along an x-and/or y-axis. Each arm comprises at least a first contact component that is structured to contact side surfaces of the containers when the arms are moved towards one another. In some embodiments, each arm comprises at least two first contact components. The gripper also includes at least one stop (e.g., two stops, etc.) operably connected to the passive movement mechanism and/or to at least one of the arms. The stop comprises at least a second contact component that is structured to contact top surfaces of the containers when the gripper is moved towards the containers. In addition, the gripper also includes at least one resilient coupling that couples at least one of the first and second contact components to the arms and/or the stop. The system also includes (b) at least one processing component comprising at least one container positioning component. In addition, the system also includes (c) at least one controller operably connected to the robotic gripper component and to the processing component. The controller is configured to direct: (i) the robotic gripper component to grip and translocate the containers to and from the container positioning component of the processing component, and (ii) the processing component to process the containers (e.g., image the contents of the containers, etc.) positioned on the container positioning component. In some embodiments, at least one proximity sensor is operably connected to the passive movement mechanism and to the controller, which proximity sensor is configured to detect movement of the passive movement mechanism. In certain embodiments, the first and/or second contact component comprises a pointed plunger. In some of these embodiments, the resilient coupling comprises a spring.

[0011] In another aspect, the invention provides a method of gripping an object.

The method includes (a) providing a gripper comprising at least one passive movement mechanism structured to move along a z-axis. The gripper also includes at least two arms operably connected to the passive movement mechanism and structured to move towards and away from each other along an x-and/or y-axis. Each arm comprises at least a first contact component. The gripper also includes at least one stop operably connected to the passive movement mechanism and/or to at least one of the arms. The stop comprises at least a second contact component. In addition, the gripper also includes at least one resilient coupling that couples at least one of the first and second contact components to the arms and/or the stop. The method also includes (b) providing an object that comprises at least two opposing side surfaces and at least one top surface at a first position, and (c) moving the gripper along the z-axis such that the second contact component of the stop contacts the top surface of the object. In addition, the method also includes (d) moving the passive movement mechanism along the z-axis a selected distance after the second contact component of the stop contacts the top surface of the object, and (e) moving the arms towards one another along the x-and/or y-axis into a closed position such that the first contact components of the arms contact the side surfaces of the object. In some embodiments, the method includes (f) stopping movement of the gripper, if the arms of the gripper move beyond a selected distance. In certain embodiments, the method includes (f) translocating the object from the first position to a second position. In some of these embodiments, the object comprises a container and an imaging component comprises the second position, and the method comprises (g) imaging contents of the container.

BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The nature, goals, and advantages of the invention will become more apparent to those skilled in the art after considering the following detailed description when read in connection with the accompanying drawings in which like reference numerals identify like components throughout the drawings, unless the context indicates otherwise. It will be understood that some or all of the figures may be schematic representations for purposes of illustration and do not necessarily depict the actual relative sizes or locations of the elements shown.

[0013] Figure IA schematically shows a front view of a gripper attached to a robotic arm according to one embodiment of the invention.

[0014] Figure IB schematically illustrates a side view of the gripper attached to the robotic arm of Figure IA.

[0015] Figure 1C schematically depicts a back view of the gripper attached to the robotic arm of Figure IA.

[0016] Figure ID schematically illustrates a perspective view of the gripper attached to the robotic arm of Figure IA. [0017] Figure IE schematically shows a detailed view of contact components of the gripper of Figure IA contacting surfaces of a microplate.

[0018] Figure IF schematically depicts a detailed cross-sectional view of a contact component of the gripper of Figure IA contacting surfaces of a microplate.

[0019] Figure 2A schematically shows a back view of the gripper of Figure IA operably connected to a robot according to one embodiment of the invention.

[0020] Figure 2B schematically illustrates a cross-sectional view of the gripper operably connected to the robot of Figure 2A.

[0021] Figure 3 schematically shows a system that includes a robotic gripper component and an imaging component according to one embodiment of the invention.

[0022] Figure 4 schematically depicts the system of Figure 3 operably connected to a controller according to one embodiment of the invention.

[0023] Figure 5A schematically shows a perspective view of a gripper with arms in an open position above a microplate according to one embodiment of the invention.

[0024] Figure 5B schematically illustrates a front view of the gripper of Figure 5 A lowered such that the contact components of the stops contact a microplate with the arms in an open position.

[0025] Figure 5C schematically shows a front view of the gripper of Figure 5 A lowered such that the contact components of the stops contact a microplate with the arms in a closed position.

[0026] Figure 5D schematically illustrates a perspective view of the gripper of Figure

5A lowered such that the contact components of the stops contact a microplate with the arms in a closed position.

[0027] Figure 5E schematically shows a front view of the gripper of Figure 5A lowered such that a proximity sensor detects passive movement mechanism over travel. [0028] Figure 5F schematically shows a perspective view of the gripper of Figure 5A lowered such that a proximity sensor detects passive movement mechanism over travel.

[0029] Figure 5G schematically depicts a front view of the gripper of Figure 5A raising a gripped microplate from a container positioning component. [0030] Figure 5H schematically shows a perspective view of the gripper of Figure 5A raising a gripped microplate from a container positioning component.

DETAILED DESCRIPTION I. DEFINITIONS

[0031] Before describing the present invention in detail, it is to be understood that this invention is not limited to particular devices or systems, which can, of course, vary. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting. Further, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention pertains. In describing and claiming the present invention, the following terminology will be used in accordance with the definitions set out below.

[0032] The term "horizontal" refers to a plane that is approximately parallel to a plane of a supporting surface and approximately perpendicular a vertical plane.

[0033] The term "microplate dimensions" refers to the dimensions of multi-well or microtiter plates. Typically, these dimensions correspond to the standardized microplate dimensions developed by the Society for Biomolecular Screening (SBS) and officially adopted by the American National Standards Institute (ANSI) as described in, e.g., ANSI/SBS 1-2004 (microplate footprint dimensions), ANSI/SBS 2-2004 (microplate height dimensions), ANSI/SBS 3-2004 (bottom outside flange dimensions), and ANSI/SBS 4-2004 (microplate well positions), which are each incorporated by reference. Other containers, such as certain cell culture flasks (see, e.g., U.S. Pat. Pub. No. 2007/0031936, entitled "CELL CULTURE FLASKS, SYSTEMS, AND METHODS FOR AUTOMATED PROCESSING," by Chang et al., which is incorporated by reference) can also include one or more microplate dimensions, such as footprint and height dimensions.

[0034] The term "passive movement mechanism" refers to a device, or component thereof, that moves without substantial, if any, resistance only under the influence of an applied external force. In certain embodiments, for example, the grippers described herein include passive movement mechanisms in the form of linear bearings, which extend along the vertical or z-axis under the influence of a gravitational force and contract along the same axis under the influence of an external force applied by robots, as the robots continue to move downward after the stops of the grippers have contacted top surfaces of objects. [0035] The term "vertical" refers to a plane that is approximately perpendicular a plane of a horizontal or supporting surface.

[0036] The "x-axis" refers to an axis in a three-dimensional rectangular coordinate system that is substantially parallel to a horizontal plane and approximately perpendicular to both the y-and z-axes.

[0037] The "y-axis" refers to an axis in a three-dimensional rectangular coordinate system that is substantially parallel to a horizontal plane and approximately perpendicular to both the x-and z-axes.

[0038] The "z-axis" refers to an axis in a three-dimensional rectangular coordinate system that is substantially parallel to a vertical plane and approximately perpendicular to both the x-and y axes.

IL GRIPPERS AND GRIPPER SYSTEMS

[0039] The present invention provides grippers and gripper systems that can grip and manipulate objects with greater accuracy and throughput than many preexisting technologies. In certain embodiments, for example, the grippers described herein are designed to grip and lift microplates or microplate sized flasks in a vertical orientation. Vertical gripper systems can be used, for example, to robotically load plates and flasks of this type in bottom reading plate imagers or other system components. Inside imaging components of this type, the sample containers are typically placed either directly on a glass surface or a carrier mechanism that is positioned directly above a glass surface. Care needs to be taken when a container is robotically loaded or placed into these imaging components so that the reader loading surface is not subjected to excessive force applied by the robot. Excessive forces applied by robotic loading systems are typically caused by user error (e.g., attempting to robotically load a microplate into an imaging reader before a previously loaded plate has been removed from the reader, improperly taught or calibrated robotic positions, etc.) or by various system errors, including erratic robotic motions due to system malfunctions.

[0040] Many preexisting vertical robotic gripper systems have a number of drawbacks that make them ill-suited to reliably perform precise object gripping and translocation applications. For example, many of these systems use simple semi-rigid arms that include fixed friction pads or sharp points. This typically requires the motion of the arms of these systems along horizontal axes to be calibrated with very high accuracy. Moreover, the vertical position of a gripper in these types of systems is commonly an open loop calibration point. In other words, the vertical positioning of grippers in these systems operates with little, if any, feedback from the gripping processes in which they are involved. Accordingly, the movement and positioning of these gripper systems along vertical axes must also typically be calibrated with very low tolerance. These limitations also make it difficult for these systems to readily accommodate variability in the dimensions of a given type of object, e.g., resulting from imprecise manufacturing processes used to produce the object.

[0041] In contrast, the grippers and related systems described herein can reliably and accurately grip and translocate objects with less complex and more robust position calibration processes than many preexisting robotic gripper systems. The grippers and related systems of the present invention can also typically readily grip, e.g., different objects having variable dimensions (e.g., differing heights, etc.), and a given type of object (e.g., a microplate, a flask having microplate dimensions, etc.), even when there is some dimensional variability among objects of that particular type, without having to re-calibrate associated robotic motion. Furthermore, aside from not dropping or mis-gripping objects, the gripper systems described herein prevent damage to system components, e.g., due to user error or motion malfunctions.

[0042] Referring initially to Figures 1 A-D, which show front, side, back, and perspective views, respectively, of gripper 100 attached to robotic arm 102 according to one embodiment of the invention. As shown, gripper 100 includes arms 104 operably connected to actuator 106 and structured to move towards and away from each other along an x-axis. In certain embodiments, gripper arms are structured to move along a y-axis, whereas in still other exemplary embodiments, grippers include a first pair of arms that are structured to move towards and away from each other along an x-axis and a second pair of arms that structured to move towards and away from each other along a y-axis. Actuator 106 (e.g., a pneumatically driven actuator) is operably connected to passive movement mechanism 108 (shown as including a linear bearing) via support structure 110.

[0043] Passive movement mechanism 108 is attached to robotic arm 102 and is structured to passively move along a z-axis. In other words, passive movement mechanism 108 provides for a certain degree of lost motion or play along the z-axis. This lost motion or play enables the z-axis position of microplate 114 to be determined without having to tightly control or calibrate the distance (e.g., to within fractions of a millimeter) that robotic arm 102 moves along the z-axis in order to contact top surface of microplate 114. Further, the lost motion provided by passive movement mechanism 108 also permits the determination of z-axis positions of microplates or other containers having differing top surface heights, e.g., whether due to variability introduced by imprecise container fabrication processes or by design. As also shown, gripper 100 also includes stops 112 operably connected to support structure 110. In some embodiments, stops are attached to the gripper arms. In these embodiments, the stops slide across the top surfaces of objects being gripped when the gripper arms are actuated. In certain cases, this sliding contact is undesirable as the friction between the stops and the object may interfere with the closing or opening of the gripper arms. However, this form of friction can be compensated for by fabricating the contact components of the stops to include rolling (e.g., rollers, etc.) or low friction (e.g., TEFLON® coatings, etc.) elements to facilitate the sliding motion, but these formats are typically more complex and expensive to construct than embodiments in which the stops are not attached to the gripper arms. In addition, gripper 100 also includes proximity sensor 126 operably to configured passive movement mechanism 108. Proximity sensor 126 is configured to detect movement of passive movement mechanism 108, e.g., when robotic arm 102 moves passive movement mechanism 108 beyond a selected distance. The operation of each of these gripper components is also described further below.

[0044] Essentially any passive movement mechanism or lost motion device can be adapted for use in the grippers described herein. As mentioned above, in certain embodiments, passive movement mechanisms comprise linear bearings. Suitable linear bearings are available from various commercial suppliers, including THK America, Inc. (Schaumburg, IL, USA), Danaher Motion (Wood Dale, IL, USA), and Nook Industries, Inc. (Cleveland, OH, USA), among many others.

[0045] To further illustrate, Figure IE schematically shows a detailed view of contact components of gripper 100 contacting surfaces of microplate 114. More specifically, arms 104 include first contact components 116 (shown as pointed plungers) that are structured to contact side surfaces 118 of microplate 114. Figure IF further schematically depicts a detailed cross-sectional view of first contact component 116 contacting side surfaces 118 of microplate 114. As shown, first contact component 116 is coupled to arm 104 via resilient coupling 124 (shown as a flat spring). This resiliency reduces the arm positioning accuracy that would otherwise typically be needed to securely grasp such objects. This resiliency also permits certain dimensional irregularities in the side surfaces of objects to be readily accommodated. As further shown, each stop 112 includes second contact component 120 (shown as an integrally fabricated points) that is structured to contact top surface 122 of microplate 114. In certain embodiments, even greater flexibility is provided when the contact components of gripper stops are resiliently coupled to the stops, because, for example, top surface height variability of a given container is then also readily accounted for when objects are gripped. In some of these embodiments, for example, stops include cavities that are fabricated to receive and retain contact components in the form of pointed plungers backed by resilient couplings in the form of springs. Although not shown, for example, in Figures 1 E and F, contact components include pivot members that facilitate the alignment of contact components with object surfaces in some embodiments.

[0046] The grippers of the invention are typically operably connected to robots, which effect gripper movement. To illustrate, Figures 2 A and B schematically show back and cross-sectional views gripper 100 operably connected to robot 128 via robotic arm 102. As shown, robot 128 is configured to reversibly move gripper 100 along a z-axis. As also shown, robot 128 also includes container positioning component 130, which is configured to extend and retract along an x-axis. Container positioning component 130 (shown in a retracted position) is structured to receive and position microplate 114, when container positioning component 130 is moved into an extended position along the x-axis. During operation, microplates or other containers having, e.g., microplate height and footprint dimensions are typically manually or robotically placed on or removed from container positioning component 130 while in an extended position. Other exemplary robotic gripping systems that can be used to perform these container translocation processes to and from container positioning component 130 are described in, e.g., U.S. Pat. No. 6,592,324, entitled "GRIPPER MECHANISM" issued to Downs et al. on July 15, 2003 and U.S. Pat. No. 6,932,557, entitled "GRIPPER MECHANISMS, APPARATUS, AND METHODS" issued to Downs et al. on August 23, 2005, which are both incorporated by reference. Once positioned on an extended container positioning component 130, these containers are then typically gripped and translocated by gripper 100. Methods of gripping containers with the grippers described herein are described further below.

[0047] Grippers or component parts are optionally formed by various fabrication techniques or combinations of such techniques including, e.g., milling, machining, welding, stamping, engraving, injection molding, cast molding, embossing, extrusion, etching (e.g., electrochemical etching, etc.), or other techniques. These and other suitable fabrication techniques are generally known in the art and described in, e.g., Altintas, Manufacturing Automation: Metal Cutting Mechanics, Machine Tool Vibrations, and CNC Design, Cambridge University Press (2000), Molinari et al. (Eds.), Metal Cutting and High Speed Machining, Kluwer Academic Publishers (2002), Stephenson et al., Metal Cutting Theory and Practice, Marcel Dekker (1997), Rosato, Injection Molding Handbook, 3rd Ed., Kluwer Academic Publishers (2000), Fundamentals of Injection Molding, W. J. T. Associates (2000), Whelan, Injection Molding of Thermoplastics Materials, Vol. 2, Chapman & Hall (1991), Fisher, Extrusion of Plastics, Halsted Press (1976), and Chung, Extrusion of Polymers: Theory and Practice, Hanser- Gardner Publications (2000), which are each incorporated by reference. In certain embodiments, following fabrication, device components or portions thereof are optionally further processed, e.g., by coating surfaces with a hydrophilic coating, a hydrophobic coating (e.g., a Xylan 1010DF/870 Black coating available from Whitford Corporation (West Chester, PA, USA), epoxy powder coatings available from DuPont Powder Coatings USA, Inc. (Houston, TX, USA), polytetrafluoroethylene (TEFLON™)), or the like, e.g., to prevent interactions between component surfaces and reagents, samples, or the like, to provide a desired appearance, and/or the like.

[0048] Gripper component fabrication materials are generally selected according to properties, such as durability, expense, or the like. In certain embodiments, these components are fabricated from various metallic materials, such as stainless steel, anodized aluminum, or the like. Optionally, gripper components are fabricated at least in part from polymeric materials such as, polyetheretherketone (PEEK), polytetrafluoroethylene (TEFLON™), polypropylene, polystyrene, polysulfone, polyethylene, polymethylpentene, polydimethylsiloxane (PDMS), polycarbonate, polyvinylchloride (PVC), polymethylmethacrylate (PMMA), or the like. In addition, certain component parts are typically assembled using various attachment methods, e.g., welding, bonding, adhering, bolting, riveting, etc.

[0049] The grippers described herein are typically included as components of systems to effect object translocation within these systems. In certain embodiments, for example, these systems include robotic gripper components that are configured to move containers (e.g., microplates, cell culture flasks, etc.) to and from other system processing components, such as analytic devices, synthetic components, container storage/incubation devices, and the like.

[0050] The analytic and synthetic components used in the systems of the invention include various embodiments. For example, an analytic component typically includes at least one detection device that is structured to detect detectable signals produced, e.g., in or proximal to another component of the system (e.g., in the wells of a microplate, in a cell culture flask, etc.). Suitable signal detectors that are optionally utilized in these systems detect, e.g., fluorescence, phosphorescence, radioactivity, mass, concentration, pH, charge, absorbance, refractive index, luminescence, temperature, magnetism, or the like. Detectors optionally monitor one or a plurality of signals from upstream and/or downstream of the performance of, e.g., a given assay step. For example, the detector optionally monitors a plurality of optical signals, which correspond in position to "real time" results. Example detectors or sensors include photomultiplier tubes, CCD arrays, optical sensors, temperature sensors, pressure sensors, pH sensors, conductivity sensors, scanning detectors, or the like. Each of these as well as other types of sensors is optionally readily incorporated into the systems described herein. Optionally, the systems of the present invention include multiple detectors.

[0051] Essentially any analytic component can be utilized or adapted for use in the systems of the invention. Certain exemplary analytic components that are optionally utilized in these systems include, e.g., a liquid chromatography column, a gel electrophoresis column, a electrochromatography column, a resonance light scattering detector, an emission spectroscope, a fluorescence spectroscope, a phosphorescence spectroscope, a luminescence spectroscope, a spectrophotometer, a photometer, a calorimeter, a mass spectrometer, a nuclear magnetic resonance spectrometer, an electron paramagnetic resonance spectrometer, an electron spin resonance spectroscope, a turbidimeter, a nephelometer, a Raman spectroscope, a refractometer, an interferometer, an x-ray diffraction analyzer, an electron diffraction analyzer, a polarimeter, an optical rotary dispersion analyzer, a circular dichroism spectrometer, a potentiometer, a chronopotentiometer, a coulometer, an amperometer, a conductometer, a gravimeter, a thermal gravimeter, a titrimeter, a differential scanning colorimeter, a radioactive activation analyzer, a radioactive isotopic dilution analyzer, or the like. Analytic components that are optionally included in the systems of the invention are th described further in, e.g., Skoog et al., Principles of Instrumental Analysis, 5 Ed., Harcourt Brace College Publishers (1998) and Currell, Analytical Instrumentation: Performance Characteristics and Quality, John Wiley & Sons, Inc. (2000), which are both incorporated by reference. [0052] Various synthetic components are also utilized or adapted for use in the systems of the invention. To illustrate, synthetic components, such as reaction blocks, fluid dispensers, fluid manifolding devices, or the like are optionally used as components of the systems described herein. In one embodiment, for example, systems are used to perform combinatorial or parallel synthesis reactions in reaction blocks that are gripped and translocated by the robotic gripper components described herein. Exemplary reaction blocks that are optionally utilized in the systems of the invention are described further in, e.g., U.S. Pat. No. 6,682,703, entitled "PARALLEL REACTION DEVICES," issued January 27, 2004 to Micklash II et al., while exemplary fluid dispensing and manifolding devices as well as other adaptable system components are described further in, e.g., U.S. Pat. No. 6,827,113, entitled "MASSIVELY PARALLEL FLUID DISPENSING SYSTEMS AND METHODS," issued December 7, 2004 to Downs et al., U.S. Pat. No. 6,659,142, entitled "APPARATUS AND METHOD FOR PREPARING FLUID MIXTURES," issued December 9, 2003 to Downs et al., U.S. Patent Publication No. 2003/0175164, entitled "DEVICES, SYSTEMS, AND METHODS OF MANIFOLDING MATERIALS," filed January 24, 2003 by Micklash II et al., U.S. Patent Publication No. 2006/0257999, entitled "COMPOUND PROFILING DEVICES, SYSTEMS, AND RELATED METHODS", filed March 22, 2006 by Chang et al., U.S. Patent Publication No. 2006/0002824, entitled "DISPENSING SYSTEMS, SOFTWARE, AND RELATED METHODS," filed June 6, 2005 by Chang et al., U.S. Patent Publication No. 2006/0051247, entitled "MULTI- WELL CONTAINER PROCESSING SYSTEMS, SYSTEM COMPONENTS, AND RELATED METHODS," filed August 3, 2005 by Micklash II et al., U.S. Patent Publication No. 2005/0163637, entitled "MATERIAL CONVEYING SYSTEMS, COMPUTER PROGRAM PRODUCTS, AND METHODS," filed December 1, 2004 by Chang et al., U.S. Patent Publication No. 2003/0031602, entitled "HIGH THROUGHPUT INCUBATION DEVICES," filed July 18, 2002 by Weselak et al., and U.S. Patent Publication No. 2007/0105214, entitled "AUTOMATED CELLULAR ASSAYING SYSTEMS AND RELATED COMPONENTS AND METHODS," filed November 9, 2005 by Micklash II et al., which are each incorporated by reference.

[0053] To further illustrate an exemplary system of the invention, Figure 3 schematically shows system 300 that includes robotic gripper component 302 and imaging component 304 (e.g., a microplate imaging reader). As shown, robotic gripper component 302 is configured to move microplate 114 along the z-axis between container positioning component 130 and container positioning component 306 of imaging component 304. A large variety of commercially available imaging components are optionally adapted for use in the systems of the invention, including Evotec Technologies' Opera™ confocal microplate imaging reader (PerkinElmer Life And Analytical Sciences, Inc., Waltham, MA, USA), Molecular Devices Corporation's ImageXpress Micro and ImageXpress Ultra cellular imaging systems (Molecular Devices Corporation, Sunnyvale, CA, USA), Cellomics' KineticScan HCS Reader (Cellomics Inc., Pittsburgh, PA, USA), Beckman Coulter's Cell Lab Quanta™ systems (Beckman Coulter, Inc., Fullerton, CA, USA), Li-Cor's Aerius™ Automated Infrared Imaging System (Li-Cor Biosciences, Lincoln, NE, USA), and Tecan's microplate readers (Tecan US, Durham, NC, USA), among many others. In addition, essentially any robot can be adapted for use with the grippers described herein. Exemplary suppliers of such robots include Staubli Corporation (Duncan, SC, USA).

[0054] The systems of the invention also typically include controllers that are operably connected to, e.g., actuators, motors or motor drives, feedback mechanisms (e.g., proximity sensors, etc.), pumps, and/or to other additional system components that may be included in a given system (e.g., assaying components, cell culture components, material handling components, removal components, dispensing components, incubation components, container storage components, detection components, etc.) to control or regulate the operation of those components. More specifically, controllers are generally included either as separate or integral system components that are utilized, e.g., to move grippers along a vertical axis, to move gripper arms along a horizontal axis, to stop system movement with a passive movement mechanism moves beyond a pre-set distance, etc. Controllers and/or other system components is/are optionally coupled to an appropriately programmed processor, computer, digital device, or other information appliance (e.g., including an analog to digital or digital to analog converter as needed), which functions to instruct the operation of these instruments in accordance with preprogrammed or user input instructions, receive data and information from these instruments, and interpret, manipulate and report this information to the user.

[0055] Any controller or computer optionally includes a monitor that is often a cathode ray tube ("CRT") display, a flat panel display (e.g., active matrix liquid crystal display, liquid crystal display, etc.), or others. Computer circuitry is often placed in a box, which includes numerous integrated circuit chips, such as a microprocessor, memory, interface circuits, and others. The box also optionally includes a hard disk drive, a floppy disk drive, a high capacity removable drive such as a writeable CD-ROM, and other common peripheral elements. Inputting devices such as a keyboard or mouse optionally provide for input from a user. An exemplary computer is schematically shown in Figure 4, which is described further below.

[0056] The computer typically includes appropriate software for receiving user instructions, either in the form of user input into a set of parameter fields, e.g., in a GUI, or in the form of preprogrammed instructions, e.g., preprogrammed for a variety of different specific operations. The software then converts these instructions to appropriate language for instructing the operation of one or more controllers to carry out the desired operation, e.g., varying or selecting the rate or mode of movement of various system components or the like. The computer then receives the data from, e.g., sensors/detectors, such as proximity sensors included within the system, and interprets the data, either provides it in a user understood format, or uses that data to initiate further controller instructions, in accordance with the programming, e.g., such as halting further system movement if a proximity sensor detects the movement of a passive movement mechanism beyond a selected distance.

[0057] To further illustrate, the systems of the invention generally include system software that effects the control of vertical movement of the gripper and the horizontal movement of the gripper arms. For example, the software typically includes logic instructions for receiving user input in the form of parameter selections. Types of selectable parameters that are generally included are, e.g., distances or rates of gripper and gripper arm movement, locations to translocate objects between, and the like. Other exemplary logic instructions typically included as part of system software are those which direct the movement of robotic arms along z-axes, the movement gripper arms along x-and/or y-axes, the movement of container positioning components, and/or the detection of detectable signals in containers by detection components (e.g., imaging components to image the contents of containers, etc.).

[0058] The computer can be, e.g., a PC (Intel x86 or Pentium chip-compatible DOS™,

OS2™, WINDOWS™, WINDOWS NT™, WINDOWS2000™, WINDOWS XP™, WINDOWS VISTA™, LINUX-based machine, a MACINTOSH™, Power PC, or a UNIX-based (e.g., SUN™ work station) machine) or other common commercially available computer that is known to one of skill in the art. Standard desktop applications such as word processing software (e.g., Microsoft Word™ or Corel WordPerfect™) and database software (e.g., spreadsheet software such as Microsoft Excel™, Corel Quattro Pro™, or database programs such as Microsoft Access™ or Paradox™) can be adapted to the present invention. Software for performing, e.g., robotic arm movement, gripper arm movement, detector operation, etc. is optionally constructed by one of skill in the art using a standard programming language such as AppleScript, C, C+, Perl, Visual basic, Fortran, Basic, Java, or the like.

[0059] To further illustrate aspects of the invention, Figure 4 provides a schematic showing a representative system that includes imaging system 300 and a logic device in which various aspects of the present invention may be embodied. As will be understood by practitioners in the art from the teachings provided herein, the invention is optionally implemented in hardware and software. In some embodiments, different aspects of the invention are implemented in either client-side logic or server-side logic. As will also be understood in the art, the invention or components thereof may be embodied in a media program component (e.g., a fixed media component) containing logic instructions and/or data (e.g., component movement rates and distances, etc.) that, when loaded into an appropriately configured computing device, cause that apparatus or system to perform according to the invention. As will further be understood in the art, a fixed media containing logic instructions may be delivered to a viewer on a fixed media for physically loading into a viewer's computer or a fixed media containing logic instructions may reside on a remote server that a viewer accesses through a communication medium in order to download a program component.

[0060] In particular, Figure 4 shows information appliance or digital device 400 that may be understood as a logical apparatus (e.g., a computer, etc.) that can read instructions from media 402 and/or network port 404, which can optionally be connected to server/controller 406 having fixed media 408. Digital device 400 can thereafter use those instructions to direct server or client logic, as understood in the art, to embody aspects of the invention. One type of logical apparatus that may embody aspects of the invention is a computer system as illustrated in 400, containing CPU 410, optional input devices 412 and 414, disk drives 416 and optional monitor 418. Fixed media 402, or fixed media 408 over port 404, may be used to program such a system and may represent a disk-type optical or magnetic media, magnetic tape, solid state dynamic or static memory, or the like. In specific embodiments, aspects of the invention may be embodied in whole or in part as software recorded on this fixed media. Communication port 404 may also be used to initially receive instructions that are used to program such a system and may represent any type of communication connection. Optionally, aspects of the invention are embodied in whole or in part within the circuitry of an application specific integrated circuit (ACIS) or a programmable logic device (PLD). In such a case, aspects of the invention may be embodied in a computer understandable descriptor language, which may be used to create an ASIC or PLD.

[0061] Figure 4 also includes automated system 300 as described herein. As shown, server/controller 406 is further operably connected to system 300. Optionally, system 300 is directly connected to digital device 400. During operation, system 300 typically moves containers such as microplates or cell culture flasks to and from the container positioning component of the system's imaging component. Digital device 400 typically digitizes, stores, and manipulates signal information detected by the imaging component using one or more logic instructions.

III. GRIPPING METHODS

[0062] The invention also provides various methods of gripping and translocating objects using the grippers described herein. In certain embodiments, for example, the invention provides methods of dynamically and accurately locating and gripping objects that include determining the z-axis positions of the objects prior to determining the x-and/or y-axis positions of the objects. One such embodiment is schematically illustrated in Figures 5A-H. As shown, Figure 5A schematically illustrates a perspective view of gripper 100 with arms 104 in an open position above microplate 114 positioned on container positioning component 130 in an extended position. Typically, another robotic gripper mechanism places microplate 114 on container positioning component 130 either before or after container positioning component 130 is moved into the extended position shown. In the position of robotic arm 102 shown in Figure 5 A, for example, passive movement mechanism 108 is in a fully extended position along the z-axis under the influence of gravity.

[0063] As the exemplary gripping method proceeds, robotic arm 102 lowers gripper

100 with arms 104 in an open position along the z-axis such that the contact components of stops 112 contact the top surface of microplate 114, thereby determining the z-axis position of microplate 114. This step of the process is schematically depicted in Figure 5B, where the motion of robotic arm 102 along the z-axis is represented by arrow A. After the contact components of stops 112 contact a top surface of microplate 114, robotic arm 102 typically continues to move downward along the z-axis a predetermined distance (e.g., 5-10 mm). This causes gripper 100 to remain in a stationary position relative to microplate 114, but robotic arm 102 moves closer to arms 104 due to the motion (represented by arrow B in Figure 5B) of passive movement mechanism 108 induced by the motion of robotic arm 102 during this step of the process. In other words, passive movement mechanism 108 permits robotic arm 102 to move further down along the z-axis after the contact components of stops 112 contact the top surface of microplate 114 without stops 112 and arms 104 of gripper 100 moving further along the z-axis. The lost motion or play provided by passive movement mechanism 108 enables the z-axis position of microplate 114 to be determined without having to tightly control or calibrate the distance (e.g., to within fractions of a millimeter) that robotic arm 102 moves along the z-axis in order to contact top surface of microplate 114. The lost motion provided by passive movement mechanism 108 also permits the z-axis positions of microplates or other containers having differing top surface heights, e.g., due to variability introduced by imprecise container fabrication processes or to different container designs. For example, microtitre plates can be manufactured with a variety of well bottom materials, from polypropylene to glass to film. The overall plate height can be impacted by the type of bottom used on a plate. The lost motion of the grippers described herein allows the gripper systems of the invention to handle a variety of plate types (and the corresponding potential variety of heights) without the need to reprogram the "pick up height" that the robot moves to on the z-axis. As long as the plates' heights fit within the start of the z-axis lost motion and the "overtravel" condition (as detected by proximity sensor 126, which is described further below), the gripper assembly works seamlessly with essentially any plate, regardless of height. Furthermore, even greater flexibility is provided when the contact components of gripper stops are resiliently coupled to the stops, because top surface height variability of a given container is then also readily accounted for in this object gripping method. In some of these embodiments, as mentioned above, stops include cavities that are fabricated to receive contact components in the form of pointed plungers backed by resilient couplings in the form of springs.

[0064] Once the z-axis position of microplate 114 has been determined as described above, arms 104 of gripper 100 move towards one another along the x-axis a selected distance until the resiliently coupled contact components of arms 104 contact side surfaces of microplate 114 such that arms 104 are in a closed position, thereby gripping and determining the x-axis position of microplate 114. This step of the process is schematically illustrated in Figure 5 C in which gripper 100 is shown from a front view and the motion of arms 104 along the x-axis is represented by arrows A. To further illustrate, Figure 5D schematically depicts a perspective view of the gripper 100 with arms in 104 in a closed position. The play provided by resiliently coupled contact components of arms 104 permits the x-axis position of microplate 114 to be determined without having to closely control or calibrate the distance (e.g., to within fractions of a millimeter) that arms 104 move along the x-axis in order to securely contact the side surfaces of microplate 114. This resiliency also allows possible dimensional variability in the side surfaces of microplates or other containers to be readily accommodated in this gripping process.

[0065] If the motion of robot 128 is incorrectly calibrated or if gripper 100 encounters an obstruction during its downward motion along the z-axis, robotic arm 102 may move closer to arms 104 and stops 112 than intended via the induced motion in passive movement mechanism 108. In this event, proximity sensor 126 detects this over travel and further motion of, e.g., robotic arm 102 is halted to prevent damage to gripper 100, microplate 114, or other system components. This state is schematically depicted in Figures 5 E and F from front and perspective views, respectively.

[0066] Once microplate 114 is gripped as described above, robotic arm 102 typically ascends along the z-axis to a position in which microplate 114 is lifted off of container positioning component 130. This is schematically shown in Figures 5 G and H from front and perspective views, respectively, in which arrow A represents the motion of robotic arm 102 along the z-axis. After microplate 114 is removed from container positioning component 130 in this manner, container positioning component 130 is typically retracted to move it out of the travel path of robotic arm 102 and gripper 100. Thereafter, robotic arm 102 can move gripped microplate 114 to another location, such as to a container positioning component of an imaging component positioned below robot 128 so that the contents of microplate 114 can be imaged.

[0067] While the foregoing invention has been described in some detail for purposes of clarity and understanding, it will be clear to one skilled in the art from a reading of this disclosure that various changes in form and detail can be made without departing from the true scope of the invention. For example, all the techniques and apparatus described above can be used in various combinations. All publications, patents, patent applications, and/or other documents cited in this application are incorporated by reference in their entirety for all purposes to the same extent as if each individual publication, patent, patent application, and/or other document were individually indicated to be incorporated by reference for all purposes.

Claims

CLAIMSWHAT IS CLAIMED IS:

1. A gripper structured to grip an object that comprises at least two opposing side surfaces and at least one top surface, the gripper comprising: at least one passive movement mechanism structured to at least passively move along a z- axis; at least two arms operably connected to the passive movement mechanism and structured to move towards and away from each other along an x-and/or y-axis, wherein each arm comprises at least a first contact component that is structured to contact one of the side surfaces of the object when the arms are moved towards one another; at least one stop operably connected to the passive movement mechanism and/or to at least one of the arms, wherein the stop comprises at least a second contact component that is structured to contact the top surface of the object when the gripper is moved towards the object; and, at least one resilient coupling that couples at least one of the first and second contact components to the arms and/or the stop.

2. The gripper of claim 1, wherein the passive movement mechanism comprises a linear bearing.

3. The gripper of claim 1, wherein the arms are operably connected to an actuator that is configured to move the arms towards and away from each other along the x-and/or y-axis.

4. The gripper of claim 1, wherein the arms and the stop are operably connected to the passive movement mechanism via at least one support structure.

5. The gripper of claim 1, wherein the first contact components are structured to determine the x-and/or y-axis position of the object when the gripper grips the object.

6. The gripper of claim 1, wherein each arm comprises at least two first contact components.

7. The gripper of claim 1, wherein the second contact component comprises a roller.

8. The gripper of claim 1, wherein the second contact component is structured to passively determine the z-axis position of the object when the second contact component contacts the top surface of the object.

9. The gripper of claim 1, comprising two stops.

10. The gripper of claim 1, wherein the arms and the stop are together structured to grip an object having one or more microplate dimensions.

11. The gripper of claim 1, comprising at least one proximity sensor operably connected to the passive movement mechanism and configured to detect movement of the passive movement mechanism.

12. The gripper of claim 1, wherein the first and/or second contact component comprises a pointed plunger.

13. The gripper of claim 12, wherein the resilient coupling comprises a spring.

14. The gripper of claim 1, wherein the gripper is operably connected to a robot.

15. The gripper of claim 14, comprising at least one controller operably connected to the gripper and to the robot, and configured to control movement of the gripper and the robot.

16. The gripper of claim 15, wherein the controller comprises at least one logic device having one or more logic instructions that direct the gripper or the robot to: move the arms away from one another along the x-and/or y-axis into an open position; move the gripper along the z-axis such that the second contact component of the stop contacts, or is removed from contact with, the top surface of the object; move the passive movement mechanism along the z-axis a selected distance after the second contact component of the stop contacts the top surface of the object; move the arms towards one another along the x-and/or y-axis into a closed position such that the first contact components of the arms contact the side surfaces of the object; move the object when the gripper grips the object from a first position to a second position; and/or, stop movement of the arms of the gripper or the robot, if the arms of the gripper or the robot moves beyond a selected distance.

17. A system, comprising:

(a) at least one robotic gripper component structured to grip and translocate containers that comprise one or more microplate dimensions, the robotic gripper component comprising:

(i) at least one robot; and

(ii) at least one gripper operably connected to the robot, which gripper comprises: at least one passive movement mechanism structured to move along a z- axis; at least two arms operably connected to the passive movement mechanism and structured to move towards and away from each other along an x-and/or y-axis, wherein each arm comprises at least a first contact component that is structured to contact side surfaces of the containers when the arms are moved towards one another; at least one stop operably connected to the passive movement mechanism and/or to at least one of the arms, wherein the stop comprises at least a second contact component that is structured to contact top surfaces of the containers when the gripper is moved towards the containers; and at least one resilient coupling that couples at least one of the first and second contact components to the arms and/or the stop;

(b) at least one processing component comprising at least one container positioning component; and,

(c) at least one controller operably connected to the robotic gripper component and to the processing component, which controller is configured to direct:

(i) the robotic gripper component to grip and translocate the containers to and from the container positioning component of the processing component; and

(ii) the processing component to process the containers positioned on the container positioning component.

18. The system of claim 17, wherein the passive movement mechanism comprises a linear bearing.

19. The system of claim 17, comprising at least one proximity sensor operably connected to the passive movement mechanism and to the controller, which proximity sensor configured to detect movement of the passive movement mechanism.

20. The system of claim 17, wherein the first and/or second contact component comprises a pointed plunger.

21. The system of claim 20, wherein the resilient coupling comprises a spring.

22. A method of gripping an object, the method comprising:

(a) providing a gripper comprising: at least one passive movement mechanism structured to move along a z-axis; at least two arms operably connected to the passive movement mechanism and structured to move towards and away from each other along an x-and/or y-axis, wherein each arm comprises at least a first contact component; at least one stop operably connected to the passive movement mechanism and/or to at least one of the arms, wherein the stop comprises at least a second contact component; and at least one resilient coupling that couples at least one of the first and second contact components to the arms and/or the stop;

(b) providing an object that comprises at least two opposing side surfaces and a top surface at a first position;

(c) moving the gripper along the z-axis such that the second contact component of the stop contacts the top surface of the object;

(d) moving the passive movement mechanism along the z-axis a selected distance after the second contact component of the stop contacts the top surface of the object; and,

(e) moving the arms towards one another along the x-and/or y-axis into a closed position such that the first contact components of the arms contact the side surfaces of the object, thereby gripping the object.

23. The method of claim 22, comprising (f) stopping movement of the gripper, if the arms of the gripper move beyond a selected distance.

24. The method of claim 22, comprising (f) translocating the object from the first position to a second position.

25. The method of claim 24, wherein the object comprises a container and an imaging component comprises the second position, and wherein the method comprises (g) imaging contents of the container.