ROBOTIC ARM OF AN AUTOMATED PIPETTING SYSTEM

Abstract

A robotic arm of an automated pipetting system has a pipetting tip adapter and a slide switch to detect the presence of pipetting tips on the pipetting tip adapter is disclosed. The slide switch has first support member and second support member configured to slide relative to one another between first and second positions along a movement axis, an electrically conducting contact pad arranged on the first support member, an electrically conducting terminal physically attached to second support member in physical contact with the contact pad when support members are in first position, where the terminal is a first resilient and inherently stable wiping member expanding along the movement axis, first wiping member is not in physical contact with the contact pad when support members are in second position, and an electric current can flow between first wiping member and the contact pad when support members are in first position.

Claims

1. A robotic arm (100) of an automated pipetting system comprising: a pipetting tip adapter (90) and a switch to detect the presence of pipetting tips (120) on said pipetting tip adapter (90), characterized in that the switch is a slide switch (10) comprising: a first support member (21) and a second support member (22) configured to slide relative to one another between first and second positions along a movement axis (110), an electrically conducting contact pad (30) arranged on said first support member (21), and an electrically conducting terminal (40) physically attached to said second support member (22) in physical contact with said contact pad (30) when said support members (21,22) are in the first position, whereas said terminal (40) is a first resilient and inherently stable wiping member (41) expanding along said movement axis (110), and said first wiping member (41) is not in physical contact with said contact pad (30) when said support members (21,22) are in the second position, and an electric current can flow between said first wiping member (41) and said contact pad (30) when said support members (21,22) are in the first position, and said electric current between said wiping member (41) and said contact pad (30) is disrupted when said support members (21,22) are in the second position.

2. The robotic arm (100) according to claim 1, characterized in that a second electrically conducting resilient and inherently stable wiping member (42) expanding along said movement axis (110) is physically attached to said second support member (22), said second wiping member (42) being in physical contact with said contact pad (30) so that electric current can flow between said first wiping member (41) and said second wiping member (42) across said contact pad (30) when said support members (21,22) are in the first position.

3. The robotic arm (100) according to claim 2, characterized in that said second support member (22) electrically isolates said first wiping member (41) from said second wiping member (42).

4. The robotic arm (100) according to claim 1, characterized in that the first support member (21) comprises a gliding pad (50) arranged on said first support member (21) next to but electrically isolated from said contact pad (30) by a gap (60), and so that said first wiping member (41) is in contact with said gliding pad (50) when said support members (21,22) are in the second position.

5. The robotic arm (100) according to claim 4, characterized in that said gap (60) comprises one or more gliding pads (50).

6. The robotic arm (100) according to claim 4, characterized in that said gap (60) comprises a solder mask.

7. The robotic arm (100) according to claim 4, characterized in that the surface of said contact pad (30) and said at least one gliding pad (50) are level.

8. The robotic arm (100) according to claim 1, characterized in that said first support member (21) comprises a printed circuit board.

9. The robotic arm (100) according to claim 1, characterized in that said first support member (21) and said second support member (22) comprise one or more electrical insulating materials.

10. The robotic arm (100) according to claim 1, characterized in that said first support member (21) and said second support member (22) comprise one or more of the following materials; glass, paper, polytetrafluoroethylene, rubber-like polymer, plastic.

11. The robotic arm (100) according to claim 1, characterized in that said electrically conducting contact pad (30) comprises one or more layers of electrically conducting material consisting of one or more of the following; carbon steel, stainless chrome-nickel steel, vanadium steel, iron, nickel, zinc, brass, copper, platinum, silver, hard gold.

12. The robotic arm (100) according to claim 1, characterized in that said electric current flows in an electrical signal circuit comprising said contact pad (30), said first wiping member (41), an electrical power supply (70), and an electrical detection unit (80).

13. A method of detecting the presence of a pipetting tip (120) on a tip adapter (90) in an automated pipetting system, comprising the step of: providing the robotic arm (100) according to claim 1, wherein the slide switch (10) detects the presence of a pipetting tip (120).

14. An automated pipetting system comprising a robotic arm (100) according to claim 1.

15. An automated pipetting system according to claim 14, characterized in that the robotic arm (100) detects the presence of a pipetting tip (120) on a tip adapter (90).

Description

[0044] The invention will be described in detail with respect to the drawings schematically depicting embodiments of the invention. In detail:

[0045] FIG. 1a shows a schematic full sectional view of a slide switch according to the invention in the first position, and

[0046] FIG. 1b shows a schematic full sectional view of the slide switch shown in FIG. 1a in the second position, and

[0047] FIG. 2a shows a schematic full sectional view of a slide switch with a second wiping member according to the invention in the first position, and

[0048] FIG. 2b shows a schematic full sectional view of the slide switch shown in FIG. 2a in the second position, and

[0049] FIG. 3a shows a schematic full sectional view of a slide switch with a gliding pad according to an embodiment of the invention in the first position, and

[0050] FIG. 3b shows a schematic full sectional view of a slide switch with a gliding pad shown in FIG. 2a in the second position, and

[0051] FIG. 4a shows a schematic full sectional view of a slide switch with a gliding pad and an electrical signal circuit according to an embodiment of the invention with one wiping member, and

[0052] FIG. 4b shows a schematic full sectional view of a slide switch with a gliding pad and an electrical signal circuit according to an embodiment of the invention with two wiping members, and

[0053] FIG. 5a shows layouts of contact and gliding pads on first support members according to embodiments of the invention, and

[0054] FIG. 5b shows a schematic full sectional view of a slide switch with two gliding pads according to an embodiment of the invention in the second position, and

[0055] FIG. 6 shows a schematic exploded view of the lower part of a robotic arm of an automated pipetting system comprising a pipetting tip adapter and a slide switch according to an embodiment of the invention used to detect the presence of a pipetting tip, and

[0056] FIG. 7 shows schematic side views of the lower part of a robotic arm of an automated pipetting system according to an embodiment of the invention comprising a slide switch and a pipetting tip adaptor before (left) and after (right) picking up a pipetting tip.

[0057] FIG. 1a shows a schematic full sectional view of a slide switch 10 according to the invention in the first position.

[0058] The slide switch 10 shown here comprises a first support member 21 and a second support member 22 configured to slide relative to one another between first and second positions along a movement axis 110 shown as a dashed line. A terminal 40 in the form of a first resilient and inherently stable wiping member 41 is physically attached to said second support member 22 and is in physical and electrical contact with an electrically conducting contact pad 30 when the slide switch 10 is in the first position as shown. The purpose of said second support member 22 is to hold said first wiping member 41 in place and at an even distance from the first support member 21. The contact pad 30 has to be electrically conducting at least on the surface so that an electric current can flow between said first wiping member 41 and said contact pad 30 when said support members 21,22 are in the first position as shown. The contact pad 30 may be mounted on said first support member 21, or may be formed on a printed circuit board through etching. In the embodiment shown, the contact pad 30 projects above said first support member 21.

[0059] FIG. 1b shows a schematic full sectional view of the slide switch shown in FIG. 1a in the second position. As shown the first wiping member 41 is not in physical contact with the contact pad 30 when said support members 21,22 are in the second position. Instead the first wiping member 41 is in physical contact with the first support member 21, which comprises one or more electrical insulating materials, as e.g. glass, paper, polytetrafluoroethylene, rubber-like polymer, plastic. As a result no electric current can flow between said first wiping member 41 and said contact pad 30 when said support members 21,22 are in the second position as shown.

[0060] FIG. 2a shows a schematic full sectional view of a slide switch 10 according to the invention in the first position.

[0061] The slide switch 10 shown here comprises a first support member 21 and a second support member 22 configured to slide relative to one another between first and second positions along a movement axis 110 shown as a dashed line, and a contact pad 30 attached to or an integral part of said first support member 21. A terminal 40 in the form of a first resilient wiping member 41 and a terminal 40 in the form of a second resilient wiping member 42 are physically attached to said second support member 22 and are in contact with said contact pad 30 when the slide switch 10 is in the first position as shown. According to the invention an electric current can flow between said first wiping member 41 and said contact pad 30 when said support members 21,22 are in the first position as shown. In the embodiment shown an electric current can flow between said first wiping member 41 and said second wiping member 42 through said contact pad 30 when said support members 21,22 are in the first position as shown.

[0062] The purpose of said second support member 22 is to hold both wiping members 41,42 in place and at an even distance from the first support member 21. The material of said second support member 22 has to be electrically isolating so that it does not electrically connect the first wiping member 41 with the second wiping member 42. In contrast the contact pad 30 has to be electrically conducting at least on the surface so that an electric current can flow between said first wiping member 41 and said contact pad 30 when said support members 21,22 are in the first position as shown. The contact pad 30 may be mounted on said first support member 21, or may be formed on a printed circuit board through etching. In the embodiment shown, the contact pad 30 projects above said first support member 21.

[0063] FIG. 2b shows a schematic full sectional view of the slide switch shown in FIG. 2a in the second position.

[0064] In the embodiment shown, only the second resilient wiping member 42 is in contact with said contact pad 30 when the support members 21,22 are in the second position as shown. Said first wiping member 41 has broken contact with said contact pad 30 and is in physical contact with the first support member 21, which comprises one or more electrical insulating materials. As a result no electric current can flow between said first wiping member 41 and said contact pad 30 when said support members 21,22 are in the second position as shown.

[0065] FIG. 3a shows a schematic full sectional view of a slide switch 10 with a gliding pad 50 according to an embodiment of the invention in the first position. The slide switch 10 shown here comprises a first support member 21 and a second support member 22 configured to slide relative to one another between first and second positions along a movement axis 110 shown as a dashed line. A terminal 40 in the form of a first resilient wiping member 41 and a terminal 40 in the form of a second resilient wiping member 42 are physically attached to said second support member 22 and are in contact with a contact pad 30 when the slide switch 10 is in the first position as shown. The contact pad 30 may be mounted on said first support member 21, or may be formed on a printed circuit board through etching. In the embodiment shown, the contact pad 30 projects above said first support member 21. The contact pad 30 has to be electrically conducting at least on the surface so that an electric current can flow between said first wiping member 41 and said contact pad 30 when said support members 21,22 are in the first position as shown. In the embodiment shown an electric current can flow between said first wiping member 41 and said second wiping member 42 through said contact pad 30 when said support members 21,22 are in the first position as shown. The contact pad 30 may be mounted on said first support member 21, or may be formed on a printed circuit board through etching. In the embodiment shown, the contact pad 30 as well as the gliding pad 50 project above said first support member 21 and are level.

[0066] FIG. 3b shows a schematic full sectional view of the slide switch 10 with a gliding pad 50 shown in FIG. 3a in the second position.

[0067] As shown the first wiping member 41 is not in physical contact with the contact pad 30 when said support members 21,22 are in the second position. Instead the first wiping member 41 is in physical contact with the gliding pad 50. The contact pad 30 and gliding pad 50 are spatially separated forming a gap 60. According to the invention said gap 60 may comprise a solder mask. Also the first support member 21 may comprise one or more additional gliding pads 50. This can be in the form of a protective element in said gap 60 as shown in FIG. 5. According to the invention the gliding pad 50 is electrically isolated from said contact pad 30, no electric current can flow between said first wiping member 41 and said contact pad 30 when said support members 21,22 are in the second position as shown.

[0068] FIG. 4a shows a schematic full sectional view of a slide switch 10 with two terminals 40, a gliding pad 50, and an electrical signal circuit according to an embodiment of the invention where the support members 21,22 are in the first position. A terminal 40 in the form of a first resilient wiping member 41 and a terminal 40 in the form of a second resilient wiping member 42 are physically attached to a second support member 22 and are in contact with the contact pad 30 when the slide switch 10 is in the first position as shown. According to the invention an electric current can flow between said first wiping member 41 and said contact pad 30 in the first position as shown. In the embodiment shown an electric current can flow between said first wiping member 41 and said second wiping member 42 through said contact pad 30. When said support members 21,22 are in the first position as shown, the electrical signal circuit comprising an electrical power supply 70 and an electrical detection unit 80 is therefore closed.

[0069] FIG. 4b shows a schematic full sectional view of a slide switch 10 with one terminal 40, a gliding pad 50, and an electrical signal circuit according to an embodiment of the invention where the support members 21,22 are in the first position. The terminal 40 is in the form of a first resilient wiping member 41 and is physically attached to said second support member 22 and is in contact with a contact pad 30 when the slide switch 10 is in the first position as shown. According to the invention an electric current can flow between said first wiping member 41 and said contact pad 30 in the first position as shown. The electrical signal circuit comprising an electrical power supply 70 and an electrical detection unit 80 is therefore closed.

[0070] FIG. 5a shows layouts of contact pads 30 and gliding pads 50 on first support members 21 according to embodiments of the invention. The contact pad 30 and one or more gliding pads 50 are spatially separated forming one or more gaps 60. The gaps 60 are formed with the intention to electrically isolate the contact pad 30 from the one or more gliding pads 50. At the same time it is important that the gap 60 is not too wide to reduce abrasion of the first support member 21, the one terminal 40 in the form of a first resilient wiping member 41, and the other terminal 40 in the form of a second resilient wiping member 42. To further reduce the gap width without the risk of bridging the pads, two or more gliding pads 50 can be used, one of which is placed spatially separated in between the contact pad 30 and the gliding pad 50, as can be seen in the two lower examples in FIG. 4a. The gap 60 may be arranged in a straight line perpendicular to or at any angle to the contact pad 30 as shown here, or may have any other shape minimizing the force that has to be applied to the first resilient wiping member to cross the gap. The material of the gap is normally the material of the first support member 21, which can be the material of a printed circuit board or any other electrically isolating material. To further reduce abrasion, the gap 60 may comprise a solder mask.

[0071] FIG. 5b shows a schematic full sectional view of a slide switch 10 with two gliding pads 50 according to an embodiment of the invention. The gliding pads 50 are arranged next to but electrically isolated from said contact pad 30 so that two gaps 60 are formed. The gaps 60 electrically isolate the contact pad 30 from the one or more gliding pads 50. At the same time it is important that the gap 60 is not too wide to reduce abrasion of the first support member 21, the one terminal 40 in the form of a first resilient wiping member 41, and the other terminal 40 in the form of a second resilient wiping member 42.

[0072] As shown when said support members 21,22 are in the second position, the first wiping member 41 is in contact with the gliding pad 50 and has broken contact with said contact pad 30. As a result no electric current can flow between said first wiping member 41 and said contact pad 30.

[0073] In the embodiment shown here, the surfaces of the contact pad 30 and the gliding pads 50 are level.

[0074] FIG. 6 shows a schematic exploded view of the lower part of a robotic arm 100 of an automated pipetting system comprising a pipetting tip adapter 90 and a slide switch 10 according to an embodiment of the invention used to detect the presence of a pipetting tip 120 on said tip adapter 90.

[0075] The slide switch 10 shown here comprises a first support member 21 configured to slide between first and second positions including a contact pad 30 arranged on said first support member 21, and a first wiping member 41 and a second wiping member 42 that are both resilient and in contact with said contact pad 30 when said first support member 21 is in the first position, such that an electric current can flow between said first wiping member 41 and said contact pad 30, and that an electric current can flow between said first wiping member 41 and said second wiping member 42 through said contact pad 30, and such that the first wiping member 41 breaks contact with said contact pad 30 when said first support member 21 slides to the second position, in which no electric current can flow between said first wiping member 41.

[0076] Here the first support member 21 comprises a gliding pad 50 arranged next to but electrically isolated from said contact pad 30. The contact pad 30 and gliding pad 50 are spatially separated forming a gap 60. According to the invention said gap 60 may comprise a solder mask. Also the first support member 21 may comprise one or more additional gliding pads 50, which can be placed in said gap 60 as a protective element (not shown). The first wiping member 41 and the second wiping member 42 are physically attached to a second support member 22, which holds both wiping members in place and at an even distance from the contact pad 30 and gliding pad 50. The material of the second support member 22 has to be electrically isolating so that it does not electrically connect the first wiping member 41 with the second wiping member 42. In contrast the contact pad 30 has to be electrically conducting at least on the surface so as to allow an electrical signal circuit to be closed when the first support member 21 is in the first position, and to allow an electrical signal circuit to be open when the first support member 21 is in the second position.

[0077] FIG. 7 shows schematic side views of the lower part of a robotic arm 100 of an automated pipetting system according to an embodiment of the invention comprising a slide switch 10 and a pipetting tip adaptor 90 before (left) and after (right) picking up a pipetting tip 120. The slide switch 10 shown here comprises a first support member 21 and a second support member 22 configured to slide relative to one another between first and second positions along a movement axis 110 shown as a dashed line. The slide switch 10 shown on the left is in the first position, which corresponds to the resting position of the pipetting tip adaptor 90 when no pipetting tip 120 is mounted. In this position an electric current can flow between a first wiping member 41 (not shown) and a contact pad 30 (not shown) and the electrical signal circuit comprising an electrical power supply 70 and electrical detection unit 80 is closed. When picking up a pipetting tip 120, the first support member 21 slides relative to the second support member 22 from the first position to the second position. This shift is indicated by dotted lines and an arrows. Shown on the right is the pipetting tip adaptor 90 on which a pipetting tip 120 is mounted. The slide switch 10 in this case is in the second position, in which according to the invention no electric current can flow between a first wiping member 41 (not shown) and a contact pad 30 (not shown) and the electrical signal circuit comprising an electrical power supply 70 and electrical detection unit 80 is open.

[0078] Incidentally it is also possible to implement the invention in a variety of variations in hereby shown examples and aspects of the invention highlighted above.

LIST OF REFERENCE SIGNS

[0079] 10 slide switch [0080] 21 first support member [0081] 22 second support member [0082] 30 contact pad [0083] 40 terminal [0084] 41 first resilient wiping member [0085] 42 second resilient wiping member [0086] 50 gliding pad [0087] 60 gap [0088] 70 electrical power supply [0089] 80 electrical detection unit [0090] 90 pipetting tip adaptor [0091] 100 robotic arm [0092] 110 movement axis [0093] 120 pipetting tip