Small object distribution automation

Patent metadata

Field	Value
Publication number	US-9689782-B2
Application number	US-201314414925-A
Country	US
Kind code	B2
Filing date	Jul 19, 2013
Priority date	Jul 19, 2012
Publication date	Jun 27, 2017
Grant date	Jun 27, 2017

Abstract

An automated small particle distribution system is provided for transferring small particles from source tubes to destination tubes. The system includes a loading deck that is structured and operable to store and provide a plurality of source tube trays and a plurality of destination tube trays. Each source tube tray includes a plurality of source tubes stored therein, and each destination tube tray includes a plurality of destination tubes stored therein. The system additionally includes a work deck is structured and operable to receive selected source tube trays and selected destination tube trays from the loading deck, aspirate various specified amounts of small objects stored in selected source tubes, and deposit the aspirated small objects into selected destination tubes without cross-contamination of small objects.

First claim

What is claimed is:

1. An automated small particle distribution system for transferring small particles from source tubes to destination tubes, said system comprising:
a loading deck structured and operable to store and provide a plurality of source tube trays and a plurality of destination tube trays, each source tube tray having a plurality of source tubes stored therein, and each destination tube tray having a plurality of destination tubes stored therein, the loading deck comprising:
a storage carousel structured and operable to retain the source tube trays and the destination tube trays, each source tube tray having the plurality of source tubes stored therein, and each destination tube tray having the plurality of destination tubes stored therein: and
a 6-axis robot arm structured and operable to:
remove selected source tube trays and selected destination tube trays from the storage carousel and place the removed source and destination tube trays on tray docks of the work deck, and
return the selected source tube trays and destination tube trays from the tray docks to the storage carousel; and

a work deck structured and operable to:
receive selected source tube trays and selected destination tube trays from the loading deck,
aspirate various specified amounts of small objects stored in selected source tubes, and
deposit the aspirated small objects into selected destination tubes without cross-contamination of small objects,
the work deck comprising an XYZ-axis robot structured and operable to move selected source and destination tubes, one at a time, from the selected source tube and destination tube trays to various locations of the work deck to aspirate the specified amounts of small objects from the selected source tubes and deposit the aspirated small objects into the selected destination tubes.

2. The system of claim 1 , wherein the work deck further comprises a capping and decapping station structured and operable to remove a respective cap from each of respective source tubes prior to aspiration of the small objects and replace the respective cap post aspiration of the small objects.

3. The system of claim 1 , wherein the work deck further comprises a source tube balance structured and operable to:
weigh each respective source tube prior to aspiration,
retain each respective source tube during aspiration, and
weigh each respective source tube post aspiration.

4. The system of claim 1 , wherein the work deck further comprises an automated volume adjustable pipette mounted to the XYZ-axis robot that is structured and operable to:
automatically adjust a volume within a bore of a nozzle of the pipette to aspirate a specified amount of small objects from each respective source tube, the specified amount of small objects to be aspirated specific to each respective source tube and variable from one source tube to a subsequent source tube, and
deposit each specified amount of aspirated small objects into a respective one of the destination tubes.

5. The system of claim 4 , wherein the work deck further comprises a pipette wiping device including a seed channel, the pipette wiping device structured and operable to:
remove excess small objects from a tip of the pipette nozzle after the specified amount of small objects has been aspirated from each respective source tube; and
guide the wiped seed back into each respective source tube, via the seed channel.

6. The system of claim 4 , wherein the work deck further comprises a destination tube balance structured and operable to:
weigh each respective destination tube prior to each specified amount of aspirated small objects being deposited into each respective destination tube,
retain each respective destination tube during deposition, and
weigh each respective destination tube after each specified amount of aspirated small objects is deposited into each respective destination tube.

7. The system of claim 4 , wherein the work deck further comprises a pipette cleaning station structured and operable to remove residual small objects from at least one of an interior of the nozzle bore and an exterior of the nozzle after deposition of each specified amount of small objects into each respective destination tube.

8. The system of claim 1 further comprising an environmentally controlled system enclosure structured and operable to enclose the loading deck and the work deck.

9. The system of claim 1 , wherein the small object are seeds.

10. A method for transferring small particles from source tubes to destination tubes, said method comprising:
storing and providing, via a loading deck of an automated small particle distribution system, a plurality of source tube trays and a plurality of destination tube trays, each source tube tray having a plurality of source tubes stored therein, and each destination tube tray having a plurality of destination tubes stored therein, the source tube trays and the destination tube trays retained in a storage carousal of the loading deck;
removing selected source tube trays and selected destination tube trays from the storage carousel and placing the removed source and destination tube trays on tray docks of a work deck of the automated small particle distribution system, via a 6-axis robot arm of the loading deck;
aspirating various specified amounts of small objects stored in selected source tubes, via the work deck of the automated small particle distribution system;
depositing the aspirated small objects into selected destination tubes without cross-contamination of small objects, via the work deck of the automated small particle distribution system;
moving, via an XYZ-axis robot of the work deck, selected source and destination tubes, one at a time, from the selected source tube and destination tube trays to various locations of the work deck to aspirate the specified amounts of small objects from the selected source tubes and deposit the aspirated small objects into the selected destination tubes; and
returning the selected source tube trays and destination tube trays from the tray docks to the storage carousel, via the 6-axis robot arm.

11. The method of claim 10 further comprising removing a respective cap from each of respective source tubes prior to aspiration of the small objects and replacing the respective cap post aspiration of the small objects, via a capping and decapping station of the work deck.

12. The method of claim 10 further comprising:
weighing each respective source tube prior to aspiration, via a source tube balance of the work deck,
retaining each respective source tube during aspiration, via the source tube balance, and
weighing each respective source tube post aspiration, via the source tube balance.

13. The method of claim 10 further comprising:
automatically adjusting a volume within a bore of a nozzle of an automated volume adjustable pipette of the work deck to aspirate a specified amount of small objects from each respective source tube, the specified amount of small objects to be aspirated specific to each respective source tube and variable from one source tube to a subsequent source tube, and
depositing each specified amount of aspirated small objects into a respective one of the destination tubes, via the adjustable pipette.

14. The method of claim 13 further comprising:
removing excess small objects from a tip of the pipette nozzle after the specified amount of small objects has been aspirated from each respective source tube, via a pipette wiping device of the work deck; and
guiding the wiped seed back into each respective source tube, via a seed channel of the pipette wiping

Assignees

• Monsanto Technology Llc

Inventors

• Cargill Edward J
• Deppermann Kevin L
• Deole Ujwal A
• Dayawon Michael
• Fischer William M
• Lasinski John F
• Hubbard Jamaine R
• Trinchard Amy D
• Rameaka Josh G
• Tierney Chris
• Koestel Angela R

Classifications

• B65B1/16

  by pneumatic means, e.g. by suction · CPC title

• G01N1/14 Primary

  Suction devices, e.g. pumps; Ejector devices · CPC title

• B65G47/16

  for feeding materials in bulk · CPC title

• B65G47/80

  Turntables carrying articles or materials to be transferred, e.g. combined with ploughs or scrapers · CPC title

• B65B25/02 Primary

  Packaging agricultural or horticultural products · CPC title