Robotic grip and twist assembly

Abstract

A microtiter plate transport device is configured to grip a microtiter plate in a first location. The microtiter plate transport device is configured to make a vertical approach to the microtiter plate and grip the microtiter plate in either a portrait orientation or a landscape orientation along either the opposing longer sides or the opposing shorter sides of the microtiter plate. The device comprises a Cartesian coordinate robot including a first gripping member and a second gripping member opposed to the first gripping member. The first gripping member and the second gripping member are supported by an arm configured to move along a vertical axis which extends between the first gripping member and the second gripping member. The first gripping member and the second gripping member are configured to rotate about the vertical axis.

1 . A device configured to grip a microtiter plate having a plurality of wells, the microtiter plate comprising two opposing first sides and two opposing second sides, wherein the length of each opposing first side is longer than the length of each opposing second side, the device comprising: 
 a Cartesian coordinate robot including a first gripping member and a second gripping member opposed to the first gripping member;    wherein the first gripping member and the second gripping member are configured to move in a direction parallel to a vertical axis;    wherein the first gripping member and the second gripping member are configured to rotate about the vertical axis; and    wherein the first gripping member and second gripping member are configured to move relative to each other between a first gripping position and a second gripping position, wherein the first gripping member and the second gripping member are adapted to grip the two opposing first sides of the microtiter plate in the first gripping position, and wherein the first gripping member and the second gripping member are configured to grip the two opposing second sides of the microtiter plate in the second gripping position.    
     
     
         2 . The device of  claim 1  wherein the vertical axis is positioned between the first gripping member and the second gripping member.  
     
     
         3 . The device of  claim 1  wherein the first gripping member comprises a first gripping surface, and wherein the second gripping member comprises a second gripping surface.  
     
     
         4 . The device of  claim 3  wherein the second gripping member further comprises a third gripping surface.  
     
     
         5 . The device of  claim 1  wherein the Cartesian coordinate robot further comprises a robotic arm, and wherein the first gripping member and the second gripping member are supported by the robotic arm.  
     
     
         6 . The device of  claim 5  wherein the robotic arm is supported by a carriage configured to ride on a horizontal track, and wherein the carriage is configured to move in a horizontal direction upon the horizontal track.  
     
     
         7 . The device of  claim 6  wherein the robot arm is further configured to move parallel to the vertical axis.  
     
     
         8 . The device of  claim 5  wherein the robot arm is configured to move along the vertical axis.  
     
     
         9 . The device of  claim 1  wherein the distance between the first gripping member and the second gripping member is about 3⅜ inches in the first position and wherein the distance between the first gripping member and the second gripping member is about 5 inches in the second position.  
     
     
         10 . A liquid transport assembly comprising: 
 a) at least one microtiter plate having a plurality of wells arranged in a 2×3 matrix, the microtiter plate comprising two opposing first sides and two opposing second sides, wherein the length of each opposing first side is longer than the length of each opposing second side;    b) an arm;    c) a first support member configured to support the arm, the first support member defining a first linear path of movement wherein the arm is operable to move along the first linear path of movement;    d) a second support member configured to support the arm, the second support member defining a second path of movement wherein the arm is operable to move along the second path of movement;    e) a grip assembly connected to the arm, the grip assembly including a first gripping member and a second gripping member opposed to the first gripping member, wherein the first gripping member and second gripping member are configured to move relative to each other between a first gripping position and a second gripping position, wherein the first gripping member and the second gripping member are adapted to grip the two opposing first sides of the microtiter plate in the first gripping position, and wherein the first gripping member and the second gripping member are configured to grip the two opposing second sides of the microtiter plate in the second gripping position.    
     
     
         11 . The device of  claim 10  wherein the grip assembly is configured to rotate relative to the robotic arm.  
     
     
         12 . The device of  claim 10  wherein the second support member is retained by the first support member and the second support member is operable to move along the first path of movement along with the robotic arm.  
     
     
         13 . The device of  claim 10  wherein the first path of movement is a substantially horizontal path and the second path of movement is a substantially vertical path.  
     
     
         14 . A method of handling microtiter plates, the method comprising: 
 a) providing a robot comprising a robotic arm supporting a first gripping member and a second gripping member opposed to the first gripping member, wherein the first gripping member and second gripping member are rotatable relative to the robotic arm;    b) providing a first microtiter plate at a first location, wherein the first microtiter plate includes a plurality of wells, two opposing first sides and two opposing second sides, wherein each first side is longer than each second side;    c) gripping the first microtiter plate by bringing the first gripping member and the second gripping member into contact with the opposing long sides of the first microtiter plate;    d) providing a second microtiter plate at a second location, wherein the second microtiter plate includes a plurality of wells, two opposing first sides and two opposing second sides, wherein each first side is longer than each second side; and    e) gripping a second microtiter plate by bringing the first gripping member and the second gripping member into contact with the opposing second sides of the second microtiter plate.    
     
     
         15 . The method of  claim 14  further comprising the step of transferring the first microtiter plate to the second location after the step of gripping the first microtiter plate.  
     
     
         16 . The method of  claim 15  further comprising the step of rotating the first gripping member and the second gripping member relative to the robotic arm during the step of transferring the first microtiter plate.  
     
     
         17 . The method of  claim 16  wherein a gripping force applied to the first microtiter plate by the first gripping member and the second gripping member is substantially constant during the step of rotating the first gripping member and the second gripping member.  
     
     
         18 . The method of  claim 14  further comprising the step of rotating the first gripping member and the second gripping member relative to the robotic arm before the step of gripping the second microtiter plate.  
     
     
         19 . The method of  claim 14  further comprising the step of moving the robotic arm into a position directly above the first microtiter plate and then moving the robotic arm in a vertical direction toward the first microtiter plate before the step of gripping the first microtiter plate.  
     
     
         20 . A microtiter plate transport device, the device comprising: 
 a) a first support defining a horizontal axis;    b) an arm supported by the first support, the arm configured to move in a direction parallel to the horizontal axis, the arm further configured to move in a vertical direction parallel to a vertical axis;    c) a grip assembly connected to the arm, the grip assembly comprising 
 i) a grip mount rotatably connected to the arm;  
 ii) a first gripping member supported by the grip mount; and  
 iii) a second gripping member opposed to the first gripping member and supported by the grip mount,  
 wherein the vertical axis is positioned between the first gripping member and the second gripping member, wherein the first gripping member and the second gripping member rotate about the vertical axis when the grip mount rotates relative to the arm, and wherein the first gripping member and second gripping member are operable to move in opposite directions either toward or away from the vertical axis.  
   
     
     
         21 . The device of  claim 20  wherein the first gripping member and second gripping member are operable to move relative to the vertical axis between a first position where the first gripping member and the second gripping member are about 3⅜ inches apart and a second position where the first gripping member and the second gripping member are about 5 inches apart.