Automated in-place weighing of vials in tube racks

A method of weighing containers, the method comprising:

• aligning a stage with a singulation post, the stage supporting a receptacle for securing one or more containers and the singulation post comprising a vertical element positioned below the stage;
• positioning the stage such that a particular container of the one or more containers is located above the singulation post by actuating the stage horizontally along an x-axis and a y-axis;
• translating the stage in a downward vertical direction towards the singulation post by actuating the stage vertically along a z-axis;
• displacing, by the singulation post, a single one of the containers in an upward vertical direction as the stage is translated in the downward vertical direction, wherein the vertical element of the singulation post contacts the single one of the containers;
• measuring, by a load cell, a weight of the single one of the containers displaced by the singulation post while the vertical element of the singulation post contacts the container;
• and
• storing weights measured by the load cell.

An apparatus for weighing containers, the apparatus comprising:

• a stage configured to support a receptacle for securing one or more containers, wherein a base of the receptacle comprises openings beneath each container secured in the receptacle;
• a first actuator for actuating the stage horizontally along an x-axis;
• a second actuator for actuating the stage horizontally along a y-axis;
• a third actuator for actuating the stage vertically along a z-axis;
• a singulation post having a vertical element, the singulation post comprising configured to be aligned with and to displace one of the containers within the receptacle as the stage is translated;
• a load cell coupled to the singulation post, wherein the load cell is configured to measure a weight of the one of the containers displaced by the singulation post while the singulation post contacts the container;
• and
• a controller for actuating the stage in the downward vertical direction towards the singulation post,
• wherein the controller is configured to position the stage, using the first actuator and the second actuator, such that a particular container of the one or more containers is located above the singulation post, and wherein the controller is further configured to translate the stage towards the singulation post using the third actuator, each opening in the base of the receptable being wide enough for the vertical element to contact the container and pass through the receptacle as the stage is translated towards the singulation post, to elevate the container away from a surface of the receptacle.