Electromagnetic transport system for an object

Abstract

A robotic arm having an upright post, and a movable element surrounding and coaxial with the post. The movable element is movable about the post by way of electromagnetic forces established therebetween. The electromagnetic forces may be utilized the form of a linear motor allow for movement along the post, and also the form of a rotary motor configured to generate rotary movement of the movable element around the post.

Description

ELECTROMAGNETIC TRANSPORT SYSTEM FOR AN OBJECTFIELD

[0001] The present disclosure relates to transport systems useful for transferring objects over short distances in automated systems. The disclosure is applicable at least to equipment of the type used in high throughput analytical laboratories, and also equipment used in small scale research applications to handle samples for analysis.BACKGROUND

[0002] Automation has revolutionized the operation of analytical and research laboratories. By integrating advanced robotics, instrumentation, and software, laboratory automation optimizes workflows, enhances process reproducibility, as well as reducing labor costs.

[0003] At its core, laboratory automation aims to streamline experimental workflows by replacing manual tasks with automated processes. This involves the integration of robotic systems capable of performing a wide array of tasks, ranging from sample preparation and handling, sample analysis, output data analysis and storage.

[0004] Laboratory automation encompasses a diverse array of methodologies tailored to specific process requirements. Liquid handling robots, equipped with precision pipetting systems, enable accurate dispensing of reagents and samples, facilitating high-throughput screening and assay development. Integrated robotic workstations automate sample preparation workflows, including DNA extraction, purification, and amplification, revolutionizing genomics and molecular biology research. High-content imaging systems coupled with automated analysis software enable rapid acquisition and analysis of large-scale image datasets, empowering researchers in drug discovery and cell biology.

[0005] Automation is especially prevalent in high throughput analytical laboratories of the type used to analyze samples of clinical, environmental and industrial origin. Such laboratories aretasked with performing analysis on hundreds or thousands of individual samples per day, and automation is absolutely essential to operations.

[0006] An autosampler (a contraction of “automatic sampler”) is an apparatus that is commonly used in laboratory automation. The function of an autosampler is to deliver a sample for analysis to an analytical instrument such as a mass spectrometer or a gas chromatography system.

[0007] Autosamplers increase the efficiency of a laboratory, because many samples can be handled rapidly and without the intervention of personnel. Quality issues are also minimised because the potential for human error and inconsistent sample introduction is avoided. In a modern laboratory where many routine analyses are performed daily, typically almost all analytical instruments are equipped with an autosampler, unless there is no possibility of automatic sample processing.

[0008] For liquid samples, the autosampler typically comprises a hollow tube often in the form of a syringe or a needle having a holding loop that draws sample from a sample container disposed on a platform. Generally, a large number of sample containers are present, and the autosampler moves the hollow tube to a position above the required container. The hollow tube is moved downwardly and into the container, at which time an aliquot of sample is aspirated thereinto. The tube is then moved upwardly so as to clear the container, and moved laterally to a nearby analytical instrument into which the sample is injected. After injection the syringe may be moved to a wash station to remove remnants of the sample before contacting sample in another sample container.

[0009] A problem arises in that autosamplers can release contaminants into the surrounding environment. It is common for sample containers accessed by an autosampler to be open to the atmosphere thereby allowing for the particulates to contaminate the samples. A contaminated sample will eventually be injected into an analysis instrument thereby resulting in unreliable output.

[0010] Several potential sources of contamination present. One potential source is from the electric motors and associated electronics which effect the various movements of the arms supporting the hollow needle. F or example, frictional forces between motor components can shear off fine particulates. Motor lubricants may become heated and liberate volatile components.

[0011] Another potential source of contaminant is found in plastic parts such as motor gears and wiring insulation. Plastics may passively leach chemicals into the atmosphere, the leaching processes being facilitated by heating arising from frictional forces.

[0012] Contaminants are particularly problematic where samples include volatile or corrosive solvents. Vaporised solvents may contact autosampler components thereby facilitating the release of contaminants into the surrounding atmosphere. Moreover, such contact may damage autosampler components, and particularly metallic components which may rust or be otherwise degraded.

[0013] It is an aspect of the present disclosure to provide an improvement to the prior art. It is a further aspect of the present disclosure to provide a useful alternative to the prior art.

[0014] The discussion of documents, acts, materials, devices, articles and the like is included in this specification solely for the purpose of providing a context for the present disclosure. It is not suggested or represented that any or all of these matters formed part of the prior art base or were common general knowledge in the field relevant to the present disclosure as it existed before the priority date of each claim of this application.BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The foregoing aspects and other features of the disclosed embodiment are explained in the following description, taken in connection with the accompanying drawings, wherein:

[0016] FIG. 1 is a diagrammatic illustration in lateral perspective view of an exemplary transport system as implemented in a laboratory autosampler apparatus in accordance with aspects of the present disclosure.

[0017] FIG. 2A is a diagrammatic illustration in lateral view of an exemplary stator element in accordance with aspects of the present disclosure.

[0018] FIG. 2B is a magnification of the area of FIG. 2A delineated by the dashed square.

[0019] FIG. 3 A is a diagrammatic illustration in upper perspective view of an exemplary partial method for producing the stator element of FIG. 2A in accordance with aspects of the present disclosure.

[0020] FIG. 3B is a magnification of the area of FIG. 3 A delineated by the dashed square.

[0021] FIG. 4 is a diagrammatic illustration in lateral perspective view of an exemplary rotor / slider element in accordance with aspects of the present disclosure.

[0022] FIG. 5 is a diagrammatic illustration in lateral perspective view of an exemplary division of horizontal conductors of the stator element into three phases for a three phase powering system in accordance with aspects of the present disclosure.

[0023] FIG. 6 is a diagrammatic illustration in cross-sectional view of an exemplary division of horizontal conductors of the stator element as shown in FIG. 5 in accordance with aspects of the present disclosure;

[0024] FIG. 7 is a graph illustrating the exemplary differential powering of three phases in a three phase conductor powering system in accordance with aspects of the present disclosure;

[0025] FIG. 8 is a diagrammatic illustration in lateral view of an exemplary division of vertical conductors of the stator element into a series of groups or differential powering in accordance with aspects of the present disclosure.

[0026] FIG. 9 is a diagrammatic illustration in lateral perspective view of an exemplary implementation of an exemplary transport system for an autosampler having a SCARA-type robotic arm.

[0027] FIG. 10 is a diagrammatic illustration in lateral perspective view of an exemplary magnetic float device in accordance with aspects of the present disclosure;

[0028] Unless otherwise indicated herein, features of the drawings labelled with the same numeral are taken to be the same features, or at least functionally similar features, when used across different drawings.

[0029] The drawings are not prepared to any particular scale or dimension and are not presented as being a completely accurate presentation of the various embodiments.SUMMARY

[0030] In a first aspect, but not necessarily the broadest aspect, there is provided a transport system for an object comprising: a first stationary element being elongate and generally upwardly oriented, and a second element movable along the first element by way of an electromagnetic force established therebetween.

[0031] In one embodiment of the first aspect, the first and second elements are coupled by way of the electromagnetic force, or are coupled mechanically.

[0032] In one embodiment of the first aspect, the electromagnetic force is utilized in a linear motor configured to generate linear movement of the second element along the first element.

[0033] In one embodiment of the first aspect, the second element surrounds and is co-axial with the first element, and the electromagnetic force is utilized in a rotary motor configured to generate rotary movement of the second element around the first element.

[0034] In one embodiment of the first aspect, the first element is a cylindrical structure and the second element is a ring-like or tube-like structure, and the first element extends through a space bounded by the ring-like structure or the tube-like structure.

[0035] In one embodiment of the first aspect, the first element is configured as a stator and the second element is configured as a rotor / slider, the second element surrounding and being rotatable around the first element.

[0036] In one embodiment of the first aspect, the transport system comprises a first series of electrical conductors running across the first element.

[0037] In one embodiment of the first aspect, the first series of electrical conductors extend for most, or all the length of the first element.

[0038] In one embodiment of the first aspect, each of the first series of electrical conductors is elongate and oriented orthogonal to a long axis of the first element.

[0039] In one embodiment of the first aspect, each of the first series of electrical conductors is a wire, a wire-like structure, a ribbon, a ribbon-like structure, a track, or a track-like structure.

[0040] In one embodiment of the first aspect, each of the first series of electrical conductors is operably connected to a power source so as to provide an electromagnetic field about the first element.

[0041] In one embodiment of the first aspect, the first series of electrical conductors is divided into two, three or more sub-series.

[0042] In one embodiment of the first aspect, the transport system comprises a controller configured to selectively deliver power to each of the sub-series of the first series of electrical conductors.

[0043] In one embodiment of the first aspect, the controller is in operable connection with electronic memory having stored thereon program instructions configured to selectively power each of the sub-series of the first series of electrical conductors as required for a linear motor.

[0044] In one embodiment of the first aspect, the transport system comprises a second series of electrical conductors running along the first element.

[0045] In one embodiment of the first aspect, the second series of electrical conductors are disposed about an upper region of the first element.

[0046] In one embodiment of the first aspect, each of the second series of electrical conductors is elongate and oriented parallel to a long axis of the first element.

[0047] In one embodiment of the first aspect, each of the second series of electrical conductors is a wire, a wire-like structure, a ribbon, a ribbon-like structure, a track, or a track-like structure.

[0048] In one embodiment of the first aspect, each of the second series of electrical conductors is operably connected to a power source so as to provide an electromagnetic field about the first element.

[0049] In one embodiment of the first aspect, the second series of electrical conductors is divided into two, three or more sub-series.

[0050] In one embodiment of the first aspect, the transport system comprises a controller configured to selectively deliver power to each of the sub-series of the second series of electrical conductors.

[0051] In one embodiment of the first aspect, the controller is in operable connection with electronic memory having stored thereon program instructions configured to selectively power each of the sub-series of the second series of electrical conductors as required for a rotary motor.

[0052] In one embodiment of the first aspect, the second element comprises one or more magnets.

[0053] In one embodiment of the first aspect, the one or more magnets are configured so as to move substantially vertically under the influence of an electromagnetic field established by the first set of electrical conductors.

[0054] In one embodiment of the first aspect, the one or more magnets comprise a plurality of ring-like magnets stacked substantially vertically and ordered with regard to alternating polarity.

[0055] In one embodiment of the first aspect, the one or more magnets are configured so as to move substantially horizontally under the influence of an electromagnetic field established by the second set of electrical conductors.

[0056] In one embodiment of the first aspect, the one or more magnets comprise a plurality of barlike magnets each of which is oriented substantially vertically and disposed around the first element and ordered with regard to alternating polarity.

[0057] In one embodiment of the first aspect, the electromagnetic force is configured such that no mutual contact is made between the first and second elements.

[0058] In one embodiment of the first aspect, the first element comprises a wireless power transmitter and second element comprises a wireless power receiver configured to receive power from the wireless power transmitter.

[0059] In one embodiment of the first aspect, the wireless power receiver is configured to deliver power to an electrical motor associated with the second element.

[0060] In one embodiment of the first aspect, the transport system comprises a third element associated with the second element.

[0061] In one embodiment of the first aspect, the first, second and third elements form a robotic arm, or a part of a robotic arm configured to transport an object.

[0062] In one embodiment of the first aspect, the first and / or second element is substantially sealed.

[0063] In one embodiment of the first aspect, the sealing is effected by disposition of a housing about the first element and / or the second element, or by the application of coating to the first and / or second element, the housing or coating configured to not substantially interfere with the electromagnetic interaction.

[0064] In one embodiment of the first aspect, the housing or coating is fabricated from electrically non-conductive and / or non-magnetizable material(s).

[0065] In one embodiment of the first aspect, the object is a laboratory sample container.

[0066] In a second aspect there is provided a component of a transport system for an object, the component comprising the first element as defined in any embodiment of the first aspect.

[0067] In a third aspect, there is provided a component of a transport system for an object, the component comprising the second element as defined in any embodiment of the first aspect.

[0068] In a fourth aspect, there is provided a laboratory automation apparatus comprising the transport system for an object of any embodiment of the first aspect.

[0069] In one embodiment of the fourth aspect, the apparatus is an autosampler.

[0070] In a fifth aspect, there is provided a robotic arm or part thereof comprising: a first element being elongate and generally upwardly oriented; and a second element surrounding and coaxial with the first element, and movable about the first element by way of electromagnetic forces established therebetween, wherein the electromagnetic forces are utilized (i) in a linear motor configured to generate linear movement of the second element along the first element, and (ii) in a rotary motor configured to generate rotary movement of the second element around the first element.

[0071] In one embodiment of the fifth aspect, the first element is a cylindrical structure and the second element is a ring-like or tube-like structure, and the first element extends through a space bounded by the ring-like structure or the tube-like structure.

[0072] In one embodiment of the fifth aspect, the first element is configured as a stator and the second element is configured as a rotor / slider, the second element surrounding and being rotatable around the first element.

[0073] In one embodiment of the fifth aspect, the robotic arm or part thereof comprises a first series of electrical conductors running across the first element, and extending for most, or all the length of the first element.

[0074] In one embodiment of the fifth aspect, each of the first series of electrical conductors is elongate and oriented orthogonal to a long axis of the first element.

[0075] In one embodiment of the fifth aspect, the first series of electrical conductors is divided into two, three or more sub-series; and a controller configured to selectively deliver power to each of the sub-series of the first series of electrical conductors.

[0076] In one embodiment of the fifth aspect, the robotic arm or part thereof comprises a second series of electrical conductors running along the first element.

[0077] In one embodiment of the fifth aspect, the second series of electrical conductors are disposed about an upper region of the first element.

[0078] In one embodiment of the fifth aspect, each of the second series of electrical conductors is elongate and oriented parallel to a long axis of the first element.

[0079] In one embodiment of the fifth aspect, each of the second series of electrical conductors is operably connected to a power source so as to provide an electromagnetic field about the first element.

[0080] In one embodiment of the fifth aspect, the second series of electrical conductors is divided into two, three or more sub-series comprising a controller configured to selectively deliver power to each of the sub-series of the second series of electrical conductors.

[0081] In one embodiment of the fifth aspect, the second element comprises one or more magnets configured so as to move substantially vertically under the influence of an electromagnetic field established by the first set of electrical conductors.

[0082] . In one embodiment of the fifth aspect, the one or more magnets are configured so as to move substantially vertically under the influence of an electromagnetic field established by the first set of electrical conductors.

[0083] In one embodiment of the fifth aspect, the one or more magnets comprise a plurality of ring-like magnets stacked substantially vertically and ordered with regard to alternating polarity.

[0084] In one embodiment of the fifth aspect, the one or more magnets are configured so as to move substantially horizontally under the influence of an electromagnetic field established by the second set of electrical conductors.

[0085] In one embodiment of the fifth aspect, the one or more magnets comprise a plurality of barlike magnets each which is oriented substantially vertically and disposed around the first element and ordered with regard to alternating polarity.

[0086] In one embodiment of the fifth aspect, the electromagnetic forces are configured such that no mutual contact is made between the first and second elements.

[0087] In one embodiment of the fifth aspect, the first element comprises a wireless power transmitter and second element comprises a wireless power receiver configured to receive power from the wireless power transmitter and configured to deliver power to an electrical motor associated with the second element.

[0088] In one embodiment of the fifth aspect, the first and / or second element is substantially sealed.

[0089] In a sixth aspect, there is provided an autosampler comprising, or being in operable association with, the robotic arm or part thereof of any embodiment of the fifth aspect.DETAILED DESCRIPTION AND PREFERRED EMBODIMENTS

[0090] After considering this description it will be apparent to one skilled in the art how the disclosure is implemented in various alternative embodiments and alternative applications. However, although various embodiments of the present disclosure will be described herein, it is understood that these embodiments are presented by way of example only, and not limitation. As such, this description of various alternative embodiments should not be construed to limit the scope or breadth of the present disclosure. Furthermore, statements of advantages or other aspects apply to specific exemplary embodiments, and not necessarily to all embodiments, or indeed any embodiment covered by the claims.

[0091] Throughout the description and the claims of this specification the word "comprise" and variations of the word, such as "comprising" and "comprises" is not intended to exclude other additives, components, integers or steps.

[0092] Reference throughout this specification to “one embodiment” or “an embodiment” means that a particular feature, structure or characteristic described in connection with the embodimentis included in at least one embodiment of the present disclosure. Thus, appearances of the phrases “in one embodiment” or “in an embodiment” in various places throughout this specification are not necessarily all referring to the same embodiment, but may.

[0093] As used herein, positional terms such as “lateral”, “across”, “above”, “below”, “higher”, “lower”, “upward”, “downward”, “plan view” and the like are to be considered with reference to a sample transport system as used in a normal upright position such that the opening of a liquid sample container under transport faces generally upwardly.

[0094] It will be appreciated that not all embodiments of the disclosure described herein have all of the advantages disclosed herein. Some embodiments may have a single advantage, while other may have no advantage at all and are merely a useful alternative to the prior art.

[0095] In one aspect there is provided a transport system for an object comprising: a first stationary element being elongate and generally upwardly oriented, and a second element movable along the first element by way of an electromagnetic force established therebetween.

[0096] The system described above is a departure from prior art autosampler sample transport systems. In many existing autosamplers a toothed rack extends over the sample containers in the x-direction. A head portion is movable along the rack by way of an electric motor-driven pinion gear. Extending from the head portion is a hollow tube movable upwardly and downwardly in the z-direction by a motor so as to alternately enter an underlying sample container. The head portion is rotatable so as to provide y-direction movement for the hollow tube. Again, an electric motor is responsible for the rotation. By selective actuation of the three electric motors described above, the hollow tube is locatable above any of the sample containers disposed on the autosampler platform. In this conventional arrangement, electric motors are disposed directly above open sample containers thereby providing a clear opportunity for particulate matter from the motors, gears and the like to enter the containers and contaminate sample.

[0097] In contrast to the arrangement described above the present disclosure provides x, y and z directional movement by way of an electromagnetic interaction between a first element (that may function as a stator) and a second element (that may function as a rotor / slider). The term “rotor / slider” is used herein to reflect the dual function of the second element. When the first and second elements are functioning as a linear motor, the first element functions as a slider. When the first and second elements are functioning as a rotary motor, the first element functions as a rotor.

[0098] Movement of the two elements relative to each other is not reliant on any conventional electric motor, thereby removing the possibility of any motor-originating particulates from contaminating sample. The electromagnetic interaction may allow for the two elements to never make mutual contact, thereby preventing any friction between the elements and therefore decreasing the possibility of particulates being sheared from contacting surfaces.

[0099] To further describe the present disclosure, reference is made to the following non-limiting embodiments.

[0100] FIG. 1 shows a surface (10) of an autosampler having extending upwardly and vertically therefrom a cylindrical stator (100). A ring-like rotor / slider (200) surrounds the stator (100), the rotor / slider (200) having an arm (300) rigidly fixed thereto. The arm (300) connects at its terminus to a hollow tube (30) for aspirating sample. Sample containers (only three drawn, one marked 500) are disposed in an array in the area marked (35). The sample containers (500) are typically held in a rack (not drawn) of some description.

[0101] The rotor / slider (200) is vertically movable along the stator (100) (as indicated by the double-headed arrow) to provide z-direction movement to the arm (300) and therefore the hollow tube (400). The rotor / slider (200) is also rotatable about the stator (100) (as indicated by the curved arrow), thereby providing x, y movement of the arm (300), and therefore also the hollow tube(400). As shown in later drawings, the arm (300) may include an articulation to provide precise positioning of the hollow tube (400) on the x,y plane so as to locate the hollow tube (400) above the opening of a desired container (500).

[0102] The stator (100) has established thereabout an electromagnetic field (not drawn) sufficient to couple the rotor / slider (200), while maintaining a space between the two elements. The space is maintained upon any movement of the rotor / slider (200) relative to the stator (100), and accordingly the hollow tube (400) can be moved in the x, y, z-directions while any contact between the elements thereby avoiding the release of any particulate matter.

[0103] Reference is made to FIG. 2 A showing the stator (100) in greater detail revealing the various electrical conductors responsible for establishment of the electromagnetic field, and in turn responsible for the vertical and rotational movement of the rotor / slider (200).

[0104] A series of horizontally oriented conductors (four of which are marked 105) are disposed along the majority of the stator (100). The horizontal conductors (105) are selectively powered so as to move the rotator upwardly and downwardly (z-direction). Conductors (105) may not be required in the lowest regions of the stator (100) given that arm (300) may never be required to approach the autosampler surface (10). It is emphasized that in this embodiment the conductors (105) are not formed helical winding of a conductor along the stator (100). Each conductor (105) is discrete and may be powered independently of another.

[0105] A series of vertically oriented conductors (two of which are marked 110) are disposed around an upper region of the stator (100). The vertical conductors (110) are selectively powered so as to provide rotary motion to the rotor / slider (200). Conductors (110) are required only in the upper regions of the stator (100) given that arm (300) is required to be moved on the x.y plane only when the hollow tube (400) is vertically clear of the sample containers (500).

[0106] FIG. 2B shows more clearly the arrangement of horizontal (105) and vertical (110) conductors. Given the need to separately control rotational and vertical movement of the rotor / slider (200), the conductors (105) and (110) must be separately powered, and are therefore mutually electrically isolated. That is to say, no electrical connector is made between any horizontal conductor (105) and vertical conductor (110). Isolation may be achieved by forming the horizontal conductors (105) as an inner layer, and the vertical conductors formed as an outer layer, and a thin non-conductive layer of, for example, a polymeric sheet being disposed between the two layers.Reference is made to FIG. 3 A (and magnification of the dashed area of FIG. 3B) demonstrating one method by which the stator may be formed. A flexible PCB (printed circuit board) sheet (115) may be fabricated with parallel conductive tracks (105a) formed thereon. The flexible PCB sheet (115) is rolled onto a core portion (120), with the tracks (105a) facing inwardly such that a non- conductive layer is presented externally. Multiple layers of tracks (105a) are formed in register so as to multiply the electromagnetic generated when powered. The multiple layers together form a horizontal conductor as marked (105) in the earlier drawings.

[0107] A similar approach may be used to form the vertical conductors (110). Again, it is preferred for each of the conductors (100) to be formed from multiple layers of conductive material so as to increase current density and amplify the electromagnetic field.

[0108] Turning now to a more detailed consideration of the rotor / slider (200), reference is made to FIG. 4 revealing construction in a preferred embodiment. Ring magnets (two of which are marked 205), each of which is diametrically magnetized are stacked to form a lower portion. It will be noted that the polarity of each magnet alternates down the stack (S, N, S, N).

[0109] An upper portion of the rotor / slider (300) is formed from a series of wedge-shaped magnets (two of which are marked 210) each of which is magnetized along its short axis. The magnets arearranged in alternating polarity as shown in FIG. 4. A spacer (215) being formed from a nonconducting and non-magnetizable polymer is disposed between the magnets (205) and (210).

[0110] The magnets (205) are horizontally oriented and therefore generally align with the magnetic fields established by the horizontal conductors (105) of the stator (100). The influence of those magnetic fields causes the rotor / slider to move vertically (i.e. in the z-direction).

[0111] The magnets (210) are vertically oriented and therefore generally align with the magnetic fields established by the vertical conductors (110) of the stator (100). The influence of those magnetic fields causes the rotor / slider (200) to rotate about the stator (100).

[0112] The stator (100) and rotor / slider (200) may function as a linear motor upon selective powering of the horizontal conductors (105), thereby causing vertical movement of the rotor / slider (200). In one embodiment, the horizontal conductors (105) are arranged into multiple phases, with the selectively powering of each phase causing vertical movement of the rotor / slider (200). FIG. 5 shows the horizontal conductors (105) arranged for a 3 phase system. A cross-section through FIG. 5 is shown at FIG. 6, demonstrating the layered arrangement of conductors with each layer in register belonging to the same phase.

[0113] Reference is made to FIG. 7 showing the differential application of potential to each of the 3 phases, each by way of a sinusoidal waveform. By powering the three phases as shown in FIG.7, a Lorentz force is generated to move the rotor / slider linearly along the stator (100). The Lorentz forces oppose on opposing lateral sides of the rotor / slider, and accordingly the rotor / slider (200) is levitated above the surface of the stator (100). A set of 6 conductors will have a pitch of I A, which is one magnetic period of the magnet array of the rotor / slider (200).

[0114] The rotary movement of the rotor / slider (200) is achieved by a similar principle to that detailed for the vertical movement. The vertical conductors (110) are selectively powered so ascaused horizontal movement of the magnets (210), the horizontal movement manifesting as a rotation of the rotor / slider (200) about the stator (100).

[0115] The selective powering of the horizontal (105) and vertical (110) conductors may require positional information for the rotor / slider (200). A 3D Hall effect sensor array PCB may be embedded within the stator (100). Each of these sensors is individually addressable at a very high refresh rate to provide accurate positional information.

[0116] The data from the 3D Hall effect sensor array is used to accurately calculate and track the position of the rotor / slider (200) and adjust the commutation for the stator (100) conductors (105) and (110). As this type of sensor can measure magnetic flux in all three axis (x, y, z) it can accurately track the vertical position of the rotor / slider (200) along the stator (100), and also the air gap between the rotor / slider (200) and the stator (100). The sensor is also capable of accurately measuring the angular position of the rotor / slider (200) by using data from only the relevant Hall effect sensors in the array.

[0117] In some embodiments, the vertical conductors (110) are arranged in groups as shown in FIG. 8. This arrangement allows for the differential application of current between the groups. A variable current ratio may assist in adjusting the angle of the rotor / slider (200) with respect to the stator (100) so as to achieve axial alignment. It is possible that misalignment may occur due to the eccentric load exerted by the arm (300), the misalignment leading to possible unwanted contact between the stator (100) and the rotor / slider (200) and maintaining the air gap there between.

[0118] A further or alternative advantage of the vertical groupings shown in FIG. 8 is an improvement in power efficiency of the system as vertical conductor (110) groups that are not required to produce torque could be completely switched off to save energy. This vertical grouping system could also be applied to horizontal conductors (105) of the stator (100), again to improve power efficiency.

[0119] In some embodiments, the rotor / slider is encased by a soft iron pole cylinder sleeve to better focus the magnetic flux of its magnet (205, 210) arrays, and also reduce stray magnetic flux by a shielding effect.

[0120] Reference is made to the embodiment of FIG. 9 showing essentially the embodiment of the earlier drawing, except for the addition of a second arm (600), the arms (300) and (660) being coupled to form an articulation by way of a motor (605). In this embodiment, the motor (605) is a conventional stepper motor, although it may be a rotary motor such as that comprising the stator (100), vertical conductors (110) and rotor / slider (200). The function of the motor (605) and arm (600) is to allow for more accurate positioning of the hollow tube (400) on the x, y plane, and also provide an overall broader reach. The motor (605) is in operable connection with controller (305).

[0121] Of course, the controller (305) and motor (605) require power. A further feature of the rotor / slider (200) is a series of wireless power transmission coils (one marked 250 in FIG 2 A) disposed around the uppermost region. The power transmission coils (250) receive power from annular contacts disposed on the inner surface of the rotor / slider (200). The annular contacts maintain contact with stationary contacts exposed on the surface of the stator (100).

[0122] Power transmitted by the transmission coils (250) is received by complimentary coils within the arm (300). The supply of power is discontinuous given that for certain periods of time the transmitting and receiving coils will not be in alignment. Power delivery is smoothed passively by the use of one or more capacitors (such as super capacitors).

[0123] The transmitting (250) and receiving coil pairs may also be configured as a low bit rate wireless communication means allowing for data transmission to the controller (305), so as to direct the arm (600) and therefore position the hollow tube (400) to a required location.

[0124] Further refinement to the embodiment already described may be provided. Reference is made to FIG. 10 showing a magnetic float device (700) which may be installed within a hollow running the length of the stator (100). The device (700) is slidingly movable within the hollow. The magnetic float device (700) includes a buoyant portion (705) fabricated from a low-density material such as closed cell foam, or a low density polymer, or an air filled polymer part. An array of ring magnets (710) is assembled over the buoyant portion (705). The magnetic float device (700) comprises passages (715) for liquid flow and a center bore (720) to accommodate the 3D Hall effect sensor array. The stator (100) may be filled with a non-reactive liquid having useful thermal transfer properties. Exemplary liquids include electrical insulating oil and transformer oil. The magnetic float device (700) has positive buoyancy when immersed in this liquid, and naturally floats to the top of the hollow within the stator. The magnets (710) magnetically couple to the rotor / slider magnets (205), and accordingly, the stator / slider also naturally moves toward the top of the stator (100).

[0125] Once the device (700) is inserted and pushed to the right position into the stator (100) it magnetically engages with the rotor / slider (200) magnet array. The liquid in the stator (100) provides the buoyancy to lift the rotor / slider (200), arms (300) and (600) and hollow tube (400). Accordingly, when the system is unpowered the arms (300) and (660), and the hollow tube (400) will be raised so as to prevent any collision with a sample container (500) in the event of an unexpected power failure.

[0126] With the addition of the magnetic float device (700) the rotor / slider (200) is less affected by gravity. This may improve the efficiency of the system overall as a smaller electric current is sufficient to achieve the same movement. This may also allow for a reduction in the size and weights of the magnets used in the rotor / slider (200). Another advantage is that the magnetic flux lines from the rotor / slier (200) may be better shaped and more concentrated due to the interaction with the device (700).

[0127] Another potential advantage of the magnetic float device (700) may be in heat management. With increasing currents passing through the stator, the liquid upon which the device (700) floats may function to dissipate heat. As the rotor / slider (200) moves the magnetic float device (700) is moved in the same vertical direction inside the post, given that the two components are mutually magnetically engaged. The liquid passes through passages (715) in the float device (700) thereby assisting in mixing the liquid and dissipating heat.

[0128] If required by an application, a heat pipe and heat sink may be incorporated to transport heat away from the stator.

[0129] The present disclosure allows for the rotor / slider (200) with connected arm (300) to be easily installed on, and removed from, the stator. The system may be transported with the rotor / slider (200) and connected arm (300) separate to the stator to reduce package volume or to prevent damage. Upon receipt of the unassembled system, the user simply lowers the rotor / slider (200) with connected arm (300) onto the stator (100). Typically, the stator is configured as a vertical post extending upwardly from a surface of an apparatus in which it is incorporated, such as an autosampler. The central lumen of the rotor / slider (200) is located over the stator (100) post and moved downwardly by the user such that the rotor / slider (200) encircles the stator (100) post. Upon powering of the required conductors (105) and / or (110), the rotor / slider is moved to a required starting position.

[0130] The stator (100) and / or rotor may be each coated with a material or disposed in a housing to substantially seal each from the external environment. Where the present system is used in the context of an autosampler, the coating or housing functions to further reduce the opportunity for sample contamination and entry of solvents into the autosampler.

[0131] While the present disclosure is made by reference to a sample transport system for a laboratory autosampler, further applications present. The disclosure may be applied to any automated means for transporting an object over a short distance from one place to another, whether within a laboratory, a production facility, a storage facility, or a warehouse. The present transport system may take the place of a conventional robotic arm or other carriage means in any application existing at the priority date of this application.

[0132] It should be understood that the foregoing description is only illustrative of the aspects of the present disclosure. Various alternatives and modifications can be devised by those skilled in the art without departing from the aspects of the present disclosure. Accordingly, the aspects of the present disclosure are intended to embrace all such alternatives, modifications and variances that fall within the scope of any claims appended hereto. Further, the mere fact that different features are recited in mutually different dependent or independent claims does not indicate that a combination of these features cannot be advantageously used, such a combination remaining within the scope of the aspects of the present disclosure.

[0133] Any single feature or combination of features described herein may be implemented not only with the preferred embodiments disclosed herein, but also any other embodiment falling within the ambit of the present disclosure.

Claims

CLAIMS:

1. A robotic arm or part thereof comprising: a first element being elongate and generally upwardly oriented; and a second element surrounding and coaxial with the first element, and movable about the first element by way of electromagnetic forces established therebetween, wherein the electromagnetic forces are utilized (i) in a linear motor configured to generate linear movement of the second element along the first element, and (ii) in a rotary motor configured to generate rotary movement of the second element around the first element.

2. The robotic arm or part thereof of claim 1 , wherein the first element is a cylindrical structure and the second element is a ring-like or tube-like structure, and the first element extends through a space bounded by the ring-like structure or the tube-like structure.

3. The robotic arm or part thereof of claim 1 or claim 2, wherein the first element is configured as a stator and the second element is configured as a rotor / slider, the second element surrounding and being rotatable around the first element.

4. The robotic arm or part thereof of any one of claims 1 to 3, comprising a first series of electrical conductors running across the first element, and extending for most, or all the length of the first element.

5. The robotic arm or part thereof of claim 4, wherein each of the first series of electrical conductors is elongate and oriented orthogonal to a long axis of the first element.

6. The robotic arm or part thereof of claim 4 or claim 5, wherein the first series of electrical conductors is divided into two, three or more sub-series; and a controller configured to selectively deliver power to each of the sub-series of the first series of electrical conductors..

7. The robotic arm or part thereof of any one of claims 1 to 6, comprising a second series of electrical conductors running along the first element.

8. The robotic arm or part thereof of claim 7, wherein the second series of electrical conductors are disposed about an upper region of the first element.

9. The robotic arm or part thereof of claim 7 or claim 8, wherein each of the second series of electrical conductors is elongate and oriented parallel to a long axis of the first element.

10. The robotic arm or part thereof of any one of claims 7 to 9, wherein each of the second series of electrical conductors is operably connected to a power source so as to provide an electromagnetic field about the first element.

11. The robotic arm or part thereof of any one of any one of claims 7 to 10, wherein the second series of electrical conductors is divided into two, three or more sub-series comprising a controller configured to selectively deliver power to each of the sub-series of the second series of electrical conductors.

12. The robotic arm or part thereof of any one of claims 1 to 11, wherein the second element comprises one or more magnets configured so as to move substantially vertically under the influence of an electromagnetic field established by the first set of electrical conductors.

13. The robotic arm or part thereof of claim 12, wherein the one or more magnets are configured so as to move substantially vertically under the influence of an electromagnetic field established by the first set of electrical conductors.

14. The robotic arm or part thereof of claim 13, wherein the one or more magnets comprise a plurality of ring-like magnets stacked substantially vertically and ordered with regard to alternating polarity.

15. The robotic arm or part thereof of any one of claims 12 to 14, wherein the one or more magnets are configured so as to move substantially horizontally under the influence of an electromagnetic field established by the second set of electrical conductors.

16. The robotic arm or part thereof of any one of claims 12 to 15, wherein the one or more magnets comprise a plurality of bar-like magnets each which is oriented substantially vertically and disposed around the first element and ordered with regard to alternating polarity.

17. The robotic arm or part thereof of any one of claims 1 to 16, wherein the electromagnetic forces are configured such that no mutual contact is made between the first and second elements.

18. The robotic arm or part thereof of any one of claims 1 to 17, wherein the first element comprises a wireless power transmitter and second element comprises a wireless power receiver configured to receive power from the wireless power transmitter and configured to deliver power to an electrical motor associated with the second element.

19. The robotic arm or part thereof of any one of claims 1 to 18, wherein the first and / or second element is substantially sealed.

20. An autosampler comprising, or being in operable association with, the robotic arm or part thereof of any one of claims 1 to 19.

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