Magnetic transport system for an object

Abstract

A robotic arm having a post comprising one or more magnets, and an arm element comprising one or more magnets. The arm element comprises a space through which the post passes. The arm element is magnetically coupled to the post, and movement of the one or more magnets in the post causes movement of the arm element and / or or a pulley within the arm.

Description

MAGNETIC 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 are tasked 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. For 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 theprior 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. 1A is a diagrammatic illustration in lateral perspective view of an exemplary post element of a transport system as implemented in a laboratory autosampler apparatus in accordance with aspects of the present disclosure.

[0017] FIG. IB is an alternative view of the post element of FIG. 1A diagrammatic illustration in lateral view of an exemplary stator element in accordance with aspects of the present disclosure.

[0018] FIG. 2 is a diagrammatic illustration in cross-sectional view of an exemplary arm element of a transport system as implemented in a laboratory autosampler apparatus in accordance with aspects of the present disclosure

[0019] FIG. 3 is a diagrammatic illustration in lateral perspective view of an exemplary upper magnet set of an arm element in accordance with aspects of the present disclosure. The indicia “N” and “S” refer to magnet polarity.

[0020] FIG. 4 is a diagrammatic illustration in upper perspective view of an exemplary arm element in accordance with aspects of the present disclosure.

[0021] FIG. 5 is a diagrammatic illustration in upper perspective view of an exemplary transport system I the context of an autosampler of the type used in a laboratory automation system.

[0022] 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.

[0023] 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

[0024] In a first aspect, but not necessarily the broadest aspect, there is provided a transport system for an object comprising: a post element comprising one or more magnets, an arm element comprising one or more magnets, the arm element comprising a space through which the post element passes, wherein the arm element is magnetically coupled to the post element, and movement of the one or more magnets in the post element causes movement of the arm element and / or or a pulley within the arm element.

[0025] In one embodiment of the first aspect, the one or more magnets of the post element are movable to cause the arm element to move along the post element

[0026] In one embodiment of the first aspect, the one or more magnets of the post element are movable to cause the arm element to move about post element.

[0027] In one embodiment of the first aspect, the post element comprises a first pulley, and the one or more magnets of the post element are configured to rotate the pulley.

[0028] In one embodiment of the first aspect, the arm element comprises a first portion articulated with a second portion, and a second pulley connected to the first pulley, wherein the second pulley is configured to move the second portion relative to the first portion.

[0029] In one embodiment of the first aspect, movement of any of the one or more magnets is effected by a magnet mover.

[0030] In one embodiment of the first aspect, the magnet mover imparts a linear or a rotational movement on any of the one or more magnets.

[0031] In one embodiment of the first aspect, the magnet mover comprises an electric motor, or a source of a pressurized fluid.

[0032] In one embodiment of the first aspect, the post element and the arm element form a robotic arm, or a part of a robotic arm configured to transport an object.

[0033] In one embodiment of the first aspect, the post element and / or the arm element are substantially sealed.

[0034] 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.

[0035] In one embodiment of the first aspect, the housing or coating is fabricated from electrically non-conductive and / or non-magnetizable material(s).

[0036] In one embodiment of the first aspect, the object is a laboratory sample aspiration tube.

[0037] In a second aspect, there is provided a component of a transport system for an object comprising the post element according to any embodiment of the first aspect.

[0038] In a third aspect, there is provided a component of a transport system comprising the arm element according to any embodiment of the first aspect.

[0039] In a fourth aspect, there is provided a laboratory automation apparatus comprising the transport system of any embodiment of the first aspect.

[0040] In one embodiment of the fourth aspect, the apparatus is an autosampler.

[0041] In a fifth aspect, there is provided a robotic arm comprising: a post element comprising one or more magnets, an arm element comprising one or more magnets, the arm element comprising a space through which the post element passes, wherein the arm element is magnetically coupled to the post element, and movement of the one or more magnets in the post element causes movement of the arm element and / or or a pulley within the arm element.

[0042] In one embodiment of the fifth aspect, the one or more magnets of the post element are movable to cause the arm element to move along the post element.

[0043] In one embodiment of the fifth aspect, the one or more magnets of the post element are movable to cause the arm element to move about post element.

[0044] In one embodiment of the fifth aspect, the post element comprises a first pulley, and the one or more magnets of the post element are configured to rotate the pulley.

[0045] In one embodiment of the fifth aspect, the arm element comprises a first portion articulated with a second portion, and a second pulley connected to the first pulley, wherein the second pulley is configured to move the second portion relative to the first portion.

[0046] In one embodiment of the fifth aspect, the movement of any of the one or more magnets is effected by a magnet mover.

[0047] In one embodiment of the fifth aspect, the magnet mover imparts a linear or a rotational movement on any of the one or more magnets.

[0048] In one embodiment of the fifth aspect, the magnet mover comprises an electric motor, or a source of a pressurized fluid.

[0049] In one embodiment of the fifth aspect, the robotic arm is a Selective Compliance Articulated Robot Arm.

[0050] In one embodiment of the fifth aspect, the post element and / or the arm element are substantially sealed.

[0051] In one embodiment of the fifth 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.

[0052] In one embodiment of the fifth aspect, the housing or coating is fabricated from electrically non-conductive and / or non-magnetizable material(s).

[0053] In one embodiment of the fifth aspect, the object is a laboratory sample aspiration tube.

[0054] In a sixth aspect, there is provided a component of a robotic arm comprising the post element as defined in any embodiment of the fifth aspect.

[0055] In a seventh aspect, there is provided a component of a robotic arm comprising the arm element as defined in any embodiment of the fifth aspect.

[0056] In an eighth aspect, there is provided a laboratory automation apparatus comprising the robotic arm of any embodiment of the fifth aspect.

[0057] In one embodiment of the eighth aspect, the apparatus is an autosampler.DETAILED DESCRIPTION AND PREFERRED EMBODIMENTS

[0058] 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 otheraspects apply to specific exemplary embodiments, and not necessarily to all embodiments, or indeed any embodiment covered by the claims.

[0059] 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.

[0060] Reference throughout this specification to “one embodiment” or “an embodiment” means that a particular feature, structure or characteristic described in connection with the embodiment is 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.

[0061] 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.

[0062] 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.

[0063] In one aspect there is provided a transport system for an object comprising: a post element comprising one or more magnets, an arm element comprising one or more magnets, the arm element comprising a space through which the post element passes, wherein the arm element is magnetically coupled to the post element, and movement of the one or more magnets in the post element causes movement of the arm element and / or or a pulley within the arm element.

[0064] 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.

[0065] In contrast to the arrangement described above the present disclosure provides x, y and z directional movement by way of a magnetic coupling between the post element and the arm element. Magnets within the post element are moved by motor means for example, and given the magnetic coupling such movement is transferred to the arm element. The magnets of the post element may be moved along the post axis, thereby causing z-directional movement in the arm element. Axial rotation of the magnets causes axial movement of a body portion of the arm element so as to in turn cause x, y directional movement of a laterally extending portion.

[0066] The magnetic coupling allows for any motors to be disposed within the post element, and where the post element is completely sealed (as is preferred) any contaminants originating from the motor are maintained therewithin and therefore unable to contact any analytical sample.

[0067] Where the stem element is not sealed, advantage is nevertheless gained by disposing any motor within the stem. In that arrangement, there is no opportunity for a contaminant to fall downwardly into any sample container, given that the containers are located lateral to the post element (see FIG. 5).

[0068] To further describe the present disclosure, reference is made to the following nonlimiting embodiments.

[0069] FIG. 1A and FIG. IB show components of the post element (10) of transport system, comprising a core (15) that is moveable bi-directionally vertically (z-direction) by way of the lead screw (15) as turned by the electric motor (20). The core (15) comprises rollers (20) which locate on the rail (25) so as to guide the core (15) strictly vertically.

[0070] The core (15) carries an upper magnet set (30) and a lower magnet set (35), each of which is in the form of a ring gear having internally facing teeth (not visible) and outwardly facing magnets (40). Each of the upper magnet set (30) and a lower magnet set (35) are provided with bearings allowing for axial rotation. The lower magnet set (35) is rotated by a pinion gear (not visible) by the electric motor (45). A further electric motor (50) similarly rotates the upper magnet set (30). A printed circuit board (55) controls the electric motors, and provides for processing of positional information as output by Hall effect sensors.

[0071] A cylindrical housing (60) encloses all componentry.

[0072] As will be explained more fully below, vertical movement of the core (15) causes vertical movement of the arm element by way of the magnetic coupling. Rotation of the lower magnet set (30) causes rotation of the arm element about the post element (10). Rotation of the upper magnet set (25) causes rotation of a pulley which engages with a pulley in an articulation of the arm element.

[0073] Turning now to FIG. 2, there is shown arm element (200) having a body portion (205) and a lateral portion (210) extending therefrom. The lateral portion (210) comprises a proximal portion (210a) and a distal portion (210b) with a joint (210c) therebetween.

[0074] The body portion (205) of the arm element (200) has an axial space (215) which is occupied in the drawing by the core and associated components, and the lead screw. The post element (10) and arm element (200) has no mechanical connection formed therebetween, and accordingly the arm element (200) can be simply dropped onto the post element (10).

[0075] The arm element (200) magnetically couples with the upper magnet set (30) and lower magnet set (35) of the post element (10) by way of the upper magnet set (220) and lower magnet set (225) respectively.

[0076] The body portion (205) comprises an inner portion (205a) and an outer portion (205b), with upper bearing (230) and lower bearing (235) allowing relative axial rotation therebetween. The proximal portion (210a) of the lateral portion (210) and the magnet set (225) is continuous with the outer portion (205b) of the body portion (205) of arm element (200). Accordingly axial rotation of magnets (225) caused by rotation of coupled magnets in the post element causes swinging of the lateral portion (210) in the x,y direction (i.e. into and out of the page).

[0077] The upper magnet set (220) of the arm portion (200) has a different function to the lower magnet set (220). The upper magnet set (220) is ring-shaped and rotates axially within the body portion (205) so as to axially rotate a pulley. As shown in FIG. 3A, the upper magnet set (220) has a series of outwardly extending teeth (250). As shown in FIG. 3B the teeth (250) engage with the belt (255) to form a pulley arrangement. The belt (255) in engages with a further toothed pulley (260) such that rotation of upper magnet set (220) (due to rotation of theupper magnet set (30) of the post element (10)) causes axial rotation thereof. The pulley (260) rotates within a space of the proximal portion (210a) but is in fixed connection with the distal portion (210b). Thus, rotation of the pulley (260) causes the distal portion (210b) to swing in the x,y direction relative to the proximal portion.

[0078] Thus, by controlling the motors (20) (40) and (50), the arm (210) can be moved vertically, the proximal portion (210a) can swing in the x.y direction, and distal portion (210b) can swing independently in the x,y direction.

[0079] As will be apparent from FIG. 3, the upper magnet set (30) comprises a second set of magnets (42). The magnets (42) function in the context of a Hall effect sensor, the p-type semiconductor Hall element residing stationary within the post element (200). The Hall element is connected to the circuit board (55) and by processor means informs as to the angular position of the body portion (205) as required to properly orientate the arm portion (200) with regard to an object, such as a sample vessel.

[0080] The lower magnet set (35) is a mirror image of the upper magnet set, having also a second set of magnets (42) operable in the context of a Hall effect angular position sensor..

[0081] Reference is made to FIG. 5 showing an implementation of the present transport system in the context of an autosampler. The autosampler has a surface (500) including an area (505) for holing an array of sample containers (510). The terminus of the distal portion (210b) retains a hollow tube (270) in the aperture (265), the tube being for aspirating sample, which can therefore be located above a sample container, lowered into the container, and elevated out of it.

[0082] 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 anyautomated 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.

[0083] 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.

[0084] 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

CLAIMS1. A robotic arm comprising: a post element comprising one or more magnets, an arm element comprising one or more magnets, the arm element comprising a space through which the post element passes, wherein the arm element is magnetically coupled to the post element, and movement of the one or more magnets in the post element causes movement of the arm element and / or or a pulley within the arm element.

2. The robotic arm of claim 1, wherein the one or more magnets of the post element are movable to cause the arm element to move along the post element3. The robotic arm of claim 1 , wherein the one or more magnets of the post element are movable to cause the arm element to move about post element.

4. The robotic arm of any one of claims 1 to 3, wherein the post element comprises a first pulley, and the one or more magnets of the post element are configured to rotate the pulley.

5. The robotic arm of claim 4, wherein the arm element comprises a first portion articulated with a second portion, and a second pulley connected to the first pulley, wherein the second pulley is configured to move the second portion relative to the first portion.

6. The robotic arm of any one of claims 1 to 5, wherein the movement of any of the one or more magnets is effected by a magnet mover.

7. The robotic arm of claim 6, wherein the magnet mover imparts a linear or a rotational movement on any of the one or more magnets.

8. The robotic arm of claim 6 or claim 7, wherein the magnet mover comprises an electric motor, or a source of a pressurized fluid.

9. The robotic arm of any one of claims 1 to 8, that is a Selective Compliance Articulated Robot Arm.

10. The robotic arm of any one of claims 1 to 9, wherein the post element and / or the arm element are substantially sealed.

11. The robotic arm of claim 10, wherein 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.

12. The robotic arm of claim 11, wherein the housing or coating is fabricated from electrically non-conductive and / or non-magnetizable material(s).

13. The robotic arm of any one of claims 1 to 12, wherein the object is a laboratory sample aspiration tube.

14. A component of a robotic arm comprising the post element as defined in any one of claims 1 to 13.

15. A component of a robotic arm comprising the arm element as defined in any one of claims 1 to 13.

16. A laboratory automation apparatus comprising the robotic arm of any one of claims 1 to13.

17. The apparatus of claim 16 that is an autosampler.

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