GB2613008A

GB2613008A - Object handler in particular in an analytical system

Info

Publication number: GB2613008A
Application number: GB2116726.7A
Authority: GB
Inventors: Nocon Blasius; Geiger Christoph
Original assignee: Agilent Technologies Inc
Current assignee: Agilent Technologies Inc
Priority date: 2021-11-19
Filing date: 2021-11-19
Publication date: 2023-05-24
Anticipated expiration: 2041-11-19
Also published as: GB2613008B; CN116148374A; GB202116726D0

Abstract

An apparatus (270, fig 2) configured for moving an object 240, in particular a container, preferably in an analytical system (10, fig 1) configured for analysing a substance, comprises a coupler (340, fig 3), configured for coupling with the object in order to move it, a turntable 320 being rotatable around a central axis, a first rotational member 400 being rotatable around a first axis 400A of the turntable and having a first pivot point 450 being located off centric from the first axis, and a linear member 420 being pivotably coupled with the first rotational member at the first pivot point. The coupler is coupled with the linear member, and the coupling of the linear member at the first pivot point is configured so that a rotational movement of the first rotational member around the first axis effects a linear movement Y of the coupler. A fluid separation system that includes a chromatographic column may comprise the apparatus for at least partly removing a sample fluid from the container and/or for introducing a separated compound into the container.

Description

OBJECT HANDLER IN PARTICULAR IN AN ANALYTICAL SYSTEM

BACKGROUND ART

[0001] The present invention relates to handling an object, in particular a container in an analytical system configured for analysing a substance, such as a high-performance liquid chromatography application.

[0002] In high-performance liquid chromatography (HPLC), a liquid has to be provided usually at a very controlled flow rate (e. g. in the range of microliters to milliliters per minute) and at high pressure (typically 20-100 M Pa, 200-1000 bar, and beyond up to currently 200 MPa, 2000 bar) at which compressibility of the liquid becomes noticeable. For liquid separation in an HPLC system, a mobile phase comprising a sample fluid (e.g., a chemical or biological mixture) with compounds to be separated is driven through a stationary phase (such as a chromatographic column packing), thus separating different compounds of the sample fluid which may then be identified. The term compound, as used herein, shall cover compounds which might comprise one or more different components.

[0003] The mobile phase, for example a solvent, is pumped under high pressure typically through a chromatographic column containing packing medium (also referred to as packing material or stationary phase). As the sample fluid is carried through the column by the liquid flow, the different compounds, each one having a different affinity to the packing medium, move through the column at different speeds. Those compounds having greater affinity for the stationary phase move more slowly through the column than those having less affinity, and this speed differential results in the compounds being separated from one another as they pass through the column. The stationary phase is subject to a mechanical force generated in particular by a hydraulic pump that pumps the mobile phase usually from an upstream connection of the column to a downstream connection of the column. As a result of flow, depending on the physical properties of the stationary phase and the mobile phase, a relatively high pressure drop is generated across the column.

[0004] The mobile phase with the separated compounds exits the column and passes through a detector, which registers and/or identifies the molecules, for example by spectrophotometric absorbance measurements. A two-dimensional plot of the -1 -detector measurements against elution time or volume, known as a chromatogram, may be made, and from the chromatogram the compounds may be identified. For each compound, the chromatogram displays a separate curve feature also designated as a "peak". Efficient separation of the compounds by the column is advantageous because it provides for measurements yielding well defined peaks having sharp maxima inflection points and narrow base widths, allowing excellent resolution and reliable identification and quantitation of the mixture constituents. Broad peaks, caused by poor column performance, so called "Internal Band Broadening" or poor system performance, so called "External Band Broadening" are undesirable as they may allow minor components of the mixture to be masked by major components and go unidentified.

[0005] Transport of fluids is an omnipresent task in many analytical systems. In HPLC systems, as an example, sample fluids need to be transported towards the H PLC system, and separated fractions needs to be transported away from the H PLC system. Sample fluids and/or separated fractions are often contained and provided in respective containers, such as vials, wellplates and the like.

[0006] W02004025305A1 describes a well plate supply storage apparatus.

[0007] US7596251B2 discloses an automated sample analysis system with a dedicated fluid handling for sample storage and transport. A multi-axis robot is provided to access and transport respective shelves in a shelf array.

DISCLOSURE

[0008] It is an object of the invention to provide an improved handling of an object, in particular a container in an analytical system configured for analysing a substance, such as a high-performance liquid chromatography application. The object is solved by the independent claim(s). Further embodiments are shown by the dependent claim(s).

[0009] In one embodiment, an apparatus configured for moving an object is provided. The object may be a container, such as a vial, vessel, wellplate or the like, for example in an analytical system configured for analysing a substance e.g. contained in such container. The apparatus comprises a coupler configured for coupling with the object in order to move the object, a turntable being rotatable around a central axis, a -2 -first rotational member being rotatable around a first axis of the turntable and having a first pivot point being located off centric from the first axis, and a linear member being pivotably coupled with the first rotational member at the first pivot point. The coupler is coupled with the linear member, and the coupling of the linear member at the first pivot point is configured so that a rotational movement of the first rotational member around the first axis effects a linear movement of the coupler. This allows moving the object by linear movement and/or rotational movement, both resulting from rotational movements. In other words, the rotational movement of the first rotational member around the first axis is converted into the linear movement of the coupler. This allows providing embodiments of the apparatus achieving translation and/or rotation of the object with minimal spatial requirement.

[0010] In one embodiment, the apparatus comprises a second rotational member being rotatable around a second axis of the turntable and having a second pivot point being located off centric from the second axis. The linear member is coupled with the second rotational member at the second pivot point, so that the rotational movement of the first rotational member around the first axis is converted into the linear movement of the coupler. In other words, the rotational movement of the second rotational member around the second axis is converted into the linear movement of the coupler.

[0011] In one embodiment, the first pivot point of the first rotational member is coupled into an oblong hole of the linear member, so that rotational movement of the first rotational member around the first axis effects (or, in other words, is converted into) the linear movement of the coupler.

[0012] In one embodiment, the coupler is configured for mechanically coupling with the object.

[0013] In one embodiment, the coupler is configured for magnetically coupling with the object.

[0014] In one embodiment, the coupler comprises a grabber configured for grabbing the object in order to move the object.

[0015] In one embodiment, the coupler is configured for actively coupling with the object. -3 -

[0016] In one embodiment, the coupler is configured for passively coupling with the object.

[0017] In one embodiment, the apparatus comprises a first drive configured for driving a rotating of the first rotational member around the first axis.

[0018] In one embodiment, the apparatus comprises a rotational coupling for coupling a rotation of the first rotational member with the second rotational member, preferably comprising a gear mechanism.

[0019] In one embodiment, the apparatus comprises a second drive configured for driving a rotation of the turntable around the central axis, wherein preferably the second drive is independent of the first drive.

[0020] In one embodiment, the first axis is off centric from the central axis.

[0021] In one embodiment, the second axis is off centric from the central axis.

[0022] In one embodiment, the second axis is different from the first axis.

[0023] In one embodiment, the first axis and the central axis parallel to each other.

[0024] In one embodiment, the first axis, the second axis, and the central axis parallel to each other.

[0025] In one embodiment, the linear movement of the coupler is into a first linear direction perpendicular to the central axis.

[0026] In one embodiment, the second rotational member is configured so that a rotation of the second rotational member around the second axis is into an opposite direction than a rotation of the first rotational member of around the first axis.

[0027] In one embodiment, the movement of the coupler is configured for moving the object when coupled with the coupler.

[0028] In one embodiment, the apparatus is configured for providing a rotation of the turntable in order to rotate the object.

[0029] In one embodiment, the apparatus is configured for providing a linear -4 -movement of the coupler in order to provide a linear movement of the object.

[0030] In one embodiment, the apparatus comprises a counterbalancing mechanism configured for converting the rotational movement of the first rotational member around the first axis only into a linear movement of the coupler into a first linear direction only.

[0031] In one embodiment, the counterbalancing mechanism is configured for counterbalancing a movement of the coupler into a second linear direction perpendicular to the first linear direction, preferably by actively moving opposite to a movement of the first rotational member into the second linear direction in order to substantially compensate such movement of the first rotational member into the second linear direction.

[0032] In one embodiment, the counterbalancing mechanism is configured for disabling a movement of the coupler into a second linear direction perpendicular to the first linear direction, preferably by disabling movement of the coupler into the second linear direction when rotating the first rotational member around the first axis, preferably by attaching the coupler to a rail mechanism on the linear member, wherein movement into the second linear direction is disabled by a stopper.

[0033] In one embodiment, the first linear direction and the second linear direction are perpendicular to the central axis.

[0034] In one embodiment, the first linear direction and the second linear direction are in the plane of the central axis.

[0035] In one embodiment, the apparatus comprises a lift mechanism configured for moving the turntable into a Z-axis, wherein preferably the Z-axis is substantially parallel to the central axis and/or substantially perpendicular to the first linear direction and/or the second linear direction.

[0036] In one embodiment, the apparatus comprises one or more shafts, each for transferring a respective rotational movement for rotating at least one of: the turntable, the first rotational member, the second rotational member, and the lift mechanism.

[0037] In one embodiment, one or more of the shafts are configured to be rotatable (i.e., providing a rotational movement) into a Z-axis, wherein preferably the Z-axis is -5 -substantially parallel to the central axis and/or substantially perpendicular to the first linear direction and/or the second linear direction.

[0038] In one embodiment, one or more of the shafts are located laterally with respect to the turntable.

[0039] In one embodiment, a sample handler is provided configured for moving a fluid container. The fluid container may be a vial, vessel, wellplate, or the like, for removing a fluid from the container and/or introducing a fluid into the container. The sample handler comprises an apparatus according to any one of the aforementioned embodiments, wherein the object is the container.

[0040] In one embodiment, a fluid separation system for separating compounds of a sample fluid in a mobile phase is provided. The fluid separation system comprises a mobile phase drive, preferably a pumping system, adapted to drive the mobile phase through the fluid separation system, a separating device, preferably a chromatographic column, adapted for separating compounds of the sample fluid in the mobile phase, and a sample handler or apparatus according to any one of the aforementioned embodiments configured for moving a container, in particular a vial, vessel, wellplate, or the like, for removing the sample fluid from the container and/or for introducing a separated compounds into the container.

[0041] In one embodiment, the separation system comprises one or more of: a sample dispatcher adapted to introduce the sample fluid into the mobile phase; a detector adapted to detect separated compounds of the sample fluid; a collection unit adapted to collect separated compounds of the sample fluid; a data processing unit adapted to process data received from the fluid separation system; and a degassing apparatus for degassing the mobile phase.

[0042] In one embodiment, a method of moving an object is provided, the object may be container, such as vial, vessel, wellplate, or the like, preferably in an analytical system configured for analysing a substance contained in the container. The method comprises coupling the object and moving the object by: rotating the object around a central axis, and providing a linear movement of the object by rotating around a first axis off centric to the central axis, and rotationally converting the rotation around the first axis into the linear movement. -6 -

[0043] Embodiments of the present invention might be embodied based on most conventionally available HPLC systems, such as the Agilent 1220, 1260 and 1290 Infinity LC Series (provided by the applicant Agilent Technologies).

[0044] One embodiment of an HPLC system comprises a pumping apparatus having a piston for reciprocation in a pump working chamber to compress liquid in the pump working chamber to a high pressure at which compressibility of the liquid becomes noticeable.

[0045] The mobile phase (or eluent) can be either a pure solvent or a mixture of different solvents. It can also contain additives, i.e. be a solution of the said additives in a solvent or a mixture of solvents. It can be chosen e.g. to adjust the retention of the compounds of interest and/or the amount of mobile phase to run the chromatography. The mobile phase can also be chosen so that the different compounds can be separated effectively. The mobile phase might comprise an organic solvent like e.g. methanol or acetonitrile, often diluted with water. For gradient operation water and organic is delivered in separate containers, from which the gradient pump delivers a programmed blend to the system. Other commonly used solvents may be isopropanol, THF, hexane, ethanol and/or any combination thereof or any combination of these with aforementioned solvents.

[0046] The sample fluid might comprise any type of process liquid, natural sample like juice, body fluids like plasma or it may be the result of a reaction like from a fermentation broth.

[0047] The fluid is preferably a liquid but may also be or comprise a gas and/or a supercritical fluid (as e.g. used in supercritical fluid chromatography -SFC -as disclosed e.g. in US 4,982,597 A).

[0048] The pressure in the mobile phase might range from 2-200 MPa (20 to 2000 bar), in particular 10-150 MPa (100 to 1500 bar), and more particular 50-120 MPa (500 to 1200 bar).

[0049] The HPLC system might further comprise a detector for detecting separated compounds of the sample fluid, a fractionating unit for outputting separated compounds of the sample fluid, or any combination thereof. Further details of HPLC system are -7 -disclosed with respect to the aforementioned Agilent H PLC series, provided by the applicant Agilent Technologies.

[0050] Embodiments of the invention can be partly or entirely embodied or supported by one or more suitable software programs, which can be stored on or otherwise provided by any kind of data carrier, and which might be executed in or by any suitable data processing unit. Software programs or routines can be preferably applied in or by the control unit.

[0051] In the context of this application, the term "fluidic sample" may particularly denote any liquid and/or gaseous medium, optionally including also solid particles, which is to be analyzed. Such a fluidic sample may comprise a plurality of fractions of molecules or particles which shall be separated, for instance biomolecules such as proteins. Since separation of a fluidic sample into fractions involves a certain separation criterion (such as mass, volume, chemical properties, etc.) according to which a separation is carried out, each separated fraction may be further separated by another separation criterion (such as mass, volume, chemical properties, etc.), thereby splitting up or separating a separate fraction into a plurality of sub-fractions.

[0052] In the context of this application, the term "fraction" may particularly denote such a group of molecules or particles of a fluidic sample which have a certain property (such as mass, volume, chemical properties, etc.) in common according to which the separation has been carried out. However, molecules or particles relating to one fraction can still have some degree of heterogeneity, i.e. can be further separated in accordance with another separation criterion.

[0053] In the context of this application, the term "sample separation apparatus" may particularly denote any apparatus which is capable of separating different fractions of a fluidic sample by applying a certain separation technique. Particularly, two separating devices may be provided in such a sample separation apparatus when being configured for a two-dimensional separation. This means that the sample or any of its parts or subset(s) is first separated in accordance with a first separation criterion, and is subsequently separated in accordance with a second separation criterion, which may be the same or different.

[0054] The term "separating device" may particularly denote a fluidic member -8 -through which a fluidic sample is guided and which is configured so that, upon conducting the fluidic sample through the separating device, the fluidic sample or some of its components will be at least partially separated into different groups of molecules or particles (called fractions or sub-fractions, respectively) according to a certain selection criterion. An example for a separating device is a liquid chromatography column which is capable of selectively retarding different fractions of the fluidic sample.

BRIEF DESCRIPTION OF DRAWINGS

[0055] Other objects and many of the attendant advantages of embodiments of the present invention will be readily appreciated and become better understood by reference to the following more detailed description of embodiments in connection with the accompanied drawing(s). Features that are substantially or functionally equal or similar will be referred to by the same reference sign(s). The illustration in the drawing is schematically.

[0056] Figure 1 shows a liquid separation system 10, in accordance with embodiments of the present invention, e.g. used in high performance liquid chromatography (H PLC).

[0057] Figure 2 illustrates in a three-dimensional partly cut off representation an exemplary embodiment of a fluid handling system 200 for handling and transporting fluids for example in the liquid separation system 10.

[0058] Figure 3 shows the exemplary embodiment of the transport unit 270 of Figure 2 in greater detail.

[0059] Figures 4 illustrate operation of the linear unit 330 and the turntable 320.

[0060] Referring now in greater detail to the drawings, Fig. 1 depicts a general schematic of a liquid separation system 10. A pump 20 receives a mobile phase from a solvent supply 25, typically via a degasser 27, which degases the mobile phase and thus reduces the amount of dissolved gases in it. The pump 20 -as a mobile phase drive -drives the mobile phase through a separating device 30 (such as a chromatographic column) comprising a stationary phase. A sample dispatcher 40 (also referred to as sample introduction apparatus, sample injector, etc.) is provided between the pump 20 and the separating device 30 in order to subject or add (often referred to -9 -as sample introduction) portions of one or more sample fluids into the flow of a mobile phase (denoted by reference numeral 200, see also Fig. 2). The stationary phase of the separating device 30 is adapted for separating compounds of the sample fluid, e.g. a liquid. A detector 50 is provided for detecting separated compounds of the sample fluid.

A fractionating unit 60 can be provided for outputting separated compounds of sample fluid.

[0061] While the mobile phase can be comprised of one solvent only, it may also be mixed of plurality of solvents. Such mixing might be a low pressure mixing and provided upstream of the pump 20, so that the pump 20 already receives and pumps the mixed solvents as the mobile phase. Alternatively, the pump 20 might be comprised of plural individual pumping units, with plural of the pumping units each receiving and pumping a different solvent or mixture, so that the mixing of the mobile phase (as received by the separating device 30) occurs at high pressure und downstream of the pump 20 (or as part thereof). The composition (mixture) of the mobile phase may be kept constant over time, the so-called isocratic mode, or varied over time, the so-called gradient mode.

[0062] A data processing unit 70, which can be a conventional PC or workstation, might be coupled (as indicated by the dotted arrows) to one or more of the devices in the liquid separation system 10 in order to receive information and/or control operation. For example, the data processing unit 70 might control operation of the pump 20 (e.g., setting control parameters) and receive therefrom information regarding the actual working conditions (such as output pressure, flow rate, etc. at an outlet of the pump). The data processing unit 70 might also control operation of the solvent supply 25 (e.g. monitoring the level or amount of the solvent available) and/or the degasser 27 (e.g. setting control parameters such as vacuum level) and might receive therefrom information regarding the actual working conditions (such as solvent composition supplied over time, flow rate, vacuum level, etc.). The data processing unit 70 might further control operation of the sample dispatcher 40 (e.g. controlling sample introduction or synchronization of the sample introduction with operating conditions of the pump 20). The separating device 30 might also be controlled by the data processing unit 70 (e.g. selecting a specific flow path or column, setting operation temperature, etc.), and send -in return -information (e.g. operating conditions) to the data processing unit 70. Accordingly, the detector 50 might be controlled by the data processing unit 70 (e.g. with respect to spectral or wavelength settings, setting time -10-constants, start/stop data acquisition), and send information (e.g. about the detected sample compounds) to the data processing unit 70. The data processing unit 70 might also control operation of the fractionating unit 60 (e.g. in conjunction with data received from the detector 50) and provides data back. Finally the data processing unit might also process the data received from the system or its part and evaluate it in order to represent it in adequate form prepared for further interpretation.

[0063] Figure 2 illustrates in a three-dimensional partly cut off representation an exemplary embodiment of a fluid handling system 200 for handling and transporting fluids for example in the liquid separation system 10. The fluid handling system 200 may be part of the sample dispatcher 40 and/or the fractionating unit 60. Alternatively, the fluid handling system 200 may be a separate and external system for handling fluids of the sample dispatcher 40 and/or the fractionating unit 60.

[0064] The fluid handling system 200 allows all kinds of fluid handling, such as transporting fluids contained in respective containers, receiving (e.g. aspirating) fluids such as sample fluids contained in respective containers, filling respective containers with fluids such as separated compounds of sample fluid, storing respective containers with or without respective fluid content, transporting containers and/or fluids from and/or between respective locations such as dedicated storage places, devices, instruments and the like, et cetera.

[0065] In the exemplary embodiment of Figure 2, the fluid handling system 200 shall comprise a storage cabinet 210 comprising a plurality of drawers 220A, 220B, et cetera, each drawer 220 may comprise one or more respective fluid containers (not visible in Figure 2). A sampling unit 230 is provided for receiving and/or outputting fluid into respective containers 240. In the exemplary embodiment of Figure 2, the shown container 240 is depicted as a wellplate having a plurality of wells for respectively containing fluid.

[0066] In the embodiment of Figure 2, the sampling unit 230 is depicted only schematically as a box for the sake of clarity and easier explanation of the fluid handling system 200. It goes without saying, that the sampling unit 230 can be any kind of sampling unit as known in the art. The sampling unit 230 may be allowing to receive plural containers 240 (instead of the single container 240 of the embodiment of Figure -11 - 2). The sampling unit 230 may have a dedicated access point for receiving such one or more containers 240 from the fluid handling system 200, such as a board, a turntable, et cetera, as known in the art. the access point of the sampling unit 230 can be provided in spatial relation to one or more sampling arms (not shown in Figure 2) configured for receiving and/or outputting fluid from or into respective wells of the (respective) container 240.

[0067] The fluid handling system 200 of the embodiment of Figure 2 further comprises a transport unit 270 configured for moving fluid from and between the storage cabinet 210 and the sampling unit 230. The transport unit 270 is configured to allow e.g. transporting a respective wellplate 240 out of the storage cabinet 210 and e.g. a respective access point of the sampling unit 230, and vice versa.

[0068] Figure 3 shows the exemplary embodiment of the transport unit 270 of Figure 2 in greater detail. The transport unit 270 comprises a hoist 300 (which may also be referred to as a cage) configured for communicating between the storage cabinet 210 and the sampling unit 230 by containing a respective unit for mechanically coupling and moving the respective containers 240 between storage cabinet 210 and sampling unit 230, as will be explained in more detail later.

[0069] The hoist 300 comprises a base plate 310 bearing a rotatable turntable 320 and a linear unit 330 (which will be detailed later) for providing a linear movement. The linear unit 330 comprises a coupler 340 (better visible in Figures 4) configured for coupling e.g. with a respective container 240, such as a wellplate, which may be stored in the storage cabinet 210 or being positioned on a respective access point (e.g. a sampling plate or turntable) preferably of the sampling unit 230. The linear unit 330 bearing the coupler 340 is coupled (as outlined later) with the turntable 320, so that the coupler 340 (with or without a respective container 240) can assume a rotational movement (effected by the turntable 320) and/or a linear movement (effected by the linear unit 330), thus e.g. allowing to move a respective container 240 coupled with the coupler 340 between the storage cabinet 210 and the respective access point of the sampling unit 230.

[0070] The hoist 300 further comprises an (optional) top plate 350 and an (optional) bottom plate 355, mainly provided for mechanical stability of the hoist 300. Each corner -12-of the hoist 300 is provided by and comprises a respective rod 360A-360D. Beside mechanical stability, the rods 360 can also be used for guiding kinematic energy for moving the coupler 340, as will be detailed later.

[0071] The transport unit 270 further comprises a driving unit 370 containing one or more drives for generating the kinematic energy for moving the coupler 340.

Respective kinematic conduits 380 can be provided to conduct and guide the kinematic energy generated by a respective drive (e.g. drives 370A-370D) of the driving unit 370 directly or indirectly towards the coupler 340.

[0072] In the exemplary embodiment of Figure 3, the driving unit 370 shall comprise four individual and separate drives 370A-3700, each for generating kinematic energy for (directly or indirectly) moving the coupler 340 in a respective direction of motion. More specifically, drive 370A is coupled with and drives kinematic conduit 380A (e.g. a belt), which is coupled with and drives rod 360A (e.g. a rotatable shaft). The rotatable rod 360A in turn is coupled with the turntable 320, e.g. via a belt system (as indicated in Figure 3), in order to rotate the turntable 320 and thus the coupler 340. Drive 370B is coupled with and drives kinematic conduit 380B (e.g. a belt), which is coupled with and drives rod 360B (e.g. a rotatable shaft). The rotatable rod 360B in turn is coupled with the linear unit 330, e.g. via a belt system (as indicated in Figure 3), in order to generate the linear motion of the coupler 340 in Y-direction (indicated by the arrow). Drive 370C is coupled with and drives kinematic conduit 380C (e.g. a belt), which is coupled with and drives rod 3600 (e.g. a rotatable shaft). The rotatable rod 3600 in turn is coupled with the base plate 310 and allows moving the base plate 310 (and thus the coupler 340) in Z-direction (indicated by the arrow). (Optional) drive 370D is coupled with and drives kinematic conduit 380D (e.g. a belt), which is coupled with and allows moving the entire hoist 300 (and thus the coupler 340) in X-direction (indicated by the arrow).

[0073] In the embodiment shown in Figure 3, the driving unit 370 is spatially separated from the hoist 300 (and thus the coupler 340) allowing to minimise the shape and "footprint" of the hoist 300. Additionally, conveying the kinematic energy by means of the kinematic conduits 380 together with the rods 360 allows to avoid e.g. electrical cables which may otherwise be subject to mechanical stress (in particular bending and stretching) resulting from moving the coupler 340. However, it is clear that the driving unit 370 may be integrated or an integral part of the hoist 300. Further, other types of -13-kinematic conduits 380 for transferring kinematic energy may be applied accordingly. Also, one or more of the driving unit 370 may be integrated or provided by one driving unit e.g. with a respective gear mechanism.

[0074] Figures 4 illustrate an embodiment for an operation of the linear and rotational motion of the coupler 340. The turntable 320 bears the linear unit 330 for moving the container 240 (schematically indicated only in Figure 4A) coupled by the coupler 340, which in the shown embodiment may comprise two couplers 340A and 340B. The linear unit 330 comprises a first rotational member 400, a second rotational member 410, and a linear member of 420. The first rotational member 400 may have an essentially circular shape (at least partly as indicated here) and is rotatable, e.g. by a first wheel 430 around a first (rotational) axis 400A of the turntable 320. The second rotational member 410 may also have an essentially circular shape (at least partly as indicated here) and is rotatable, e.g. by a second wheel 440, around a second axis 410A of the turntable 320.

[0075] In the exemplary embodiment of Figures 4, the first wheel 430 is driven by rod 360B e.g. via a belt 430A. In the representation of Figures 4 (rotated by 1800 with respect to Figure 3), the belt 430A is only partly visible and coupled with the first wheel 430 below the turntable 320 (not visible in this representation).

[0076] The first wheel 430 may be coupled with the second wheel 440 (preferably comprising a respective gear mechanism, not further shown or detailed here), so that rotating one of the first and second wheels 430/440 will also rotate the other.

[0077] The first wheel 430 and/the second wheel 440 may be embodied as a gear wheel, preferably a toothed wheel, a friction wheel, or by any appropriate tool known in the art in order to transfer kinematic energy.

[0078] In the embodiment of Figures 4, (directly) coupling the first wheel 430 with the second wheel 440, with the first wheel 430 being (directly) coupled with the first rotational member 400 and the second wheel 440 being (directly) coupled with the second rotational member 410, allows rotating the first rotational member 400 and the second rotational member 410 in opposing rotational directions.

[0079] In an alternative embodiment, the linear unit 330 may comprise only one -14-wheel (instead of the first wheel 430 and the second wheel 440) which may be operated to alternatively drive and thus rotate either the first rotational member 400 or the second rotational member 410.

[0080] It is clear that other driving concepts and mechanisms (as shown in Figures 4) may applied for rotating the first rotational member 400 and/or the second rotational member 410.

[0081] The linear member 420 is coupled with the first rotational member 400 via a first pivot point 450 located off centric from the first axis 400A. The linear member 420 is further coupled with the second rotational member 410 at a second pivot point 460 located off centric from the second axis 410A. In the embodiment shown here, the first pivot point 450 is situated in an oblong hole 470 of the linear member 420, so that the first pivot point 450 can rotate as well as translate within the oblong hole 470. Alternatively, the second pivot point 460 may be situated in the oblong hole 470, while the first pivot point 450 only allows pivotal movement.

[0082] Generally speaking, it is clear that alternatives embodiments are easily derivable by functionally exchanging the first axis 400A and the second axis 410A and/or functionally exchanging the first pivot point 450 and a second pivot point 460.

[0083] The oblong hole 470 may be omitted or functionally replaced by equivalent components. Further, instead of one oblong hole (e.g. oblong hole 470) two oblong holes (not shown in the figures here) may be applied. Applying one or more oblong holes may allow to reduce the rotational movement of the linear member 420 as resulting from rotation movement of the first rotational member 400 and/or the second rotational member 410. In other words, replacing the oblong hole 470 e.g. by a hole similar to the hole relating to the second pivot point 260 would lead to an increased movement of the linear member 420 in X-direction, which in turn may need to be compensated (e.g. by motion of hoist 300 in X-direction). Applying one or more oblong holes may further allow influencing in directing movement of the linear member 420.

[0084] Further shown in Figures 4 is the rotatable rod 360A which is coupled via a belt 480 with the turntable 320, so that a rotation provided by the rotatable rod 360A can be transferred to the turntable 320 (in order to rotate the turntable 320 as will be shown later). -15-

[0085] Any of the first axis 400A, the second axis 410A, the first pivot point 450, and the second pivot point 460 can be provided as widely known in the art, e.g. by a respective pin together with a respective bearing (such as a ball bearing).

[0086] Figure 4A shows the linear unit 230 in a first position, which may be an initial position e.g. after the container 240 has been coupled by the couplers 340A and 340B to the linear unit 230. Figures 4B-4D show respective positions of the linear unit 230, each after slightly rotating the first wheel 430 anticlockwise and/or slightly rotating the second wheel 440 clockwise. In case that the first wheel 430 and the second wheel 440 are coupled with each other, e.g. by a toothed wheel mechanism (not visible in Figures 4), rotating e.g. only the first wheel 430, for example by means of rod 360B together with belt 430A as in the shown exemplary embodiment here, will be sufficient to drive both the first wheel 430 and the second wheel 440.

[0087] As readily apparent from the Figures 4A-4D, rotation of both of the first rotational member 400 and the second rotational member 410 (in opposite rotational direction) will also move the linear member 420 due to the coupling at second pivot point 460 being off centric to the second axis 410A. The first pivot point 450 can travel within the oblong hole 470, so that the linear member of 420 will move mainly into the Y-direction but also into the X-direction (indicated by the arrows). However, due to the oblong hole 470, the linear member 420 will maintain its horizontal orientation, i.e. extending into the X-direction as shown in Figures 4A-4D. Accordingly, the linear member 420 converts the rotational movement of the first and/or second rotational members 400 and 410 into a linear movement into the Y-direction, thus allowing to move the container 240 (shown with respect to Figure 4A) into the Y-direction.

[0088] In case movement of the linear member 420 (and thus of the container 240) into the X-direction is not desired, i.e. the container 240 should only be moved into the Y-direction, a counterbalancing mechanism (not shown here) can be applied. In one embodiment, operation of the drive 3700, as explained with respect to Figure 3, allows moving the hoist 300 and thus the coupler 340 in X-direction, for example in order to compensate any movement of the coupler 340 (into the X-direction) as effected by movement of the first and second rotational members 400 and 410. Alternatively or in addition, the couplers 340A and 340B may be provided with a rail mechanism (allowing a slidable movement along the linear member 420 into the X-direction) together with a -16-stopper (e.g. fixedly attached to the turntable 320), so that the couplers 340A and 340B remain fixed in X-position irrespective of the rotation by the first and second rotational members 400 and 410. It goes without saying that such movement of the linear member 420 and thus of a coupled container 240 into the X-direction as effected by a movement of the hoist 300 is not limited to counterbalancing a movement in X-direction as effected by the linear unit 330, but may be independent and/or in addition to such movement in X-direction as effected by the linear unit 330.

[0089] Figure 4E illustrates rotation of the linear unit 330 (together with the couplers 340 with or without a respective container 240 coupled thereto) as effected by rotation of the turntable 320 around a central axis 490 of the turntable 320. In the example here, the central axis 490 is the same as a rotational axis of the first wheel 430, as can be achieved e.g. by respective wheels, gears, belts, et cetera, as known in the art. In the embodiment here, as also shown in Figure 3, rotation of the turntable 320 can be accomplished by rotation of the rod 360A, which is transferred to the turntable 320 by the belt mechanism 480 (only partly visible in Figure 4E and otherwise hidden by the turntable 320). However, it is clear that the central axis 490 of the turntable 320 can be different from the rotational axis of the first wheel 430, in particular dependent on the specific mechanical configuration chosen for applying rotational movement.

[0090] The linear movement (of the coupler 340 and thus of the container 240 coupled thereto) as effected by the linear unit 330 and the rotational movement (of the coupler 340 and thus of the container 240 coupled thereto) as effected by the turntable 320 are preferably configured to be independent movements, so that the linear movement and the rotational movement can be applied and executed independently of each other, but preferably either simultaneously or selectively. In one embodiment, not shown here, the linear movement and the rotational movement can be designed dependent on each other, so that the linear movement will also result in the rotational movement and the other way around. ,s [0091] Control of the driving unit 370 (indicated in Figure 3) accordingly allows control of the movement of the coupler 340 and accordingly of the container 240, if coupled thereto. Such control may be done by the data processing unit 70 or any other adequate data processing unit as known in the art. -17-

[0092] While the linear unit 330 in the aforedescribed embodiments have been shown with two rotational members 400 and 410, in an alternative embodiment (not further detailed here) only one rotational member is applied for converting the rotational movement of such rotational member into a linear movement (translatory movement) of the linear member 420. In such embodiment, preferably an additional guidance, bearing, and/or one or more other adequate components can be applied for effecting such linear movement.

[0093] While the transport unit 270 has been shown here with respect and in contact with the liquid separation system 10, it goes without saying that the transport unit 270 may also be used in other applications, whether in a different analytical instrument or system or in an entirely different environment. The transport unit 270 allows a robust transport and movement of objects, such as the containers 240 is shown above. -18-

Claims

CLAIMS1. An apparatus (270) configured for moving an object (240), in particular a container (240), preferably in an analytical system (10) configured for analysing a substance, the apparatus (270) comprising: a coupler (340) configured for coupling with the object (240) in order to move the object (240), a turntable (320) being rotatable around a central axis (490), a first rotational member (400) being rotatable around a first axis (400A) of the turntable (320) and having a first pivot point (450) being located off centric from the first axis (400A), and a linear member (420) being pivotably coupled with the first rotational member (400) at the first pivot point (450), wherein the coupler (340) is coupled with the linear member (420), and the coupling of the linear member (420) at the first pivot point (450) is configured so that a rotational movement of the first rotational member (400) around the first axis (400A) effects a linear movement (Y) of the coupler (340).
2. The apparatus (270) of the preceding claim, comprising: a second rotational member (410) being rotatable around a second axis (410A) of the turntable (320) and having a second pivot point (460) being located off centric from the second axis (410A), wherein the linear member (420) is coupled with the second rotational member (410) at the second pivot point (460), so that the rotational movement of the first rotational member (400) around the first axis (400A) effects the linear movement (Y) of the coupler (340).
3. The apparatus (270) of the preceding claim, wherein: the first pivot point (450) of the first rotational member (400) is coupled into an oblong hole (470) of the linear member (420), so that rotational movement of the first rotational member (400) around the first axis (400A) effects the linear -19-movement (Y) of the coupler (340).
4. The apparatus (270) of claim 1 or any of the above claims, comprising at least one of: the coupler (340) is configured for mechanically coupling with the object (240); the coupler (340) is configured for magnetically coupling with the object (240); the coupler (340) comprises a grabber configured for grabbing the object (240) in order to move the object (240); the coupler (340) is configured for actively coupling with the object (240); the coupler (340) is configured for passively coupling with the object (240).
5. The apparatus (270) of claim 1 or any of the above claims, comprising at least one of: a first drive (360B, 430A) configured for driving a rotating of the first rotational member (400) around the first axis (400A); a rotational coupling for coupling a rotation of the first rotational member (400) with the second rotational member (410), preferably comprising a gear mechanism; a second drive (360A, 480) configured for driving a rotation of the turntable (320) around the central axis (490), wherein preferably the second drive is independent of the first drive.
6. The apparatus (270) of claim 1 or any of the above claims, comprising at least one of: the first axis (400A) is off centric from the central axis (490); the second axis (410A) is off centric from the central axis (490); the second axis (410A) is different from the first axis (400A); the first axis (400A) and the central axis (490) parallel to each other; -20 -the first axis (400A), the second axis (410A), and the central axis (490) parallel to each other; the linear movement (Y) of the coupler (340) is into a first linear direction (Y) perpendicular to the central axis (490).
7. The apparatus (270) of claim 2 or any of the above claims, wherein the second rotational member (410) is configured so that a rotation of the second rotational member (410) around the second axis (410A) is into an opposite direction than a rotation of the first rotational member (400) of around the first axis (400A).
8. The apparatus (270) of claim 1 or any of the above claims, wherein the movement of the coupler (340) is configured for moving the object (240) when coupled with the coupler (340).
9. The apparatus (270) of the preceding claim, being configured for at least one: providing a rotation of the turntable (320) in order to rotate the object (240); providing a linear movement (Y) of the coupler (340) in order to provide a linear movement (Y) of the object (240).
10. The apparatus (270) of claim 1 or any of the above claims, comprising: a counterbalancing mechanism configured for converting the rotational movement of the first rotational member (400) around the first axis (400A) only into a linear movement (Y) of the coupler (340) into a first linear direction (Y) only.
11. The apparatus (270) of the preceding claim, comprising at least one of: the counterbalancing mechanism is configured for counterbalancing a movement of the coupler (340) into a second linear direction (X) perpendicular to the first linear direction (Y), preferably by actively moving opposite to a movement of the first rotational member (400) into the second linear direction (X) in order to substantially compensate such movement of the first rotational member (400) into the second linear direction (X); -21 -the counterbalancing mechanism is configured for disabling a movement of the coupler (340) into a second linear direction (X) perpendicular to the first linear direction (Y), preferably by disabling movement of the coupler (340) into the second linear direction (X) when rotating the first rotational member (400) around the first axis (400A); the first linear direction (Y) and the second linear direction (X) are perpendicular to the central axis (490); the first linear direction (Y) and the second linear direction (X) are in the plane of the central axis (490).
12. The apparatus (270) of claim 1 or any of the above claims, comprising: a lift mechanism configured for moving the turntable (320) into a Z-axis, wherein preferably the Z-axis is substantially parallel to the central axis (490) and/or substantially perpendicular to the first linear direction (Y) and/or the second linear direction (X).
13. The apparatus (270) of claim 1 or any of the above claims, comprising: one or more shafts (360), each for transferring a respective rotational movement for rotating at least one of: the turntable (320), the first rotational member (400), the second rotational member (410), and the lift mechanism.
14. The apparatus (270) of the preceding claim, comprising at least one of: one or more of the shafts (360) are configured to be rotatable into a Z-axis, wherein preferably the Z-axis is substantially parallel to the central axis (490) and/or substantially perpendicular to the first linear direction (Y) and/or the second linear direction (X); one or more of the shafts (360) are located laterally with respect to the turntable (320).
15. A sample handler configured for moving a fluid container (240), preferably for removing a fluid from the container (240) and/or introducing a fluid into the container (240), the sample handler comprising an apparatus (270) according to -22 -any one of the above claims, wherein the object (240) is the container (240).
16. A fluid separation system (10) for separating compounds of a sample fluid in a mobile phase, the fluid separation system (10) comprising: a mobile phase drive (20), preferably a pumping system, adapted to drive the mobile phase through the fluid separation system (10), a separating device (30), preferably a chromatographic column, adapted for separating compounds of the sample fluid in the mobile phase, and a sample handler or apparatus (270) according to any one of the above claims configured for moving a container (240), preferably for at least partly removing the sample fluid from the container (240) and/or for introducing a separated compound into the container (240).
17. The separation system (10) of the preceding claim, further comprising at least one of: a sample dispatcher (40) adapted to introduce the sample fluid into the mobile phase; a detector (50) adapted to detect separated compounds of the sample fluid; a collection unit (60) adapted to collect separated compounds of the sample fluid; a data processing unit (70) adapted to process data received from the fluid separation system (10); a degassing apparatus (270) (27) for degassing the mobile phase.
18. A method of moving an object (240), in particular a container (240), preferably in an analytical system configured for analysing a substance contained in the container (240), the method comprising: coupling the object (240) and moving the object (240) by: rotating the object (240) around a central axis (490), and providing a linear movement (Y) of the object (240) by rotating around a first axis -23 - (400A) off centric to the central axis (490), and rotationally converting the rotation around the first axis (400A) into the linear movement (Y).
19. A software program or product, preferably stored on a data carrier, for controlling or executing the method of the preceding claim, when run on a data processing system such as a computer.-24 -