JP2001183380A - Automatic analyzing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic analyzing apparatus with a small and light- weight dispensing apparatus which can surely detect a collision brought about during a dispensing operation with a high sensitivity and can promptly stop the dispensing operation. SOLUTION: The automatic analyzing apparatus is provided with the dispensing apparatus 5 which has a dispensing nozzle 7 for dispensing a liquid for analysis, a holding part 6 for holding the dispensing nozzle 7 to a leading end, a driving means 14 for driving the holding part 6 and a control means 19 for controlling the driving means 14. The dispensing apparatus 5 has an acceleration sensor 15 set to the leading end of the holding part for detecting the collision, a discriminating part 31 for discriminating the driving state in accordance with information from the control means 19, a changing means 32 for changing a threshold for comparison with information detected by the acceleration sensor 15 based on information from the discriminating part 31, and a comparing part 33 for comparing the information detected by the acceleration sensor 15 with the threshold changed by the changing means 32.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic analyzer, and more particularly to an automatic analyzer having a dispensing device for dispensing an analysis liquid such as a specimen or a reagent.

[0002]

2. Description of the Related Art An automatic analyzer is capable of aspirating a predetermined amount of a sample or a reagent and dispensing a predetermined amount of a sample or a reagent into a reaction vessel by moving a sampling arm. A control device capable of dispensing a predetermined amount of the sample into the reaction container by the dispensing device and performing control for dispensing a predetermined amount of the reagent corresponding to the measurement item of the sample to the reaction container. .

[0003] Usually, such a dispensing apparatus is used in an automatic analyzer for reacting a sample such as serum or urine with a reagent corresponding to the analysis and performing a measurement such as a colorimetric method.

[0004] A dispensing device for dispensing a sample (hereinafter referred to as a sample dispensing device) will be described below with reference to FIG. In FIG. 4, a sample dispensing device 5 disposed between a sample table 2 containing a plurality of sample containers 1 and a reaction table 4 containing a plurality of reaction containers 3 performs sampling for moving the sample. An arm 6, a dispensing nozzle 7 provided at the tip of the sampling arm 6 for aspirating and discharging a predetermined amount of a sample, and a sampling arm 6 provided at the other end of the sampling arm 6 so that the sampling arm 6 is rotatable and vertically movable about the center From a center shaft 8 to be supported by the controller, a drive unit (not shown) for driving the center shaft 8, and a control unit (not shown) for controlling operations related to dispensing, such as aspiration and discharge of a sample, together with control of the drive unit. Be composed.

It is assumed that the sample dispensing apparatus 5 has a liquid level detecting function so that the tip of the dispensing nozzle 7 is not inserted more than necessary into the sample. Further, the control device sets the dispensing nozzle 7 of the sampling arm 6 to the sample suction position 2a of the sample table 2 and the sample discharge position 4a of the reaction table 4.
It is assumed that positioning control can be performed.

The sample dispensing apparatus 5 having the above configuration is
The dispensing operation is performed in the following cycle. First, when the control device controls the driving of the sampling arm 6 and positions the dispensing nozzle 7 above the sample container (sample aspirating position 2a) 1 of the sample table 2, the control device performs the lowering control of the sampling arm 6 and the accompanying control. The dispensing nozzle 7 is also lowered. When a predetermined amount of the tip of the dispensing nozzle 7 enters the sample,
The control device stops the descending control and inhales a predetermined amount of the sample.

When the inhalation of the sample by the dispensing nozzle 7 is completed, the control device raises and rotates the sampling arm 6 to cause the reaction container (sample discharge position 4a) 3 of the reaction table 4 to move.
The dispensing nozzle 7 is positioned upward. Next, in the same manner as described above, the tip of the dispensing nozzle 7 is lowered into the reaction container 3 by a predetermined amount as the sampling arm 6 is lowered, and the sucked sample is discharged into the reaction container 3 by a predetermined amount.

[0008] The dispensing operation of the specimen is completed as described above. Hereinafter, the dispensing operation is repeated for each cycle,
The measurement is performed on a plurality of reaction vessels 3 according to the measurement items of the sample to be analyzed. Regarding a reagent dispensing device (hereinafter, referred to as a reagent dispensing device), the same configuration and control as in the case of the sample dispensing device 5 described above are performed between the reaction table and the reagent table. It is.

However, during the dispensing operation of the sample or the reagent by the above-described dispensing apparatus, when the obstacle, for example, the operator tries to perform a task such as replacement of the sample or the reagent, the moving sampling arm 6 or The hand or the like of the operator sometimes came into contact with the dispensing nozzle 7 moving up and down.
As a result, there is a possibility that the sequence between the sampling arm 6 and another arm, for example, the sampling arm for a sample and the sampling arm for a reagent may be misaligned and collide.

Therefore, as a safety measure, for example, as shown in FIG. 5, a pressure sensor 9 is provided on the sampling arm 6 so that when the operator contacts the sampling arm 6 or the dispensing nozzle 7, the pressure sensor 9 is used. There has been proposed an apparatus that controls the analysis operation (dispensing operation) to stop immediately upon detecting the generated impact (Japanese Patent Publication No. 6-14055).

Also, depending on the shape of the container and the amount of liquid contained, the liquid level may not be detected. In such a case, it is only necessary to detect that the tip of the dispensing nozzle has contacted the bottom of the container. Since the descent control is not performed, the descent is continued without stopping the descent control, and the tip of the dispensing nozzle may be damaged.

As a device for preventing such a breakage of the tip of the dispensing nozzle, for example, Japanese Patent Application Laid-Open No. 4-191661 discloses a device provided with a downward collision detection device 10 as shown in FIG. . This collision detection device 10 has a photo sensor 11 provided on the upper surface of a sampling arm 6 and a light shielding plate 12 for shielding the photo sensor 11 from light. A spring 1 that urges the nozzle 7 and the dispensing nozzle 7 downward and keeps the photosensor 11 in a light-shielded state except during a collision.
And 3.

In the dispensing apparatus provided with the collision detecting device 10 described above, when the tip of the dispensing nozzle 7 collides with the bottom surface during the dispensing operation, the photo sensor 11 causes the dispensing nozzle 7 and the sampling arm holding the same to be held. The movement of the position relative to the center shaft 6 is detected, and control such as stopping the lowering of the center shaft 8 is performed to prevent the tip of the dispensing nozzle 7 from being damaged.

[0014]

However, in the dispensing apparatus shown in FIG. 5, in order to reliably detect contact with a hand or the like, the vertical movement direction (vertical direction) and the rotation direction of the sampling arm 6 are required. (Horizontal direction), at least one relatively large pressure-sensitive sensor 9 must be provided. Therefore, the sampling arm 6 itself, which is a holding portion, becomes heavy, and the pulse motor of the driving device for driving the sampling arm 6 is large. It will put a load. Also, the pressure sensor 9
Requires at least two, which hinders miniaturization.

In the dispensing apparatus shown in FIG. 6, a photo sensor 11 and a light shielding plate 1
Since it is necessary to include members such as the spring 2 and the spring 13, the load applied to at least the distal end portion of the sampling arm 6 becomes larger than that of a normal sampling arm 6 having nothing. For this reason, the principle of leverage works around the center shaft 8 on the rotating shaft portion of the sampling arm 6, and a large load is applied to the pulse motor of the driving device.

From the above, it is possible to reliably detect a collision,
In addition, the development of an automatic analyzer equipped with a small and light dispensing device has been desired.

The present invention has been made in view of the above points, and has as its object to provide an automatic analyzer having a small and light dispensing device capable of reliably detecting a collision generated during a dispensing operation. Things.

Still another object of the present invention is to provide an automatic analyzer having a dispensing device capable of detecting a collision occurring during a dispensing operation with high sensitivity and immediately stopping the dispensing operation. It is in.

[0019]

SUMMARY OF THE INVENTION In the present invention, attention is paid to an acceleration sensor which is widely used in a generally known automobile air bag system and the like. By sensing the acceleration change that is sometimes felt, even if contact with the hand or the like occurs at any operation point of the dispensing device, it can be reliably detected, and the installation position and the installation range of the sensor are relatively free. The present invention was devised by finding that it becomes possible to mount the device, and it is possible to significantly reduce the size. Further, in the present invention, an automatic analyzer that solves the above-mentioned problem has been completed by appropriately configuring the acceleration sensor as a sensor for detecting various collisions of the analyzer.

That is, the invention of the automatic analyzer according to the first aspect of the present invention is a processing means having a structure for moving a plurality of analysis liquids for processing, a driving means for driving the processing means, and An acceleration detecting unit disposed at a moving location and detecting acceleration of the processing unit; and a control unit controlling to change an operation of the processing unit based on detection information detected by the acceleration detecting unit. It is characterized by the following.

According to a second aspect of the present invention, there is provided an automatic analyzer, wherein a dispensing nozzle for dispensing an analysis liquid, a holding unit for holding the dispensing nozzle at a tip, and a driving unit for driving the holding unit. And an acceleration analyzer disposed at the tip of the holding unit to detect a collision, and an operation state according to information from the control unit. A determination unit that determines a threshold value, a changing unit that changes a threshold value for comparison with the detection information detected by the acceleration sensor based on information from the determination unit, and a changing unit that changes the detection information detected by the acceleration sensor. A dispensing device having a comparison unit for comparing the threshold value with the set threshold value.

Here, it is preferable that the threshold value changed by the changing means is at least two of | V1 | (> 0) and | V2 | (> | V1 |).

Further, the dispensing apparatus has a position sensor for detecting a moving state of the holding unit, and compares information from the position sensor with information from the control unit, and based on the compared information. Preferably, the detection information of the acceleration sensor is ignored.

In the present invention, the processing means moves to a dispensing arm of a dispensing apparatus for dispensing (reagent, sample, washing liquid, etc.) by moving between a plurality of containers, and to a plurality of containers to be mixed. A stirrer for mixing by mixing, a detection electrode for detecting various information (liquid level, liquid volume, electrical conductivity, etc.) in a plurality of containers, a plurality of containing a plurality of types of analysis liquids (reagents or samples) And a robot arm for selectively moving only necessary containers among a plurality of containers.

Further, the acceleration detecting means or the acceleration sensor is arranged so as to move integrally with the object, and is configured to be able to detect a change in its own acceleration.
Therefore, when the configuration of some of the sensors is similar (for example,
A device having a detecting means or a sensor which does not have a configuration for converting at least the acceleration and, consequently, a data processable for determining or calculating the acceleration change even if the sensor is a pressure-sensitive sensor for detecting a contact pressure, is the present invention. It does not correspond to the acceleration detecting means or the acceleration sensor.

In the present invention, it is possible to use various acceleration sensors widely used in generally known automobile airbag systems and the like. However, as an acceleration sensor used in the dispensing device, to improve safety,
It is preferable to use one that can detect even a very small impact. When an acceleration sensor having the above-described sensitivity is used for collision detection of the dispensing device,
It can be expected to solve problems such as the load on the pulse motor that occurred when using a pressure-sensitive sensor and a photosensor in the dispensing device. It can be shared by one sensor.

By the way, if the dispensing device is provided with an acceleration sensor, it is preferable that the vibration of the acceleration / deceleration operation of the sampling arm at the start and end of the dispensing operation is not erroneously detected as the vibration at the time of collision. The reason is that such an erroneous false detection may cause an extra interruption of the analysis operation (dispensing operation). According to the study by the present inventor, it has been known that vibration generated by acceleration / deceleration when starting or stopping the pulse motor of the sampling arm is output as a collision signal by the acceleration sensor, but it is not possible to suppress the vibration itself. It was difficult.

Therefore, according to the present invention, the changing means for changing the threshold value for comparison with the detection information detected by the acceleration sensor based on the information from the discriminator, and the changing means for changing the detection information detected by the acceleration sensor and the changing means. By providing a comparison unit that compares the threshold value with the threshold value, it is possible to distinguish between vibration generated by acceleration and deceleration when the pulse motor of the sampling arm is started and stopped and various types of collisions.

Further, the present invention includes a position sensor for detecting a moving state of the holding unit, compares information from the position sensor with information from the control unit, and detects the acceleration sensor based on the compared information. I configured it to ignore the information,
More reliable detection can be performed.

[0030]

DETAILED DESCRIPTION OF THE INVENTION As an example, the present invention provides at least one acceleration sensor as a collision detection sensor on a sampling arm of a dispensing device for dispensing an analysis liquid such as a specimen or a reagent in a fixed cycle. In the present invention, the signal (information) detected by the acceleration sensor is valid / invalid (caused by a factor other than the collision signal / collision). Signal), and control (analysis operation, dispensing operation, stop operation, or the like) can be performed in accordance with the signal.

According to the present invention, instead of suppressing the vibration of the sampling arm itself, the threshold is changed according to the operation state of the sampling arm, that is, when the pulse motor starts and stops, or the acceleration sensor detects the threshold. Control to ignore signals (information)
Since the sensitivity of the acceleration sensor can be changed as required, high-sensitivity collision detection can be performed without worrying about vibrations at the time of starting and stopping the pulse motor.

When an obstacle, for example, an operator's hand, comes into contact with the sampling arm or the dispensing nozzle during the dispensing operation with the dispensing apparatus having the above-described configuration, the acceleration provided on the sampling arm is reduced. A signal (information) proportional to the impact when the sensor collides with the obstacle is output to the controller of the control device.

The controller outputs a stop signal (information) to a driver of the pulse motor (for rotation) for driving the sampling arm, stops the pulse motor (for rotation), which is a driving device of the sampling arm, and performs a dispensing operation. Control to stop immediately.

Further, since the threshold value is changed according to the operation state of the sampling arm, collision detection with high sensitivity can be performed without concern for the influence of vibration at the time of starting and stopping the pulse motor. The dispensing operation can be stopped by detecting even a small impact.

Hereinafter, the above-described contents will be described in more detail by describing embodiments of the present invention in detail with reference to the drawings. However, the present invention is not limited to the following description. Needless to say, various modifications are possible in accordance with the gist of the invention supported by the above description or the following description.

(First Embodiment) The automatic analyzer according to the first embodiment comprises an analyzer for performing an analysis and a controller for controlling the analyzer. The analysis unit includes a sample table for transporting a sample container containing a plurality of samples, a reagent table for transporting a reagent container containing a plurality of reagents, a reaction table for transporting a plurality of reaction containers 7, and a A washing device for washing a reaction container, a measuring section of a reaction solution using a sample and a reagent, a sample dispensing device for dispensing a predetermined amount of a sample from the sample table to a reaction container of the reaction table, and a reagent table side A reagent dispensing device for dispensing a predetermined amount of reagent from a reaction table to a reaction container, a washing tank for washing each of the sample dispensing device and the reagent dispensing device, and stirring the reaction solution in the reaction container. The apparatus includes a stirring device and a washing device for a stirring rod used in the stirring device.

Hereinafter, the configuration of the dispensing device in the automatic analyzer according to the first embodiment will be described by taking the sample dispensing device as an example.

FIG. 1 is a schematic configuration diagram of a mechanism and a control system of the dispensing apparatus. In addition, about the same structure as the dispensing apparatus demonstrated by the prior art, the same code | symbol is attached | subjected and description is abbreviate | omitted. The sample dispensing apparatus 5 includes a dispensing nozzle 7 for dispensing a sample, a syringe pump (not shown) that is connected to the dispensing nozzle 7 via a probe, and that aspirates and discharges a sample, and a dispensing nozzle. Sampling arm 6 that moves between a sample container and a reaction container as a holding unit that holds 7
A driving unit 14 for driving the sampling arm 6;
An acceleration sensor 15 is provided at the tip of the sampling arm 6 and outputs a collision signal when the sampling arm 6 vibrates due to a collision or the like. The acceleration sensor 15 described herein used had a diameter of about 5 mm and a thickness of about 0.3 mm.

The drive unit 14 of the sample dispensing device 5 includes a center shaft 8 that rotatably supports the sampling arm 6 and a first drive unit that controls the center shaft 8 right and left.
Drive mechanism 16, a second drive mechanism 17 for driving and controlling the center shaft 8 up and down, and a position sensor provided in each of the first and second drive mechanisms 16 and 17 for detecting the origin position of the sampling arm 6. The drive unit 14 is driven by a controller 19 described later while confirming the position of the sampling arm 6 with the position sensor 18 to control the movement of the sampling arm 6.

The first drive mechanism 16 is provided with a large pulley 20 provided on the center shaft 8, and a first drive mechanism 16 provided rotatably with respect to the center shaft 8 and capable of moving up and down integrally with the center shaft 8. The moving plate 21 and the sampling arm 6 fixed to the first moving plate 21 are moved left and right (forward / reverse).
Motor (for rotation) 22 for rotationally driving the motor
And a small pulley 23 provided on the pulse motor (for rotation) 22, and a timing belt 24 stretched between the large pulley 20 and the small pulley 23.

The second driving mechanism 17 includes a pulse motor (for vertical movement) 25 fixed to an immovable portion of the apparatus main body.
, A lead screw 26 arranged in parallel with the center shaft 8, a pulse motor (for vertical movement) 25 and a lead screw 2
6 and a screw hole for screwing with the lead screw 26 are formed. The second movement is provided so as to be rotatable with respect to the center shaft 8 and vertically movable integrally with the center shaft 8. And a plate 28.

Further, the first and second drive mechanisms 16, 17
The origin detected by the position sensor 18 is used as a reference position when the sampling arm 6 starts dispensing operation for each cycle.

To determine the origin of the sampling arm 6 in the rotation direction, the rotational force of the pulse motor (for rotation) 22 is transmitted via the timing belt 24 to the small pulley 23 and the large pulley 2.
0, by transmitting to the center shaft 8. The pulse motor (for rotation) 22 can be controlled to rotate freely in the forward and reverse directions, so that even if the sampling arm 6 is stopped by an obstacle or the like, the origin can be efficiently determined. Shall be.

On the other hand, the control unit has various information processing functions and a function of storing information on analysis items for each sample, in addition to operating each unit constituting the analysis unit in a predetermined sequence. Shall be

More specifically, the control unit controls the rotation speeds of the pulse motors 22 and 25 of the first and second drive mechanisms 16 and 17 and the drive unit 14 in addition to the control of the normal dispensing operation. A controller 19 as means, and a driver 2 for amplifying a signal output from the controller 19 and performing drive control of each of the pulse motors 22 and 25 as a drive signal.
9, 30 and a discriminating unit for discriminating an operation state according to a signal (information) from the controller 19, that is, a pulse motor 22,
Acceleration sensor 1 based on a pulse signal for controlling
Operation state detector 31 for changing the threshold value of the signal detected in step 5
A changing unit 32 that changes a threshold value according to a threshold value change signal from the operation status detecting unit 31, a signal comparing unit 33 that compares the threshold value changed by the changing unit 32 with a signal detected by the acceleration sensor 15, A storage unit (not shown) for storing various information input by the input unit.

As shown in FIG. 2, the operating condition detecting section 31 has an F / V converter 34 and a voltage comparing circuit 35, and controls the moving speed of the sampling arm 6, that is, the rotating speed of the pulse motors 22 and 25. The threshold value can be changed based on the pulse signal to be generated.

More specifically, the F / V converter 34 has a function of converting a pulse signal for controlling the rotation speed of the pulse motors 22 and 25 into a voltage value. A function of comparing the voltage value converted by the V converter 34 with a predetermined voltage value when the operating sampling arm 6 is stable, and outputting a threshold change signal to the changing means 32 according to the comparison result. Have.

The changing means 32 changes the threshold value to | V1 |
(> 0) and | V2 | (> | V1 |), for example, a relay switch can be used, and is detected by the acceleration sensor 15 when the sampling arm 6 moves up and down, left and right. It can be changed according to the threshold change signal to | V2 | as a threshold to be compared with the signal and | V1 | as a threshold to be compared with a signal detected by the acceleration sensor during the stable operation of the sampling arm.

The voltage comparison section 3 of the operation state detection section 31
5 is a signal for changing the acceleration / deceleration threshold value to | V1 | while the voltage value converted by the F / V converter 34 is less than the predetermined voltage value. OFF signal) to the changing means 32, and F /
While the voltage value converted by the V converter 34 is equivalent to the predetermined voltage value, a signal (ON signal) for changing the threshold value during the stable operation to | V2 | is output to the changing unit 32. Shall be.

Hereinafter, a normal operation cycle of the automatic analyzer having the above-described dispensing apparatus will be described. In starting the normal analysis, when the start button of the operation unit (not shown) is pressed to instruct the start of the analysis, a start signal is input to the controller 19, the initialization operation of each unit is performed, and when it is completed, the unit stands by in that state.

Next, under the control of the controller 19,
After the inside of the reaction container is washed by the container washing device, a water blank measurement of the reaction container containing the washing water is performed by the measuring section. When the measurement is completed, the washing water used for the measurement is discharged by the container washing device. Thereafter, the sample table is rotated, and when the sample container to be dispensed is positioned at the sample aspirating position, the rotation stops and the position is determined.

The controller 19 controls the first and second pumps to aspirate a predetermined amount of the sample at the sample aspirating position by the sample dispensing apparatus.
Of the drive mechanisms 16 and 17 and a syringe pump (not shown). To be more specific, first, for the sample dispensing device 5 stopped at the initial position, the controller 19
A pulse signal for moving the sampling arm 6 to the upper origin position is given to the driver 30, and the rotation of the pulse motor (for vertical movement) 25 is controlled, for example, clockwise. Note that, in this case, the initial position is set above the reaction container (sample discharge position) of the reaction table, and that position is set in advance as the origin of the sampling arm 6.

The origin here is used as a reference position when the sampling arm 6 starts dispensing for each cycle. The origin of the sampling arm 6 is determined by a pulse motor (rotating 22) is transmitted to the sampling arm 6.

Further, the pulse motor (for rotation) 22
It is assumed that the rotation can be controlled in the normal and reverse directions, and that the sampling arm 6 can be efficiently located even if stopped at any position due to an obstacle or the like.

When the pulse motor (for vertical movement) 25 is rotated clockwise, the rotation of the pulse motor (for vertical movement) 25 is transmitted to the lead screw 26 via the shaft coupling 27 and further screwed to the lead screw 26. The moving plate 28 is moved linearly upward. When the second movable plate 28 moves upward, the center shaft 8 also moves upward in conjunction therewith, and when the position sensor 18 detects that the sampling arm 6 has reached the upper origin position, a pulse motor (for vertical movement) The drive of 25 stops.

Next, for the sampling arm 6 stopped at the upper origin position, the controller 19 sends a pulse signal for moving the position of the dispensing nozzle 7 of the sampling arm 6 to the right origin position (sample aspirating position). This is supplied to a driver 29 to control the rotation of the pulse motor (for rotation) 22 clockwise, for example.

When the pulse motor (for rotation) 22 is rotated clockwise, the rotation of the pulse motor (for rotation) 22 is transmitted to the center shaft 8 via the small pulley 23, the timing belt 24, and the large pulley 20, and further. Dispensing nozzle 7 of sampling arm 6 via center shaft 8
Is moved to the sample side. When the position sensor 18 detects that the sampling arm 6 has moved to the sample side and the dispensing nozzle 7 has reached the sample suction position, the pulse motor (for rotation) 25 stops driving.

Next, the controller 19 moves the tip of the dispensing nozzle 7 together with the sampling arm 6 to a position where the tip of the dispensing nozzle 7 is inserted into the sample by a predetermined amount with respect to the sampling arm 6 which is stopped at the sample suction position at the upper origin position. To the driver 30 to drive the pulse motor (for vertical movement) 25 to rotate counterclockwise.

When the pulse motor (for vertical movement) 25 is rotated in the counterclockwise direction, the rotation of the pulse motor (for vertical movement) 25 is transmitted to the lead screw 26 via the shaft coupling 27 and further screwed to the lead screw 26. Is moved linearly downward. When the second moving plate 28 moves downward, the center shaft 8 also moves downward in conjunction therewith.

The downward movement of the sampling arm 6
When a predetermined amount is inserted into the sample after the tip of the dispensing nozzle 7 detects the sample liquid level, the operation stops.

When the tip of the dispensing nozzle 7 is inserted into the sample by a predetermined amount, the controller 19 sends a signal to aspirate the sample by a predetermined amount to the driving means of the syringe pump (not shown) to fill the probe. A predetermined amount of the sample is aspirated from the sample container positioned at the sample aspirating position via the existing water.
At the same time, when the reaction table is rotated and the reaction container is positioned at the sample discharge position, the controller 19 drives the sampling arm 6 according to the reverse drive cycle as described above, and reacts the sample aspirated by the dispensing nozzle 7 with the sample. Dispense into containers.

Next, the controller 19 selects a reagent corresponding to the analysis item, and positions the reagent container containing the reagent at the reagent suction position. When the reagent container is positioned at the reagent suction position, the reagent dispensing device is driven in the same way as dispensing by the sample dispensing device, and is positioned at the reagent dispensing position via the washing water filled in the probe. The reagent corresponding to the performed analysis item is aspirated. At the same time, when the reaction table is rotated and the reaction vessel is positioned at the reagent discharge position,
Under the control of the controller 19, a predetermined amount of the reagent sucked by the dispensing nozzle of the reagent dispensing device is dispensed into the reaction container.

When a reaction solution composed of a sample and a reagent is formed in the reaction container, the reaction table rotates, is positioned at a stirring position for stirring the reaction solution, and the reaction in the reaction container is stirred by a stirring rod of a stirring device. The liquid is agitated. When the stirring of the reaction solution is completed and the reaction of the reaction solution is caused to occur, the reaction table is further rotated and measured by the measurement unit.

The measurement result is output by the controller 19 to a display device (not shown), for example, a CRT or a printer. After the measurement, the reaction container and the dispensing nozzle of the sample / reagent dispensing device are washed with each washing device and then reused, and the same operation is repeated thereafter.

Hereinafter, a case where the dispensing operation by the sampling arm 6 is performed normally will be described with reference to a relationship diagram between the moving speed of the sampling arm 6 and the output from the acceleration sensor 15 shown in FIG. .

Normally, it is preferable that the acceleration / deceleration operation be performed smoothly when each of the pulse motors (for rotation and vertical movement) 22 and 25 is started and stopped. However, as described above, since the acceleration sensor 15 detects the vibration of the sampling arm 6 during the acceleration / deceleration operation and outputs a signal as shown in FIG. 3A, the controller 19 collides with the sampling arm 6. Erroneously, and the dispensing operation may be stopped.

Therefore, in this embodiment, the pulse signal for controlling the rotation of the pulse motors 22 and 25 is converted into a voltage value by the F / V converter 34, and the voltage value is compared with the specified voltage value by the voltage comparison circuit 35. The threshold change signal (OF shown in FIG. 2)
F signal → ON signal (or ON signal → OFF signal) is output to the changing means, and as shown in FIG. 3A, the threshold value of the signal detected by the acceleration sensor is set to | V2 | The signal at the time of collision is determined by controlling the change so as to be | V1 |.

In detail, taking the acceleration operation as an example, if the pulse signal is increased for the stopped pulse motors 22 and 25 to increase the rotation speed, the F / V converter 3
The voltage value converted at 4 also increases in proportion to the pulse signal. Until the voltage value that increases in proportion to the pulse signal reaches the predetermined voltage value, that is, until the signal is switched from the OFF signal to the ON signal, signals other than the collision signal detected by the acceleration sensor 15 in the signal comparing unit 33. Is set to | V2 | so as not to erroneously determine that the signal is a signal due to collision.
Maintain the state of. At the time of initial startup, the threshold is set to | V2
| Is assumed to be set.

When the voltage value that increases in proportion to the pulse signal reaches the predetermined voltage value and switches from the OFF signal to the ON signal, the voltage comparison circuit 35 changes the threshold from | V2 | to | V1.
A threshold change signal for changing to | is output to the changing means 32.
Since the rotation speeds of the pulse motors 22 and 25 during the stable operation are known in advance, the predetermined voltage value in the voltage comparison circuit 35 is set to a voltage value corresponding to the rotation speed during the stable operation and added. An OFF signal can be obtained during a deceleration operation, and an ON signal can be obtained during a stable operation.

When the threshold change signal is output to the change means 32, while the operation of the sampling arm 6 is stable, that is, while the ON signal is being generated, the signal comparator 33 detects a collision detected by the acceleration sensor 15. The threshold is maintained at | V1 |, which is smaller than | V2 |, so that the signal can be detected with high sensitivity. Note that the acceleration / deceleration operation can be easily applied in any case where the sampling arm 6 is vertically moving or rotating left and right.

Here, for example, when the hand of the operator becomes an obstacle and the sampling arm 6 collides, the signal of the acceleration sensor 15 output to the controller 19 exceeds the threshold value | V1 |
Determines that a signal larger than | V1 | detected by the acceleration sensor 15 is a collision signal, outputs a signal for forcibly interrupting the dispensing operation to each of the pulse motors 22 and 25, and stops the dispensing operation. Perform control.

As described above, by using the acceleration sensor as the collision detection sensor, the size and weight can be reduced as compared with the conventional sampling arm. In addition, since erroneous detection can be prevented without impairing high-sensitivity detection, collision detection in a vertical movement direction and a rotation direction can be performed with a single acceleration sensor, thereby performing highly reliable dispensing. be able to.

(Second Embodiment) Next, a second embodiment of the present invention will be described. In the second embodiment, the change in the operation status detection unit 31 is performed by focusing on the following points. That is, since the pulse motors 22 and 25 operate in a predetermined sequence, the time during which the pulse motor 22 is performing a stable operation and the time during which the acceleration / deceleration operation is performed are known in advance. That is,
Since the timing of setting the threshold to | V1 | and the timing of changing to | V2 | are known in advance, the threshold is set to | while the acceleration sensor 15 detects a signal other than the collision signal.
V1 | or the threshold is set to |
V2 |.

The dispensing apparatus according to the second embodiment will be described below. The dispensing apparatus according to the second embodiment differs from the first embodiment in that the threshold value is changed based on the position information of the sampling arm by the position sensor 18 and the switching timing of the threshold value predicted in advance. Threshold value | V2 |
Is the same as that of the first embodiment except that is set to GND (= 0).

Next, a dispensing operation according to the second embodiment will be described. Note that the description of the same components as those in the first embodiment will be omitted by attaching the same reference numerals. When a normal dispensing operation is performed by the sample dispensing device 5 waiting at the initial position, the sampling arm 6 is maintained in a standby state. Since the sampling arm 6 maintained in the standby state has not moved, the acceleration sensor 15 and the position sensor 18 have stopped.

Next, when a predetermined time has elapsed since the start signal was confirmed, the timer in the controller 19 is turned on, and a pulse signal for starting the sampling arm 6 is output from the controller 19 to the driver 22. At the same time, when signal detection is started by the acceleration sensor 15, detection of the position information of the sampling arm 6 is also started by the position sensor 18. The pulse motor 2
Since the threshold value at the time of start and stop of 2 is GND (= 0), even if a signal is detected by the acceleration sensor 15, the signal is not adopted as information for stopping the dispensing operation and is ignored. There is.

When a predetermined time has elapsed since the controller 19 outputs the pulse signal to the driver 29, the timer in the controller 19 is turned off. At this time, the controller 19 determines whether the sampling arm 6 has moved normally based on the position information from the position sensor 15. As a result of the determination, if the movement of the sampling arm 6 is normally performed, a threshold change signal for changing the threshold to | V1 | is output to the changing unit 32 in accordance with a predetermined timing.

On the other hand, as a result of the determination, if the movement of the sampling arm 6 is abnormal, for example, if it has not moved,
Assuming that the sampling arm 6 or the dispensing nozzle 7 has collided with any obstacle, the pulse signal to the driver 29 of the target pulse motor 22 is immediately stopped to forcibly stop the dispensing operation.

Assuming that the operation is stable, the threshold is | V1
Is changed to |
Is compared with | V1 | and output to the controller 19. The comparison information is output to the controller 19 only for a predetermined time by a timer in the controller 19.

The controller 19 determines whether or not the sampling arm 6 has collided with an obstacle.
The determination is made based on the comparison information from step 8. As a result of the determination, if the sampling arm 6 is moving normally, it is considered that the sampling arm 6 is performing a stable operation, and a threshold change signal for changing the threshold to GND (= 0) according to a predetermined timing. Output to the changing means 32.

On the other hand, if it is determined that the sampling arm 6 or the dispensing nozzle 7 has collided with any obstacle, the pulse signal to the driver 29 of the target pulse motor 22 is immediately stopped, and Note Forcibly stop the operation.

Assuming that the operation is stable, the threshold value is set to GND.
When the value is changed to (= 0), the controller 19 performs an operation opposite to that at the time of starting, and performs control to stop the pulse motor 29.

When a predetermined time has elapsed since the controller 19 outputs the pulse signal to the driver 29, the timer in the controller 19 is turned off. Hereinafter, as described above, the controller 19 controls the sampling arm 6.
Is determined based on the position information from the position sensor 18, and as a result of the determination, it is considered that the sampling arm 6 is normally moved, and the acceleration / deceleration of the pulse motor 22 is determined. End the operation.

On the other hand, as a result of the judgment, if the movement of the sampling arm 6 is abnormal, for example, if it has not moved, it is regarded that the sampling arm 6 or the dispensing nozzle 7 has collided with some obstacle, and the target pulse is immediately determined. The pulse signal to the driver 29 of the motor 22 is stopped, and the dispensing operation is forcibly stopped.

With the above configuration, the same effects as those of the first embodiment can be obtained, and the configuration can be simplified.

In the above embodiment, a sample or a reagent is described as an example of an analysis liquid to be dispensed. However, the present invention is not particularly limited to this. For example, a sample and a reagent are reacted. It may be a reaction liquid, and it can be effectively applied to a case where a predetermined amount of the reaction liquid is sucked, the reaction liquid is moved to another measuring device, and a predetermined amount is dispensed.

[0087]

As described above in detail, according to the present invention, a collision occurring during a dispensing operation is detected with high sensitivity by using a small, lightweight and high-sensitivity acceleration sensor, and the dispensing operation is immediately started. An automatic analyzer having a dispensing device that can be stopped can be provided.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram according to a first embodiment of the present invention.

FIG. 2 is a block diagram illustrating a configuration of an operation status detection unit illustrated in FIG. 1;

FIG. 3 is a diagram illustrating a relationship between a speed of a sampling arm and an output of an acceleration sensor according to the first embodiment.

FIG. 4 is a perspective view showing a main part of a conventional dispensing apparatus.

FIG. 5 is a perspective view showing a main part of a conventional dispensing apparatus.

FIG. 6 is a side view showing a main part of a conventional dispensing device.

[Explanation of symbols]

 Reference Signs List 5 Sample dispensing device 6 Sampling arm 7 Dispensing nozzle 8 Center shaft 14 Drive unit 15 Acceleration sensor 16 First drive mechanism 17 Second drive mechanism 18 Center shaft 19 Controller 20 Large pulley 21 First moving plate 22, Reference Signs List 25 pulse motor 23 small pulley 24 timing belt 26 lead screw 27 shaft coupling 28 second moving plate 29, 30 driver 31 operating condition detecting unit 32 changing means 33 signal comparing unit 34 F / V converter 35 voltage comparing circuit

Claims (4)

[Claims] A processing unit configured to move to process a plurality of analysis liquids; a driving unit configured to drive the processing unit; and a processing unit disposed at a moving position of the processing unit to detect an acceleration of the processing unit. An automatic analyzer comprising: an acceleration detecting unit that performs an operation; and a control unit that controls to change an operation of the processing unit based on detection information detected by the acceleration detecting unit. 2. A dispensing nozzle for dispensing an analysis liquid, a holding unit for holding the dispensing nozzle at a tip, a driving unit for driving the holding unit, and a control unit for controlling the driving unit. An automatic analyzer provided with a dispensing device, comprising: an acceleration sensor disposed at the tip of the holding unit to detect a collision; a determination unit to determine an operation state according to information from the control unit; A changing unit that changes a threshold for comparison with the detected information based on the information from the determination unit; and a comparing unit that compares the detection information detected by the acceleration sensor with the threshold changed by the changing unit. An automatic analyzer, comprising: a dispensing device having: 3. The threshold value to be changed by the change means of the dispensing device is at least two of | V1 | (> 0) and | V2 | (> | V1 |). Automatic analyzer. 4. The dispensing device includes a position sensor for detecting a movement state of a holding unit, and compares information from the position sensor with information from the control unit, and based on the compared information. The automatic analyzer according to claim 2, wherein the detection information of the acceleration sensor is ignored.