JP2012013478A - Specimen rack transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a specimen rack transfer device capable of stably transferring a specimen rack.SOLUTION: A transfer unit 7 (a specimen rack transfer device) transferring a specimen rack 100 capable of aligning ten specimen containers 101 in a row and holding those, comprises claw portions 88 and 98 moving while contacting with the specimen rack 100 to transfer the specimen rack 100; driving portions 8a and 9a provided corresponding to the claw portions 88 and 98, and moving the corresponding claw portions 88 and 98; and a CPU 7a controlling the driving portions 8a and 9a, and carrying out positional relationship adjustment processing for adjusting the positional relationship between the claw portions 88 and 98.

Description

  The present invention relates to a sample rack transfer device, and more particularly, to a sample rack transfer device including a plurality of contact pieces that transfer a sample rack while being in contact with the sample rack.

  2. Description of the Related Art Conventionally, a sample rack transfer device including a plurality of contact pieces that transfer a sample rack while being in contact with the sample rack is known (see, for example, Patent Document 1).

  In Patent Document 1, a pair of claws (contact pieces) capable of moving the gantry in the transfer direction while being in contact with the gantry (specimen rack), and one stepping for simultaneously moving the pair of nails. A sample gantry supply device (sample rack transfer device) including a motor and a rotating shaft that transmits a driving force from a stepping motor to each of a pair of claws is disclosed. In the supply device described in Patent Document 1, the pair of claws are arranged side by side on a straight line orthogonal to the transfer direction of the gantry, and by the same amount in the same direction by the driving force of one stepping motor. It is configured to be moved.

Japanese Utility Model Publication 2-49570

  However, in the supply device described in Patent Document 1, when the movement of any one of the pair of claws is hindered by an obstacle or the like, the supply apparatus is arranged on a straight line perpendicular to the transfer direction of the gantry. The positional relationship between the pair of claws may be shifted, and it may be difficult to stably move the gantry.

  The present invention has been made to solve the above-described problems, and one object of the present invention is to provide a sample rack transfer device capable of stably transferring a sample rack. .

Means for Solving the Problems and Effects of the Invention

  In order to achieve the above object, a sample rack transfer device according to one aspect of the present invention is a sample rack transfer device for transferring a sample rack that can hold a plurality of sample containers arranged in a row, and is in contact with the sample rack. A plurality of contact pieces for transferring the sample rack by moving in a state of being moved, a plurality of drive units provided corresponding to each of the plurality of contact pieces, and a plurality of drive units for moving the corresponding contact pieces And a controller that performs positional relationship adjustment processing for adjusting the positional relationship of the plurality of contact pieces.

  In the sample rack transport device according to one aspect of the present invention, as described above, the control unit performs the positional relationship adjustment process for adjusting the positional relationship of the plurality of contact pieces, so that the positional relationship between the plurality of contact pieces is shifted. Even if it occurs, the positional deviation can be automatically repaired without human intervention. Thereby, the sample rack can be stably transferred.

  In the sample rack transfer device according to the above aspect, the control unit preferably performs the positional relationship adjustment process so that the plurality of contact pieces are arranged in a direction substantially orthogonal to the direction in which the sample rack is transferred. In this way, the positional relationship between the plurality of contact pieces is adjusted.

  The sample rack transfer device according to the above aspect preferably further includes a detection unit that detects a plurality of contact pieces, and the control unit controls the plurality of drive units based on the detection results of the plurality of contact pieces by the detection unit. By doing so, the positional relationship adjustment processing is performed. If comprised in this way, the control part can adjust the positional relationship of a some contact piece reliably.

  In this case, preferably, the detection unit is configured to detect whether or not the plurality of contact pieces are located at an origin position where the plurality of contact pieces are arranged when the transfer of the sample rack is started. . If comprised in this way, a transfer process can be started in the state in which each contact piece was detected in the detection part. Thereby, the sample rack can be transferred in a state in which the positional relationship between the plurality of contact pieces is adjusted.

  In the sample rack transport apparatus further including the detection unit, preferably, the plurality of contact pieces include a first contact piece and a second contact piece, and the plurality of driving units are a first drive corresponding to the first contact piece. And a second drive unit corresponding to the second contact piece, and the detection unit detects the first contact piece when the first contact piece is in the first position, and the second contact A second detector that detects the second contact piece when the piece is in a second position that is in a predetermined positional relationship with the first position.

  In the sample rack transport apparatus in which the plurality of driving units include a first driving unit and a second driving unit, preferably, the control unit moves the first contact piece toward the first position, and the first contact piece Is detected by the first detection unit, the process of controlling the first drive unit to stop the movement of the first contact piece, the second contact piece is moved toward the second position, and the second When the contact piece is detected by the second detection unit, the second drive unit is controlled to stop the movement of the second contact piece. If comprised in this way, the positional relationship of a several contact piece will be adjusted only by driving each drive part until a corresponding contact piece is detected by each detection part. Therefore, the positional relationship between the plurality of contact pieces can be easily adjusted.

  In the sample rack transfer apparatus in which the control unit performs the process of controlling the first drive unit and the process of controlling the second drive unit, preferably, the control unit detects the first contact piece by the first detection unit. When the second contact piece is not detected by the second detection unit at the time, the movement of the second contact piece is continued, and then the second contact piece is detected by the second detection unit and the second contact piece is moved. By stopping the operation, the positional relationship between the first contact piece and the second contact piece is adjusted.

  In the sample rack transfer apparatus in which the control unit performs the process of controlling the first drive unit and the process of controlling the second drive unit, preferably, the control unit controls the process of controlling the first drive unit and the second drive unit. Is configured to perform the process of controlling the process in parallel. If comprised in this way, since the process which controls a 1st drive part and the process which controls a 2nd drive part are performed simultaneously, a positional relationship adjustment process can be performed more rapidly.

  In the sample rack transfer apparatus according to the above aspect, the control unit is preferably configured to alternately execute a transfer process for transferring the sample rack and a positional relationship adjustment process. With this configuration, even if the positional relationship between the plurality of contact pieces is shifted, the positional relationship adjustment process is always performed before the next transfer process. It is possible to reliably recognize whether or not the positional relationship between the contact pieces is shifted. Thereby, it can suppress more that the sample rack is transferred in an unstable state.

  In the sample rack transfer device according to the above aspect, it is preferable that the sample rack transfer device further includes a plurality of guide portions provided corresponding to each of the plurality of contact pieces and arranged substantially parallel to each other. , And are configured to move substantially parallel to each other along the corresponding guide portions. If comprised in this way, since the several contact piece moves on the mutually parallel track | orbit along a corresponding guide part, it is made to keep the action point of the force applied to a sample rack not changing along a transfer direction. Can do. Thereby, the sample rack can be transported more stably.

  In the sample rack transport apparatus according to the above aspect, each of the plurality of driving units preferably includes a driving source, a pulley that is rotated by a driving force from the driving source, and a contact piece that corresponds to the driving unit. And a timing belt driven by rotation of the motor. If comprised in this way, a several contact piece can be easily moved independently by several sets of drive mechanisms containing a drive source, a pulley, and a timing belt.

  The sample rack transfer device according to the above aspect preferably further includes a table on which the sample rack is mounted, and a first rack detection unit that detects the sample rack mounted on the table. When a sample rack is detected by one rack detection unit, a transfer process for transferring the sample rack is performed. According to this configuration, since the drive unit is not driven in a state where the sample rack is not placed on the table, unnecessary driving by the drive unit can be suppressed.

  In this case, preferably, the table is formed so as to extend along a direction in which the sample rack is transferred, and a recess formed so as to extend along the direction in which the sample rack is transferred. And a pair of rack support parts that support the vicinity of both ends of the rack so as to be slidable. With this configuration, even when the table is bent upward while protruding upward due to the application of bending stress or the like, the table and the sample rack are provided in the portion where the recess is provided. And the sample rack can be stably supported by the pair of rack support portions at both ends of the recess. Thus, unlike the case where the sample rack is supported at the apex of the convex portion when the table is bent in the convex state, the sample rack can be stably transferred.

  The sample rack transfer device according to the above aspect preferably further includes a second rack detection unit that detects a sample rack located at a transfer destination to which the sample rack is transferred, and the control unit uses the second rack detection unit to detect the sample rack. When the rack is no longer detected, a transfer process for transferring the sample rack is performed. According to this configuration, it is possible to suppress the transfer of a new sample rack while the sample rack remains at the transfer destination. Therefore, a new sample rack can be generated while the sample rack remains at the transfer destination. The sample racks can be prevented from colliding with each other due to the transport of the sample racks. Thereby, it is possible to suppress the positional relationship between the plurality of contact pieces from being shifted due to the collision between the sample racks.

  Furthermore, a sample rack transport apparatus according to a different aspect of the present invention is a sample rack transport apparatus that transports a sample rack that can hold a plurality of sample containers arranged in a row, and moves in contact with the sample rack. A plurality of contact pieces that move the sample rack, a drive unit that moves the plurality of contact pieces, a detection unit that detects the plurality of contact pieces, and a plurality of contact pieces that are determined based on a detection result by the detection unit. And a control unit that performs notification to the user when it is determined that the positional relationship is not satisfied and when it is determined that the positional relationship is not determined. If comprised in this way, since it can notify a user that the shift | offset | difference has arisen in the positional relationship of a some contact piece, quick repair by a user can be anticipated.

  Furthermore, a sample rack transport apparatus according to a different aspect of the present invention is a sample rack transport apparatus that transports a sample rack that can hold a plurality of sample containers arranged in a row, and moves in contact with the sample rack. Accordingly, a plurality of contact pieces for transporting the sample rack and a plurality of driving units provided corresponding to each of the plurality of contact pieces and for moving the corresponding contact pieces are provided. If comprised in this way, since each of several contact pieces can be driven separately, even when the positional relationship of several contact pieces has shifted | deviated, the shift | offset | difference of positional relationship can be repaired easily.

1 is a schematic diagram illustrating an overall configuration of a sample processing system according to an embodiment of the present invention. 1 is a block diagram illustrating a configuration of a sample processing system according to an embodiment of the present invention. It is the perspective view which showed the whole structure of the transfer unit by one Embodiment of this invention. It is the top view which showed the whole structure of the transfer unit by one Embodiment of this invention. FIG. 5 is a cross-sectional view showing the periphery of a sample rack along line 400-400 in FIG. 4. It is the top view which showed the state which removed the table of the transfer unit by one Embodiment of this invention. It is the perspective view which showed the accommodating part of the origin position periphery by one Embodiment of this invention. It is the perspective view which showed the nail | claw part side by the side of Y2 located in the origin position by one Embodiment of this invention. It is the perspective view which showed the nail | claw part vicinity by the side of Y1 located in the origin position by one Embodiment of this invention. It is the perspective view which showed the nail | claw part by one Embodiment of this invention. It is the perspective view which showed the 1st horizontal feeding part periphery by one Embodiment of this invention. It is a flowchart which shows the transfer operation | movement process of the transfer unit by one Embodiment of this invention. It is the schematic diagram which showed the state at the time of the transfer operation start by one Embodiment of this invention. It is the schematic diagram which showed the state from which the positional relationship of the nail | claw part shifted | deviated during transfer operation by one Embodiment of this invention. It is a flowchart which shows the origin return process of the transfer unit by one Embodiment of this invention. It is the schematic diagram which showed the state which one side of the nail | claw part by one Embodiment of this invention returned to the origin position. It is the schematic diagram which showed the state which both the nail | claw parts by one Embodiment of this invention returned to the origin position. It is the schematic diagram which showed the state which one side of the nail | claw part by the 1st modification of one Embodiment of this invention returned to the origin position. It is the schematic diagram which showed the state which both the nail | claw parts by the 1st modification of one Embodiment of this invention returned to the origin position. It is the schematic diagram which showed the positional relationship adjustment process of the nail | claw part by the 2nd modification of one Embodiment of this invention. It is the schematic diagram which showed the state which the positional relationship adjustment process of the nail | claw part by the 2nd modification of one Embodiment of this invention was complete | finished.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the drawings.

  First, the configuration of a sample processing system 1 according to an embodiment of the present invention will be described with reference to FIGS.

  A sample processing system 1 according to an embodiment of the present invention is configured to be able to perform various item measurements on a sample such as blood in a sample container 101 composed of a vacuum blood collection tube placed on a sample rack 100. ing. Various item measurements are sequentially performed in the four types of measuring devices 4a to 4d. The sample container 101 (see FIG. 3) is transferred through the sample processing system 1 while being held by the sample rack 100.

  Specifically, as shown in FIGS. 1 and 2, the sample processing system 1 includes a transfer mechanism 2 that transfers the sample rack 100, a transfer controller 3 that controls transfer of the sample rack 100 in the transfer mechanism 2, and a transfer The measurement devices 4a to 4d that measure the sample container 100 from the sample rack 100 transferred in the mechanism 2, the analysis controller 5 that controls each of the measurement devices 4a to 4d, the transfer controller 3 and the analysis controller 5 are electrically connected And a control device 6 connected to each other. The transfer controller 3, the analysis controller 5, and the control device 6 are each configured by a PC (personal computer). Each of the transfer controller 3, the analysis controller 5 and the control device 6 is provided with CPUs 3a, 5a and 6a (see FIG. 2), display units 3b, 5b and 6b, and input units 3c, 5c and 6c, respectively. Yes.

  As shown in FIG. 1, the transfer mechanism 2 includes a storage unit 20 disposed at an end on the Y1 side, and a transfer unit 7 (adjacent to the Y2 side of the storage unit 20) on which a sample rack 100 is placed by a user. A sample rack transfer device) and a transfer unit 21 adjacent to the Y2 side of the transfer unit 7 and to which the sample rack 100 is transferred from the transfer unit 7.

  Further, the transfer mechanism 2 is adjacent to the Y2 side of the transfer unit 21, and is adjacent to the Y2 side of the transfer unit 22 and the transfer unit 22 that can transfer the sample rack 100 to the measurement device 4a. And a transfer unit 23 capable of transferring the sample rack 100. Further, the transfer mechanism 2 is adjacent to the Y2 side of the transfer unit 23, and is adjacent to the Y2 side of the transfer unit 24 and the transfer unit 24 that can transfer the sample rack 100 to the measurement device 4c. And a transfer unit 25 capable of transferring the sample rack 100.

  In the transfer mechanism 2, the sample rack 100 placed on the transfer unit 7 is transferred to the transfer unit 21 in the vicinity of the end on the X1 side by the CPU 3 a of the transfer controller 3, and then on the X2 side of the transfer unit 21. It is transferred to the transfer unit 22. The sample rack 100 is configured to be transferred to a predetermined position by the transfer units 22 to 25 so that the measurement is performed in the measurement devices 4a to 4d designated by the control device 6. The sample rack 100 for which the measurement has been completed passes through a transfer path formed in the vicinity of the X2 side end of each of the transfer units 22 to 25, the transfer unit 21, and the transfer unit 7. Transferred to the end. Finally, the sample rack 100 is transferred to the X1 side of the storage unit 20. That is, the sample rack 100 is transferred along the direction of the arrow shown in FIG.

  Further, a rack detection sensor 21b is provided in the vicinity of the end portion on the X1 side of the transfer unit 21 and on the Y2 side of the lateral feed region 21a to which the sample rack 100 is transferred from the transfer unit 7. As shown in FIG. 2, the rack detection sensor 21 b is configured to detect whether or not the sample rack 100 exists in the lateral feed region 21 a and transmit the detection result to the transfer controller 3.

  As shown in FIGS. 3 and 4, the transfer unit 7 is configured to be able to transfer the sample rack 100 in the transfer direction (X1 direction). Further, the transfer unit 7 transfers the sample rack 100 to the transfer unit 21 (see FIG. 1) by transferring (transversely feeding) the sample rack 100 to the Y2 side and the table 70 on which the sample rack 100 is placed. A first lateral feed unit 71 and a second lateral feed unit 72 (see FIG. 3) that transports the sample rack 100 to the storage unit 20 (see FIG. 1) by transporting the sample rack 100 to the Y1 side (transverse feed). And.

  As shown in FIG. 2, the first lateral feed unit 71 (see FIG. 3) has a motor 71 b for transporting the sample rack 100 to the Y2 side (lateral feed), and the second lateral feed unit 72. (See FIG. 3) has a motor 72a for transporting (laterally feeding) the sample rack 100 to the Y1 side. The motors 71b and 72a are connected to a CPU 7a that controls the entire transfer unit 7, as shown in FIG.

  Further, as shown in FIG. 3, the first lateral feed unit 71 is provided in the vicinity of the end portion on the X1 side of the table 70, and is a transfer unit including a belt conveyor that can transfer the placed sample rack 100 in the Y direction. 71a is included.

  Further, as shown in FIGS. 3 and 4, the table 70 has a substantially rectangular shape having long sides extending in the X direction when seen in a plan view. Further, the table 70 is provided with a recess 70a formed so as to extend from the X1 end of the table 70 to the X2 end, and rack support surfaces 70b and 70c extending in the X direction along the recess 70a. It has been. The recess 70a is formed in the center region in the Y direction of the table 70, and the rack support surfaces 70b and 70c are formed on the Y1 side and the Y2 side in the Y direction of the recess 70a, respectively.

  Further, as shown in FIG. 5, the table 70 is provided with an engaging portion 70 d that engages with a groove portion 100 d described later of the sample rack 100. The engaging portion 70d is formed on the Y1 side of the rack support surface 70b and has a bowl-like cross-sectional shape.

  The table 70 is configured such that the rack support surfaces 70b and 70c support the lower surface of the sample rack 100 so that the sample rack 100 can be slid and transferred in the X direction (see FIG. 4). Note that the lower surface of the sample rack 100 is not supported in the recess 70a. Further, the recess 70a is supported from below by a pair of table support portions 76 (see FIG. 6) described later.

  Further, as shown in FIGS. 3 and 4, the sample rack 100 has a substantially rectangular shape extending in the Y direction when seen in a plan view. The sample rack 100 is configured to be placed on the table 70 such that the longitudinal direction (Y direction) corresponds to the short direction (Y direction) of the table 70. Further, as shown in FIG. 5, the sample rack 100 has ten holding portions 100a for holding the sample containers 101, contact surfaces 100b that come into contact with two claw portions 88 and 98 described later, and transfer described later. The detection surface 100c (refer FIG. 4) which contacts the detection member 71c (refer FIG. 6), and the groove part 100d formed in the lower part of the side surface by the side of Y2 are provided. The ten holding portions 100a are formed so as to be arranged in a line along the Y direction, and are configured so that the sample container 101 can be inserted from above. Further, when the sample rack 100 is placed on the table 70, the engaging portion 70d of the table 70 is fitted into the groove portion 100d. Thereby, the sample rack 100 is prevented from being detached upward when the sample rack 100 is transferred. As shown in FIG. 4, when the sample rack 100 is placed on the table 70 so that the groove portion 100d and the engaging portion 70d engage with each other, the contact surface 100b faces the X2 side, and the detection surface 100c. Faces the X1 side.

  In addition, rack detection sensors 73, 74, and 75 that detect the sample rack 100 placed on the table 70 are disposed in the transfer unit 7. The rack detection sensors 73, 74, and 75 have light emitting units 73a, 74a, and 75a and light receiving units 73b, 74b, and 75b, respectively. The light emitting unit 73a and the light receiving unit 73b are both arranged on a straight line extending in the Y direction in the vicinity of the end portion on the X2 side. Thus, the rack detection sensor 73 detects the sample rack 100 placed in the vicinity of the origin position A (see FIG. 6) of the claw portion 88 of the table 70 and the origin position B (see FIG. 6) of the claw portion 98. Is configured to be possible.

  The light emitting unit 74a is disposed in the vicinity of the X1 side of the light receiving unit 73b, and the light receiving unit 74b is disposed at a position separated by a predetermined distance on the X1 side of the light emitting unit 73a. Thereby, the rack detection sensor 74 is configured to be able to detect the sample rack 100 placed on the X1 side of the table 70. The light emitting unit 75a is disposed near the X1 side of the light emitting unit 73a, and the light receiving unit 75b is disposed near the end portion of the table 70 on the X1 side. Thereby, the rack detection sensor 75 is configured to be able to detect the sample rack 100 placed around the center of the table 70 in the X direction and on the X2 side. As a result, the rack detection sensors 73, 74, and 75 are configured to detect the sample rack 100 arranged on the table 70. As shown in FIG. 2, the rack detection sensors 73, 74, and 75 are connected to the CPU 7a.

  Further, as shown in FIG. 6, the storage unit 7 b of the transfer unit 7 includes a pair of tables that hold a left rack transfer mechanism 8, a right rack transfer mechanism 9, a pair of origin sensors 10 and 11, and a table 70. A support portion 76 is disposed. Each of the pair of table support portions 76 is formed by bending a plate-like member, and is fixed near the central portion of the bottom surface of the accommodating portion 7b so that the longitudinal direction substantially overlaps the Y direction. Moreover, the support | pillar 76a of a pair of table support part 76 is formed in flat surface shape, as shown in FIG. 5, and is comprised so that the recessed part 70a of the table 70 may be supported from the downward direction.

  Further, as shown in FIG. 6, the left rack transport mechanism 8 and the right rack transport mechanism 9 have substantially the same configuration. Specifically, the left rack transfer mechanism 8 includes a stepping motor 80, a drive pulley 81, a transmission belt 82, a driven pulley 83, a pair of entraining pulleys 84, a timing belt 85, and a pair of end pulleys 86. A portion 8a, a guide shaft 87, and a claw portion 88 are included. Similarly, the right rack transport mechanism 9 includes a driving unit 9a including a stepping motor 90, a driving pulley 91, a transmission belt 92, a driven pulley 93, a pair of entraining pulleys 94, a timing belt 95, and a pair of end pulleys 96. The guide shaft 97 and the claw portion 98 are included.

  Here, in the present embodiment, the claw portion 88 and the claw portion 98 are configured to be movable independently of each other by driving the drive portion 8a and the drive portion 9a independently from each other by the CPU 7a. . Further, the claw portion 88 moves between the origin position A on the X1 side and the vicinity of the transfer portion 71a on the X2 side along the guide shaft 87 extending in the X direction, and the claw portion 98 is moved to the origin position on the X1 side. It is configured to move along the guide shaft 97 extending in the X direction while maintaining a state parallel to the claw portion 88 between B and the vicinity of the transfer portion 71a on the X2 side.

  Further, the stepping motor 80, the drive pulley 81, the transmission belt 82, the driven pulley 83, and the pair of winding pulleys 84 of the left rack transfer mechanism 8 are all arranged on the X2 side of the accommodating portion 7b. Further, the stepping motor 90, the drive pulley 91, the transmission belt 92, the driven pulley 93, and the pair of winding pulleys 94 of the right rack transfer mechanism 9 are all arranged on the X1 side of the accommodating portion 7b.

  Further, the timing belt 85 and the guide shaft 87 of the left rack transfer mechanism 8 are both arranged on the Y2 side of the accommodating portion 7b in a state of extending in the X direction, and the timing belt 95 and the guide shaft 97 of the right rack transfer mechanism 9 are arranged. Are arranged on the Y1 side of the accommodating portion 7b in a state of extending in the X direction. Further, the pair of end pulleys 86 of the left rack transfer mechanism 8 are respectively disposed on the Y2 side of the housing portion 7b and in the vicinity of both end portions in the X direction of the housing portion 7b. Further, the pair of end pulleys 96 of the right rack transport mechanism 9 are disposed on the Y1 side of the housing portion 7b and in the vicinity of both end portions in the X direction of the housing portion 7b. Further, the claw portions 88 and 98 are fixed to timing belts 85 and 95, respectively.

  Further, since the left rack transfer mechanism 8 and the right rack transfer mechanism 9 are independent from each other, the transfer unit 7 does not have a member for connecting the left rack transfer mechanism 8 and the right rack transfer mechanism 9. Thereby, a pair of table support part 76 can be easily arrange | positioned near the center part of the bottom face of the accommodating part 7b.

  Further, both the stepping motors 80 and 90 are configured to synchronize with the pulse power having a predetermined pulse frequency transmitted from the CPU 7a. Thus, the stepping motors 80 and 90 are configured to be able to move the claw portions 88 and 98 in the X direction at substantially the same speed by rotating the drive pulleys 81 and 91 at substantially the same speed. . The drive pulley 81 and the upper pulley 83 a of the driven pulley 83 are connected by a transmission belt 82, and the drive pulley 91 and the upper pulley 93 a of the driven pulley 93 are connected by a transmission belt 92.

  As shown in FIG. 7, the timing belt 85 includes an inner part 85a located on the inner side (Y1 side) and an outer part 85b located on the outer side (Y2 side). The inner portion 85a is configured to be bent in the Y direction from a portion extending in the X direction by a pair of winding pulleys 84. Accordingly, the timing belt 85 is configured to be driven by the lower pulley 83b of the driven pulley 83. Further, as shown in FIG. 6, the inner portion 85a and the outer portion 85b are opposite in the moving direction (X1 direction and X2 direction) with a pair of end pulleys 86 provided at both ends in the X direction as a boundary. It is configured to be.

  The timing belt 95 includes an inner portion 95a located on the inner side (Y2 side) and an outer portion 95b located on the outer side (Y1 side). The inner portion 95a is configured to be bent in the Y direction from a portion extending in the X direction by a pair of winding pulleys 94. Accordingly, the timing belt 95 is configured to be driven by the lower pulley 93b of the driven pulley 93. Further, the inner portion 95a and the outer portion 95b are configured so that the moving directions are opposite to each other with a pair of end pulleys 96 provided at both ends in the X direction as a boundary. The timing belts 85 and 95 are configured to be movable in the X direction at substantially the same speed by stepping motors 80 and 90 that rotate at substantially the same speed.

  Further, as shown in FIGS. 8 and 10, the claw portion 88 includes an extrusion claw 88a, a shaft portion 88b that rotatably supports the extrusion claw 88a, a fixed plate 88c fixed to the shaft portion 88b, and a spring. It includes a member 88d, a plate member 88e extending in the Y direction, and a fixing portion 88f provided in the lower portion. The pushing claw 88a is formed so that the periphery of the tip end portion on the X1 side is along the Y direction, while the X2 side is inclined with respect to the Y direction. Further, as shown in FIGS. 3 and 4, the push-out claw 88 a is disposed so as to protrude horizontally on the Y <b> 1 side above the table 70.

  The push-out claw 88a is configured so as to be rotatable in the arrow C1 direction with the shaft portion 88b as a rotation axis, but not in the arrow C2 direction. As a result, as shown in FIG. 4, when the sample rack 100 is transferred in the X1 direction, the pushing claw 88a does not rotate in the C2 direction, so that the periphery of the tip of the pushing claw 88a on the X1 side contacts the contact surface 100b. In this state, the sample rack 100 can be transferred in the X1 direction. On the other hand, when the claw portion 88 moves in the X2 direction opposite to the transfer direction (X1 direction) of the sample rack 100, even when an obstacle such as the sample rack 100 contacts the push claw 88a, the push claw 88a can rotate in the direction of arrow C1. Thereby, it is possible to suppress the pushing claw 88a from coming into contact with an obstacle and inhibiting the movement of the claw portion 88.

  The spring member 88d has one end fixed to the fixed plate 88c and the other end fixed to the plate member 88e. Thereby, even if the pushing claw 88a rotates in the direction of the arrow C1, the pushing claw 88a is configured to be returned to the original position by the urging force of the spring member 88d.

  Further, a light shielding portion 188e extending downward is provided at the end of the plate member 88e on the Y1 side. As shown in FIG. 8, the light shielding portion 188e is configured to be positioned on a detection portion 10a (described later) of the origin sensor 10.

  The fixed portion 88f is provided with a shaft hole 188f and a belt holding portion 288f. Further, the guide shaft 87 passes through the shaft hole 188f, and the claw portion 88 is configured to be movable in the X direction along the guide shaft 87. Further, the belt holding portion 288f is formed in a U shape when viewed from the X direction. With the U-shaped portion sandwiching the outer portion 85b of the timing belt 85, the upper portion of the belt holding portion 288f is fixed with the screw member 388f, so that the claw portion 88 is fixed to the outer portion 85b. It is configured.

  As shown in FIGS. 9 and 10, the claw portion 98 includes an extruded claw 98a, a shaft portion 98b, a fixing plate 98c, a spring member 98d, a plate member 98e, and a fixing portion 98f. Further, the pushing claw 98a is configured so as to rotate in the direction of the arrow D1 with the shaft portion 98b as the rotation axis, but does not rotate in the direction of the arrow D2. A light shielding portion 198e that is bent downward and can be positioned on a detection portion 11a (described later) of the origin sensor 11 is provided at the end of the plate member 98e on the Y2 side. The fixing portion 98f includes a shaft hole 198f penetrating the guide shaft 97 extending in the X direction, a belt holding portion 298f that sandwiches the outer portion 95b of the timing belt 95, and a screw member that fixes the upper portion of the belt holding portion 298f. 398f is provided. The claw portion 98 has substantially the same structure as the claw portion 88, and thus detailed description thereof is omitted.

  In the present embodiment, as shown in FIGS. 6 and 7, the origin sensors 10 and 11 are both disposed in the vicinity of the side surface on the X1 side of the accommodating portion 7b. The origin sensor 10 is disposed at the origin position A where the movement of the claw portion 88 in the X1 direction is started in the transfer process of the sample rack 100. The origin sensor 11 is disposed at the origin position B where the movement of the claw portion 98 in the X1 direction is started in the transfer process of the sample rack 100. Further, the origin sensors 10 and 11 are arranged so as to be positioned on a straight line extending in the Y direction orthogonal to the transfer direction (X1 direction).

  The origin sensors 10 and 11 have detection units 10a and 11a, respectively. The detection units 10a and 11a have a concave shape when viewed from the X direction, and detection light is emitted from one side of the Y direction toward the other side. As a result, as shown in FIGS. 8 and 9, it is detected that the claw portion 88 is located at the origin position A by blocking the detection light of the detection portion 10a due to the light shielding portion 188e being located at the detection portion 10a. It is configured to be. Similarly, when the light shielding unit 198e is positioned on the detection unit 11a, the detection light of the detection unit 11a is blocked, so that the claw unit 98 is detected to be located at the origin position B. Both the origin position A of the claw portion 88 and the origin position B of the claw portion 98 are located on a straight line extending in the Y direction orthogonal to the transfer direction (X1 direction) of the sample rack 100. Further, the claw portion 88 and the claw portion 98 are configured to move in the X direction while maintaining a relationship (positional relationship) located on a straight line extending in the Y direction.

  The CPU 7a is configured to perform a process of moving the claw portions 88 and 98 in the X2 direction so as to return to the origin positions A and B, respectively, after the sample rack 100 is transferred to the transfer portion 71a. . At this time, the CPU 7a is configured to stop driving of the drive unit 8a when the origin sensor 10 detects that the claw part 88 is located at the origin position A, and the claw part 98 is located at the origin position. When the origin sensor 11 detects that it is located at B, the drive of the drive unit 9a is stopped. The process for stopping the drive of the drive unit 8a and the process for stopping the drive of the drive unit 9a are configured to be performed independently by the CPU 7a.

  Further, for example, when the origin sensor 10 detects that the claw portion 88 is located at the origin position A and the drive of the drive unit 8a is stopped, the origin sensor 11 indicates that the claw portion 98 is located at the origin position B. If the origin sensor 11 detects that the claw portion 98 is located at the origin position B within a predetermined time, the CPU 7a performs a process of continuing to drive the drive unit 9a. It is configured as follows. Then, when the origin sensor 11 detects that the claw portion 98 is located at the origin position B, the CPU 7a performs a process of stopping the drive of the drive unit 9a. As a result, the claw portion 88 is located at the origin position A and the claw portion 98 is located at the origin position B. In this way, the positional relationship between the claw portion 88 and the claw portion 98 is adjusted.

  Further, in the first lateral feed portion 71 provided on the X1 side (see FIG. 6) of the transfer unit 7, as shown in FIG. 11, a transfer detection member 71c, a light shielding member 71d, a rack detection sensor 71e, and a fixed A member 71f and a pair of spring members 71g are disposed inside the accommodating portion 7b. Further, as shown in FIG. 6, the first lateral feed unit 71 has a pair of claw portions 71h for suppressing the movement of the sample rack 100 transferred to the transfer unit 71a to the X2 side on both sides in the Y direction. Respectively.

  Further, the transfer detection member 71c is arranged on the side surface on the X1 side of the transfer portion 71a so as to extend in the Y direction. When the sample rack 100 (see FIG. 4) is transferred to the transfer unit 71a, the transfer detection member 71c comes into contact with the detection surface 100c (see FIG. 4) of the sample rack 100 and is pressed to the X1 side. Is configured to move a predetermined distance to the X1 side. As shown in FIG. 11, a light shielding member 71d is fixed to a holding portion 171c that extends in the X2 direction from a substantially central portion in the Y direction of the transfer detection member 71c. Further, a light shielding portion 171d extending downward is provided at the end of the light shielding member 71d on the X2 side.

  The rack detection sensor 71e has a detection portion 171e having a concave shape when viewed from the X direction, and detection light is emitted from one side in the Y direction to the other side. Here, in a state where the sample rack 100 is not transferred to the transfer unit 71a, the light shielding unit 171d of the light shielding member 71d is configured to be located at a position where the detection light of the detection unit 171e is blocked. On the other hand, in a state where the sample rack 100 is transferred to the transfer unit 71a, the transfer detection member 71c moves to the X1 side, so that the light shielding member 71d fixed to the transfer detection member 71c similarly moves to the X1 side. As a result, the light shielding unit 171d is moved to a position that does not block the detection light of the detection unit 171e, thereby detecting that the sample rack 100 is positioned on the transfer unit 71a. As shown in FIG. 2, the rack detection sensor 71e is connected to the CPU 7a.

  Moreover, as shown in FIG. 11, both ends of the pair of spring members 71g are fixed to a transfer detection member 71c and a fixing member 71f fixed to the bottom surface of the accommodating portion 7b, respectively. Thereby, when the transfer detection member 71c moves to the X1 side, a biasing force is applied to the transfer detection member 71c in the X2 direction by the pair of spring members 71g. Thus, in a state where the sample rack 100 does not exist in the transfer unit 71a, the transfer detection member 71c and the light shielding member 71d are configured so that the light shielding unit 171d is returned to a position where the detection light of the detection unit 171e is blocked.

  Next, a transfer operation process of the transfer unit 7 according to the embodiment of the present invention will be described with reference to FIGS.

  First, when the entire sample processing system 1 (see FIG. 1) is turned on, initialization processing such as program initialization and operation check of each part of the transfer mechanism 2 (see FIG. 1) is executed. In step S1, the CPU 7a performs control for moving the claw portions 88 and 98 to the origin positions A and B, respectively, as initialization processing.

  Thereafter, in step S2, the sample rack 100 (see FIG. 4) placed on the table 70 (see FIG. 4) based on the input signal from the input unit 6c (see FIG. 1) of the control device 6 by the CPU 7a. ) Is transferred or not is determined. This determination is repeated until it is determined that a transfer instruction has been made.

  If it is determined in step S2 that a transfer instruction has been issued, the sample rack 100 is placed in the lateral feed region 21a (see FIG. 1) of the transfer unit 21 adjacent to the Y2 side of the transfer unit 7 by the CPU 7a in step S3. It is determined whether or not there exists. The CPU 7a sets the sample rack 100 in the lateral feed area 21a of the transfer unit 21 in accordance with an instruction from the CPU 3a (see FIG. 2) of the transfer controller 3 based on the detection result of the rack detection sensor 21b (see FIG. 2) of the transfer unit 21. Determine if it exists. If it is determined in step S3 that the sample rack 100 is present in the lateral feed area 21a, it is determined that the sample rack 100 cannot be laterally fed, and the process proceeds to step S6.

  On the other hand, if it is determined that the sample rack 100 does not exist in the lateral feed region 21a, in step S4, the CPU 7a causes the sample rack to be moved to the transfer unit 71a (see FIG. 4) based on the detection result of the rack detection sensor 71e. It is determined whether 100 exists. If it is determined that the sample rack 100 is present in the transfer unit 71a, the sample rack 100 is present in the transfer unit 71a and the sample rack 100 is present in the transfer unit 71a. Thus, it is determined that the sample rack 100 can be laterally fed to the lateral feed region 21a of the transfer unit 21. As a result, in step S5, the CPU 7a drives the motor 71b (see FIG. 2) so that the sample rack 100 moves to the lateral feed region 21a. Then, it progresses to step S6.

  On the other hand, if it is determined in step S4 that the sample rack 100 does not exist in the transfer unit 71a (see FIG. 4), the sample rack 100 does not need to be laterally fed, and the process proceeds to step S6.

  In step S6, the CPU 7a again determines whether or not the sample rack 100 exists in the transfer unit 71a based on the detection result of the rack detection sensor 71e. If it is determined that the sample rack 100 exists in the transfer unit 71a, it is determined that the sample rack 100 cannot be transferred, and the sample rack 100 is not transferred. Then, the process proceeds to step S14.

  If it is determined in step S6 that the sample rack 100 does not exist in the transfer unit 71a, the CPU 7a determines that the sample rack 100 is not present on the table 70 based on the detection results of the rack detection sensors 73, 74, and 75 in step S7. It is determined whether or not the sample rack 100 exists. If it is determined that the sample rack 100 does not exist on the table 70, the sample rack 100 is not transferred. Then, the process proceeds to step S12.

  If it is determined in step S7 that the sample rack 100 exists on the table 70, the sample rack 100 does not exist in the transfer unit 71a, and the sample rack 100 exists on the table 70. 100 is determined to be transportable. Accordingly, in step S8, the drive units 8a and 9a are moved by the CPU 7a in the X1 direction while the claw portions 88 and 98 are maintained in the mutual positional relationship (a relationship of being located on straight lines extending in the Y direction). Driven. Further, as shown in FIG. 13, when the claw portions 88 and 98 move in the X1 direction, the claw portions 88 and 98 come into contact with the contact surface 100b of the sample rack 100, so that the sample rack 100 moves in the transfer direction. It is transferred in the (X1 direction). Thereby, the transfer process of the sample rack 100 is performed.

  In step S9, the CPU 7a determines whether or not the sample rack 100 has been transferred to the transfer unit 71a based on the detection result of the rack detection sensor 171e. That is, it is determined whether or not the detection unit 171e of the rack detection sensor 71e is not shielded by pressing the transfer detection member 71c against the sample rack 100 toward the X1 side. If it is determined that the sample rack 100 has been transferred to the transfer unit 71a, the drive of the drive units 8a and 9a is stopped in step S10, thereby stopping the movement of the claw portions 88 and 98 in the X1 direction. At the same time, the transfer process of the sample rack 100 ends. Thereafter, in step S11, the origin return process is performed by the CPU 7a. This origin return processing is performed every time the CPU 7a determines that the sample rack 100 has been transferred. Then, the process proceeds to step S12. The origin return process will be described later.

  If it is determined in step S9 that the sample rack 100 has not been transferred to the transfer unit 71a, the CPU 7a in step S13 drives the drive units 8a and 9a in step S8 for a predetermined time. It is determined whether or not elapses. If it is determined that the predetermined time has not elapsed, the process returns to step S9, and it is determined again whether or not the sample rack 100 has been transferred to the transfer unit 71a. On the other hand, if it is determined that the predetermined time has elapsed, it is determined that the sample rack 100 could not be transferred to the transfer unit 71a due to an obstacle (not shown) on the table 70 or the like. In this case, the process proceeds to step S13, and a transfer error display indicating that the sample rack 100 could not be transferred is displayed on the input unit 3b or the like. Then, the process proceeds to step S12.

  In step S12, the CPU 7a determines whether or not a shutdown instruction has been issued based on an input signal from the input unit 6b of the control device 6. If it is determined that the shutdown instruction has not been issued, the process returns to step S2 and the transfer operation process is performed again. If it is determined that a shutdown instruction has been issued, the series of processing ends.

  Next, with reference to FIGS. 15 to 17, the origin return process of the transfer unit 7 according to the embodiment of the present invention shown in step S11 of FIG. 12 will be described in detail.

  First, in step S20, both the flags P and Q are reset to “0” by the CPU 7a. Here, the flag P is set as a flag related to the origin return processing of the claw portion 88 in the left rack transfer mechanism 8, and the flag Q is set as a flag related to the origin return processing of the claw portion 98 in the right rack transfer mechanism 9. Has been. In step S21, the CPUs 7a independently drive the drive units 8a and 9a so that the claw portions 88 and 98 are moved in the X2 direction opposite to the transfer direction of the sample rack 100, as shown in FIG. Is done. The claw portions 88 and 98 are moved in the X2 direction at substantially the same speed by the drive portions 8a and 9a.

  Here, in the present embodiment, the CPU 7a performs the following steps S22p to S24p for the left rack transfer mechanism 8 and the following steps S22q to S24q for the right rack transfer mechanism 9 in parallel.

  Specifically, in step S22p (S22q), the CPU 7a determines whether or not the claw portion 88 (98) is detected by the origin sensor 10 (11). That is, the CPU 7a determines whether or not the claw portion 88 (98) is located at the origin position A (B). When it is determined that the claw portion 88 (98) is detected by the origin sensor 10 (11), the driving of the driving portion 8a (9a) is stopped in step S23p (S23q), thereby 88 (98) is stopped at the origin position A (B). Thereafter, in step S24p (S24q), the flag P (B) is changed from “0” to “1”. In both cases, the process proceeds to step S25.

  In step S25, the CPU 7a determines whether or not the flag P is “1” and the flag Q is “1”. When the flags P and Q are both “1”, the claw portions 88 and 98 are located at the origin positions A and B, respectively. Therefore, the origin return process is terminated, and the process returns to step S12 shown in FIG. move on.

  On the other hand, when it is determined in step S25 that the flag P is not “1” or the flag Q is not “1” (when the flag P is “1” and the flag Q is “0”, the flag P is “1”). 0 and flag Q is “1” and flags P and Q are both “0”), at least one of the claw portions 88 and 89 has reached the origin positions A and B. Absent. In this case, the CPU 7a advances the process to step S26 in order to continue the movement of the claw portions 88 and 89 until both the claw portions 88 and 89 reach the origin positions A and B, respectively. In step S26, the CPU 7a determines whether or not a predetermined time has elapsed since the drive units 8a and 9a were driven in step S21.

  If it is determined in step S26 that the predetermined time has not elapsed, the process returns to step S22p (22b), and after the determinations of steps S22p (22b) to S24p (24b) are performed again, in step S25 The CPU 7a again determines whether the flag P is “1” and the flag Q is “1”. At this time, when the CPU 7a determines that the flag P is "1" and the flag Q is "1", the claw portions 88 and 98 are moved to the origin position A and the position as shown in FIG. Therefore, the claw portions 88 and 98 are adjusted to be in a relationship (positional relationship) positioned on a straight line extending in the Y direction. In this way, the origin returning process is performed so that the claw portions 88 and 98 are located at the origin positions A and B, respectively, so that the claw portion 88 and the claw portion 98 are aligned in a direction perpendicular to the rack transport direction. The position is adjusted.

  On the other hand, if it is determined in step S26 that a predetermined time has elapsed since the drive units 8a and 9a were driven in step S21, the claw portion 88 is moved to the origin position A by an obstacle (not shown) on the table 70. It is determined that the claw portion 98 could not be returned to the origin position B, and the process proceeds to step S27 where an origin return error display indicating that the claw portion 88 or 98 could not return to the origin is displayed on the input unit 3b. Is displayed. Then, the process proceeds to step S12 shown in FIG.

  With such a configuration, the following effects are realized when a positional shift occurs between the claw portions 88 and 98.

  In the process of transferring the sample rack 100 in step S8 of FIG. 13, as shown in FIG. 14, the claw portion 98 contacts an obstacle (not shown) on the table 70 during the movement in the X1 direction. The positional relationship between the claw portion 88 and the claw portion 98 may be shifted, and the claw portion 98 may be positioned on the X2 side with respect to the claw portion 88. In this case, if the sample rack 100 can be transferred with the positional relationship between the claw portion 88 and the claw portion 98 shifted, the sample rack 100 is moved by the claw portions 88 and 98 to the transfer portion 71a on the X1 side. It is transferred to.

  As shown in FIG. 14, when the origin return process of FIG. 15 is performed from a state where the positional relationship between the claw portion 88 and the claw portion 98 is shifted, the claw portion 98 reaches the origin position B before the claw portion 88. (See FIG. 16). In this case, the positional relationship between the claw portion 98 and the claw portion 88 remains shifted.

  At this time, the drive of the drive unit 9a of the right rack transfer mechanism 9 is stopped (step S23q) and the flag Q is set from 0 to 1 (step S24q), but the drive of the drive unit 8a of the left rack transfer mechanism 8 is It is not stopped (step S23p), and the flag P is maintained at 0 without being set from 0 to 1.

  Next, in step S25, it is determined whether or not both the flags P and Q are 1. At this time, since the flag P remains 0, the determination in Step S25 is No by the CPU 7a, and the process returns to Steps S22p to S24p and Steps S22q to 24q again through Step S26. At this time, the drive of the drive unit 9a of the right rack transfer mechanism 9 is already stopped, but the drive unit 8a of the left rack transfer mechanism 8 is not stopped, so only the drive of the left rack transfer mechanism 8 is continued. Only the claw portion 88 moves toward the origin position A. Finally, as shown in FIG. 17, when the claw portion 88 reaches the origin position A, the drive of the left rack transfer mechanism 8 is stopped (step S23p), and the claw portion 88 and the claw portion 98 are moved in the transfer direction (X In a direction perpendicular to (direction). Thereafter, the flag P is set from 0 to 1 (step S24p). In the determination in step S25, the CPU 7a determines Yes, and the origin return process is completed.

  In the present embodiment, as described above, the CPU 7a performs the origin return of the claw portion 88 and the origin return of the claw portion 98 until the claw portions 88 and 98 are determined to be located at the origin positions A and B, respectively. It was configured to be performed separately. Thereby, when a shift occurs in the positional relationship between the claw portion 88 and the claw portion 98, it is possible to perform a process of adjusting so as to automatically eliminate the positional relationship shift. As a result, even if the positional relationship between the claw portion 88 and the claw portion 98 is displaced, the user does not need to perform an operation of repairing the positional relationship. Thereby, the sample rack 100 can be stably transferred.

  Further, in the present embodiment, as described above, the CPU 7a drives the drive units 8a and 9a independently of each other so that the claw portions 88 and 98 can be moved independently of each other. Even if the positional relationship between the portion 88 and the claw portion 98 is deviated, the positional relationship between the claw portion 88 and the claw portion 98 can be easily shifted by independently driving the drive portions 8a and 9a. Can be resolved.

  Further, in the present embodiment, as described above, the CPU 7a is moved to the origin position 10 and the origin position B of the claw portion 98 by the origin sensors 10 and 11, respectively. By determining whether or not they are positioned at positions A and B, the positional relationship between the claw portion 88 and the claw portion 98 is adjusted immediately before the transfer process is started, and the sample rack 100 is adjusted in a state where the positional relationship is adjusted. Can be transferred.

  In the present embodiment, as described above, the CPUs 7a independently drive the drive units 8a and 9a so that the claw portions 88 and 98 move in the X2 direction opposite to the transfer direction of the sample rack 100. In addition, when it is determined that the claw portions 88 and 98 are detected by the origin sensors 10 and 11, the driving of the driving units 8a and 9a is stopped, thereby transferring the sample rack 100 in the transfer direction. Then, the positional relationship can be adjusted, and unnecessary movement can be reduced.

  Further, in the present embodiment, as described above, when the origin sensor 10 detects that the claw portion 88 is located at the origin position A and the drive of the drive unit 8a is stopped, the claw portion 98 is located at the origin position B. If the origin sensor 11 does not detect that the claw portion 98 is located at the origin position B within a predetermined time, the CPU 7a does not detect the position of the drive unit 9a. Continue driving. Then, when the origin sensor 11 detects that the claw portion 98 is located at the origin position B, the CPU 7a stops the drive of the drive portion 9a, so that the positional relationship between the claw portion 88 and the claw portion 98 is determined. It can be adjusted easily.

  In the present embodiment, as described above, the CPU 7a performs the processes of steps S22p to S24p for the left rack transport mechanism 8 and the processes of steps S22q to S24q for the right rack transport mechanism 9 in parallel. Since the process for controlling the left rack transfer mechanism 8 and the process for controlling the right rack transfer mechanism 9 are performed simultaneously, the positional relationship can be adjusted more quickly.

  In the present embodiment, as described above, the CPU 7a alternately performs the transfer of the sample rack 100 and the adjustment of the positional relationship. Thereby, the sample rack 100 can be transferred in a state where the positional relationship is always adjusted, and the sample rack 100 can be further suppressed from being transferred in an unstable state.

  In the present embodiment, as described above, the claw portions 88 and 98 are located between the origin position A on the X1 side and the vicinity of the transfer portion 71a on the X2 side along the guide shafts 87 and 97 extending in the X direction. Are moved in parallel with each other, the point of application of the force applied to the sample rack 100 can be prevented from changing along the transfer direction (X1 direction). Thereby, the sample rack 100 can be transported more stably.

  Further, in the present embodiment, as described above, the driving units 8a and 9a include the stepping motors 80 and 90, the driving pulleys 81 and 91, the driven pulleys 83 and 93, and the pair of winding pulleys 84 and 94, respectively. By providing the timing belts 85 and 95 and the pair of end pulleys 86 and 96, the drive units 8a and 9a including the stepping motors 80 and 90, the plurality of pulleys, and the timing belts 85 and 95, respectively, can be easily performed. The claw portions 88 and 98 can be moved independently.

  In the present embodiment, as described above, the CPU 7a determines that the sample rack 100 does not exist in the transfer unit 71a based on the detection result of the rack detection sensor 71e, and the rack detection sensors 73, 74, and 75 are used. When the sample rack 100 is determined to be present on the table 70 based on the detection result of the above, the sample rack 100 is moved in the transfer direction (X1 direction), whereby the sample rack 100 is moved to the table 70. Since the drive units 8a and 9a are not driven unnecessarily in the state where they are not placed on the top, unnecessary drive by the drive units 8a and 9a can be suppressed. Further, since it is possible to suppress the transfer of a new sample rack 100 in a state where the sample rack 100 exists in the transfer unit 71a, the new sample rack 100 remains in a state where the sample rack 100 remains in the transfer unit 71a. It is possible to prevent the sample racks 100 from colliding with each other due to the transport. Thereby, it is possible to suppress the positional relationship between the claw portion 88 and the claw portion 98 from being shifted due to the collision between the sample racks 100.

  Further, in the present embodiment, as described above, the table 70 is provided with the recess 70a formed so as to extend in the X direction from the X1 end to the X2 end of the table 70, and along the recess 70a. By providing rack support surfaces 70b and 70c that extend in the X direction from the end on the X1 side to the end on the X2 side and support the lower surface of the sample rack 100 so that the sample rack 100 can be slid in the X direction. Even when the table 70 is bent upward while projecting upward due to the application of bending stress, the table 70 and the sample rack 100 are separated in the portion where the recess 70a is provided. It is possible to stably support the sample rack 100 on the rack support surfaces 70b and 70c at both ends of the concave portion 70a because the contact is suppressed. Thereby, unlike the case where the sample rack 100 is supported at the apex of the convex portion when the table 70 is bent in the convex state, the sample rack 100 can be stably transferred.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and further includes all modifications within the meaning and scope equivalent to the scope of claims for patent.

  For example, in the above embodiment, the sample rack transfer device (transfer unit 7) of the present invention is provided in a part of the sample processing system 1, but the present invention is not limited to this. In the present invention, the sample rack transfer apparatus of the present invention may be applied to a part of another system other than the sample processing system.

  In the above embodiment, the origin sensors 10 and 11 are configured to detect that the claw portions 88 and 98 are located at the origin positions A and B, respectively, and the detection results of the origin sensors 10 and 11 are detected. Although the example which performed the position adjustment (origin return process) of the nail | claw parts 88 and 98 based on this was shown, this invention is not limited to this. For example, as a first modification of the above embodiment, as shown in FIGS. 18 and 19, instead of the origin sensors 10 and 11 of the above embodiment, a common origin that can contact both the claw portions 88 and 98 can be used. A sensor 210 may be provided. In the transfer unit 207 in the first modified example, when either one of the claw portions 88 and 98 is in contact with the origin sensor 210, the drive portions 8a and 9a are continuously driven as shown in FIG. It is configured. On the other hand, as shown in FIG. 19, when both the claw portions 88 and 98 are in contact with the origin sensor 210, the CPU 7a is configured to stop the driving of the driving portions 8a and 9a. Thereby, the positional relationship between the claw portion 88 and the claw portion 98 can be easily adjusted to a position where both the claw portions 88 and 98 are in contact with the origin sensor 210.

  Further, as a second modification of the above embodiment, as shown in FIGS. 20 and 21, a light emitting portion is provided in the claw portion 388 and a light receiving portion is provided in the claw portion 398 instead of the origin sensors 10 and 11 in the above embodiment. The claw portions 388 and 398 may be configured to serve as the detection unit. The claw portion 388 is configured to emit light along the Y direction. When the positional relationship between the claw portion 388 and the claw portion 398 is adjusted, as shown in FIG. 20, the drive portion 8a is driven. Is stopped and the claw portion 388 is fixed, the drive portion 9a is driven to move the claw portion 398 in the X direction. And as shown in FIG. 21, when the nail | claw part 398 receives light, it is comprised so that the drive of the drive part 9a may be stopped and the nail | claw part 398 may be fixed. Thereby, it is possible to easily adjust the positional relationship between the claw portions 388 and 398 so that the claw portion 388 and the claw portion 398 are positioned on a straight line extending in the Y direction.

  In the above-described embodiment, the CPU 7a has shown an example in which the positional relationship between the claw portion 88 and the claw portion 98 is adjusted so that the positional relationship shift is automatically resolved when the positional relationship is shifted. The invention is not limited to this. In the present invention, the CPU does not have to adjust so as to automatically eliminate the positional relationship between the nail portions. For example, the CPU is configured to notify the user of the positional relationship between the nail portions. Also good. As such an example, a plurality of contact pieces that move the sample rack by moving in contact with the sample rack, a drive unit that moves the plurality of contact pieces, a detection unit that detects the plurality of contact pieces, A control unit, and when the control unit determines whether or not the plurality of contact pieces are in a predetermined positional relationship based on the detection result by the detection unit, And a control unit that executes notification to the device. By configuring in this way, even when the positional relationship between a plurality of contact pieces is shifted, the user can quickly know that the positional relationship has shifted by notification, so that the user can Rapid repair can be expected.

  Further, the present invention is not limited to the above-described embodiment, and is a sample rack transfer device that transfers a sample rack that can hold a plurality of sample containers arranged in a row, and moves by being in contact with the sample rack. A sample rack transfer device including a plurality of contact pieces for transferring the sample rack and a plurality of driving units provided corresponding to each of the plurality of contact pieces and for moving the corresponding contact pieces may be provided. In this way, by providing a plurality of drive units corresponding to a plurality of contact pieces, even if a positional deviation occurs between the plurality of contact pieces, the positional relationship can be obtained by moving the contact pieces separately. The deviation can be adjusted. Providing a plurality of driving units in this way is further advantageous in the following points.

  In order to prevent the positional relationship between the contact pieces from deviating, for example, it is conceivable to apply the technique described in Japanese Patent No. 3426721. In this technique, two claws that push out the left and right ends of the rack are arranged at both ends of one extrusion rod, and a driving force is applied to the extrusion rod to move the two claws. If comprised in this way, since two claws will always move with one extrusion rod, it can prevent reliably that the positional relationship of two claws shifts | deviates. However, in such a configuration, a sufficient space must be secured under the table of the sample rack transfer device so that the extrusion basket moves along the sample rack transfer direction. If an attempt is made to secure a space for the extrusion rod to move, the arrangement of the support columns for supporting the table from below is restricted, and the table cannot be supported with sufficient strength.

  The support strength of such a table is not particularly problematic if it is a small rack transfer device with a short transfer path as disclosed in Japanese Patent No. 3426721, but a large analysis system as described in the above embodiment. In the rack transfer device with a long transfer path incorporated in the table, it is important to support the table from below because the table may be bent due to its own weight in the center in the transfer direction. As described above, in the sample rack transfer apparatus having a long transfer path, the movement of the plurality of claws without causing a positional shift is accompanied by structural limitations.

  In this regard, in the above embodiment, a plurality of drive units corresponding to the plurality of contact pieces are provided, and the corresponding contact piece is moved by each drive unit. The positional deviation can be easily repaired. Therefore, a configuration like an extrusion rod disclosed in Japanese Patent No. 3426721 is unnecessary. As a result, as shown in the above-described embodiment, the mechanisms such as the timing belts 85 and 95 and the guide shafts 87 and 97 for moving the contact pieces are arranged at both ends of the housing portion 7b, and the column 70 supports the table 70 from below. 76a can be arranged at the center in the transfer direction, and the support strength of the table 70 can be improved.

  Further, in the above embodiment, the sample is provided by two rack transfer mechanisms, that is, the left rack transfer mechanism 8 having one drive unit 8a and the claw unit 88 and the right rack transfer mechanism 9 having one drive unit 9a and the claw unit 98. Although the example which transferred the rack 100 was shown, this invention is not limited to this. In the present invention, three or more rack transfer mechanisms having one drive part and claw part may be provided.

  Moreover, in the said embodiment, although the origin position A of the nail | claw part 88 and the origin position B of the nail | claw part 98 showed the example comprised so that adjustment of the positional relationship of the nail | claw part 88 and the nail | claw part 98 was shown, The present invention is not limited to this. In this invention, you may comprise so that the positional relationship of a nail | claw part may be adjusted in positions other than the origin position of a nail | claw part. For example, the positional relationship between the claw portions may be adjusted in the transfer portion of the sample rack.

  In the above embodiment, the origin sensors 10 and 11 are arranged at the origin positions A and B, respectively, but the present invention is not limited to this. In the present invention, the claw portion located at the origin position may be detected while the origin sensor is disposed at a position other than the origin position. At this time, the origin sensor is preferably disposed in the vicinity of the origin position.

  In the above-described embodiment, the CPU 7a alternately performs the sample rack 100 transfer process and the origin return process, but the present invention is not limited to this. In the present invention, it is not necessary to perform the origin return process each time the sample rack is transferred. For example, the home position return process may be performed every time the sample rack is transferred five times, or the home position return process may be performed only when some abnormality is detected by a rack detection sensor or the like. Good.

  In the above embodiment, as the “contact piece” of the present invention, there is shown a form in which the extrusion claws 88 a and 98 a that protrude horizontally are provided and the extrusion claws 88 a and 98 a are brought into contact with the contact surface 100 b of the sample rack 100. The present invention is not limited to this. For example, as disclosed in Japanese Patent Laid-Open No. 2006-208286, a slit and a contact piece projecting vertically from the slit are provided along the transfer direction of the table on which the sample rack is placed. May be.

7,207,307 Transfer unit 7a CPU
8a drive unit 9a drive unit 10 origin sensor 11 origin sensor 70 table 70a recess 70b, 70c rack support surface 71a transfer unit 71e rack detection sensor 73, 74, 75 rack detection sensor 80, 90 stepping motor 81, 91 drive pulley 83, 93 Driven pulleys 84, 94 Entraining pulleys 85, 95 Timing belts 86, 96 End pulleys 87, 97 Guide shafts 88, 388 Claw parts 98, 398 Claw parts 100 Sample rack 101 Sample container 210 Origin sensor A, B Origin position

Claims (16)

A sample rack transfer device for transferring a sample rack capable of holding a plurality of sample containers arranged in a row,
A plurality of contact pieces that move the sample rack by moving in contact with the sample rack; and
A plurality of driving portions provided corresponding to each of the plurality of contact pieces, and for moving the corresponding contact pieces;
A sample rack transfer device comprising: a control unit that controls the plurality of driving units and performs a positional relationship adjustment process for adjusting a positional relationship between the plurality of contact pieces.   The control unit executes the positional relationship adjustment process, so that the plurality of contact pieces are arranged in a direction substantially orthogonal to the direction in which the sample rack is transferred. The sample rack transfer device according to claim 1, wherein the sample rack transfer device is configured to adjust the position of the sample rack. A detector that detects the plurality of contact pieces;
The said control part is comprised so that the said positional relationship adjustment process may be performed by controlling the said several drive part based on the detection result of these contact pieces by the said detection part. 2. The sample rack transfer device according to 1.   The detection unit is configured to detect whether or not the plurality of contact pieces are located at an origin position where the plurality of contact pieces are arranged when the transfer of the sample rack is started. Item 4. The sample rack transfer device according to Item 3. The plurality of contact pieces include a first contact piece and a second contact piece,
The plurality of driving units include a first driving unit corresponding to the first contact piece and a second driving unit corresponding to the second contact piece,
The detection unit includes a first detection unit that detects the first contact piece when the first contact piece is in a first position, and the second contact piece has a predetermined positional relationship with the first position. 5. The sample rack transfer device according to claim 3, further comprising: a second detection unit configured to detect the second contact piece when in a certain second position. The controller is
The first contact piece is moved toward the first position, and the first contact piece is stopped when the first contact piece is detected by the first detection unit. A process for controlling the drive unit;
The second contact piece is moved toward the second position, and when the second contact piece is detected by the second detection unit, the movement of the second contact piece is stopped. The sample rack transfer device according to claim 5, wherein the sample rack transfer device is configured to perform processing for controlling the drive unit.   The control unit continues to move the second contact piece when the second contact piece is not detected by the second detection unit when the first contact piece is detected by the first detection unit. Then, the second contact piece is detected by the second detection unit, and the movement of the second contact piece is stopped to adjust the positional relationship between the first contact piece and the second contact piece. The sample rack transfer device according to claim 6, which is configured as described above.   The sample rack transport apparatus according to claim 6 or 7, wherein the control unit is configured to perform a process for controlling the first drive unit and a process for controlling the second drive unit in parallel.   The sample rack transfer device according to any one of claims 1 to 8, wherein the control unit is configured to alternately execute a transfer process for transferring the sample rack and the positional relationship adjustment process. . A plurality of guide portions provided corresponding to each of the plurality of contact pieces, and arranged to be substantially parallel to each other;
The sample rack transfer device according to claim 1, wherein the plurality of contact pieces are configured to move substantially parallel to each other along the corresponding guide portions.   Each of the plurality of driving units includes a driving source, a pulley that rotates by a driving force from the driving source, a timing belt to which the contact piece corresponding to the driving unit is fixed, and is driven by the rotation of the pulley. The sample rack transfer device according to claim 1, comprising: A table on which the sample rack is placed;
A first rack detection unit that detects the sample rack placed on the table;
12. The control unit according to claim 1, wherein the control unit is configured to perform a transfer process of transferring the sample rack when the sample rack is detected by the first rack detection unit. The sample rack transfer device described.   The table is formed so as to extend along the direction in which the sample rack is transferred, and to extend along the direction in which the sample rack is transferred on both sides of the recess. The sample rack transfer device according to claim 12, further comprising a pair of rack support portions that support the vicinity of both end portions so as to be slidable. A second rack detector for detecting the sample rack located at a transfer destination to which the sample rack is transferred;
14. The control unit according to claim 1, wherein the control unit is configured to perform a transfer process of transferring the sample rack when the sample rack is no longer detected by the second rack detection unit. 2. The sample rack transfer device according to 1. A sample rack transfer device for transferring a sample rack capable of holding a plurality of sample containers arranged in a row,
A plurality of contact pieces that move the sample rack by moving in contact with the sample rack; and
A drive unit for moving the plurality of contact pieces;
A detection unit for detecting the plurality of contact pieces;
A control unit that determines whether or not the plurality of contact pieces are in a predetermined positional relationship based on a detection result by the detection unit, and executes notification to a user when it is determined that the plurality of contact pieces are not in the predetermined positional relationship A sample rack transfer device. A sample rack transfer device for transferring a sample rack capable of holding a plurality of sample containers arranged in a row,
A plurality of contact pieces that move the sample rack by moving in contact with the sample rack; and
A sample rack transfer device provided with each of the plurality of contact pieces, and a plurality of drive units for moving the corresponding contact pieces.

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