JP2016164555A - Clinical examination device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a clinical examination device capable of efficiently transporting a rack to an analyzer.SOLUTION: Analyzers in the clinical examination device measure reaction of a sample and a reagent in a reaction tube. Dispensation lanes can mount plural racks for holding sample container thereon, move the racks along an arrangement direction of the analyzers, and sequentially position the sample container on a dispensation position of each analyzer. Transport parts can move along the arrangement position of the analyzers, in a state of holding the racks by arms. The transport parts mount the racks held by the arms on optional positions of the dispensation lanes. The transport parts hold an optional rack mounted on the dispensation lane by the arms and remove from the mount position. A relay part is disposed facing at least one end of a path where the arms of the transport parts move or along the path on the end part side, and the relay part has surfaces on which the arms of the different transport parts mount the racks in a manner of holding the racks.SELECTED DRAWING: Figure 2

Description

  Embodiments described herein relate generally to a clinical testing apparatus.

  A clinical test is performed in order to objectively evaluate the state of a subject such as a patient. A clinical laboratory apparatus is mainly used for this clinical examination. An example of a clinical examination apparatus is an automatic analyzer.

The automatic analyzer measures a reaction state between a specimen (sample) such as blood, plasma, serum, urine or the like obtained from a subject and a reagent that performs a specific reaction with a specific component that can be included in the sample. . The automatic analyzer analyzes whether or not the sample contains a specific component based on the measurement result. Further, when the sample contains a specific component, the automatic analyzer analyzes how much the sample contains. The automatic analyzer manages the measurement corresponding to the component as an item. In addition, an appropriate reagent is selected based on the type of sample and the component to be analyzed. The components analyzed in each sample are determined based on a test request from a doctor or the like.
In order to perform the analysis described above, the automatic analyzer dispenses a predetermined amount of sample and reagent into a predetermined container (reaction tube), and the sample and reagent dispensed in the same container are contained in the container. React. In this state, the automatic analyzer measures the reaction state.
Samples to be measured and analyzed by the automatic analyzer are stored in different containers (sample tubes) for each subject and sample type. Each sample tube is held in a rack. The rack holds a plurality of sample tubes in an upright state in the longitudinal direction, and is stored in a storage unit of the automatic analyzer. The rack of the storage unit is transported by the sampler to the analysis unit that dispenses the sample into the reaction tube.

  Some automatic analyzers include a plurality of analysis units (analysis modules). With such a configuration, the number of samples and the number of analysis items can be increased, and a plurality of analyzes can be performed in parallel, and a large number of analyzes can be performed at high speed. In addition, if a failure occurs in one analysis unit, the analysis can be continued without interruption by performing the analysis planned for that analysis unit on behalf of another analysis unit. It becomes.

  In an automatic analyzer having a plurality of analysis units, each analysis unit is provided in series and either one of the plurality of analysis units or a sample tube storing a sample to be analyzed by each analysis unit is stored. A rack is conveyed along a plurality of analysis units.

JP-A-6-148202

  However, automatic analyzers having a plurality of analysis units as described above tend to increase the number of analysis units, and there is a demand for efficient rack transport.

  This embodiment responds to the above request, and an object thereof is to provide a clinical test apparatus capable of efficiently transporting a rack to an analysis unit.

  In order to solve the above-described problem, the clinical testing apparatus of the embodiment includes a plurality of analysis units, a dispensing lane provided for each analysis unit, a plurality of transport units, and a relay unit. The analysis unit is arranged in a predetermined alignment direction, dispenses the sample accommodated in the sample container and the reagent accommodated in the reagent container into the reaction tube, and performs the reaction between the sample and the reagent in the reaction tube. taking measurement. A plurality of racks that hold sample containers can be placed in the dispensing lane, and the racks are moved along the arrangement direction of the analysis units, and the sample containers are sequentially positioned at the dispensing positions of the analysis units. The transport unit has an arm that can hold the rack. The transport unit is movable along the direction in which the analysis units are arranged while the rack is held by the arm. In addition, the transport unit places the rack held by the arm at an arbitrary position in the dispensing lane. Further, the transport unit can remove any rack placed on the dispensing lane from the placement position while holding the rack with an arm. The relay section is provided opposite to at least one end of the path along which the arm of the transport section moves or along the path on the end section side, and each arm of the different transport section can hold the rack. Has a surface to be placed on.

The top view which shows the basic composition of the automatic analyzer which concerns on 1st Embodiment. The top view of the automatic analyzer which concerns on 1st Embodiment. The perspective view which showed the unit which was the main of the analysis part. The top view of a relay mechanism. The figure which shows operation | movement of a 1st robot. The top view of the relay mechanism which concerns on 2nd Embodiment. The top view of the relay mechanism which concerns on 3rd Embodiment. The top view of the relay mechanism which concerns on 4th Embodiment.

<Basic configuration of automatic analyzer>
As an example of a clinical examination apparatus, an automatic analyzer will be described with reference to FIG. FIG. 1 is a plan view showing the basic configuration of the automatic analyzer. As shown in FIG. 1, the automatic analyzer includes two analyzers M arranged side by side in a predetermined direction (longitudinal direction of the device) and a transport mechanism (not shown) provided along the arrangement direction of the analyzers M. ), A storage unit 41 provided at one end of the apparatus, a recovery unit 442 provided at the other end of the apparatus, a dispensing lane (421, 422) provided for each analysis unit M, and a dispensing lane ( 421, 422) and a retest buffer (431, 432) provided in parallel. In the following description, when “one end” and “the other end” are described, “one end” indicates the storage unit 41 side, and “the other end” indicates the collection unit 442 side, with reference to a direction along a line described later Indicates.

  In the analysis unit M, a sample is dispensed into a reaction tube, a reagent is dispensed into the reaction tube into which the sample has been dispensed, the sample and the reagent react in the reaction tube, and the reaction solution is analyzed.

  Each sample is accommodated in a sample tube (see reference numeral 61 in FIG. 3) such as a test tube. Each sample tube is provided with information for identifying the contained sample, for example, in a bar code state. The sample tube is held in a state of being substantially perpendicular to a rack (see reference numeral R10 in FIG. 3) like a test tube stand, and is transported together with the rack.

  The rack has a plurality (five in this embodiment) of holes (sample container holders) for individually holding a plurality of sample tubes. The rack also holds a plurality of sample tubes arranged in a row in the longitudinal direction. Note that the rack does not necessarily have to hold a plurality of sample tubes. For example, the rack may hold only one sample tube for storing a sample. Further, identification information for identifying each rack is attached to each rack, for example, in a bar code state.

  Each rack holds a sample tube that accommodates a sample dispensed by the analysis unit M. Each rack is placed in the storage unit 41. In the storage unit 41, each rack is sequentially sent out to the transport mechanism. The rack also holds a sample tube in which the sample analyzed by the analysis unit M is stored. The racks are sequentially placed on the collection unit 442 by the robot of the transport mechanism.

  The transport mechanism includes a rail or belt (herein, “rail RL” as a representative) provided along the arrangement direction of the analysis units M, and a robot (not shown) that is movable along the rail RL. And). The rail RL is provided not only in front of the analysis unit M but also in front of each of the storage unit 41 and the recovery unit 442 provided at the end of the apparatus. The robot (conveyance unit) conveys the rack by moving along the rail RL while holding (holding) the rack. The rail is disposed along the longitudinal direction of the apparatus, and is used as a path (transport path; hereinafter referred to as “line”) where the rack is transported. Therefore, the extending direction of the rail RL, the moving direction of the robot, and the transporting direction of the rack are substantially the same direction. The rail is an example of a line.

  Dispensing lanes (421, 422) are provided between the rail RL and the analysis unit M. The dispensing lanes (421, 422) can store a plurality of racks received from the robot, respectively, and sequentially send each rack to the dispensing position of each analysis unit M. The dispensing position is a position where the sample is dispensed from the sample tube held in the rack. A retest buffer is provided on the opposite side (front side) of the dispensing lanes (421, 422) across the rail RL. The retest buffer (431, 432) is an area in which the rack can be temporarily held, and the rack holds a sample tube containing a sample that may receive a retest request. A plurality of racks are placed on the retest buffer (431, 432) so that the longitudinal direction thereof follows the rail RL.

  The longitudinal directions of the rail RL, the dispensing lanes (421, 422), and the retest buffers (431, 432) are substantially parallel to each other. In addition, the rack that moves on the transport path by the robot, the rack that is sequentially sent to the dispensing position of the analysis unit M by the dispensing lanes (421, 422), and the rack that is placed on the retest buffer (431, 432), respectively The longitudinal directions are substantially parallel to each other. Accordingly, the longitudinal direction of each of the rail RL, the dispensing lanes (421, 422), and the retesting buffers (431, 432), the rack sequentially sent to the dispensing position of the analysis unit M by the dispensing lanes (421, 422), and the retesting. The longitudinal directions of the racks placed on the buffers (431, 432) are substantially the same direction. According to such a configuration, the rack can be transported in correspondence with the longitudinal direction of the rack (the arrangement direction of the sample tubes) and the longitudinal direction of the apparatus. As a result, when the racks are arranged in the dispensing lane and the standby lane (retest buffer or the like), they can be arranged side by side in the sample tube arrangement direction in each rack. In addition, since the trajectory of the robot (conveyance unit) that conveys the rack along the both lanes is provided between the dispensing lane and the standby lane, the dimensions in the depth direction of the apparatus (direction perpendicular to the longitudinal direction of the conveyance mechanism) Can be shortened.

  Next, the operation of the transport mechanism will be described. The robot that has moved to the front of the storage unit 41 lifts the rack that is being drawn out to the position facing the rail RL in the storage unit 41 (from the back side to the front side of the storage unit 41) from the storage unit 41, Pull to the side and hold. Further, the robot moves along the rail RL while holding the rack, and moves toward the dispensing lanes (421, 422, the collection unit 442). Then, the robot stops at a position facing the first dispensing lane 421. The robot also delivers the rack that has been transported to the first dispensing lane 421. The first dispensing lane 421 sends the rack received from the robot to the dispensing position of the analysis unit M. The analysis unit M dispenses a sample from the sample tube positioned at the dispensing position. The same applies to the case where the robot passes the rack to the second dispensing lane 422.

  The robot moves to the front of the dispensing lanes (421, 422), and removes the rack holding the dispensed sample tubes (sample tubes that have already been dispensed) from the dispensing lanes ( Remove and collect). Then, the robot transports the rack to any of the dispensing lanes of the other analysis units M, the collection unit 442, or the retest buffers (431, 432).

  The transport mechanism may receive a retest request from the analysis unit M. The sample subject to the re-examination request is, for example, a sample in a sample tube held in a rack placed on the first re-examination buffer 431, and a part of the sample in the sample tube is a dispensing lane ( 421, 422). In this case, the robot lifts and draws the rack placed on the first retest buffer 431 and transports it to the dispensing lane corresponding to the analysis unit M that performs the retest. The same applies to the case where the robot transports the rack from the second retest buffer 432 to another dispensing lane.

  On the other hand, the transport mechanism may not receive a sample retest request within a predetermined time after the rack is placed in the first retest buffer 431 (or the second retest buffer 432). In this case, the robot lifts and pulls the rack from the retest buffer (431, 432) and transports the rack to the collection unit 442. The transport mechanism is sometimes referred to as a “rack sampler”.

  As described above, in the present embodiment, the dispensing lanes (421 and 422) that can receive a plurality of racks at arbitrary empty positions with the transport mechanism for transporting the racks in between, and the retest buffer (431).・ 432) was provided. These can accept the racks side by side along the transport direction of the transport mechanism. Further, the rack received from the storage unit 41 by the robot can be temporarily placed in the dispensing lanes (421 and 422) and the retest buffer (431 and 432). Accordingly, the transport mechanism can transport the racks to be transported in an arbitrary order without being bound by the order in which the racks are received from the storage unit 41 (the order of loading into the apparatus).

  In the present embodiment, the first retest buffer 431 and the like are provided along the movement path of the robot between the storage unit 41 and the collection unit 442. A robot (retest candidate rack) for holding a sample container (retest candidate sample container) of a sample that can be retested by such a retest buffer (431, 432) is provided between the storage unit 41 and the recovery unit 442. Can be temporarily removed from the travel route. When there is a retest candidate rack that has been evacuated to the retest buffer, the retest is performed without delaying the analysis of the sample in the sample container held in the rack (following rack) placed in the storage unit 41 after that rack. It is possible to wait until it is determined whether or not it is necessary. Further, a situation in which the sample to be retested cannot be processed until the preceding rack (preceding rack) placed on the storage unit 41 before the waiting rack is transported to the collection unit 442 is avoided. Is done.

  Furthermore, since the retest buffer is provided along the transport mechanism, the rack placed on the retest buffer can be easily transported to the corresponding dispensing lane (first dispensing lane 421, etc.) by the transport mechanism. become.

<First Embodiment>
Next, a first embodiment of the automatic analyzer will be described with reference to FIG. FIG. 2 is a plan view of the automatic analyzer according to the first embodiment.

  The basic configuration of the automatic analyzer provided with two analysis units M and one transport mechanism (including rail RL and robot) has been described above. In contrast, in this embodiment, as shown in FIG. 2, a first analysis unit group GM1 including two analysis units M, a second analysis unit group GM2 including two analysis units M, The first transport mechanism 461, the second transport mechanism 462, and the relay mechanism 50 are included. Two rails RL are arranged in series. That is, the two rails RL are provided so as to face substantially the same direction. The rail RL along the first analysis unit group GM1 is referred to as “first rail RL1”, and the rail RL along the second analysis unit group GM2 is referred to as “second rail RL2”. In this example, the first rail RL1, the relay mechanism 50, and the second rail RL2 form a line.

  The first transport mechanism 461 is a first robot (see FIG. 5) provided to be movable (reciprocating) between one end (reservoir 41 side) and the other end (collector 442 side) of the first rail RL1. 3 (see reference numeral RB1). The second transport mechanism 462 includes a second robot (not shown) provided so as to be movable (movable back and forth) between one end and the other end of the second rail RL2. A circle indicated by LOD in FIG. 2 is a locus when each robot changes its direction on each rail RL.

  In the automatic analyzer according to the first embodiment, a relay mechanism 50 (relay unit) is disposed between the other end of the first rail RL1 and one end of the second rail RL2. When the rack is delivered between the first robot and the second robot, each robot delivers the rack to the relay mechanism 50 regardless of the operation status of the partner robot. The relay mechanism 50 temporarily holds the rack. In this way, by interposing the relay mechanism 50 between the first robot and the second robot, each robot can transport the rack independently of each other.

  In the first embodiment, the direction along the line is the longitudinal direction or the X direction, the horizontal direction orthogonal to the direction is the depth direction or the Y direction, and the direction orthogonal to the X direction and the Y direction is the height direction or the Z direction. There is a case.

(First analysis unit group GM1, second analysis unit group GM2)
Next, the first analysis unit group GM1 and the second analysis unit group GM2 will be described. In the following, racks are appropriately described as “rack R10” to “rack R12” depending on the state of the sample tubes being held. The “rack R10” is a rack that holds a sample tube (see reference numeral 61 in FIG. 3) that stores a sample dispensed by at least one analysis unit M of the first analysis unit group GM1. The “rack R11” is a rack that holds the dispensed sample tubes. Further, the “rack R12” is a rack that includes a sample that is temporarily held in the first retest buffer 431 and whose analysis result satisfies a predetermined retest condition. When the rack R11 is temporarily held in the first retest buffer 431 and the sample in the sample container in the rack R11 satisfies the retest condition, the rack is described as the rack R12.

  Further, in the following, racks are appropriately described as “rack R20” to “rack R22” depending on the state of the sample tubes being held. The “rack R20” is a rack that holds a sample tube that stores a sample to be dispensed by at least one analysis unit M of the second analysis unit group GM2. The “rack R21” is a rack that holds the dispensed sample tubes. The “rack R22” is a rack that includes a sample that is temporarily held in the second retest buffer 432 and that satisfies the retest condition in which the analysis result is determined in advance. When the rack R21 is temporarily held in the second retest buffer 432 and the sample in the sample container in the rack R21 satisfies the retest condition, the rack is described as the rack R22.

  Here, when the samples in the racks temporarily held in the first retest buffer 431 and the second retest buffer 432 do not satisfy the retest conditions (that is, when a normal analysis is performed), the racks R11 and R21. It is described as it is. In FIG. 2, R11 (R12) and R21 (R22) indicate that the samples in the racks R11 and R21 may satisfy the retest condition.

  The four analysis units have the same configuration. On behalf of the four analysis units, the analysis unit M of the first analysis unit group GM1 will be described with reference to FIG. FIG. 3 shows the first robot RB1 movably provided on the first rail RL1 and the rack R10 transported to the first dispensing lane 421.

  FIG. 3 is a perspective view showing a main unit of the analysis unit M. In the analysis unit M, the sample dispensing probe 7 dispenses a sample from the sample tube 61 of the rack R10 conveyed to the first dispensing lane 421 by the first robot RB1 to the reaction tube 51 in the reaction chamber 5. To do. Further, a reagent is dispensed from the reagent container 4 into the reaction tube 51, a reaction solution is generated from the dispensed sample and reagent, and the generated reaction solution is analyzed. Other configurations of the analysis unit M will be described later.

(Reservoir 41, recovery units 441, 442)
As shown in FIG. 2, the storage part 41 is arrange | positioned at the end of 1st rail RL1. The storage unit 41 stores a plurality of racks R10 and R20 and sequentially conveys them to a carry-out position provided at one end of the first rail RL1.

  The racks R10 and R20 on the storage unit 41 are transported by the storage unit 41 in a direction substantially orthogonal to the longitudinal direction thereof. A collection unit 441 is disposed between the analysis unit M and the storage unit 41 of the first analysis unit group GM1. The collection unit 441 is provided side by side with the storage unit 41 and is disposed at one end of the first rail RL1. The collection unit 441 collects and stores the racks R11 and R21 transported to the carry-in position at one end of the first rail RL1.

  A recovery unit 442 is disposed at the other end of the second rail RL2. The collection unit 442 collects and stores the racks R11 and R21 transported to the carry-in position provided at the other end of the second rail RL2. The collection unit 441 is provided at one end of the first rail RL1 (one end of the line), and the collection unit 442 is provided at the other end of the second rail RL2 (the other end of the line). It can be recovered efficiently.

  As shown in FIG. 2, a bar code reader 45 is provided at one end of the first rail RL1. The bar code reader 45 is a means for reading bar codes (identification information) attached to the racks R10 and R20 conveyed from the storage unit 41. It is done. The control unit (not shown) receives the read rack identification information, and appropriately controls the first transport mechanism 461, the second transport mechanism 462, and the relay mechanism 50, so that the rack R10 is stored in the storage unit. The analysis unit M of the first analysis unit group GM1 is conveyed from the conveyance position on the 41st side. Similarly, under the control of each mechanism, the control unit conveys the rack R11 from the analysis unit M of the first analysis unit group GM1 to the loading position on the collection unit 441, 442 side. Further, by controlling each of the above mechanisms, the control unit causes the rack R20 to be transported from the transport position on the storage unit 41 side to the analysis unit M of the second analysis unit group GM2, and the rack R21 is transferred to the second analysis unit group GM2. From the analysis unit M to the carry-in position on the collection unit 441, 442 side.

(First dispensing lane 421)
A plurality of (here, five) racks R10 are temporarily held along the first rail RL1 between the first rail RL1 and each analysis unit M of the first analysis unit group GM1. A possible first dispensing lane 421 is arranged. The first robot RB1 receives the rack R10 and moves to the position on the near side (Y2 side) of the first dispensing lane 421 along the first rail RL1. Further, the first robot RB1 delivers the rack R10 to the first dispensing lane 421.

  The first dispensing lane 421 sequentially feeds each sample tube 61 stored in the rack R10 to the dispensing position by moving the delivered rack R10 along the X direction. Here, the dispensing position refers to a position where the sample in the sample tube 61 is dispensed (suctioned) by the sample dispensing probe 7 (see FIG. 3). Note that the rack R10 on the first dispensing lane 421 after dispensing is referred to as a rack R11 for convenience of explanation. As described above, the rack R11 is a rack that holds the sample tube 61 that has been dispensed.

(First retest buffer 431)
As shown in FIG. 2, along the first rail RL1, on the opposite side of the first dispensing lane 421 across the first rail RL1, each analysis unit M of the first analysis unit group GM1 is connected. Correspondingly, a first retest buffer 431 is provided. The first retest buffer 431 is continuously provided with a plurality of recesses (here, five) each having a front opening into which the rack fits. The first retest buffer 431 temporarily holds a plurality of racks R11 (R12).

(Second dispensing lane 422)
A second dispensing lane 422 is disposed along the second rail RL2 between the second rail RL2 and each analysis unit M of the second analysis unit group GM2. The second dispensing lane 422 temporarily holds a plurality (here, five) of racks R20. The second robot RB2 receives the rack R20, moves to the position on the front side (Y2 side) of the second dispensing lane 422 along the second rail RL2, and passes it to the second dispensing lane 422.

  The second dispensing lane 422 sequentially sends the sample tubes 61 stored in the rack R20 to the dispensing position by moving the delivered rack R20 along the X direction. Note that the rack R20 on the second dispensing lane 422 after dispensing is referred to as a rack R21 for convenience of explanation. As described above, the rack R21 is a rack that holds the sample tube 61 that has been dispensed. Since the same thing as the 1st dispensing lane 421 is used as the 2nd dispensing lane 422, it becomes possible to reduce manufacturing cost and assembly cost significantly.

(Second reexamination buffer 432)
Along the second rail RL2, on the opposite side of the second dispensing lane 422 across the second rail RL2, there is a second corresponding to each analysis unit M of the second analysis unit group GM2. A retest buffer 432 is provided. The second retest buffer 432 temporarily holds a plurality (here, five) of racks R21 and the like. The second retest buffer 432 includes a plurality of recesses and has the same function as the first retest buffer 431. Therefore, the description is omitted. Since the same second re-examination buffer 432 as the first re-examination buffer 431 is used, the manufacturing cost and assembly cost can be greatly reduced.

[First transport mechanism 461]
Next, the first transport mechanism 461 will be described with reference to FIGS. FIG. 4 is a plan view of the relay mechanism. FIG. 5 is a diagram illustrating the operation of the first robot RB1.

  As shown in FIGS. 2 and 4, the first transport mechanism 461 moves the rack substantially parallel along the line from one end side to the other end side of the line. For example, the rack R10 or the rack R20 is transported by the first transport mechanism 461. As described above, the rack R10 is a rack that holds the sample tube 61 that stores the sample dispensed by the analysis unit M in the first analysis unit group GM1. The rack R20 is a rack that holds the sample tube 61 that stores the sample dispensed by the analysis unit M of the second analysis unit group GM2. Further, when the first transport mechanism 461 (first robot RB1) transports the rack R10, the first transport mechanism 461 (the first robot RB1) passes the rack R10 to the first dispensing lane 421, and when the rack R20 is transported, the rack R20 is moved to the first area. It is transferred to the starting point position A11 of A1. The first area A1 is an area on the first transport mechanism side in the relay mechanism 50. The starting position A11 is a position that is the starting point when the relay mechanism 50 transports the rack R20 and the like from the first transport mechanism 461 to the second transport mechanism 462, and the first transport mechanism 461 relays the relay mechanism 50. This is a position where the rack can be handed over to the mechanism 50.

  Further, the first transport mechanism 461 receives the rack R21 at the end point position A12 of the first area A1, and moves substantially parallel along the line from the other end side of the line to the one end side. As described above, the line is a rack conveyance path using the first rail RL1, the relay mechanism 50, and the second rail RL2. For example, the first transport mechanism 461 receives the rack R11 from the first dispensing lane 421, and further moves in a substantially parallel manner along the line from the first dispensing lane 421 to one end side (the collection unit 441 side). As described above, R11 is a rack that holds the sample tube 61 that has been dispensed in any of the first analysis unit groups GM1.

  Similarly, the first transport mechanism 461 receives the rack R21 at the end point position A12 of the first region A1 of the relay mechanism 50, and further receives the rack R21 from the other end side (second transport mechanism 462 side) of the line. Move to one end side in parallel along the line. As described above, R21 is a rack that holds the sample tube 61 that has been dispensed in any of the second analysis unit groups GM2.

(First robot RB1, first rail RL1)
The first transport mechanism 461 includes a first robot RB1 and a first rail RL1 (only the other end of the first rail RL1 is shown in FIG. 4). The first rail RL1 is provided on the first analysis unit group GM1 side and is provided from one end of the line toward the other end, and guides the first robot RB1 between the one end and the other end in the X direction. To do. The first rail RL1 has a predetermined overall length (a length corresponding to the width of the first analysis unit group GM1). The starting position A11 of the first region A1, which is the position of delivery of the rack with the relay mechanism 50 in the first rail RL1, is on the second transport mechanism 462 side in the first rail RL1, and in FIG. Provided on the Y1 side. The relay mechanism 50 includes a transport path (FIG. 4; reference numeral 510) on the first analysis unit group GM1 and the second analysis unit group GM2 side, and a transport path (see FIG. 4) on the opposite side across the line with respect to the transport path. 4; code 520). The Y1 side indicates the former conveyance path side of these two conveyance paths.
However, the starting position A11 may be on the latter conveyance path side. In this case, the rack R20 and the like are transported from the first transport mechanism 461 to the second transport mechanism 462 at the starting position A11 on the side opposite to the analysis unit group side. The rack R21 is transported from the second transport mechanism 462 to the first transport mechanism 461 at an end point position A12, which will be described later. In this case, the end point position A12 is located on the analysis unit side.

  The first robot RB1 receives the rack R10 from the carry-out position of the storage unit 41, and moves along the first rail RL1. The first robot RB1 is transported to the first dispensing lane 421 (see FIG. 2) and delivered. Further, the first robot RB1 receives the rack R11 from the first dispensing lane 421, transports it to the first retest buffer 431 (see FIG. 2), and delivers it. Furthermore, the first robot RB1 receives the rack R11 from the first retest buffer 431, transports it to the carry-in position of the collection unit 441 (see FIG. 2), and delivers it.

  Further, the first robot RB1 receives the rack R20 from the carry-out position and moves along the first rail RL1. Further, the first robot RB1 is conveyed to the starting position A11 of the first area A1 in the relay mechanism 50 and delivered. Further, the first robot RB1 receives the rack R21 from the end point position A12 of the first region A1 (position on the Y2 side of the other end of the first rail RL1), transports it to the carry-in position of the collection unit 441, and delivers it. . The Y2 side is the opposite side of the Y1 side across the line.

  Details of the first robot RB1 and the second robot RB2 will be described with reference to FIGS. In the following description, the carry-out position at which each robot receives the rack in the relay mechanism 50 is referred to as “first position P1”, and the carry-in position where the rack is transferred is described as “second position P2.” The first position P1 is the unloading position of the storage unit 41, the dispensing lanes (421, 422), the retest buffer (431, 432), the end point positions A12, A22, and the like. The second position P2 is the collection position of the collection units 441 and 442, the dispensing lane, the retest buffer, the starting point positions A11 and A21, and the like. Further, the first robot RB1 and the second robot RB2 similarly perform the rack receiving operation at any position in the “first position P1”. Further, the first robot RB1 and the second robot RB2 similarly perform the rack transfer operation at any position in the “second position P2”. In FIG. 5, the outer shape of the rack, the first position P1, and the second position P2 are indicated by a one-dot chain line.

  As shown in FIG. 5, the first robot RB1 includes a main body BD, a link mechanism, a cam member, and a motor (not shown) arranged inside the main body BD. The link mechanism includes a pair of arms AM and a link (not shown) connected to each arm AM. The tip of the arm AM protrudes from the main body BD in the horizontal direction. A claw NL is provided at the tip of the arm AM. When the link is rotated halfway clockwise by the motor, the arm AM is guided by the cam member, so that the claw portion NL moves from the lower position to the upper position along the substantially semicircular locus (see FIG. 5). To the lower position from the upper position. When the link is rotated halfway counterclockwise by the motor, the arm AM is guided by the cam member, so that the claw portion NL is moved from the lower position to the upper position, and further from the upper position to a substantially semicircular locus. Along the lower position. The arm AM can hold the rack, and can place the held rack on a predetermined surface or remove the placed rack from the placement location.

For example, holes (not shown) that engage with the claw portions NL are provided at both ends of the rack. The control unit moves the first robot RB1 so that the pair of claws NL correspond to the holes at both ends of the rack placed at the first position P1. Further, the control unit controls the motor to rotate the link half-clockwise so that the claw portion NL is fitted into the hole in the rack from below. Further, the control unit rotates the link in this state, and lifts the rack that is restrained by the claw NL so as not to move in the horizontal direction (X direction and Y direction). That is, the rack can be received from the first position P1 by moving the claw portion NL clockwise.
Similarly, the control unit moves the first robot RB1 to the second position P2, controls the motor, and rotates the link half counterclockwise. Thereby, the rack restrained by the claw portion NL is placed at the second position P2. Further, when the claw portion NL is moved counterclockwise by the control of the control portion, the claw portion NL moves downward from the hole of the rack and then passes by the side of the second position P2. As a result, the rack is transferred to the second position P2.

  Each position of the carry-out position (position where the rack is sequentially transported from the storage unit 41), the first dispensing lane 421, the first retest buffer 431, and the carry-in position (position where the collection unit 441 takes in the rack) A position sensor (not shown) is provided. Each position sensor detects that the first robot RB1 has arrived at each position when the first robot RB1 is moved along the first rail RL1. The control unit controls a horizontal drive unit (not shown) based on the detection signal of the position sensor, and moves the position while confirming each position in the first robot RB1. Further, the control unit controls the delivery of the rack and the dispensing (aspiration, etc.) of the sample in response to receiving the detection signal of the position sensor. Note that one or more reference positions are provided in the longitudinal direction (X direction) of the first rail RL1, the position sensor detects that the first robot RB1 has been moved to the reference position, and the detection signal and the reference position The control unit may control the horizontal driving unit based on the driving amount of the horizontal driving unit corresponding to the distance from each position to move the first robot RB1 to each position. The drive amount of the horizontal drive unit is, for example, the rotation angle of the motor.

  Further, the first robot RB1 is configured so that the claw portion NL is directed in an arbitrary direction between the Y1 direction (the direction of the first dispensing lane 421) and the Y2 direction (the direction of the first retest buffer 431). In addition, it is configured to be able to change direction (turnable) around a substantially vertical axis (see FIG. 4). That is, the first robot RB1 has a rotation axis parallel to the vertical direction. For example, the first robot RB1 is provided with a direction change position sensor (not shown) that detects the direction of the claw portion NL around the substantially vertical axis. Based on the detection signal of the direction change position sensor, the control unit controls the direction change drive unit (not shown) to change the direction of the first robot RB1 while checking the direction of the claw portion NL. The “direction change” is, for example, a rotation operation in the clockwise direction of the first robot RB1 shown in FIG. FIG. 4 shows the first robot RB1 capable of changing the direction at the other end of the first rail RL1. The direction change at the other loading position or unloading position corresponds to the locus LOD at the time of changing the direction of the first robot RB1 shown in FIG.

  However, the position where the direction of the first robot RB1 can be changed is different between when the rack is held and when the rack is not held.

  When the first robot RB1 does not have a rack, it is possible to change the direction of the first robot RB1 at any position in the longitudinal direction (X direction) of the first rail RL1. However, when the first robot RB1 has a rack, the direction change position may be limited in order to avoid interference between the rack and other components (for example, the first retest buffer 431). For example, it is possible to change the direction at any of the positions at both ends of the analysis unit M (the positions at both ends and the center position of the first rail RL1). Note that the claw NL is directed in the Y1 direction while the first robot RB1 is moved from the carry-out position to the other end of the first rail RL1. Further, while the first robot RB1 is moved from the other end of the first rail RL1 to the carry-in position, the claw portion NL is directed in the Y2 direction.

  For example, the first robot RB1 is provided with a claw position sensor (not shown) that detects each position around the substantially horizontal axis of the claw portion NL. The control unit controls a motor (not shown) based on the detection signal of the claw position sensor to move the claw unit NL while confirming each position clockwise / counterclockwise. The reference rotation angle of the link may be set in advance. In this case, the sensor detects that the link has been rotated to the reference rotation angle, and based on the detection signal from the sensor and information on the angle from the reference rotation angle to a predetermined rotation angle corresponding to each position of the claw NL. In addition, the control unit may control the motor to move the claw NL to each position.

  When the rack placed on the first dispensing lane 421 is lifted, the control unit controls the motor based on the detection signal of the claw position sensor and confirms the position of the claw NL in FIG. Is rotated about the substantially horizontal axis and directed in the Y1 direction. In this way, the claw NL receives the rack from the first dispensing lane 421 of the analysis unit M that lifts the rack placed at a predetermined position (first dispensing lane 421).

  Similarly, when the claw portion NL lifts the rack placed on the first retest buffer 431, the second dispensing lane 422, the second retest buffer 432, the carry-out position, the end position A12, A22, or the like. The control unit controls the motor based on the detection signal of the claw position sensor to rotate the claw unit NL around the substantially horizontal axis and direct it in the Y2 direction. In this way, the claw portion NL lifts the rack placed at each position and receives the rack.

When the robot passes the rack to the first dispensing lane 421, the control unit controls the motor so that the claw portion NL is moved around the substantially horizontal axis so that the claw portion NL is removed from the rack hole (counterclockwise in FIG. The rack is placed. Similarly, when the robot passes the rack to the first retest buffer 431, the second dispensing lane 422, the second retest buffer 432, the loading position, the starting position A11, or the starting position A21, the control unit controls The claw portion NL is removed from the rack and placed on the rack at any one of the above positions.
The first robot RB1 and the second robot RB2 have mechanisms that move in the X direction under the control of the control unit, guided by the first rail RL1 or the second rail RL2, respectively. Alternatively, the first rail RL1 and the second rail RL2 have a mechanism for moving the first robot RB1 and the second robot RB2 in the X direction, respectively.

[Second transport mechanism 462]
Next, the second transport mechanism 462 will be described with reference to FIGS. The second transport mechanism 462 is disposed at a position that extends the longitudinal direction of the first transport mechanism 461 from the storage unit 41 toward the recovery unit 442.

  As shown in FIGS. 2 and 4, the second transport mechanism 462 moves the rack substantially in parallel along the line from one end side to the other end side of the line (for example, the second rail RL <b> 2). For example, the second transport mechanism 462 receives the rack R20 transported by the first transport mechanism 461 from the relay mechanism 50, and further transports the rack R20. Further, the second transport mechanism 462 passes the rack R20 to the analysis unit M of the second analysis unit group GM2 via the second dispensing lane 422. The rack R10 or the rack R20 is transported by the first transport mechanism 461. As described above, the rack R20 is a rack that holds the sample tube 61 that stores the sample to be dispensed by the analysis unit M of the second analysis unit group GM2.

  In addition, the second transport mechanism 462 receives the rack R21 from the analysis unit M or the like and transports the rack R21 to the starting position A21 of the second region A2 of the relay mechanism 50. As described above, the rack R21 is a rack that holds the sample tube 61 that has been dispensed from the analysis unit M of the second analysis unit group GM2. The second area A <b> 2 is an area on the second transport mechanism 462 side in the relay mechanism 50. The starting position A21 is a position that becomes a starting point when the rack R20 or the like is transported from the second transport mechanism 462 to the first transport mechanism 461 in the relay mechanism 50, and the second transport mechanism 462 relays it. This is a position where the rack can be handed over to the mechanism 50.

(Second robot RB2, second rail RL2)
The second transport mechanism 462 includes a second robot RB2 and a second rail RL2 (only the other end of the second rail RL2 is shown in FIG. 4). The second rail RL2 is on the second analysis unit group side of the line, is provided from one end of the line toward the other end, and guides the second robot RB2 in the X direction. The second rail RL2 has a predetermined overall length (a length corresponding to the width of the second analysis unit group GM2). The starting position A21 of the second region A2 is provided on the first transport mechanism 461 side in the second rail RL2 and on the Y2 side in FIG. The Y2 side is as described above. Note that the starting position A21 of the second region A2 is a position at which the rack is delivered to the relay mechanism 50 in the second rail RL2.

  The configuration of the second transport mechanism 462 is basically the same as the configuration of the first transport mechanism 461. The same thing as 1st rail RL1 is used for 2nd rail RL2, and the same thing as 1st robot RB1 is used for 2nd robot RB2. Each transport mechanism is configured without using dedicated parts for each transport mechanism. That is, if the number of transport mechanisms is increased according to the number of analysis unit groups, the same transport mechanism is used, so that the manufacturing cost and assembly cost can be greatly reduced.

  Similarly to the first robot RB1, the position where the second robot RB2 can be rotated is different depending on whether or not the rack is held. When the second robot RB2 has a rack, the rotational position is limited in order to avoid interference between the rack and other components. FIG. 2 shows a locus LOD when the direction of the second robot RB2 is changed. FIG. 4 shows a second robot RB2 capable of turning in the clockwise direction at one end of the second rail RL2.

  The second robot RB2 receives the rack R20 from the end point position A22 of the second region A2, and passes it to the second dispensing lane 422 (see FIG. 2). Further, the second robot RB2 receives the rack R21 from the second dispensing lane 422, transports it to the second retest buffer 432 (see FIG. 2) or the loading position of the collection unit 442, and delivers it. Further, the second robot RB2 receives the rack R21 from the second retest buffer 432, transports it to the second dispensing lane 422 or the starting position A21 of the second region A2, and delivers it.

[Relay mechanism 50]
Next, the relay mechanism 50 will be described with reference to FIGS.
As shown in FIG. 4, the relay mechanism 50 is disposed between the other end (the lower end in FIG. 4) of the first rail RL <b> 1 and one end (the upper end in FIG. 4) of the second rail RL <b> 2. The relay mechanism 50 moves the rack R20 delivered to the analysis unit M of the second analysis unit group GM2 along the line between the first region A1 and the second region A2 on the Y1 side and the Y2 side, respectively. Transport. Further, the relay mechanism 50 moves the rack R21 received from the analysis unit M of the second analysis unit group GM2 along the line between the first region A1 and the second region A2 on the Y1 side and the Y2 side, respectively. Transport. The first robot RB1 delivers the rack R20 at the starting position A11. The first robot RB1 receives the rack R21 at the end point position A12.

  The Y1 direction side of one end (the first transport mechanism 461 side) of the second rail RL2 corresponds to the starting position A21 in the second region A2. The Y2 direction side of one end of the second rail RL2 corresponds to the end point position A22. The second robot RB2 passes the rack R21 at the starting position A21. The second robot RB2 receives the rack R20 at the end point position A22.

  As shown in FIG. 4, the starting point position A11 and the ending point position A12 in the first region A1 face each other in the Y direction (direction perpendicular to the line: depth direction). Similarly, the start position A21 and the end position A22 in the second region A2 face each other in the Y direction. The starting position A11 of the first area A1 and the ending position A22 of the second area A2 are provided at a predetermined interval in the X direction (direction along the line), and the starting position of the second area A2 A21 and the end point position A12 of the first area A1 are provided at a predetermined interval in the X direction.

  As shown in FIG. 4, the relay mechanism 50 includes a first feeding unit 510 on the Y1 side and a second feeding unit 520 on the Y2 side. In the first feeding means 510 and the second feeding means 520, the sides facing each other across the first rail RL1 and the second rail RL2 are defined as “inside”, and the opposite sides are defined as “outside”.

  The first feed means 510 includes a first endless belt 511 that passes through the starting position A11 of the first area A1 and the end position A22 of the second area A2, and rotates clockwise, and a pulley that guides the rotation of the belt. Have The first endless belt 511 is provided at predetermined intervals in the direction in which the plurality of protrusions PR circulate. A rack can be fitted into the gap between the adjacent protrusions PR. The first endless belt 511 rotates to form an inner straight portion, an outer straight portion, and two semicircular portions at both ends. In the example of FIG. 4, a maximum of three gaps (gap between the protrusions PR) are formed in the inner straight part. When one of the three gaps is located at the starting position A11, the rack R20 is fitted into the gap between the PRs at the starting position A11 by the first robot RB1. The rack at this time is shown by a solid line in FIG. Inserting the rack constitutes at least a part of the operation of transferring the rack. Further, the control unit controls the belt driving unit (not shown) to circulate the first endless belt 511, and conveys the gap in which the rack R20 is fitted to the end point position A22 in the X direction. In FIG. 4, the rack transport direction is indicated by white arrows. The rack R20 (indicated by a broken line in FIG. 4) transported to the end point position A22 can be received by the second robot RB2.

By configuring the first endless belt 511 to transport the rack R20 to the end point position A22 by the time the second robot RB2 arrives at the end point position A22, the operation rate of the second robot RB2 is increased. It is possible to improve. That is, if the rack R20 can be received immediately when the second robot RB2 reaches the end point position A22, the second robot RB2 can immediately start transporting the rack R20.
In addition, the rack R20 is temporarily held by the relay mechanism 50 within the elapsed time that is transported between the start position A11 and the end position A22. Here, “temporarily holding” the rack includes placing the rack at the end point position A22. In the example of FIG. 4 described above, since there are three gaps between the protrusions PR of the first endless belt 511 (inner straight line), a maximum of three racks R20 are temporarily held.
The control unit determines the positions and states of the first robot RB1 and the second robot RB2. The state of each robot is during movement (during rack transport), during rack receiving operation, during rack delivery operation, or the like. Further, the control unit monitors the position and state of the first robot RB1 and the second robot RB2, the state of the first endless belt 511, the position of each gap, and the state of dispensing by the analysis unit M. , Rack transport efficiency may be optimized. For example, when the control unit determines that the first robot RB1 has passed the rack R20 to the starting position A11, the control unit further determines whether the second robot RB2 can receive the rack R20. And a control part acquires the position of 2nd robot RB2 when it is judged that it can receive. The control unit controls the belt driving unit to transport the rack R20 to the end point position A22 by the first endless belt 511 by the time until the second robot RB2 reaches the end point position A22 from the position. In this case, the configuration may be such that the rack R20 reaches the end point position A22 in the relay mechanism 50 before the second robot RB2, or when the second robot RB2 reaches the end point position A22. In the relay mechanism 50, the time when the rack R20 reaches the end position A22 may be synchronized.
In addition, there are many various racks on the first transport mechanism 461 side, so to speak, the situation is congested, and in contrast, when there are relatively few racks on the second transport mechanism 462 side, The transfer efficiency of the first robot RB1 on the transfer mechanism 461 side may be prioritized. For example, it is possible to perform control such that the second robot RB2 waits at the end point position A22 before the first endless belt 511 reaches the rack R20. By giving priority to fitting the rack into the first endless belt 511, the time for sending the rack R20, which is present on the first transport mechanism 461 side, to the second transport mechanism 462 side is shortened.

The second feeding means 520 has a second endless belt 521 that passes around the starting position A21 of the second area A2 and the end position A12 of the first area A1 and rotates clockwise. The second endless belt 521 is provided at a predetermined interval in the direction in which the plurality of protrusions PR go around. A gap between adjacent protrusions PR corresponds to the entire length of the rack. The second endless belt 521 circulates to form two straight portions on the inside and outside and two semicircular portions on both ends. In the example of FIG. 4, a maximum of three gaps are formed in the inner straight portion. In the three gaps between the protrusions PR, the position of the gap closest to one end of the second rail RL2 is the starting position A21. The position of the gap closest to the other end of the first rail RL1 is the end point position A12. The rack R21 is fitted into the gap at the starting position A21 by the second robot RB2. The rack at this time is shown by a solid line in FIG. Further, the control unit controls a belt driving unit (not shown) to rotate the second endless belt 521, and conveys the gap in which the rack R21 is fitted to the end point position A12 in the X direction. In FIG. 4, the rack transport direction is indicated by white arrows. The rack R21 (indicated by a broken line in FIG. 4) transported to the end point position A12 can be received by the first robot RB1.
Similarly to the first feed unit 510, the second feed unit 520 may be driven by the control unit so as to optimize the rack transport efficiency. For example, the control unit monitors the position and state of the first robot RB1 and the second robot RB2, the state of the second endless belt 521, the position of each gap, and the state of dispensing by the analysis unit M. The operation of the second endless belt 521 is controlled. Further, the control unit adjusts the operation of the second endless belt 521 and the operation of each robot based on the monitoring result. Further, the control unit compares the number of racks on the first transport mechanism 461 side with the number of racks on the second transport mechanism 462 side so that the transport efficiency is optimized. The operations of the robot RB1 and the second robot RB2 and the operations of the first endless belt 511 and the second endless belt 521 may be controlled.

  When adding a transport mechanism according to the number of analysis unit groups, the relay mechanism 50 is also added by the amount added, and the existing transport mechanism and the additional transport mechanism may be connected by the added relay mechanism 50. Since the same relay mechanism 50 is used, the manufacturing cost and assembly cost can be significantly reduced.

[Rack transport]
Next, how the racks R10 and R20 are transported from the storage unit 41 to each analysis unit M and how the racks R11 and R21 are transported from each analysis unit M to the collection units 441 and 442 will be described. To do. The racks R11 and R21 are described as being temporarily held in the retest buffer. However, racks that are not likely to be retested are not held by the retest buffer, but are collected from each analysis unit M to the recovery unit 441. , 442 may be directly conveyed. In the following description, the rotation direction of the claw portion NL is described as “clockwise” and “counterclockwise”. This is described according to the drawings for convenience of explanation, and does not limit the rotation direction of the claw portion NL in the actual embodiment.

(Each storage unit 41 to each analysis unit M of the first analysis unit group GM1)
In response to the rack being transported from the storage unit 41 to the unloading position, the control unit controls the horizontal drive unit to move the first robot RB1 to one end of the first rail RL1, and the control unit moves the motor. The claw portion NL is rotated halfway clockwise from the lower position to receive the rack placed at the carry-out position.

  Next, the control unit controls the horizontal drive unit and transports the rack to the position of the barcode reader 45 by the first robot RB1. Based on the information read by the barcode reader 45, the control unit determines to which analysis unit it is to be conveyed. When the rack is the rack R10 transported to the designated analysis unit M of the first analysis unit group GM1, the control unit controls the horizontal drive unit, and the rack R10 is designated by the first robot RB1. Transport to. Next, the control unit controls the motor to cause the claw portion NL in the first robot RB1 to rotate counterclockwise halfway from the lower position. As a result, the rack R10 is transferred to the first dispensing lane 421 of the designated analysis unit M.

  The first dispensing lane 421 sequentially sends the rack R10 to the dispensing position. A sample is dispensed from the sample tube 61 in the rack R10 sent to the dispensing position, and a reaction solution is generated based on the dispensed sample and the reagent. The reaction solution is analyzed by the analysis unit M.

(First dispensing lane 421 to first retest buffer 431)
When the dispensing of the sample is completed for the sample tube containing the sample that needs to be analyzed in the rack R10, the control unit acquires the position of the first robot RB1. When the control unit determines that the first robot RB1 has not been moved to the dispensing position of the first dispensing lane 421 at the end of the dispensing, the control unit controls the horizontal driving unit to control the first robot RB1. The first dispensing lane 421 is moved to the dispensing position. Next, the control unit controls the motor to rotate the claw NL halfway clockwise from the lower position, and receives the rack R11 at the dispensing position.

  Next, the control unit controls the horizontal driving unit to move the first robot RB1 to a position on the first rail RL1 capable of changing the direction. Next, the control unit controls the direction changing drive unit to direct the claw portion NL in the Y2 direction (the side where the first retest buffer 431 is present). Next, the control unit controls the horizontal drive unit to move the first robot RB1 to the position of the first retest buffer 431. Next, the control unit controls the motor to move the claw portion NL counterclockwise, and passes the rack R11 to the first retest buffer 431. The rack R11 is temporarily held in the first retest buffer 431 until the result of analysis is obtained.

(First retest buffer 431 to first dispensing lane 421)
When the analysis result satisfies the retest condition (that is, when the normal analysis is not performed), the control unit controls the motor to move the claw portion NL clockwise to move the rack R12 to the first retest buffer 431. Receive from. Next, the control unit controls the horizontal driving unit to move the first robot RB1 to a position on the first rail RL1 capable of changing the direction. Next, the control unit controls the direction changing drive unit to direct the claw portion NL in the Y1 direction (the side where the first dispensing lane 421 is present). Next, the control unit controls the horizontal driving unit to move the first robot RB1 to the position of the first dispensing lane 421. Next, the control unit controls the motor to move the claw portion NL counterclockwise, and passes the rack R12 to the first dispensing lane 421. The first dispensing lane sequentially sends the rack R12 to the dispensing position. A sample is dispensed from the sample tube 61 in the rack R12 sent to the dispensing position, a reaction solution is generated from the dispensed sample and the reagent, and the reaction solution is analyzed (retested).

  As described above, the rack is repeatedly transported between the first retest buffer 431 and the first dispensing lane 421 according to the analysis result. The rack is returned to the first retest buffer 431 after being subjected to analysis of the reaction solution.

(First retest buffer 431 to recovery unit 441)
When the analysis result does not satisfy the retest condition, the control unit controls the motor to move the claw NL clockwise, and receives the rack R11 from the first retest buffer 431. Next, the control unit controls the horizontal driving unit to move the first robot RB1 to a loading position at one end of the first rail RL1. Next, the control unit controls the motor to move the claw portion NL counterclockwise and transfers the rack R11 to the carry-in position. The collection unit 441 collects the rack R11 at the carry-in position.

(Reservoir 41 to relay mechanism 50)
Based on the information read by the barcode reader 45, the control unit determines whether the rack transported from the storage unit 41 is a rack transported to the analysis unit M of the second analysis unit group GM2. That is, it is determined whether or not the rack is the rack R20. If it is determined as a rack R20 as a result of the determination, the control unit controls the horizontal drive unit, and the first robot RB1 moves the rack R20 to the other end of the first rail RL1. Next, the control unit controls the motor to move the claw portion NL counterclockwise. Thereby, the rack R20 held by the claw NL is transferred to the starting position A11 of the first area A1. The rack R20 delivered to the starting position A11 is shown in FIG.

  The control unit controls the belt driving unit so that the rack R20 is transported to the end point position A22 by the time when the second robot RB2 comes to receive the end point position A22. As a result, the rack R20 is temporarily held in the relay mechanism 50 while being transported to the first endless belt 511, or during the transport time and the standby time at the end point position A22.

  The control unit monitors the position of each robot, the position of the endless belt, etc., and controls each robot and each endless belt, so that the first robot RB1 and the second robot RB2 are not subordinate to each other, Independent operation can be performed independently. As a result, a decrease in processing speed can be prevented. Further, since each other does not move beyond the relay mechanism 50 to the moving range of the other party, mutual interference can be prevented.

(Relay mechanism 50 to each analysis unit M of the second analysis unit group GM2)
Next, the conveyance of the rack R20 from the end point position A22 to each analysis unit M of the second analysis unit group GM2 will be described.

  The transport of the rack R20 is the same as the transport of the rack R10 from the carry-out position to each analysis unit M of the first analysis unit group GM1. Therefore, in the description of the rack R10, the transfer position, the first robot RB1, and the first dispensing lane 421 are replaced with the end point position A22, the second robot RB2, and the second dispensing lane 422. I can explain. Therefore, the description of this replacement is replaced with the description of the transport of the rack R20.

(Second dispensing lane 422 to second retest buffer 432)
Next, the transfer of the rack R21 from the second dispensing lane 422 to the second retest buffer 432 will be described. Also, a description will be given of the transfer of the rack R22 holding the sample tube 61 containing the sample that has received the retest request from the second retest buffer 432 to the second dispensing lane 422.

  The transport of the rack R21 is the same as the transport of the rack R11 from the first dispensing lane 421 to the first retest buffer 431. Further, this is the same as transporting the rack R12 that holds the sample tube 61 that stores the sample that has received the retest request from the first retest buffer 431 to the first dispensing lane 421. Therefore, in the description of the rack R11, the first dispensing lane 421, the first retest buffer 431, and the first robot RB1 are replaced with the second dispensing lane 422, the second retest buffer 432, and the second robot. This can be explained by replacing with RB2. Therefore, this replacement description is replaced with the description of the transport of the rack R21.

(Second retest buffer 432 to start position A21 to end position A12 to collection unit 441)
Next, transporting the rack R21 from the second retest buffer 432 to the starting position A21 and transporting from the starting position A21 to the end position A12 will be described. Further, the conveyance from the end point position A12 to the collection unit 441 will be described.

  In this, transporting the rack R21 from the second retest buffer 432 to the starting position A21 is the same as transporting the rack R11 from the first retest buffer 431 to the loading position. Therefore, the description can be made by replacing the first retest buffer 431, the first robot RB1, and the loading position in the description of the rack R11 with the second retest buffer 432, the second robot RB2, and the starting position A21. Therefore, this replacement description is replaced with the description of the transport of the rack R21.

  Of these, the transport of the rack R21 from the end point position A12 to the collection unit 441 is the same as the transport of the rack R11 from the first retest buffer 431 to the carry-in position. Therefore, the description can be made by replacing the first retest buffer 431, the first robot RB1, and the carry-in position in the description of the rack R11 with the carry-in positions of the end point position A12, the second robot RB2, and the collection unit 441. Therefore, this replacement description is replaced with the description of the transport of the rack R21.

(Starting point position A21 to ending point position A12)
Here, the conveyance of the rack R21 from the start position A21 to the end position A12 will be described.
The control unit controls the belt driving unit so that the rack R21 is transported to the end point position A12 by the time when the first robot RB1 arrives at the end point position A12. As a result, the rack R21 is temporarily held by the relay mechanism 50 while being transported to the second endless belt 521, or during the transport time and the standby time at the end point position A12.

  The control unit monitors the position of each robot, the position of the endless belt, etc., and controls each robot and each endless belt, so that the first robot RB1 and the second robot RB2 are not subordinate to each other, Independent operation can be performed independently. As a result, a decrease in processing speed can be prevented. Further, since each other does not move beyond the relay mechanism 50 to the moving range of the other party, mutual interference can be prevented.

(First retest buffer 431 to start position A11 to end position A22 to collection unit 442)
Next, conveying the rack R11 from the first retest buffer 431 to the starting position A11 and conveying from the starting position A11 to the ending position A22 will be described. Further, the conveyance from the end point position A22 to the collection unit 442 will be described.
The above-described transfer of the rack R21 from the second retest buffer 432 to the starting position A21, further transported from the starting position A21 to the end position A12, and further transported from the end position A12 to the collecting unit 441 is “return path”. If so, the above-mentioned conveyance corresponds to an “outward path”. Since the forward path and the return path are the same, the description is omitted.

(Second retest buffer 432 to recovery unit 442)
Next, the transfer of the rack R21 from the second retest buffer 432 to the collection unit 442 will be described.
This transport is the same as transporting the rack R11 described above from the first retest buffer 431 to the collection unit 441. Therefore, the explanation is omitted.

In the automatic analyzer according to the first embodiment, as the number of analysis units M increases, the number of rails and the number of robots are increased, and the racks are shared by each robot. Thereby, the moving time of the robot moving on each rail is not lengthened, and it is possible to prevent a delay in the rack transport to each analysis unit M. In other words, the rack can be efficiently transported to the analysis unit M, and there is no problem when processing at high speed or in large quantities.
Furthermore, since one robot moves on one rail, the robots do not collide with each other, so that the robots do not need to operate while recognizing and avoiding each other. As a result, it is possible to obtain a sufficient moving speed. From this point as well, the rack can be efficiently transported to the analysis unit M, thereby preventing any trouble when processing at high speed or in large quantities. Further, the clinical test apparatus does not become thicker in the depth direction as compared with a configuration in which the number of robots is increased so that the robots do not collide with each other and a plurality of rails are provided in parallel.

<Second Embodiment>
Next, the relay mechanism 50 according to the second embodiment will be described with reference to FIG. FIG. 6 is a plan view of the relay mechanism. In the embodiment of FIG. 2, the same components as those of the relay mechanism 50 of the first embodiment are denoted by the same reference numerals, description thereof is omitted, and different components are mainly described.

  In the first embodiment, the first feeding unit 510 and the second feeding unit 520 are provided in the relay mechanism 50. On the other hand, in the second embodiment, as shown in FIG. 6, a slide member SD as an example of a first feeding means that can move along the X direction is provided in the first robot RB1, and the slide member An arm AM is provided via the SD. When the control unit controls a slide drive unit (not shown), the slide member SD is moved in the X direction. As a result, the rack R20 held by the claw NL of the arm AM is transported from the starting position A11 of the first area A1 to the ending position A22 of the second area A2.

  Similarly, the second robot RB2 is provided with a slide member SD as an example of second feeding means that can move along the X direction. The arm AM is provided in the second robot RB2 via the slide member SD. When the control unit controls a slide drive unit (not shown), the slide member SD is moved in the X direction. Thereby, the rack R21 is conveyed by the slide member SD from the starting position A21 of the second area A2 to the end position A12 of the first area A1 along the line while being held by the claw NL of the arm AM. The

The control unit moves the slide member SD on the second robot RB2 side to the end point position A22 side. Further, the control unit lifts the rack R20 transported to the end point position A22 of the second region A2 by moving the claw portion NL of the second robot RB2 clockwise. As a result, the second robot RB2 receives the rack R20.
The control unit moves the slide member SD on the first robot RB1 side to the end point position A12 side. Further, the control unit moves the claw portion NL of the first robot RB1 clockwise to lift the rack R21 transported to the end point position A12 of the first area A1. As a result, the first robot RB1 receives the rack R21.
Since the first feeding means 510 is provided in the first robot RB1 (first transport mechanism) and the second feeding means 520 is provided in the second robot RB2 (second transport mechanism), for example, relay A large installation space for the mechanism 50 becomes unnecessary.

<Third Embodiment>
Next, a relay mechanism 50 according to the third embodiment will be described with reference to FIG. FIG. 7 is a plan view of the relay mechanism 50. In the embodiment of FIG. 3, the same components as those of the relay mechanism 50 of the first embodiment are denoted by the same reference numerals, the description thereof is omitted, and different components are mainly described.

  As shown in FIG. 7, the relay mechanism 50 according to the third embodiment includes a turntable TB. The turntable TB is configured to be half-rotated around its central portion. In the peripheral part of turntable TB, 1st area | region A1 and 2nd area | region A2 are provided in the position which mutually opposes center part. As shown in FIG. 7, the relay mechanism 50 according to the third embodiment is provided between the first transport mechanism 461 and the second transport mechanism 462. The rack R20 transported to the analysis unit M of the second analysis unit group GM2 is placed in the first region A1 by the first robot RB1. The control unit controls the rotation driving unit (not shown) to rotate the turntable TB halfway. Thereby, the rack R20 placed in the first area A1 is transported to the second area A2. The rack R20 transported to the second area A2 is received by the second robot RB2.

On the other hand, the rack R21 collected from the analysis unit M of the second analysis unit group GM2 is placed in the second region A2 by the second robot RB2. The control unit controls the rotation driving unit to rotate the turntable TB halfway. Thereby, the rack R21 placed in the second area A2 is transported to the first area A1. The rack R21 transported to the first area A1 is received by the first robot RB1.
The relay mechanism 50 can be easily configured by the turntable TB, and the cost can be reduced. Further, as shown in FIG. 7, the diameter of the turntable TB can be less than twice the turning radius of the rack when the first robot RB1 or the second robot RB2 changes direction with the rack. . Therefore, a large installation space for the relay mechanism 50 becomes unnecessary.

<Fourth Embodiment>
Next, a relay mechanism 50 according to the fourth embodiment will be described with reference to FIG. FIG. 8 is a plan view of the relay mechanism. In the fourth embodiment, the same components as those of the relay mechanism 50 of the third embodiment are denoted by the same reference numerals, description thereof is omitted, and different components are mainly described.

  In 3rd Embodiment, 1st area | region A1 and 2nd area | region A2 are provided in the peripheral part of turntable TB in the position which mutually opposes on the center part.

  On the other hand, as shown in FIG. 8, in 4th Embodiment, 1st area | region A1 and 2nd area | region A2 are provided in the center part of turntable TB. The rack R20 transported to the analysis unit M of the second analysis unit group GM2 is placed in the first region A1 by the first robot RB1. The control unit controls the rotation driving unit (not shown) to rotate the turntable TB halfway. Thereby, the rack R20 placed in the first area A1 (central part) is transported to the second area A2 (central part). The rack R20 transported to the second area A2 is received by the second robot RB2. By rotating the turntable TB halfway, the sample tubes 61 in the rack can be transported to each analysis unit M in the second analysis unit group GM2 without changing the arrangement order of the sample tubes 61.

  On the other hand, the rack R21 collected from the analysis unit M of the second analysis unit group GM2 is placed in the second region A2 by the second robot RB2. The control unit controls the rotation driving unit to rotate the turntable TB halfway. Thereby, the rack R21 placed in the second area A2 (central part) is transported to the first area A1. The rack R21 transported to the first area A1 (central part) is received by the first robot RB1. Since the first area A1 and the second area A2 are provided at the center of the turntable TB, the diameter of the turntable TB can be reduced, and therefore a large installation space for the relay mechanism 50 is not required.

<Other configuration of analysis unit M>
Next, another configuration of the analysis unit M will be briefly described with reference to FIG.

  As shown in FIG. 3, the analysis unit M includes a reagent rack 1, a first reagent container 2, a second reagent container 3, a reagent container 4, a sample dispensing probe 7, a first reagent dispensing probe 8, and a second reagent dispensing. A probe 9, a stirring unit 11, a photometric unit 12, and a cleaning / drying unit 13 are provided.

(Reagent container 4)
The first reagent store 2 and the second reagent store 3 contain a rotatable circular reagent rack 1. Each reagent container 4 is accommodated in the reagent rack 1 in a ring shape. The reagent container 4 containing the first reagent is placed in the first reagent store 2. The reagent container 4 in which the second reagent is stored is placed in the second reagent storage 3. The first reagent and the second reagent are selected according to the measurement item of the test sample.

  Next, each operation of reagent dispensing, stirring, reaction liquid measurement, and cleaning / drying of the reaction tube 51 will be described.

(Dispensing)
The first reagent dispensing probe 8 sucks the first reagent from the reagent container 4 that has been transported to the specified suction position by the rotation of the reagent rack 1 of the first reagent storage 2. The first reagent dispensing probe 8 discharges the first reagent into the reaction tube 51 transported to a specified discharge position.

  The second reagent dispensing probe 9 aspirates the second reagent from the reagent container 4 that has been transported to the specified suction position by the rotation of the reagent rack 1 of the second reagent storage 3. The second reagent dispensing probe 9 discharges the second reagent into the reaction tube 51 transported to the specified discharge position.

(Stirring)
The agitation unit 11 agitates the test sample and the reaction solution of the reagent (first reagent, second reagent) in the reaction tube 51 stopped at the agitation position for each cycle.

(Measurement)
The photometric unit 12 measures the reaction solution from the photometric position. The photometric unit 12 measures the absorbance of the reaction solution, and then outputs the measurement result data to a data processing unit (not shown). The data processing unit obtains the concentration of the reaction solution from the absorbance based on the calibration curve. Thereby, it becomes possible to measure the components of the reaction solution.

(Washing, drying)
The cleaning / drying unit 13 sucks the measured reaction solution in the reaction tube 51 stopped at the cleaning / drying position, and cleans / drys the reaction tube 51.

In the embodiment, one set of the storage unit 41 and the collection unit 441 is arranged at one end of the line, and the collection unit 442 is arranged at the other end of the line. Not only this but the storage part 41 may be arrange | positioned at the end of a line, and the collection | recovery part 442 may be arrange | positioned at the other end of a line. In this configuration, the first transport mechanism 461 transports the rack R10 from the unloading position to the first dispensing lane 421 of the analysis unit M of the first analysis unit group GM1. Further, the first transport mechanism 461 transports the rack R11 in the first dispensing lane 421 from the first retest buffer 431 to the starting position A11 of the relay mechanism 50. Further, the relay mechanism 50 transports the rack R11 from the starting position A11 to the ending position A22. The second transport mechanism 462 transports the rack R11 from the end point position A22 to the carry-in position on the collection unit 442 side. The first transport mechanism 461 transports the rack R20 from the carry-out position to the starting position A11 of the relay mechanism 50. The relay mechanism 50 conveys the rack R20 from the start position A11 to the end position A22. The second transport mechanism 462 transports the rack R20 from the end point position A22 to the second dispensing lane 422 of the analysis unit M of the second analysis unit group GM2. Furthermore, the rack R21 in the second dispensing lane 422 is transported from the second retest buffer 432 to the loading position on the collection unit 442 side. In addition, one set of the storage part 41 and the collection | recovery part 441 may be arrange | positioned at one end of a line, and one set of a new storage part and the collection | recovery part 442 may be arrange | positioned at the other end of a line.
Further, in the above-described embodiment, the relay mechanism 50 temporarily holds the rack R20 or the rack R21 between the first area A1 and the second area A2, and the first area A1 and the second area A2 It shows what is transported along the line. However, the rack may be placed at a position off the line (including the end point position).

Moreover, in the said embodiment, the example of the robot which moves along a rail as a conveyance part was shown. However, the transport unit is not limited to the above configuration. That is, as long as the transport unit has the following functions, other configurations can be employed. For example, first, the transport unit is configured to be movable on a track along the longitudinal direction of the apparatus while holding the rack. Next, the transport unit is configured to be horizontally rotatable on the track while holding the rack. In other words, the transport unit can move the rack from one side to the other (from the front side of the device to the back side) or from the other side (from the back side to the front side) across the line (track of the transport unit). Is done. The transport unit is configured to be able to place the rack at any position on one side of the rack and the other side (the front side and the back side of the apparatus) at least at one end of the track. Further, the transport unit can receive the rack from the mounting position of these racks and move to another position.
Also about a conveyance mechanism, it is not restricted to the structure by a robot and a rail. The transport mechanism may have another configuration as long as it has the following configuration. The transport mechanism is configured to be able to move the transport unit on a track along the longitudinal direction of the apparatus and to stop the transported unit that has moved further at an arbitrary position. The transport mechanism is configured to be able to rotate the transport unit in the horizontal direction on the track. In other words, the transport mechanism can move the transport unit from one side to the other (from the front side of the device to the back side) or from the other side (from the back side to the front side) across the line (trajectory of the transport unit) May be.

In the above embodiment, as the number of analysis units M increases, the number of rails and the number of robots corresponding to the number of rails are increased, and each robot is assigned to carry the rack. In addition, a relay unit is provided between the rails while transferring the rack while waiting. Therefore, it is not necessary for each robot to wait for the arrival of another robot in order to receive the rack. Thereby, the moving time of the robot moving on each rail is not lengthened, and it is possible to prevent a delay in the rack transport to each analysis unit M. In other words, the rack can be efficiently transported to the analysis unit M, and there is no problem when processing at high speed or in large quantities.
Furthermore, since one robot moves on one rail, the robots do not collide with each other, so that the robots do not need to operate while recognizing and avoiding each other. As a result, it is possible to obtain a sufficient moving speed. From this point as well, the rack can be efficiently transported to the analysis unit M, thereby preventing any trouble when processing at high speed or in large quantities. Further, the clinical test apparatus does not become thicker in the depth direction as compared with a configuration in which the number of robots is increased so that the robots do not collide with each other and a plurality of rails are provided in parallel.

  Furthermore, the structure demonstrated in the said embodiment is applicable also to clinical test | inspection apparatuses other than an automatic analyzer. Examples of clinical testing apparatuses include clinical analyzers such as automatic analyzers, blood gas analyzers, electrophoresis apparatuses, and liquid chromatography apparatuses, nuclear medicine apparatuses such as radioimmunoassay apparatuses, latex agglutination reaction measuring apparatuses, and nephelometers. Blood test equipment such as immune serum test equipment, automatic blood cell counter, blood coagulation measurement equipment, microbe classification and identification equipment, bacteria culture test equipment such as blood culture test equipment and DNA / RNA measurement equipment, urine analysis equipment, fecal occult blood measurement equipment, etc. Urinalysis equipment, pathological examination equipment such as automatic tissue cell staining equipment, physiological function testing equipment, other clinical examination equipment such as micropipette, washing device dispensing device, and centrifuge.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

41 Reservoir 421 First Dispensing Lane 422 Second Dispensing Lane 431 First Retest Buffer 432 Second Retest Buffer 441, 442 Collection Unit 461 First Transport Mechanism 462 Second Transport Mechanism 50 Relay Mechanism 510 First feeding means 511 First endless belt 520 Second feeding means 521 Second endless belt A1 First area A11 Starting position A12 Ending position A2 Second area A21 Starting position A22 Ending position AM Arm GM1 First Analysis unit group GM2 Second analysis unit group LOD Trajectory M when changing direction Analysis unit NL Claw portion PR Projection portions R10 to R12, R20 to R22 Rack RB1 First robot RB2 Second robot RL Rail (line)
RL1 First rail RL2 Second rail SD Slide member TB Turntable

Claims (7)

A plurality of samples arranged in a predetermined arrangement direction, dispensing a sample contained in a sample container and a reagent contained in a reagent container into a reaction tube, and measuring a reaction between the sample and the reagent in the reaction tube The analysis department;
A plurality of racks that are provided for each analysis unit and hold the sample containers can be placed, and the racks are moved along the arrangement direction, and the sample containers are sequentially positioned at the dispensing positions of the analysis units. A dispensing lane
It has an arm that can hold the rack, and can move along the arrangement direction while holding the rack with the arm, and the rack held by the arm can be placed at an arbitrary position in the dispensing lane. A plurality of transport units that can be removed from the placement position by holding any rack placed on the dispensing lane with the arm; and
A relay section that is provided along at least one end of a path along which the transport section moves or along the path on the end side, and each arm of the transport section can hold the rack;
A clinical examination apparatus comprising:   The clinical examination apparatus according to claim 1, wherein each path in the plurality of transport units is provided so as to face substantially the same direction.   The clinical test apparatus according to claim 1, wherein the arm of the transport unit has a rotation axis parallel to a vertical direction, and is rotatable in a horizontal direction while holding the rack.   The clinical test apparatus according to claim 3, wherein the relay unit is provided with a path along which the transport unit moves interposed therebetween.   The clinical test apparatus according to claim 3, wherein the relay unit is provided between end portions of a path along which the adjacent transport unit moves.   The clinical test apparatus according to claim 5, wherein the relay unit rotates a surface on which the rack is placed. The rack is provided with a plurality of sample container holding portions that respectively hold the sample containers arranged in the longitudinal direction of the rack,
The clinical examination apparatus according to claim 1, wherein the arm of the transport unit moves in a state in which a longitudinal direction of the rack is aligned with an arrangement direction in which the plurality of analysis units are arranged.

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