JPH03127648A - Automatic centrifugal separator - Google Patents

Abstract

PURPOSE:To extremely eliminate a factor joined to the mistake of a specimen by providing an arithmetic processing controlling device which controls an indexing device and a handling device so as to execute processing according to a previously set procedure. CONSTITUTION:An indexing device 27 and a handling device 14 are controlled by an arithmetic processing controlling device 28 so that the order in which a rack 1 is aligned is not changed before and after a centrifugal separation stage and the rack 1 is sent to an unloading port in the order in which it reaches a loading port after centrifugally separating treatment. Thereby a mistake of a specimen to be centrifugally separated in a blood-gathering test tube 2 whose attitude is held in the rack 1 extremely is prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to an automatic centrifugal separator equipped with a handling device for a rack that holds test tubes containing specimens to be centrifuged.

[Background of the invention]

When performing automatic blood biochemical analysis processing, there is an urgent need to build an automated preprocessing system to meet the demands of non-contact processing of specimens to prevent infection, save labor, and quickly respond to test results. In order to do this, a rack that holds test tubes containing specimens is loaded into a bucket, a rotor that suspends the bucket is rotated, centrifugation is performed, and the rack handling device is used to unload the rack from the bucket. By providing a centrifugal sample set → centrifugation →
Although it is possible to use an automatic centrifugation device that performs a series of work steps such as removing the sample after centrifugation in a non-contact manner, such a conventional automatic centrifugation device can be used by incorporating it into an automated pretreatment system. This configuration has problems in actual use, and even though blood collection test tubes are affixed with identification marks such as barcodes, in order to prevent sample mix-ups as much as possible, racks must be installed before and after automatic centrifugation. The order in which they are arranged must remain unchanged.

[Purpose of the invention]

The purpose of the present invention is to eliminate the above-mentioned drawbacks of the prior art, and to eliminate as much as possible the factors that lead to sample mix-up in an automatic centrifugation device incorporated and used in this type of automatic biochemical analysis processing system. Our objective is to provide a high-performance automatic centrifugal separator.

[Summary of the invention]

The present invention provides a centrifugal separator in which a plurality of buckets storing racks for holding blood collection test tubes containing specimens to be centrifuged are suspended from a rotor at the same angle, and the rotor is rotated to perform centrifugation. An indexing device that can position each bucket at the same fixed position, and a handling device that transfers the racks that have arrived at the loading port to the bucket, and takes out the centrifuged racks in the bucket and transfers them to the unloading port. The system is equipped with an arithmetic processing control device that executes processing according to predetermined procedures, and a storage device that stores the positions where racks are stored in buckets, so that the order in which racks are arranged does not change before and after the centrifugation process. After the centrifugation process, the indexing device and the handling device are controlled by the arithmetic processing control device so that the racks are delivered to the unloading port in the order in which they arrive at the loading port.

[Embodiments of the invention]

Specific embodiments of the present invention will be described below with reference to FIGS. 1 to 16.

FIG. 1 shows the appearance of an automatic centrifugal separator according to the present invention. In Fig. 1, the configuration of the apparatus will be explained. Reference numeral 1 indicates a rack for holding the blood collection test tubes 2 containing specimens to be centrifuged, and reference numeral 3 indicates a loading device 4 for loading the arranged racks 1 one by one before centrifugation. 5 is a sampler lever that pushes the rack 1 toward the loading device 4; 6 is a sampler lever that pushes the rack 1 toward the loading port 7;
A loading belt 8 is used to store the racks, a rotor 10 for hanging the buckets 8 is a stockyard device 11 for lining up and waiting for the racks after centrifugation.
12 is an unloading belt that sends the racks to the unloading device 10, and 13 is a stockyard lever for aligning the racks sent from the loading device 10 with the stockyard device. . Reference numeral 14 denotes a handling device, which transfers the racks that have arrived at the loading boat 7 or the balancing dummy racks 1 and 6 of the dummy port 15 to the buckets 8.
and conversely, the rack in the bucket 8 is transferred to the unloading port 17 or dummy port 15 of the unloading device 110. It consists of a Y carrier 18 that moves in the direction of arrow B), an X carrier 19 that moves in the parallel direction (arrow C), and a hand 20 that grips the rack.

100 is an operation panel. The entire automatic centrifugal separator
Indicated by 1.

FIG. 2 is a perspective view of the external view of FIG. 1, particularly around the bucket 8, and the same parts as those shown in FIG. In the figure, rotor 9
Four buckets 8 are suspended at equal intervals at an angle of 90° on the same circumference centered on a drive shaft 22, and 23 is a centrifugal active motor serving as a centrifugal active device for centrifugal separation; 24 is a servo motor for positioning the rotor 9, 25 is a rotary encoder attached to the drive shaft of the servo motor 24, and 26 is a clutch device that disconnects and connects the drive shaft of the servo motor 24 and the drive shaft of the centrifugal separator 23. Yes, 24 servo motors, 2 rotary encoders
5. An indexing device 27 is constituted by the clutch device 26, and the indexing device i27 positions each of the four buckets 8 in the opening 25, and works in conjunction with the handling device to move the buckets 8 and the dummy port 15. The rack is transferred between the loading port 7 and the unloading port 17. 28 is a control section of the automatic centrifugal separator 21.

FIG. 3 shows in detail the control unit 28, which is the arithmetic processing control O4 device of the automatic centrifugal separator.
The same parts as those shown in the figure are marked with the same numbers, 29 is a sampler motor for opening the sampler lever 5, and 30 is a drive command that outputs forward, backward, and stop drive commands to the sampler motor 29. It is an output port and is connected to the sampler motor 29 via a power control element 31 (hereinafter referred to as SSR) such as a solid state resistor. Similarly, the output port 30 includes a loading motor 32 for driving the loading belt 6, a 5SR 33 for controlling and driving it, and an unloading motor 34 for driving the unloading belt 12 and controlling it. 5SR35 for driving, stockyard motor 36 for driving the stockyard lever, 5SR37 for controlling and driving this, and hand 20
A hand motor 38 for opening and closing, a 5SR 39 for controlling and driving the hand motor 38, and a 5SR 40 for controlling and driving the centrifugal drive motor 23 are connected. 72
is a clutch solenoid housed in the clutch device 26, to which is connected 5SR73 for controlling and driving it; 41 is a positioning device for the X carrier 19, which controls and drives the X carrier servo motor 42; , receives the feedback of the output signal of a rotary encoder 43 attached to the drive shaft of the servo motor 42 to perform position control.Similarly, 44 is a positioning device for the Y carrier 18, 45 is a socarrier servo motor, 46 is a rotary encoder, 47 is a positioning device for the indexing device, 24 is a servo motor, and 25 is a rotary encoder as shown in FIG. 48 is the sampler motor 29. This is an input port for inputting the signal output of the internal sensor necessary for controlling the loading motor 32 and below the index servo motor 24, etc.
serves as a stop position detection sensor when the sampler lever 5 moves backward toward the side opposite to the loading device 4. A sampler lever back limit sensor (hereinafter referred to as sampler BL) provided at the backward end, and 50 is a sampler lever back limit sensor (50).
is a sampler lever full limit sensor (hereinafter referred to as sampler FC) provided at the forward end that serves as a stop position detection sensor when moving forward toward the loading device 4,
51 is a load-in rack detection sensor that detects the rack 1 when the rack l pushed by the sampler lever 5 is supplied to the loading device 4; 52 is a load-in rack detection sensor that detects when the rack 1 transferred on the loading belt 6 is loaded This is a loading rack detection sensor that detects arrival at port 7.

53 is a sensor that detects the second rack from the top when the racks aligned in the sampler device 3 are pushed by the sampler lever and the first rack 1 is supplied to the loading device 4; 54.55
are sensors that detect the third and fifth racks in the above state.

56 is the handling device 14 at the unloading port.
57 is an unloading rack detection sensor that detects the rack transferred by the unloading belt 12.
A stockyard rack detection sensor 58 detects when the rack transported on the stockyard has arrived at the stockyard device 11, and 58 is a stockyard rack detection sensor that detects when the rack transported on the stockyard arrives at the stockyard device 11. The stockyard lever 13 is used to detect the belt of the end line device 101, which is the next rack conveyance means in the stockyard. A yard end rack detection sensor 59 detects when the stockyard lever 13 reaches the end line device 101 at a position beyond the belt 12 of the unloading device 10 when the stockyard lever 13 moves backward toward the side opposite to the end line device 101. A stockyard back limit sensor (hereinafter referred to as stockyard BL) serves as a stop position detection sensor, and 60 indicates a stockyard full limit sensor that serves as a stop position sensor when the stockyard lever 13 moves forward toward the end line device 101. (hereinafter referred to as Stockyard FL). Reference numeral 61 denotes a lever pressure sensor attached to a stockyard lever, and as shown in FIGS.
When aligning the racks by pushing them in the direction of the arrow in figure 1, the rack is pushed in the OFF state due to the elastic force of a spring (not shown), and when it comes into contact with the rack that was previously aligned, it is pushed in and turned ON. It is something. Reference numerals 62 and 63 denote a hand open sensor and a hand close sensor respectively provided in the hand 20. When the hand 20 is opened due to the forward rotation of the hand motor 38, the hand close sensor 63 is turned on, and when the hand motor 38 is rotated in the reverse direction, the hand close sensor 63 is turned on. When the hand 20 is opened, the hand open sensor 62 is turned on. 64°6
5.66 are the X carrier positioning device 41 and the X carrier positioning device 44. This is a mechanical origin sensor for a positioning device for an indexing device, and when the positioning device returns to its mechanical origin, the X carrier 19, Y carrier 18,
The indexing device 27 is turned on when it reaches the machine home position.

Reference numeral 67 indicates operation switch inputs provided on the operation panel 100 necessary for operating the automatic centrifugal separator 21 such as starting and stopping. 68 is a central processing unit (hereinafter referred to as cpU) that performs arithmetic processing, and 69 is a CPU.
68 is a read-only storage device (hereinafter referred to as ROM) in which the arithmetic processing procedure is programmed, and 71 is a read-only storage device (hereinafter referred to as RAM) that stores the rack 1 in a bucket 8 and stores the position etc. ).

Centering on the CPU 68, ROM 69, RAM 70, output port 30. X carrier positioning device 41°X carrier positioning device and 44. Positioning device 4 for index device
7 and the input port 48 are connected to each other by a path line 71 consisting of signal lines necessary for controlling an address bus, a data bus, a chip select line, etc.

The operation of the automatic centrifugal separator having the above configuration will be described below with reference to operation flowcharts, explanatory diagrams, and the like.

In the overall operation flow shown in the flowchart of FIG. 5, first, the clutch solenoid 72 is turned ON, the drive shaft of the servo motor 24 and the drive shaft of the centrifugal opening device 23 are separated, and the indexing device 27 can be positioned. Therefore, the process for opening the primary door 105 is executed. The opening process of the door 105 is performed by the CP, as shown in the detailed flow in FIG.
A destination command is output from the U 68 to the X carrier positioning device 41, and the X carrier 9 moves. Next, a destination command is output from the CPU 68 to the X carrier positioning device 44, and the Y carrier 8 is lowered to the height of the door 105. In the same manner as above, the X carrier 19 moves and the door 105 moves to the hand 20.
The door 105 is opened by pushing the door 105, and after this, the X carrier 19 moves back a little, and then the Y carrier 18 rises.
The X carrier 19 returns to the position at the start of the operation to open the door 105, and the door 105 opening process is completed. Returning to the overall flow shown in FIG. 5, the door 105 closing process is executed after loading the rack into the bucket 3. Then, the clutch solenoid 72 is set to ○FFL, and centrifugal separation becomes possible. Details of the loading process to bucket 3 will be described later.

The door 105 closing process is almost the same as the process shown in FIG. 6, and the details are omitted. It will be processed. Centrifugal parking motor 2
3. For example, the time for separating blood into serum and clots is 5 minutes to 15 minutes ONL.

After centrifuging the sample, connect the clutch solenoid 7 again.
After enabling positioning operation of the indexing device 27, the door 105 is opened and the rack is unloaded from the bucket 3. Automatic centrifugation is performed by the above series of operations. In addition, in Fig. 5, when the clutch solenoid 72 is turned on, the bucket 3
The process from loading the centrifugal opening motor 23 to turning on the clutch solenoid 72 is the pre-centrifugation process.
The opening of the door 105 and the unloading process from the bucket 3 are the post-centrifugation process.

Next, while referring to the control flows of FIGS. 7 to 10, the sampler device 3. The operations of the loading device 4, unloading device UIO, and stockyard device 11 will be explained.

In the control flow of the sampler device 3 shown in FIG. 7, when the operation panel switch 67 is turned on, the sampler motor 29 turns on in forward rotation, the sampler lever 5 moves forward, and the operation of feeding the aligned racks to the loading device 4 starts. The top of the rack is the loading belt 6 of the loading device 4.
When the load is transferred to the rack, the load-in rack detection sensor 51 turns ON.
L. From this point on, the sampler motor 29 is reversed from the forward rotation ON to the reverse rotation ON, as indicated by the time limit timer 1. Sampler lever 5 for a short fixed period of about 0.5 seconds to 1 second
moves back and stops. This short-term backward movement of the sampler lever 5 is caused by the load-in rack detection sensor 51 being ONL.
When the sampler lever 5 is stopped at this position, the aligned racks remain compressed by the wall of the loading device 4 and the sampler lever 5, and even if the loading belt 6 rotates, the compression force causes ! There is an operation that is added to prevent the rack placed a from the loading belt 6 at the head of the row of racks from becoming difficult to remove. Thereafter, when the loading flag 106 is set, the operation of feeding the next rack into the loading device 4 is repeated.

This loading possible flag 106 is a flag that is issued during the loading process flow to the bucket 3, which will be described later.The meaning of waiting for this flag 106 to be set is that in the post-centrifugation process after the centrifugation process, and before the centrifugation process. When the rack is placed on the loading port, when the handling device 14 transfers the rack from the bucket 8 to the unloading port, the rack after centrifugation passes over the loading port, so if the centrifugation process involves a blood sampling test. If the tube is broken, there is a risk that the sample after centrifugation may be mixed with the sample in loading port 7. To prevent this, place the next rack on loading port 7 at the end of the loading process to bucket 3. This is to prevent you from waiting. - On the other hand, while the sampler lever 5 is moving forward due to forward rotation of the sampler motor 29, the sampler FL sensor 50
is ON, that is, when the transfer process of the sampler lever 5 to the loading device @4 is progressing and there are no more racks to be transferred, the sampler motor 29 is immediately reversely rotated ONL, and the sampler BL sensor 49 is ON. The sampler lever 5 moves back to the position where it stops and stops. When the racks aligned on a tray seat (not shown) are set in the sampler device 3 and the switch 67 is turned on, the operation of feeding the aligned racks into the loading device 4 by the sampler lever 5 is started again.

In the control flow of the loading device 4 shown in FIG. 8, when the load-in rack detection sensor 51 is ONL, the sampler lever 5
When the transfer to the loading device 4 is completed, the loading motor 32 of the loading device 4 is turned on, the loading belt 6 is driven, and one rack is carried on the loading belt 6 and moved to the loading port 7.

When the rack arrives at the loading port 7, the loading rack detection sensor 52 turns ON, and then the loading belt 6 continues to rotate until the timer 2 times out for about 1 to 2 seconds, and then the loading motor 32
is 0FFL/belt rotation stops. The reason why the belt continues to rotate even after the loading rack detection sensor 52 is ONL due to the time limit timer 2 is that the rack collides with the loading port 7 and bounces back toward the sampler device 3, causing the loading rack detection sensor 52 to continue rotating.
is turned OFF, the belt is rotated until the repeated collisions and bounces are attenuated, and the rack is brought to a standstill in a state where it is completely in contact with the loading port 7.

In the control flow of the unloading device 10 shown in FIG. 9, the handling device 14 transfers the rack from the bucket 8 to the unloading port 17, and the unload rack detection sensor 56 is ONL, and transfers the rack to the bucket 3, which will be described later. When the unloading permission flag 107 issued in the unloading processing flow is set and the stockyard motor 36 at the subsequent stage is OFF, the unloading motor 34 is ONL, and the stockyard rack detection sensor 57 is ON. The unloading belt 12 is driven until the rack is transferred to the stockyard device 11. Here, the meaning of the timer 3 is:
Similar to the operation of the loading device 4, this is to stop the drive of the unloading belt 12 after the rack hits a corner of the stockyard device 11 and comes to rest. In addition, the state check of the unloading flag 107, which is one of the conditions for turning on the unloading motor 34, is performed when the hand 20 of the handling device 14 opens and releases the rack, and when the unloading belt 12 immediately starts twisting, the unloading flag 107 is checked. This is to prevent the rack from getting caught in the stockyard motor 3, which is another condition.
The condition check in step 6 is to check that if the stockyard lever 13 of the stockyard device 11 sends a rack to the stockyard device 11 while the racks are being aligned, the stockyard lever 13 will not be able to return to the position where the stockyard BL sensor 59 is turned ON. This is to prevent.

In the control flow of the stockyard apparatus 11 shown in FIG. 10, two types of rack alignment processing are performed by the stockyard lever 13. In other words, the operation of the unloading device 10 causes the rack to be sent to the individual stockyard device 11, the stockyard rack detection sensor 57 is ONL, the unloading motor 34 is stopped, and the unloading belt 12 is stopped. Then, after resetting the no-rack flag 104 indicating that there is no rack aligned on the stockyard device 11, the stockyard motor 36 is rotated ONL, and the stockyard lever 13 advances the rack toward the end line device. Transfer and align the racks. Then, the pressure sensor 61 is turned on when the rack being transferred comes into contact with the rearmost large that was aligned in the previous transfer alignment operation, or when there is no rack on the stockyard equipment 511 and comes into contact with the end line device 101. Then, the stockyard motor 36 immediately turns on in reverse rotation, retreats to a position where the stockyard BL sensor 59 turns on, and stops. In the other stage of large alignment processing, the motor 34 is turned off and the unloading device 1° moves the next rack to the stockyard device 11.
Yard end rack detection sensor 5
8 is OFF, that is, due to the operation of the end line device 101, the head of the rack that was aligned by the end line belt 102 is gone, and the no rack flag 10 is turned off.
When 4 is in the reset state, stockyard motor 3
6 is normal rotation ONL, the stockyard lever 13 pushes the rearmost rack of the racks that are already aligned, and the yard end rack detection sensor 58 indicates that the head of the rack that is aligned ONL is the end line equipment [101] When placed on the belt 102, the stockyard motor 36 immediately rotates in reverse, and the same stockyard lever 13 as described above rotates.
A retreat process to the stockyard BL sensor 59 position is performed. Note that the forward rotation of the stockyard motor 36
If the stockyard FL sensor 60 turns ON instead of the yard end rack detection sensor 58 turning ON during N, the same retraction process of the stockyard lever 13 as described above is performed. Device 1
1 means that there is no rack, so the no rack flag 104 is set. 6 As is clear from the above explanation, even when the yard end rack detection sensor 58 is off, the no rack flag 104 is in the reset state. At this time, since there is no rack in the stockyard device 11, wasteful rack feeding operation of the stockyard lever 13 is prevented.

In addition, the transport device for the racks before and after the handling device as described above is configured such that the CPU 68 executes the predetermined ROM 69 for the overall flow shown in FIG. 5 in accordance with the above-mentioned control flows shown in FIGS. Next, the rack loading process into the bucket 3, which operates in parallel according to the flow, will be described in detail.

As shown in the bucket arrangement diagram in FIG. 11, in this embodiment, four buckets l-A, B, C, and D are arranged at equal intervals on the circumference centered on the center O of the rotor 9. Each bucket has 3
racks are stored, and the positions of the racks are indicated by -O.

As shown in Figure 12, loading positions and order of racks, the loading position into the bucket is determined according to the number of racks to be loaded, and regardless of the number of racks, balance can be maintained and centrifugation can be performed. For example, if the number of racks is 3, as shown in [1, [1, IN], the position of ■ in bucket A and the position of ■ in bucket A, respectively.
The rack is placed at the position of the bucket C, and the balancing dummy rack 16 is placed at the position of the bucket C, as shown by 5△. Note that the number in the opening 1 and Δ indicates the number 1@ at which the rack is placed on the bucket.

FIG. 13 shows the processing flow for loading racks into the bucket 3 according to the rack loading position order formula shown in FIG. When the rack arrives, the rack reception process is executed, and in the initial setting of counter 1 and flag registers in the previous stage of processing, the first half processing register is set, and counter 1 is cleared to O. In the first half of the process, the process proceeds to Carentan O, and since the second rack detection sensor is also ONL, the process proceeds to the process of setting the count value in counter 1. The count value set here is set corresponding to the signal input state of the second rack detection sensor 53 to the fifth rack detection sensor 55. For example, if only the second rack detection sensor 53 is ON, the count value is set to 1. .Up to the fifth rack detection sensor 55 is O.
In the case of N, a value such as 4 is set by subtracting 1 from the number of remaining racks to be placed in the bucket, and this time, 2 is set because the third rack detection sensor 54 is turned on. Then, by subtracting counter 1, the value of counter 1 becomes .

Since A has not yet been loaded, proceed to the A■ loading process, set the A■ loading register, and transfer the A■ rack.
Since the dummy rack register is O (reset) and the processing end register is also 0 (reset), we return to point E, but during this time the next rack is set at the loading port by the operation of the sampler device 3 and loading device 4. , executes the second rack receiving operation. Proceeding to the first half of the process again, when checking the value of counter 1, the counter value is 1, so go to route F, subtract counter 1, make the counter value &, and then, since the A■ accumulation register is set, A■ Proceed to the loading process, and then return to E in the same manner to execute the receiving operation for the third rack. In the next check of the value of counter 1, since the counter value = O, the ON state of the sensor 53 is checked, but at this time, since all the racks of the rambler device 3 have been processed, the second rack detection sensor 53 is OFF. Then, enter the G route, set the processing end register, and since A■ has been loaded, proceed to check the next C■.Here, proceed to ◎, set the C■ loading register, and load the rack to C■. Executes the transfer of

Dummy rack register = 0, processing end register =
1, so proceed to the balance check processing flow of ■, set the dummy rack register, and then check the stacking registers of C■ and A■.

Since A■ has been loaded and C■ has not been loaded, enter the process of route H, set the C■ dummy rack register, grab the balancing dummy rack 16 at the dummy port 15, proceed to ■, and set the C■ loading register. is set, C■ rack is transferred, and since the dummy rack register is 1, the process proceeds to route (■) and the loading process is completed.

FIG. 14 shows details of the rack receiving process flow in FIG. 13. When the load-in rack detection sensor 51 is turned on, the X carrier 19 is moved and the hand 20 is guided above the loading port 7.

Next, lower the X carrier 18 and lower the hand 20 to a height where the rack can be gripped, turn the hand motor 38 into normal rotation ONL, and when the hand close sensor 63 turns ON, the hand motor 38 is turned OFF.
After checking the L and rack, raise the Y carrier 18 and transfer it to the bucket 8. FIG. 15 shows the details of the processing flow for passing the Q rack to, for example, A in FIG. 13. In parallel, the index position 27 is positioned, the bucket A is opened and guided, and the positioning of the X carrier 19 and the index position 27 is completed. The Y carrier 18 is also lowered, and the hand motor 38 is rotated in the reverse direction ○NL, ,/hand open sensor 62 is ON.
Then, the hand motor 38 is transferred 0FFL/rack to the bucket 8. At this time, check the signal input state of the rack sensor 74. If the rack sensor is OFF, the rack is far away from the Hunt 20, so the transfer is complete, and the X
The carrier 18 is raised and then the X carrier 19 is moved to the right in preparation for the next transfer, but the rack unit 74 is turned on.
In the case of 1, if the rack does not separate from the hand due to some force such as poor positioning, it is considered a transfer problem and the hand 20 is not closed and the Y carrier 18 is returned to its origin.
Pull up the carrier 18, then return the X carrier 19 to its origin to unload the X carrier to port 1.
Make it standby at a position past 7, output an alarm, etc. 1
Wait for MA switch 67 to turn on. Operation switch 6
7 is turned on, the rack is transferred to the bucket 8 again. X carrier 19. to deal with transfer troubles. The purpose of returning the Y carrier 18 to its origin and waiting is to move the hand 2o away from the bucket 8 so that the cause of the trouble can be easily confirmed, and also to move the encoder 43, 46 as necessary in case it is caused by poor positioning. 13C is used to return the index positioning device 47 to its origin, reset the count start position of the encoder 25, and position it correctly.
In Figure a, perform the processing of ■ to ■ of bucket B and @1 to 0 of bucket D, which correspond to the first half processing of ■ to ■ of bucket A and ■ to ■ of bucket C, which are surrounded by two-dot chain lines. This is a processing flow and shows the details of part J.

This route is taken when the number of buckets to be placed in the bucket 8 is seven or more. In FIG. 13a, the pre-loading flag 108 of the rack receiving operation is reset, the sampler device 3 is prevented from feeding the next rack to the loading device 4, and the rack is transferred to the bucket 8. Before starting the operation, set the loading possible flag 106,
The sampler device 3 is allowed to send the next rack to the loading device 4, and regarding this flag, in FIG. Although the loading flag 106 is reset, loading of racks into all buckets is completed by moving the racks to the DQ position of bucket 8.

In order to prevent the next rack from being sent to the loading device 4, the load-in possible flag 106 is not reset when the rack at the DQ position is already loaded.

Next, the details of the process of transferring the racks from the bucket 8 to the unloading device 10 after the centrifugal separation operation of the three racks described above will be explained according to the process flow of unloading the racks from the bucket 3 shown in FIG. Then, since A's stacking register is in the set state, after resetting A's stacking register, the rack is picked up from A and the unloading enable flag 107, which prevents the unloading device 1o from starting operation, is reset. Then, it is confirmed that the unloading motor 34 is OFF, that is, the all loading device is stopped, and that the unload rack detection sensor 56 is OFF, that is, that there is no rack in the unloading boat, and the rack is transferred to the unloading port. Then, the unloading permission flag 107 is set, the unloading device UIO~operation permission is output, and the transfer of the first rack is completed.

Note that since the actions of picking up the rack from A and transferring the rack to the unloading boat 17 are similar to the actions of picking up the rack, a detailed explanation will be omitted. Next, the racks are transferred from positions A■ and C■ sequentially, and in the transfer of 5C■ racks, C
- Since the dummy rack register is set, the rack is transferred to the dummy port 15 instead of the unloading port 17 as before. Subsequently, the registers from C2 to DO are checked, but since these registers are not set, there is no rack, and no unloading operation is performed, so the DO stacking register is checked and the unloading processing flow is completed.

As is clear from the above explanation, the unloading port 17 after centrifugation is arranged in the order in which they arrive at the loading port 7.
The rack is now sent out. It should be noted that the registers and flags are stored in a layout as shown in FIG. 17 starting from a predetermined address in the RAM 70, for example, address FOOO.

The lever pressure sensor 61 that outputs a signal in response to the reaction force of the rack according to claim 1 is a microswitch in the above-described specific embodiment, but it is not only a microswitch but also a sensor that outputs a signal when the rack is pressed. Since it is sufficient to sense the reaction force caused by the stockyard motor 36, it is sufficient to detect the increase in the current flowing through the stockyard motor 36 due to the reaction force, or to detect the distortion due to the reaction force of the stockyard lever using a strain gauge, etc. However, it is clear that a sensor that detects changes in the signal output of this strain gauge may also be used.

〔Effect of the invention〕

According to the present invention, a centrifugal separator that rotates a rotor on which buckets are suspended for centrifugal separation includes an indexing device that can position each bucket at the same fixed position, and a rack that moves the racks that have arrived at the loading port to the buckets. On the other hand, it is equipped with a handling device that takes out the centrifuged racks in the bucket and transfers them to the unloading port, a storage device that memorizes the position where the racks are stored in the bucket, and a storage device that executes processing according to predetermined procedures. ,
Equipped with an arithmetic processing control device that controls the indexing device and handling device, the order in which the racks are arranged does not change before and after the centrifugation process, and after the centrifugation process, the racks are arranged in the order in which they arrive at the loading port. can be delivered to the unloading port, and can have the effect of preventing pushing force from mixing up specimens.

[Brief explanation of the drawing]

Fig. 1 is an external perspective view showing an embodiment of the automatic centrifugal separator according to the present invention, Fig. 2 is a perspective view showing a part of Fig. 1, and Fig. 3 is a block diagram of the control section. , FIG. 4 is a mock diagram showing the operation of the lever pressure sensor, FIG. 5 is a flowchart showing the overall flow of the control process, FIG. 6 is a flowchart showing the process flow for opening the door, and FIG.
8 is a flowchart showing the control flow of the sampler device, FIG. 8 is a flowchart showing the control flow of the loading device, FIG. 9 is a flowchart showing the control flow of the unloading device, and FIG.
The figure is a flowchart showing the control flow of the stockyard device, Figure 11 is a diagram showing the arrangement of buckets, Figure 12 is a table showing the loading position and order of racks, and Figure 13 is a table showing the loading position and order of racks. This is a flowchart of the process of loading racks into buckets, and the 14th
Figure 15 is a flowchart showing the process of receiving and unloading a rack at the loading port, Figure 15 is a flowchart showing the process of transferring the rack to the bucket, and Figure 16 is a flowchart showing the process of unloading from the bucket. FIG. 17 is a table showing the allocation of registers and flags in the RAM 70. In the figure, 1 is a rack, 8 is a bucket, 9 is a rotor, 1
4 is a handling device, 23 is a centrifugal separator, 27 is an indexing device, 28 is an arithmetic processing control device, and 70 is a storage device.

Claims (1)

[Claims] A bucket that stores one or more racks that hold one or more blood collection test tubes containing specimens to be centrifuged, a rotor that suspends the buckets on the same circumference, and a rotor that rotates the rotor. an index device that positions each of the buckets at the same predetermined position; a centrifugal drive device that rotates the rotor to centrifuge the sample held in the rack in the bucket; Transfer the rack to the bucket,
Further, a handling device that takes out the rack after centrifugation in the bucket and transfers it to an unloading port;
an arithmetic processing control device that controls the indexing device and the handling device so that the processing is performed according to a predetermined procedure, and the racks are taken out of the bucket and transferred to the unloading port in the order in which they arrive at the loading port. An automatic centrifugal separator characterized by: