WO2020158264A1 - Dispositif de transfert et procédé de transfert d'objets en cours de traitement - Google Patents

Dispositif de transfert et procédé de transfert d'objets en cours de traitement Download PDF

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Publication number
WO2020158264A1
WO2020158264A1 PCT/JP2019/050661 JP2019050661W WO2020158264A1 WO 2020158264 A1 WO2020158264 A1 WO 2020158264A1 JP 2019050661 W JP2019050661 W JP 2019050661W WO 2020158264 A1 WO2020158264 A1 WO 2020158264A1
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WIPO (PCT)
Prior art keywords
coil
unit
sample
permanent magnet
route information
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PCT/JP2019/050661
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English (en)
Japanese (ja)
Inventor
啓之 小林
金子　悟
康明 青山
遼佑 星
武司 玉腰
渡辺　洋
神原　克宏
邦昭 鬼澤
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株式会社日立ハイテク
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Publication of WO2020158264A1 publication Critical patent/WO2020158264A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G54/00—Non-mechanical conveyors not otherwise provided for
    • B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • H02P25/064—Linear motors of the synchronous type

Definitions

  • the present invention relates to a sample analyzer system for analyzing a biological sample (hereinafter referred to as a sample) such as blood or urine, a sample pretreatment device for pretreatment necessary for the analysis, and a transport device particularly suitable for the sample to be transported. Concerning the transportation method.
  • a biological sample hereinafter referred to as blood or urine
  • a sample pretreatment device for pretreatment necessary for the analysis
  • a transport device particularly suitable for the sample to be transported.
  • a container carrier preferably equipped with at least one permanent magnet, adapted to carry the sample container, a carrier plane adapted to carry the container carrier, and a number of statically arranged below the carrier plane.
  • An electromagnetic actuator adapted to move the container carrier in a transport plane by applying a magnetic force to the container carrier.
  • Patent Document 2 discloses that the transfer surface, a plurality of sample container carriers, and the sample container carrier are configured to move on the transfer surface.
  • Drive means and a controller configured to control the movement of the sample container carrier on the transfer surface by driving the drive means so that the sample container carrier moves along a corresponding transfer path. It is described that a plurality of optically recognizable geometric shapes are provided on the transfer surface, each geometric shape representing a dedicated field on the transfer surface.
  • sample analysis items are tested on samples such as blood, plasma, serum, urine, and other body fluids.
  • Patent Documents 1 and 2 are examples of the technology for realizing such transportation.
  • a container carrier detection device that detects the position of the magnetically active device provided on the sample transport carrier is provided.
  • a container carrier detection device is provided to detect the presence and position of the container carrier located on the transport plane.
  • the laboratory sample distribution system has a transfer surface.
  • a plurality of electromagnetic actuators are arranged below the transfer surface.
  • a plurality of position sensors are distributed on the transfer surface.
  • the position sensor is embodied as a Hall sensor.
  • Patent Documents 1 and 2 when using a detection device that detects a position, the presence or absence of the sample cannot be detected unless the sample approaches the detection device to some extent. Therefore, there is a problem that the accuracy of detecting the position of the sample is limited.
  • the present invention has been made to solve the above problems, and an object of the present invention is to provide a transport device and a transport method for a transported object that realizes highly accurate position detection of the transported object at low cost.
  • the present invention includes a plurality of means for solving the above problems, but if one example is given, it is a conveying device for conveying an object to be conveyed having a magnetic body, and a thrust for conveying the object to be conveyed.
  • Generating a plurality of coils a coil driving unit that applies a voltage to each of the plurality of coils, a position estimating unit that estimates the position of the transported object, and route information that stores route information of the transported object.
  • a coil driving unit for driving a predetermined coil based on the position of the transported object estimated by the position estimating unit and the route information stored in the route information storing unit.
  • the current for position detection is applied to the closest coil estimated to be closest to the transported object and the coil around the closest coil.
  • FIG. 1 shows the whole external appearance of the conveying apparatus of 1st Example of this invention. It is the schematic which expanded the partial structure among the conveyance apparatuses of 1st Example of this invention. It is a functional block diagram of the conveyance apparatus of 1st Example. It is the figure which showed typically the cross section of the conveying apparatus of 1st Example shown in FIG. It is the figure which showed typically the cross section of the conveying apparatus of 1st Example shown in FIG. It is a figure which shows the inductance change with respect to the position of the sample as shown in FIG. It is a figure which shows the coil used for conveyance in the conveyance apparatus of 1st Example. FIG.
  • FIG. 6 is a diagram showing a drive pulse output to a coil for driving a sample and a current corresponding to the pulse in the transport apparatus of the first embodiment.
  • FIG. 6 is a diagram showing a position detection pulse output to a coil for detecting the position of a sample and a current corresponding to the pulse in the transport apparatus of the first embodiment. It is a figure which shows an example of arrangement
  • FIG. 1 is a diagram showing the outer appearance of the transport device.
  • FIG. 2 is a diagram schematically showing the outline of the device in FIG. 1 when the two coils 25 and the permanent magnet 10 relatively operate.
  • the carrying device 1 of the present embodiment is a device for carrying an object to be conveyed (not shown for convenience of illustration) having a permanent magnet 10.
  • the transfer device 1 includes a plurality of coils 25 that generate thrust for transferring an object to be transferred. By carrying out excitation of the coil and the coil 25 near the position where the permanent magnet 10 exists, the carried object is carried while grasping the position of the permanent magnet 10, that is, the carried object.
  • the permanent magnet 10 is provided on the bottom surface of the sample rack.
  • the shapes of the winding 21 and the core 22 are different between FIG. 1 and FIG. 2, these are shown as variations, and the shapes of the winding 21 and the core 22 are not particularly limited.
  • the transport device 1 includes, in addition to the permanent magnet 10 and the coil 25, a drive circuit 50 that applies a voltage to each of the plurality of coils 25, a current detection unit 30, a calculation unit 40, and a power supply 55. ing.
  • the permanent magnet 10 is provided on the sample rack side, and by transporting the permanent magnet 10, the sample rack is transported to a desired position.
  • a carrying surface (not shown for convenience of illustration) for supporting the permanent magnet 10 is provided between the coil 25 and the permanent magnet 10, and the permanent magnet 10 slides on the carrying surface. ..
  • the carrier device 1 is provided with at least two coils 25.
  • Each coil 25 has a core 22 made of a magnetic material, and a winding 21 wound around the outer periphery of the core 22.
  • the cylindrical core 22 of the coil 25 is arranged so as to face the permanent magnet 10.
  • an electromagnetic force is applied to the permanent magnet 10 by causing an electric current to flow through the winding 21, and the permanent magnet 10 is moved between the coils 25.
  • relative position information of the permanent magnet 10 and the coil 25 is required in order to efficiently act the electromagnetic force and to move the electromagnetic force in a desired direction. For example, when the permanent magnet 10 is directly above one of the two coils 25, even if a current is applied to the coil 25 immediately below the permanent magnet 10, no force is generated in the carrying direction and the permanent magnet 10 cannot be moved.
  • the magnetic flux generated by the permanent magnet 10 acts on the coil 25.
  • the magnitude of the acting magnetic flux differs between the coil 25 on the side closer to the permanent magnet 10 and the coil 25 on the far side. That is, the magnitude of the magnetic flux acting on the coil 25 changes depending on the relative position between the permanent magnet 10 and the coil 25.
  • the core 22 is made of a magnetic material, and the magnetic flux passing through the core 22 has a property that it becomes difficult to pass when the magnetic flux increases.
  • a voltage is applied to the winding wire 21 to cause a current to flow, a magnetic flux generated by the current is generated in the core 22. Therefore, the magnetic flux generated by the permanent magnet 10 and the magnetic flux generated by the current flowing through the winding 21 are generated in the core 22.
  • inductance when a current is applied to the winding 21, a magnetic field is generated around the current, and the generated magnetic flux is proportional to the value of the applied current. This constant of proportionality is called inductance. However, in a circuit having a magnetic material such as the core 22, the inductance changes due to the saturation characteristic of the core 22.
  • the inductance changes depending on the magnitude of the magnetic flux generated in the core 22. That is, the inductance of the winding 21 changes depending on the magnitude of the magnetic flux of the permanent magnet 10. This means that the inductance of the winding 21 changes depending on the position of the permanent magnet 10.
  • the voltage V generated in the winding 21 is as shown below.
  • V -d ⁇ /dt (1) It is expressed as a relationship with.
  • ⁇ is magnetic flux and t is time.
  • the voltage V is represented by the amount of change in magnetic flux per unit time.
  • the inductance L can be calculated by detecting the current flowing in the winding 21 and the flowing method thereof. That is, if the inductance L of the winding wire 21 that changes depending on the position of the permanent magnet 10 is detected, the position of the permanent magnet 10 that affects the inductance L can be obtained.
  • the drive circuit 50 is connected to the winding 21 of the coil 25, and the current detection unit 30 that detects the value of the current flowing through the winding 21 is provided.
  • a voltage is applied to the winding 21 by the drive circuit 50, and the current value generated by the voltage is detected by the current detector 30.
  • the current detection unit 30 that detects a current may be a series resistor connected to the coil 25, a current transformer, a Hall current sensor, or the like, but is not limited thereto.
  • the drive circuit 50 is connected to the power supply 55, receives the current, and supplies the current to the winding 21 of the corresponding coil 25 connected in a one-to-one correspondence based on the command signal from the coil drive unit 212 of the arithmetic unit 40 described later. To supply.
  • the calculation unit 40 calculates the relative positional relationship between the core 22 and the permanent magnet 10 based on the current value detected by the current detection unit 30, and calculates the position of the permanent magnet 10 in the conveyance device 1. Further, the calculation unit 40 uses the calculated position information of the permanent magnet 10 to determine the timing of supplying the current necessary for driving the permanent magnet 10 from the drive circuit 50, and supplies the current to the appropriate winding 21. Let
  • the arithmetic unit 40 applies the drive pulse voltage 60A (see FIG. 8) and the position detection pulse voltage 60B (see FIG. 9) to the winding 21, and the current generated by the pulse voltages 60A and 60B. From the waveform, more specifically, the position of the permanent magnet 10 is calculated from the amount of change in current. The details will be described later. This makes it unnecessary to install any sensor between the permanent magnet 10 and the coil 25.
  • FIG. 3 shows the configuration of the arithmetic unit 40.
  • the calculation unit 40 has a position estimation unit 210, a route information storage unit 211, and a coil drive unit 212.
  • the position estimation unit 210 estimates the position of the permanent magnet 10 using the current information output from the current detection unit 30 via the drive circuit 50, for example, the current value or the current waveform, and the estimation result is sent to the coil drive unit 212. It is outputting.
  • the route information storage unit 211 stores the transport route based on the transport location for each sample rack, that is, the route information for each permanent magnet 10, and outputs the route information to the coil driving unit 212.
  • the coil drive unit 212 drives the conveyance target based on the position estimation information of the permanent magnet 10 estimated by the position estimation unit 210 and the route information stored in the route information storage unit 211, and at the same time, drives the conveyance target. It calculates which coil 25 to output each of the pulse voltage for detecting the position and the pulse voltage for use in the position detection, and outputs a command signal to the drive circuit 50. Details will be described later.
  • the calculation unit 40 including the position estimation unit 210, the route information storage unit 211, and the coil driving unit 212 loads the program into a computer or an FPGA (Field-Programmable Gate Array) equipped with a CPU, a memory, an interface, etc. to perform calculation. It can be realized by executing it. These programs are stored in an internal recording medium or an external recording medium (not shown) in each component, and are read and executed by the CPU.
  • FPGA Field-Programmable Gate Array
  • operation control process may be integrated into one program, each may be divided into a plurality of programs, or a combination thereof. Further, part or all of the program may be realized by dedicated hardware or may be modularized. Furthermore, various programs may be installed in each device from a program distribution server, an internal recording medium, or an external recording medium.
  • each does not have to be independent, and two or more may be integrated and shared, and only the processing may be shared. Further, at least a part of the configurations may be connected via a wired or wireless network.
  • FIGS. 4 and 5 are diagrams schematically showing a cross section of the carrying device 1 shown in FIG. The inductance when the permanent magnet 10 is at the position P1 or the position P'will be described below.
  • the permanent magnet 10 is located at the position P1 which is directly above the winding 21a and the core 22a. At this time, the magnetic flux generated by the permanent magnet 10 is generated in any of the core 22a, the core 22b, and the core 22c.
  • the magnetic flux created by the permanent magnet 10 with respect to the core 22a is smaller than the magnetic flux created by the permanent magnet 10 with respect to the core 22b.
  • the magnetic flux produced by the permanent magnet 10 for the core 22c is smaller than the magnetic flux produced by the permanent magnet 10 for the core 22b. Therefore, the winding 21a and the windings 21b and 21c have different inductances.
  • the inductance is detected by the current change caused by the pulse voltage applied to the winding 21, and the position of the permanent magnet 10 is detected from the inductance.
  • the magnetic fluxes generated by the permanent magnet 10 are substantially the same in the core 22a and the core 22b.
  • the position of the permanent magnet 10 is determined from the difference between the inductances of the adjacent windings 21, the inclination of the inductance of each winding 21, and the value thereof.
  • the detection accuracy can be improved by detecting.
  • FIG. 6 shows an example of the inductance characteristic with respect to the position of the permanent magnet 10.
  • FIG. 6 shows the inductance characteristic of the winding wire 21c of FIGS. 4 and 5.
  • Position 0 of FIG. 6 corresponds to P1 of FIGS. 4 and 5, and the position of the permanent magnet 10 moves to reach the adjacent coil.
  • the point where the sample rack is moved corresponds to P2
  • the point where the sample rack has moved to another adjacent coil and the inductance has been lowered corresponds to P3.
  • the inductance characteristic shown in FIG. 6 can be replaced with the current change amount for each position from the equation (3).
  • the position estimation unit 210 estimates the position of the permanent magnet 10 at any time by sequentially calculating the current change amount.
  • Fig. 7 shows the actual transportation method.
  • the present invention does not use a sensor for position detection, it is necessary to immediately detect when the sample rack is transported in an unexpected direction, that is, when a deviation from the transport path occurs. There is.
  • a process for outputting a drive pulse for driving the sample rack to one or more coils and outputting a pulse for position detection to a plurality of coils is performed.
  • FIG. 8 shows the drive pulse and the current value.
  • the magnitude V1 of the DC component of the pulse voltage for driving the permanent magnet 10 of the drive pulse is determined by how much current is desired to flow through the coil 25.
  • the drive pulse has a role of driving the sample rack (drive pulse) and a role of estimating the position of the permanent magnet 10 during drive (position detection pulse). Is responsible for Therefore, in total, a pulse that travels between V1 and V2, in which a pulse voltage (having a magnitude of V2-V1) for position detection is superimposed on V1 for driving, is output.
  • the permanent magnet 10 of the permanent magnet 10 can be transported while transporting the sample rack. Estimate the position.
  • Fig. 9 shows the position detection pulse and current value.
  • a pulse V3 having a small amplitude that does not interfere with the conveyance of the permanent magnet 10 is output.
  • V3 may be a differential pressure between V2 and V1 in FIG. 8, but is not limited to this, and may have any size.
  • a position detection pulse is output to the coil 25 around the closest coil 25 in addition to the closest coil 25 that is estimated to be closest to the permanent magnet 10 being transported.
  • the position of the permanent magnet 10 is estimated by detecting the amount of current change between pulses using the characteristic that the current waveform 70c changes to the current waveform 70d according to the position of the sample rack.
  • the position detection pulse is applied to the coils 25B, 25E, 25G, and 25J adjacent to the sides of the rectangular coil 25F.
  • the coils 25A, 25C, 25I, and 25K are adjacent to the apex side of the coil 25F. That is, it is desirable that the position detection pulse is applied to a coil having no other coil interposed between it and the closest coil.
  • the range to which the position detection pulse is applied is not limited to this condition, but is determined based on the size relationship between the permanent magnet 10 and the coil 25.
  • a coil adjacent to the closest coil and at least one or more coils adjacent to the adjacent coil should be provided.
  • the application range can be set.
  • the coil adjacent to the closest coil is further narrowed, and if the relationship shown in FIG. It is possible to use only existing coils or coils adjacent to each other in the carrying direction.
  • the state in which the permanent magnet 10 before being conveyed is immediately above the coil 25F is set as the initial state.
  • the permanent magnet 10 moves from the coil 25F at the initial position toward the adjacent coil 25J. Be transported.
  • the permanent magnet 10 is carried to a position right above the coil 25N as shown in FIG.
  • FIG. 13 shows the arrangement of the sample rack and the coils when the sample rack deviates from the path during the transport of the sample rack.
  • the calculation unit 40 starts processing (step S1000).
  • the coil drive unit 212 outputs a command signal to the drive circuit 50 so as to apply the position detection pulse to the coil 25F, and confirms whether or not the permanent magnet 10 to be conveyed immediately above the coil 25F exists (step S1001). ). If the presence of the permanent magnet 10 is not confirmed, the process advances to step S1007 to end the process. On the other hand, if the presence is confirmed, the process proceeds to step S1002.
  • the coil driving section 212 sends a driving pulse to the coil 25J existing on the conveyance path to the target position to the nearest coil 25F and the neighboring coils 25A, 25B, 25C, 25E, 25G, 25I, 25K.
  • a command signal is output to the drive circuit 50 to apply the detection pulse (step S1002).
  • the position estimation unit 210 determines whether the coil closest to the permanent magnet 10 is the coil 25F at the initial position based on the drive pulse and the position detection pulse applied in step S1002 (step S1003). When it is determined that the closest coil is the coil 25F, the process returns to step S1002 and the process is repeated. If it is determined that the closest coil is other than the coil 25F, the process proceeds to step S1004.
  • the position estimation unit 210 determines whether or not the coil closest to the permanent magnet 10 is the coil 25J on the transport path (step S1004). If it is determined that the closest coil is the coil 25J, the process proceeds to step S1005. On the other hand, if it is determined that the closest coil is other than the coil 25J, the process proceeds to step S1008.
  • the coil driving unit 212 replaces the coil 25J on the path with a driving pulse to the coil 25N at the target position and outputs the driving pulse to the closest coil 25J and the neighboring coils 25E, 25F, 25G, 25I, 25K, 25M, 25P.
  • a command signal is output to the drive circuit 50 to apply the position detection pulse (step S1005).
  • the position estimation unit 210 determines whether or not the coil closest to the permanent magnet 10 is the drive coil 25N based on the drive pulse and the position detection pulse applied in step S1005 (step S1006). When it is determined that the closest coil is other than the coil 25N, the process returns to step S1004 and the process is repeated. If it is determined that the closest coil is the coil 25N, the process proceeds to step S1007 to end the process, or to start the conveyance control to the next target position. This transfer control is the same as each step described above.
  • step S1004 determines that the closest coil is other than the coil 25J.
  • the position estimation unit 210 determines that the permanent magnet 10 has deviated, for example, a process of stopping the conveyance.
  • a process of notifying the departure state to the outside is performed (step S1008).
  • steps S1001, S1003, S1004, and S1006 form a position estimation step
  • steps S1002 and S1005 form a transportation step.
  • the transfer device 1 for transferring the permanent magnets 10 provided on the object to be transferred according to the first embodiment of the present invention described above includes a plurality of coils 25 for generating thrust for transferring the permanent magnets 10, and a plurality of coils 25.
  • a coil drive unit 212 and a drive circuit 50 that apply a voltage to each of the above, a position estimation unit 210 that estimates the position of the permanent magnet 10, and a route information storage unit 211 that stores the route information of the permanent magnet 10.
  • the coil drive unit 212 and the drive circuit 50 apply a drive current to a predetermined coil 25 based on the position of the permanent magnet 10 estimated by the position estimation unit 210 and the route information stored in the route information storage unit 211.
  • a current for position detection is applied to the closest coil 25 estimated to be closest to the permanent magnet 10 and the coil 25 around the closest coil 25.
  • the position estimation unit 210 estimates the position of the permanent magnet 10 from the information on the current flowing through the resistor connected to the coil 25, the position estimation unit 210 estimates the position of the permanent magnet 10 without using a sensor for detecting the position of the permanent magnet 10. Therefore, it is possible to reduce a decrease in reliability due to a failure of the detection device as compared with the conventional apparatus configuration. Further, since no detection device is required, it is possible to further reduce the cost as compared with the conventional one.
  • the position estimating unit 210 can grasp the position information of the permanent magnet 10 with higher accuracy by using the current waveform as the current information, and can improve the reliability.
  • the coil driving unit 212 drives the coil 25 by outputting a pulse voltage for driving and a position detection to a predetermined coil 25, and the position estimating unit 210 causes the position of the permanent magnet 10 to change from the current waveform generated by the pulse voltage.
  • the position information of the permanent magnet 10 can be grasped with higher accuracy, and the reliability can be improved.
  • FIG. 15 shows a functional block diagram of the second embodiment.
  • the device since there is no position sensor in the device, if the device itself stops during transportation due to, for example, a power outage, where the sample rack is in transit during power outage and where it stopped It is desirable to know first when returning (hereinafter referred to as the first startup).
  • the activation determination unit 213 that determines whether or not the device is the first time activation is provided inside the arithmetic unit 40A. Equipped with. Since the start-judgment unit 213 starts by detecting the position of the sample rack when the apparatus is first started, it differs from the phase that is premised on driving as in the first embodiment.
  • the coil drive unit 212A outputs the position detection pulse voltage to all of the plurality of coils 25 when the start determination unit 213 determines that it is the first start, and the position estimation unit 210. Detects the position of the permanent magnet 10 from the current waveform generated by the position detection pulse voltage.
  • FIG. 16 shows the arrangement of the permanent magnet 10 and each coil 25 at the time of initial activation.
  • a case is assumed in which a power failure occurs during conveyance between the coil 25J and the coil 25N.
  • FIG. 17 a flow chart shows the processing at the time of initial activation.
  • the arithmetic unit 40A of the carrier device starts processing (step S1100).
  • step S1101 the activation determination unit 213 in the calculation unit 40A determines whether or not the device is activated for the first time (step S1101). If it is determined that it is the first activation, the process proceeds to step S1102. On the other hand, if it is determined that it is not the first start-up, the process proceeds to step S1104, the first start-up process is ended (step S1104), and the carrying process step as shown in FIG. 14 is started.
  • the coil drive unit 212 outputs a command signal to the drive circuit 50 to apply the position detection pulse to the coils 25A to 25U (step S1102).
  • the position estimation unit 210 identifies the position of the permanent magnet 10 from the current change amount of each coil 25A to 25U caused by the position detection pulse applied in step S1102 (step S1103), and proceeds to step S1104 to perform the initial activation process. Is completed (step S1104), and the carrying process as shown in FIG. 14 is started.
  • a start determination unit 213 that determines whether or not the transport device 1 is the first start is further provided, and the coil drive unit 212 includes a plurality of coils when the start determination unit 213 determines that the first start is performed.
  • the position detection pulse voltage is output to all of 25, and the position estimation unit 210 detects the position of the permanent magnet 10 from the current waveform generated by the position detection pulse voltage, so that the device can operate in an unexpected situation such as a power failure. Even when stopped, the position of the permanent magnet 10 is detected at the time of return, so that the sample rack transport can be restarted without delay, and the reliability of the apparatus can be further improved.
  • the coil driving unit 212 performs the following processing as a function of preventing the permanent magnet 10 from deviating.
  • the coil driving unit 212 causes the permanent magnet 10 to deviate from a predetermined route based on the position of the permanent magnet 10 estimated by the position estimating unit 210 and the route information stored in the route information storage unit 211. It is determined whether or not there is a deviation, and when it is determined that there is a deviation, a pulse voltage is output to a predetermined coil 25 among the plurality of coils 25A to 25U so as to return to a predetermined path.
  • the permanent magnet 10 receives some external force in front of the coil 25J, which is an intermediate point of the conveying path, and the permanent magnet 10 is not on the coil 25J side.
  • a case where the coils deviate toward the coils 25E and 25I will be described as an example.
  • a pulse voltage for applying a repulsive force to the permanent magnet 10 to the coil 25E existing in the departure direction is output.
  • a pulse voltage for applying a repulsive force to the permanent magnet 10 to the coil 25I can be output.
  • FIG. 19 shows a time-series waveform of the pulse waveform, the deviation coil, and the distance x between the sample racks.
  • the position detection pulse voltage 60B is applied to the coil in the departure direction until t1 seconds before. After that, when x exceeds x1, a deviation prevention pulse voltage 60C that combines deviation prevention and position detection is applied. By applying such a pulse voltage 60C, the sample rack is pushed back and returns to the transport path. Further, at the timing when the sample rack has returned to the original distance x2 at t2 seconds, the application of the deviation prevention pulse 60C is stopped and the application of the original position detection pulse voltage 60B is restarted.
  • FIG. 20 is a flowchart of the deviation prevention process. Steps S1200 to S1206 shown below are executed in parallel with, or before, after, or in exchange with step S1003, step S1004, and step S1006 shown in FIG.
  • the drive circuit 50 applies a drive pulse to the coil 25J by the coil drive unit 212 of the arithmetic unit 40 so as to apply a position detection pulse to the coils 25A, 25B, 25C, 25E, 25F, 25G, 25I, and 25K around the coil 25J.
  • the command signal is output to.
  • the calculation unit 40 starts processing (step S1200).
  • the position estimation unit 210 determines whether or not the distance between the coil arranged outside the transport path and the permanent magnet 10 is equal to or less than a predetermined threshold value x1 (step S1201). If the distance between the coil arranged outside the transport path and the sample rack is x1 or less, the process proceeds to step S1202. If it is determined that there is no corresponding coil, the process proceeds to step S1206, and the deviation determination process ends (step S1206).
  • the coil driving unit 212 determines the deviation of the sample rack, and deviates from the current change amount of each of the coils 25A, 25B, 25C, 25E, 25F, 25G, 25I, 25J, and 25K to which the pulse voltage has been applied. Is specified (step S1202).
  • the coil drive unit 212 applies a drive pulse for returning to the transport path to the identified coil (here, the coil 25E) (step S1203), and proceeds to step S1204.
  • the drive pulse for returning to the transfer path is a pulse for generating a repulsive force between the coil 25E and the permanent magnet 10 to return to the transfer path, for example, a pulse voltage 60 shown in FIG. It should be
  • step S1203 in addition to the coil 25E, it is possible to apply a drive pulse voltage that generates a repulsive force to the coil 25I. In addition to or in addition to these, a drive pulse voltage that generates a force to attract the permanent magnet 10 to the coil 25F or the coil 25J can be applied.
  • the position estimation unit 210 determines whether or not the distance between the identified coil 25E and the permanent magnet 10 has become x2 or more based on the drive pulse applied in step S1203 (step S1204). If it is determined that the distance has become x2 or more, the process proceeds to step S1205. On the other hand, if it is determined that the distance is not greater than or equal to x2, the process returns to step S1203, and the deviation recovery process is repeated.
  • the coil driving unit 212 switches the specified coil 25E so that the application of the drive pulse voltage for generating the repulsive force is stopped and only the position detection pulse voltage is applied (step S1205).
  • the process proceeds to S1206 and ends the deviation determination process (step S1206).
  • the coil driving unit 212 determines whether or not the permanent magnet 10 deviates from a predetermined route based on the position of the permanent magnet 10 estimated by the position estimating unit 210 and the route information stored in the route information storage unit 211.
  • a pulse voltage is output to a predetermined coil 25 among the plurality of coils 25A to 25U so as to return to a predetermined path.
  • the sample rack can be returned to the original transport path without stopping, and the transport efficiency can be further improved without imposing a burden on the operator.
  • the coil driving unit 212 determines that the permanent magnet 10 deviates from the predetermined route based on the position of the permanent magnet 10 estimated by the position estimating unit 210 and the route information stored in the route information storage unit 211. Then, by outputting a pulse voltage for applying a repulsive force to the permanent magnet 10 to the coil 25 existing in the deviating direction, the deviated sample rack can be efficiently returned to the transport path. It is possible to surely improve the transportation efficiency.
  • the coil driving unit 212 determines that the permanent magnet 10 deviates from the predetermined route based on the position of the permanent magnet 10 estimated by the position estimating unit 210 and the route information stored in the route information storage unit 211. When this occurs, the deviated sample rack can be efficiently returned to the transport path also by outputting a pulse voltage for applying a force attracting the permanent magnet 10 to the coil 25 existing on the predetermined path side. Therefore, it is possible to surely improve the transfer efficiency.
  • FIG. 21 is a diagram schematically showing the overall configuration of the sample analysis system 100.
  • a sample analysis system 100 is a device that dispenses a sample and a reagent into a reaction container and causes them to react with each other, and measures the reacted liquid.
  • a buffer 104 an analysis unit 105, a storage unit 103, a display unit 118, a control unit 120, and the like.
  • the carry-in section 101 is a place where the sample rack 111, in which a plurality of sample containers 122 containing biological samples such as blood and urine are stored, is installed.
  • the emergency rack input port 113 is a place for inputting a sample rack (carry black) on which a standard solution is loaded and a sample rack 111 that stores a sample container 122 containing a sample that needs analysis in an emergency into the apparatus. ..
  • the buffer 104 holds a plurality of sample racks 111 transported by the transport line 102 so that the dispensing order of the samples in the sample rack 111 can be changed.
  • the analysis unit 105 analyzes the sample transported from the buffer 104 via the conveyor line 106. The details will be described later.
  • the storage unit 103 stores the sample rack 111 in which the sample container 122 holding the sample that has been analyzed by the analysis unit 105 is stored.
  • the transport line 102 is a line for transporting the sample rack 111 installed in the carry-in section 101, and has a configuration equivalent to that of any of the transport devices described in the first to third embodiments.
  • a magnetic body preferably a permanent magnet, is provided on the back side of the sample rack 111.
  • the analysis unit 105 includes a conveyor line 106, a reaction disk 108, a sample dispensing nozzle 107, a reagent disk 110, a reagent dispensing nozzle 109, a cleaning mechanism 112, a reagent tray 114, a reagent ID reader 115, a reagent loader 116, and a spectrophotometer 121. Etc.
  • the conveyor line 106 is a line for loading the sample rack 111 in the buffer 104 into the analysis unit 105, and has the same configuration as the transport device described in the first to third embodiments described above.
  • the reaction disk 108 has a plurality of reaction vessels.
  • the sample dispensing nozzle 107 dispenses a sample from the sample container 122 to the reaction container of the reaction disk 108 by rotationally driving or vertically driving.
  • the reagent disk 110 has a plurality of reagents installed therein.
  • the reagent dispensing nozzle 109 dispenses a reagent from the reagent bottle in the reagent disc 110 to the reaction container of the reaction disc 108.
  • the cleaning mechanism 112 cleans the reaction container of the reaction disk 108.
  • the spectrophotometer 121 measures the absorbance of the reaction solution by measuring the transmitted light obtained from a light source (not shown) through the reaction solution in the reaction container.
  • the reagent tray 114 is a member for installing a reagent when registering a reagent in the sample analysis system 100.
  • the reagent ID reader 115 is a device for acquiring reagent information by reading the reagent ID attached to the reagent installed in the reagent tray 114.
  • the reagent loader 116 is a device that carries a reagent into the reagent disk 110.
  • the display unit 118 is a display device for displaying the analysis result of the concentration of a predetermined component in a liquid sample such as blood or urine.
  • the control unit 120 is composed of a computer and the like, controls the operation of each mechanism in the sample analysis system 100, and performs arithmetic processing for obtaining the concentration of a predetermined component in a sample such as blood or urine.
  • the sample analysis processing by the sample analysis system 100 as described above is generally executed in the following order.
  • the sample rack 111 is installed in the carry-in section 101 or the emergency rack loading port 113, and is carried into the randomly accessible buffer 104 by the carrying line 102.
  • the sample analysis system 100 carries in the sample rack 111 having the highest priority among the racks stored in the buffer 104 to the analysis unit 105 by the conveyor line 106 according to the priority rule.
  • the sample rack 111 that has arrived at the analysis unit 105 is further transferred by the conveyor line 106 to the sample collection position near the reaction disk 108, and the sample is dispensed by the sample dispensing nozzle 107 into the reaction container of the reaction disk 108.
  • the sample dispensing nozzle 107 collects the sample as many times as necessary according to the analysis item requested for the sample.
  • sample dispensing nozzle 107 By the sample dispensing nozzle 107, samples are collected from all the sample containers 122 mounted on the sample rack 111.
  • the sample rack 111 for which the sorting process has been completed for all the sample containers 122 is transferred to the buffer 104 again. Further, the sample rack 111, for which all the sample sorting processes including the automatic reinspection have been completed, is transferred to the storage unit 103 by the conveyor line 106 and the transfer line 102.
  • the reagent used for the analysis is dispensed from the reagent bottle on the reagent disk 110 by the reagent dispensing nozzle 109 into the reaction container from which the sample was previously dispensed. Then, the stirring mechanism (not shown) stirs the mixed liquid of the sample and the reagent in the reaction container.
  • the light generated from the light source is transmitted through the reaction container containing the mixed liquid after stirring, and the luminous intensity of the transmitted light is measured by the spectrophotometer 121.
  • the luminous intensity measured by the spectrophotometer 121 is transmitted to the control unit 120 via the A/D converter and the interface. Then, the control unit 120 performs a calculation to obtain the concentration of a predetermined component in a liquid sample such as blood or urine, and the result is displayed on the display unit 118 or the like or stored in a storage unit (not shown).
  • the sample analysis system 100 does not need to have all the configurations described above, and a pretreatment unit may be appropriately added, or some units or some configurations may be deleted. can do.
  • the analysis unit 105 is not limited to the one for the biochemical analysis, and may be for the immunological analysis. Further, it is not necessary to provide one, and two or more can be provided. Also in this case, the analysis unit 105 and the loading unit 101 are connected by the transport line 102, and the sample rack 111 is transported from the loading unit 101.
  • FIG. 22 is a diagram schematically showing the overall configuration of the sample pretreatment device 150.
  • a sample pretreatment device 150 is a device that executes various pretreatments necessary for sample analysis. From the left side to the right side in FIG. 22, from the left side to the right side, the capping unit 152, the sample storage unit 153, the empty holder stacker 154, the sample input unit 155, the centrifugal separation unit 156, the liquid volume measurement unit 157, the capping unit 158, and the sub-sample container preparation unit. 159, a dispensing unit 165, a plurality of units having the transfer unit 161 as a basic element, a carrier device 170, and an operation unit PC163 for controlling the operation of these plurality of units.
  • a sample analysis system 100 for performing qualitative/quantitative analysis of components of the sample is connected.
  • the sample loading unit 155 is a unit for loading the sample container 122 containing the sample into the sample pretreatment device 150.
  • the centrifuge unit 156 is a unit for centrifuging the input sample container 122.
  • the liquid amount measurement unit 157 is a unit that measures the liquid amount of the sample contained in the sample container 122.
  • the uncapping unit 158 is a unit that uncaps the inserted sample container 122.
  • the sub-sample container preparation unit 159 is a unit that performs preparation necessary for dispensing the sample contained in the loaded sample container 122 in the next dispensing unit 165.
  • the dispensing unit 165 is a unit that divides the centrifuged sample into subsamples for analysis by a sample analysis system or the like, and attaches a barcode or the like to the subdivided sample containers 122 and sub-sample containers 122.
  • the transfer unit 161 is a unit that classifies the dispensed sub-sample containers 122 and prepares for transfer to the sample analysis system.
  • the capping unit 152 is a unit for capping the sample container 122 and the sub-sample container 122.
  • the sample storage unit 153 is a unit for storing the closed sample container 122.
  • the transport device 170 is a mechanism that transports the sample holder and the sample rack that hold the sample container 122 between these units or between the sample pretreatment device 150 and the sample analysis system 100, and the first to third embodiments. Any of the example transport devices may be used.
  • sample pretreatment device 150 does not need to have all the configurations described above, and it is possible to add more units or delete some units or some configurations.
  • the sample analysis system of this embodiment may be a sample analysis system 200 including a sample pretreatment device 150 and a sample analysis system 100 as shown in FIG.
  • the sample container 122 can be transported by connecting not only within each system but also between systems with the transporting device according to any one of the first to third embodiments described above.
  • the sample analysis systems 100 and 200 and the sample pretreatment device 150 of the fourth embodiment of the present invention include the transport device 1 of the first embodiment described above, the sample container 122 can be transported to the transport destination with high efficiency. It is possible to shorten the time until the analysis result is obtained. In addition, there are few transport problems, and the burden on the inspection engineer can be reduced.
  • the present embodiment exemplifies the case where the sample rack 111 holding five sample containers 122 containing the sample is transported as a transport target, other than the sample rack 111 holding five sample containers 122, A sample holder that holds one sample container 122 can be transported as a transport target.
  • the transported object is the sample rack
  • the transported object is not limited to the sample rack and the like, and various objects that are required to be transported on a large scale. Can be targeted for conveyance.
  • 1...Conveying device 10 ...Permanent magnet (magnetic material) 21, 21a, 21b, 21c... Windings 22, 22a, 22b, 22c... Cores 25, 25A to 25U... Coil 30... Current detection units 40, 40A... Calculation unit 50... Drive circuit 55... Power supply 60A... Drive pulse voltage 60B Position detection pulse voltage 60C Departure prevention pulse voltage 70a, 70b, 70c, 70d Current waveform 100 Sample analysis system 101 Loading unit 102 Transport line 103 Storage unit 104 Buffer 105 Analysis unit 106 Conveyor line 107 ... specimen dispensing nozzle 108 ... reaction disc 109 ... reagent dispensing nozzle 110 ... reagent disc 111 ... specimen rack 112 ... washing mechanism 113 ...

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Abstract

La présente invention concerne un dispositif de transfert comprenant : une unité d'attaque de bobine (212) et un circuit d'attaque (50) qui appliquent une tension à une pluralité de bobines (25) qui génèrent une poussée destinée à transférer l'aimant permanent (10) ; une unité d'estimation de position (210) qui estime la position de l'aimant permanent (10) ; et une unité de stockage d'informations d'itinéraire (211) qui stocke des informations d'itinéraire de l'aimant permanent (10). L'unité d'attaque de bobine (212) et le circuit d'attaque (50) appliquent un courant d'attaque à une bobine prédéterminée (25) sur la base d'informations d'itinéraire stockées dans l'unité de stockage d'informations d'itinéraire (211) et de la position de l'aimant permanent (10) estimée par l'unité d'estimation de position (210), et un courant de détection de position est appliqué à la bobine la plus proche (25) qui est estimée comme étant la plus proche de l'aimant permanent (10), et aux bobines (25) dans la zone entourant la bobine la plus proche (25).
PCT/JP2019/050661 2019-02-01 2019-12-24 Dispositif de transfert et procédé de transfert d'objets en cours de traitement WO2020158264A1 (fr)

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JP2019017342A JP7107866B2 (ja) 2019-02-01 2019-02-01 搬送装置および被搬送物の搬送方法
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WO2022034711A1 (fr) * 2020-08-13 2022-02-17 株式会社日立ハイテク Dispositif de transport d'échantillon, système d'analyse d'échantillon, système de prétraitement d'échantillon
JP7506555B2 (ja) 2020-08-07 2024-06-26 株式会社京都製作所 搬送装置

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Publication number Priority date Publication date Assignee Title
JP7235016B2 (ja) * 2020-07-23 2023-03-08 株式会社三洋物産 遊技機
JP7235019B2 (ja) * 2020-07-23 2023-03-08 株式会社三洋物産 遊技機
JP7235017B2 (ja) * 2020-07-23 2023-03-08 株式会社三洋物産 遊技機
JP7235020B2 (ja) * 2020-07-23 2023-03-08 株式会社三洋物産 遊技機
JP7235018B2 (ja) * 2020-07-23 2023-03-08 株式会社三洋物産 遊技機

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JPS62225108A (ja) * 1986-03-25 1987-10-03 Toshiba Corp 磁気浮上式搬送装置
JPS63148803A (ja) * 1986-12-12 1988-06-21 Toshiba Corp 搬送装置の制御装置
JPH05153704A (ja) * 1991-11-26 1993-06-18 Hitachi Ltd 平面内磁気反発／吸引浮上搬送制御方法とその装置

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Publication number Priority date Publication date Assignee Title
JPS62225108A (ja) * 1986-03-25 1987-10-03 Toshiba Corp 磁気浮上式搬送装置
JPS63148803A (ja) * 1986-12-12 1988-06-21 Toshiba Corp 搬送装置の制御装置
JPH05153704A (ja) * 1991-11-26 1993-06-18 Hitachi Ltd 平面内磁気反発／吸引浮上搬送制御方法とその装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7506555B2 (ja) 2020-08-07 2024-06-26 株式会社京都製作所 搬送装置
WO2022034711A1 (fr) * 2020-08-13 2022-02-17 株式会社日立ハイテク Dispositif de transport d'échantillon, système d'analyse d'échantillon, système de prétraitement d'échantillon

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