Transport device, specimen analysis system, specimen pretreatment device, and transport method

Abstract

The transport device (1) comprises: a permanent magnet (10) arranged on the side of a specimen rack (111); a core (22) formed of a second magnetic body, and a magnetic pole (25) having a winding (21) wound on the outer circumference of the core (22); a drive circuit (50) for supplying current to the winding (21) of the magnetic pole (25); and a current command operation unit (55) for controlling the current value supplied from the drive circuit (50) to the winding (21), wherein the current command operation unit (55) changes the current supplied to the winding (21). Thus, a transport device having a higher transport performance than before, a specimen analysis system having the transport device, a specimen pretreatment device, and a transport method for a transported object are provided.

Description

Technical Field

[0001] The present invention relates to a specimen analysis system suitable for analyzing biological samples such as blood and urine (hereinafter referred to as specimens), a transport device of a specimen pretreatment device for performing pretreatment required for analysis, and a specimen analysis system having the transport device, a specimen pretreatment device, and a transport method for a transported object. Background Art

[0002] As an example of a laboratory sample delivery system that is very flexible and has high conveying performance and a corresponding operation method, the following content is recorded in Patent Document 1: The laboratory sample delivery system comprises: several container carriers, each of which has at least one magnetically active device, preferably at least one permanent magnet, and is suitable for conveying sample containers; a conveying plane, which is suitable for conveying the container carriers; and several electromagnetic actuators, which are stationarily arranged below the conveying plane and are suitable for moving the container carriers on the conveying plane by applying magnetic force to the container carriers.

[0003] In addition, as an example of a laboratory sample delivery system, a laboratory system and an operation method that are flexible and have high transport performance, the following content is recorded in Patent Document 2: The laboratory sample delivery system comprises: a plurality of container carriers, each of which has at least one magnetically active device, preferably at least one permanent magnet, and is suitable for transporting sample containers containing samples; a transport plane, which is suitable for transporting the plurality of container carriers; a plurality of electromagnetic actuators, which are statically arranged below the transport plane, and move the container carriers on the transport plane by applying magnetic force to the container carriers; and at least one transfer device, which is configured to transfer test samples between the transport plane, a laboratory station, preferably a pre-analysis station, an analysis station and / or a re-analysis station.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2017-77971

[0007] Patent Document 2: Japanese Patent Application Publication No. 2017-227648 Summary of the invention

[0008] Problems to be solved by the invention

[0009] In a specimen analysis system used for clinical examination, an examination of designated analysis items is performed on a specimen (specimen) such as blood, plasma, serum, urine, or other body fluids.

[0010] In this specimen analysis system, multiple functional devices can be connected to automatically process each process. In other words, in order to rationalize the work of the inspection room, the analysis unit in multiple analysis fields such as biochemistry and immunology and the pre-processing unit that performs the pre-processing required for the analysis are connected by a conveyor line and operated as a system.

[0011] The conveyor lines used in existing specimen analysis systems are mainly belt-driven. In such belt-driven systems, there is a problem: if the conveyor stops due to some abnormality during the conveying process, the specimen cannot be further supplied to the downstream device. Therefore, it is necessary to pay full attention to the wear of the belt.

[0012] As medical treatment becomes more advanced and the aging society develops, the importance of specimen processing is increasing. Therefore, in order to improve the analytical processing capability of the specimen analysis system, high-speed specimen transportation, large-scale simultaneous transportation, and transportation in multiple directions are desired.

[0013] As an example of a technology for realizing such conveyance, there are technologies described in Patent Documents 1 and 2.

[0014] In the techniques described in Patent Documents 1 and 2, a container carrier detection device is provided for detecting the position of a magnetically active device provided on a specimen transport carrier.

[0015] Patent Documents 1 and 2 merely describe switching of the electromagnetic actuator to be activated according to the position of the container carrier.

[0016] These technologies have the problem that the thrust generated by the electromagnetic actuator varies depending on the position of the container carrier, so there are problems such as the speed of the container carrier being unstable and the container carrier vibrating during transportation.

[0017] Furthermore, when the weight of the container carrier differs due to the type or presence of the specimen, or when friction increases and thrust decreases due to deterioration of the conveying surface or a decrease in magnetic force, the conveying speed of the container carrier decreases, or the speed changes depending on the state of the container carrier. As a result, there is the problem of uneven conveying speed of the container carrier and reduced conveying performance.

[0018] The present invention provides a transport device having higher transport performance than conventional ones, a specimen analysis system including the transport device, a specimen pretreatment device, and a method for transporting a transported object.

[0019] Means for solving problems

[0020] The present invention includes multiple means for solving the above-mentioned problems. For example, the present invention is characterized in that it comprises: a first magnetic body, which is arranged on the side of the transported body; two or more magnetic circuits, which have an iron core composed of a second magnetic body and a winding wound on the outer peripheral side of the iron core; a drive circuit, which supplies current to the winding of the magnetic circuit; a calculation unit, which controls the current value supplied from the drive circuit to the winding; a transported body detection unit, which detects the position or speed of the first magnetic body, the calculation unit makes the value of the current supplied to the windings adjacent to each other along the moving direction of the transported body different according to positive and negative values, and changes the current supplied to the winding based on the position or speed information of the first magnetic body detected by the transported body detection unit, when the interval between the two or more iron cores is set to Pc, the current value in the interval of 1 / 2Pc is larger than the current value after 1 / 2Pc.

[0021] Effects of the Invention

[0022] According to the present invention, it is possible to provide a conveying device having a higher conveying performance than before. Other problems, structures, and effects than those described above will become clear from the following description of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a diagram showing a schematic configuration of the driving side in the conveying device of Example 1.

[0024] Figure 2 It is a diagram showing a schematic structure of a conveying device according to Example 1 of the present invention.

[0025] Figure 3 This is a cross-sectional view schematically showing a state where a permanent magnet is transported using the transport device of Example 1.

[0026] Figure 4 This is a diagram showing the magnitude of thrust acting on the permanent magnet from a coil at a certain position when the permanent magnet is transported by the transport device of Example 1.

[0027] Figure 5 This is a diagram showing the relationship between the position of the coil and the magnitude of the thrust acting on the permanent magnet when the permanent magnet is transported by the transport device of Example 1.

[0028] Figure 6 This is a diagram showing an example of a current for making the magnitude of the thrust acting on the permanent magnet constant when the permanent magnet is transported by the transport device of Example 1.

[0029] Figure 7 This is a cross-sectional view schematically showing the relationship between the magnitude of the current value and the thrust acting on the permanent magnet when the permanent magnet is transported in the transport device according to the second embodiment of the present invention.

[0030] Figure 8 It means that according to Figure 7 This diagram shows the magnitude of the thrust acting on the permanent magnet from a coil at a certain position when the permanent magnet is transported under the conditions shown.

[0031] Fig. 9 This is a cross-sectional view schematically showing the relationship between the magnitude of the current value when the permanent magnet is transported and the thrust acting on the permanent magnet in the transport device of Example 2.

[0032] Fig.10 It means that according to Fig. 9 This diagram shows the magnitude of the thrust acting on the permanent magnet from the coil at a certain position when the permanent magnet is transported under the conditions shown.

[0033] Fig.11 This is a cross-sectional view schematically showing another example of the relationship between the magnitude of the current value and the thrust acting on the permanent magnet when the permanent magnet is transported in the transport device of Example 2.

[0034] Fig.12 This is a cross-sectional view schematically showing the relationship between the magnitude of the current value when the permanent magnet is transported and the thrust acting on the permanent magnet, for comparison with the transport device of Example 2.

[0035] Fig.13 It means that according to Fig.12 This diagram shows the magnitude of the thrust acting on the permanent magnet from a coil at a certain position when the permanent magnet is transported under the conditions shown.

[0036] Fig.14 This is a cross-sectional view schematically showing the relationship between the magnitude of the current value and the thrust acting on the permanent magnet when the permanent magnet is transported in the transport device according to Example 3 of the present invention.

[0037] Fig.15 It means that according to Fig.14 This diagram shows the magnitude of the thrust acting on the permanent magnet from the coil at a certain position when the permanent magnet is transported under the conditions shown.

[0038] Fig.16 This is a cross-sectional view schematically showing the relationship between the magnitude of the current value and the thrust acting on the permanent magnet when the permanent magnet is transported in the transport device according to the fourth embodiment of the present invention.

[0039] Fig.17 It means that according to Fig.16 This diagram shows the magnitude of the thrust acting on the permanent magnet from the coil at a certain position when the permanent magnet is transported under the conditions shown.

[0040] Fig.18 This is a cross-sectional view schematically showing the relationship between the magnitude of the current value and the thrust acting on the permanent magnet when the permanent magnet is transported in the transport device according to Example 5 of the present invention.

[0041] Fig.19 It means that according to Fig.18 This diagram shows the magnitude of the thrust acting on the permanent magnet from the coil at a certain position when the permanent magnet is transported under the conditions shown.

[0042] Fig. 20 This is a cross-sectional view schematically showing the relationship between the magnitude of the current value and the thrust acting on the permanent magnet when the permanent magnet is transported in the transport device according to Example 6 of the present invention.

[0043] Fig.21 It means that according to Fig. 20 This diagram shows the magnitude of the thrust acting on the permanent magnet from the coil at a certain position when the permanent magnet is transported under the conditions shown.

[0044] Fig. 22 It means that according to the changes Fig. 20 A diagram showing the magnitude of thrust acting on the permanent magnet from a coil at a certain position when the permanent magnet is transported under some of the conditions.

[0045] Fig.23 This is a diagram showing an example of a sample analysis system according to Example 7 of the present invention.

[0046] Fig.24 This is a diagram showing an example of a sample preprocessing device according to Embodiment 7 of the present invention. DETAILED DESCRIPTION

[0047] Hereinafter, embodiments of the transport device of the present invention, and a sample analysis system and a sample pretreatment device including the transport device will be described with reference to the drawings.

[0048] <Example 1>

[0049] use Figures 1 to 6 A first embodiment of the conveying device and the method for conveying an object to be conveyed according to the present invention will be described.

[0050] First, use Figure 1 The schematic structure of the conveying device of this embodiment will be described. Figure 1 This is a diagram schematically showing the outline of the conveying device of this embodiment in which the permanent magnet 10 and the three magnetic poles 25 move relative to each other.

[0051] exist Figure 1 In the figure, the conveying device 1 includes a magnetic pole 25 composed of a permanent magnet 10, a cylindrical iron core 22 and a winding 21 wound around the outer circumference of the iron core 22, a drive circuit 50, a current command operation unit 55, a position and speed detection unit 60 and a weight detection unit 65.

[0052] The permanent magnet 10 is arranged on the side of the transported object, and is preferably composed of a permanent magnet such as neodymium or ferrite. However, the permanent magnet 10 may also be composed of other magnets and soft magnetic bodies. In addition, the permanent magnet 10 and the soft magnetic body may be combined, or may be composed of a magnetic body instead of the permanent magnet.

[0053] As an example of the object to be transported provided with the permanent magnet 10, there are a specimen holder (not shown), a specimen rack for holding a plurality of specimens (see Fig.23 ). The specimen holder is usually equipped with a specimen container for placing the specimen, and the specimen container is transported to a desired position as the permanent magnet 10 moves. That is, the specimen container, the specimen holder holding the specimen container, the specimen holder and the permanent magnet 10 are integrated, and the specimen container is transported to a desired position by transporting the permanent magnet 10.

[0054] Usually, a conveying surface (not shown) for supporting the permanent magnet 10 is provided between the magnetic pole 25 and the permanent magnet 10 , and the permanent magnet 10 moves so as to slide on the conveying surface.

[0055] like Figure 1 As shown, at least two magnetic poles 25 are provided in the conveying device 1. Each magnetic pole 25 has an iron core 22 made of a magnetic body and a winding 21 wound around the outer periphery of the iron core 22. The cylindrical iron core 22 in the magnetic pole 25 is arranged to face the permanent magnet 10. The permanent magnet 10 formed integrally with the conveyed object moves on the magnetic pole 25.

[0056] In the conveying device 1 , an electric current is passed through the winding 21 to cause an electromagnetic force to act on the permanent magnet 10 , thereby causing the permanent magnet 10 to move between the magnetic poles 25 .

[0057] Here, in order to efficiently exert the electromagnetic force and to move the electromagnetic force in a target direction, the relative position information of the permanent magnet 10 and the magnetic pole 25 is necessary.

[0058] For example, when the permanent magnet 10 is located directly above one of the two magnetic poles 25, even if a current flows through the magnetic pole 25 directly below it, no force in the conveying direction is generated. On the contrary, by flowing a current through the magnetic pole 25 that is not directly above the permanent magnet 10, a force that pulls the permanent magnet 10 toward the magnetic pole 25 can be generated. That is, the force can be efficiently generated and the direction of the force can be controlled.

[0059] Therefore, in the conveying device 1 of the present invention, the position and speed of the permanent magnet 10 are detected by the position and speed detection unit 60. The position and speed detection unit 60 can be set to various structures for obtaining information on the position and speed of the permanent magnet 10. For example, magnetic detection of a Hall element, a physical position sensor, or position recognition using an image can be used.

[0060] If it is a Hall element, the magnetism of the permanent magnet 10 can be detected, and the speed of the permanent magnet 10 can be calculated based on the time it takes to move between the cores 22 formed of the second magnetic body, and used to control the current.

[0061] Furthermore, the position and speed detection unit 60 can determine the position of the permanent magnet 10 by detecting the current flowing through the winding 21 and the flow pattern thereof. The principle is as follows.

[0062] The iron core 22 is made of a magnetic material, and the magnetic flux passing through the iron core 22 has a property that it is difficult to pass if the magnetic flux becomes large. Here, when a voltage is applied to the winding 21 to flow a current, a magnetic flux generated by the current is generated in the iron 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 iron core 22.

[0063] Generally speaking, when current flows through the winding 21, a magnetic field is generated around it, and the magnetic flux generated is proportional to the value of the current flowing. This proportional constant is called inductance. However, in a circuit having a magnetic body such as an iron core 22, the inductance changes according to the saturation characteristics of the iron core 22.

[0064] When the core 22 is saturated, the inductance changes according to the magnitude of the magnetic flux generated by the core 22. That is, the inductance of the winding 21 changes according to the magnitude of the magnetic flux of the permanent magnet 10. This means that the inductance of the winding 21 changes according to the position of the permanent magnet 10.

[0065] The voltage V generated in the winding 21 is expressed as follows.

[0066]

[0067] Here, is the magnetic flux, t is the time. The voltage V is represented by the change in magnetic flux per unit time.

[0068] In addition, assuming that current I and inductance L are used, the following relationship holds.

[0069]

[0070] According to these equations (1) and (2), the following relationship holds.

[0071] dI / dt=-V / L (3)

[0072] That is, when a constant voltage is applied to the winding 21, as shown in equation (3), the time differential of the supplied current I changes depending on the magnitude of the inductance L. This means that the supply current rises differently when a voltage is applied.

[0073] Therefore, when voltage is applied to the winding 21, by detecting the current flowing through the winding 21 and its flow pattern, the inductance L can be calculated. That is, if the inductance L of the winding 21 that changes according to the position of the permanent magnet 10 is detected, the position of the permanent magnet 10 that affects the inductance L can be obtained.

[0074] Furthermore, the current value applied according to the weight of the transported body can be determined using the weight detection unit 65 that measures the weight of the transported body. In addition, based on the weight information and the position and speed of the transported body, the degradation state of the transport surface side of the transported body and the wear of the transport surface can also be estimated.

[0075] The weight detection unit 65 can be set as a scale that actually detects the weight of the conveyed object, a processing unit that performs image processing on a captured image of the conveyed object to calculate the weight, or a processing unit that calculates acceleration and weight using the position, speed information and intensity of magnetic flux detected by the position and speed detection unit 60.

[0076] The current command calculation unit 55 calculates the current flowing in each winding 21 using the position information and speed information of the permanent magnet 10 detected by the position and speed detection unit 60 and the weight information detected by the weight detection unit 65, and outputs a command signal to the drive circuit 50 connected to each winding 21. The drive circuit 50 supplies current to the corresponding winding 21 based on the command signal.

[0077] The current command calculation unit 55 can be realized by causing a computer or FPGA (Field-Programmable Gate Array) equipped with a CPU, memory, interface, etc. to read a program and execute calculations. These programs are stored in an internal recording medium or an external recording medium (not shown) in each structure, and are read and executed by the CPU.

[0078] In addition, the control processing of the action can be concentrated in one program, or can be divided into multiple programs, or can be a combination of them. In addition, part or all of the program can be implemented with dedicated hardware, or can be modularized. Furthermore, various programs can also be installed in each device from a program distribution server, an internal recording medium, or an external recording medium.

[0079] Furthermore, they do not need to be independent of each other, and two or more of them may be integrated and shared, and only the processing may be shared. Furthermore, at least a part of the structure may be connected via a wired or wireless network.

[0080] Figure 2The diagram schematically shows a conveying device 1 in which 10 magnetic poles 25 are arranged in the X direction and 10 magnetic poles 25 are arranged in the Y direction, for a total of 100 magnetic poles 25. By exciting the magnetic poles 25 around the permanent magnet 10, the permanent magnet 10 can be conveyed in any direction.

[0081] Below, use Figure 3 The thrust generated by passing a current through the winding 21 of the magnetic pole 25 when the permanent magnet 10 is transported in the X direction will be described below.

[0082] Figure 3 Schematic diagram showing four magnetic poles 25a to 25d cut along the conveying direction when the permanent magnet 10 is conveyed in the X direction. Figure 4 2 shows the thrust (force in the X direction) acting on the permanent magnet 10 when a direct current is applied to the winding 21 c and the permanent magnet 10 is moved from the section A to the section A′ in the X direction.

[0083] like Figure 4 As shown, the thrust when the winding 21c in the direction of moving the permanent magnet 10 is excited with a constant current value will change according to the position of the permanent magnet 10. That is, when the permanent magnet 10 is moved from section A to section A', when a constant current is passed through the winding in the moving direction, the thrust changes according to the position, the acceleration acting on the permanent magnet 10 changes, and the speed changes.

[0084] Therefore, when a constant current is passed through the winding in the traveling direction, the speed of the transported object changes, and the specimen or test solution may overflow due to the speed change. In addition, due to the speed change, speed deviations sometimes occur between multiple transported objects, making it impossible to narrow the transport interval.

[0085] Figure 5 Shown applied to Figure 4 The relationship between the current and thrust of the winding 21 at position a, position b, and position c. Figure 5 As shown, even when current is passed through the same winding 21 , the relationship between the current and the thrust differs depending on the position of the permanent magnet 10 .

[0086] As can be seen from this, in order to make the thrust acting on the permanent magnet 10 constant, it is necessary to change the current flowing through the winding 21 according to the position of the permanent magnet 10 .

[0087] An example of the current value for making the thrust constant at each position of the permanent magnet 10 is as follows: Figure 6 As shown. Figure 6 As shown, by changing the current according to the position of the permanent magnet 10, the change of the thrust acting on the transported object can be suppressed, and the vibration and speed change of the transported object can be reduced. Figure 6 As shown, instead of changing the current continuously and smoothly, the thrust can be adjusted in a step-like manner.

[0088] In addition, the weight of the object to be transported may vary depending on the type of rack, support, etc. constituting the object to be transported, the content and amount of the specimen container, etc. In this case, when the object to be transported is driven by a constant current, that is, when the thrust is the same, the transport speed of the object to be transported varies due to the difference in weight. That is, if there are objects to be transported of different weights on the same line, it is necessary to make the speed consistent with the slower object to be transported, and there is room for further improvement in transport performance.

[0089] In this case, even if the current flowing through the winding 21 is not changed according to the position of the permanent magnet 10 (even if the current of the winding is constant), the speed difference caused by the difference in weight of the transported object can be eliminated by changing the magnitude of the current.

[0090] As described above, the weight can be measured by the weight detection unit 65 that measures the weight of the transported object, so the speed difference can be eliminated by changing the current value according to the weight or controlling the current so that the speed is constant according to the detected position and speed of the transported object.

[0091] Furthermore, if the friction force increases due to the deterioration of the contact surface between the rack or support and the conveying surface or the conveying surface, or if the thrust relative to the current decreases due to the deterioration of the magnet such as demagnetization, the conveying speed may be reduced. In such a case, the degree of deterioration can be determined according to the position and speed of the conveyed object, and the reduction in the conveying speed can be more reliably suppressed by controlling the current value, thereby maintaining the conveying performance at a high level.

[0092] Next, the effects of this embodiment will be described.

[0093] The transport device 1 of the embodiment 1 of the present invention comprises: a permanent magnet 10, which is arranged on the side of the specimen rack 111; a magnetic pole 25, which has an iron core 22 composed of a second magnetic body, and a winding 21 wound on the outer peripheral side of the iron core 22; a drive circuit 50, which supplies current to the winding 21 of the magnetic pole 25; and a current command operation unit 55, which controls the current value supplied from the drive circuit 50 to the winding 21, and the current command operation unit 55 changes the current supplied to the winding 21.

[0094] Thus, compared with the past, it is possible to suppress the situation that the conveying performance is affected by the difference in the position, speed, weight of the conveyed object, the degree of deterioration of the conveying surface, etc., and it is possible to cope with various conditions. Therefore, compared with the past, it is possible to suppress the deviation of the speed of the conveyed object, and it is possible to achieve a conveying device and a conveying method for the conveyed object that can maintain the conveying performance at a high level.

[0095] In addition, there is also a position and speed detection unit 60 for detecting the position or speed of the permanent magnet 10. The current command operation unit 55 changes the current supplied to the coil 21 based on the position or speed information of the permanent magnet 10 detected by the position and speed detection unit 60. Therefore, compared with the past, it is possible to reliably suppress the situation in the conveying performance caused by the position and speed of the conveyed body, so that the conveying performance can be more reliably maintained at a high level.

[0096] In addition, there is a weight detection unit 65 for detecting the weight of the specimen rack 111. The current instruction operation unit 55 changes the current supplied to the winding 21 based on the weight information of the specimen rack 111 detected by the weight detection unit 65. This can reliably suppress the deviation in the transportation performance caused by the difference in the weight of the transported object compared with the past, so that the transportation performance can be more reliably maintained at a higher level.

[0097] <Example 2>

[0098] use Figures 7 to 13 A conveying device and a conveying method for a conveyed object according to a second embodiment of the present invention will be described. The same reference numerals are used for the same structures as those in the first embodiment, and the description thereof will be omitted. The same also applies to the following embodiments.

[0099] First, use Figure 7 The schematic structure of the conveying device of this embodiment will be described. Figure 7 It is a diagram schematically showing the outline of the conveying device of this embodiment.

[0100] exist Figure 7 , a conveying device 1A is shown in which two permanent magnets 10a, 10b and four magnetic poles 25a, 25b, 25c, 25d move relative to each other. In the conveying device 1A, the magnetization directions 90 of the permanent magnets 10a, 10b are the same. Here, the spacing between the magnetic poles 25 is denoted as Pc, and the spacing between the permanent magnets 10a and 10b is denoted as Pm. Figure 7 In this case, Pc=Pm.

[0101] Furthermore, in Figure 7 In the embodiment, a current of 1 [A] flows through the winding 21b, a current of -1 [A] flows through the winding 21c, and the current value does not change. The permanent magnet 10a formed integrally with the transported object is moved from the section A to the section A' in the X direction, and the permanent magnet 10b is moved from the section A' to the section A" in the X direction.

[0102] Under such conditions, the direction of the magnetic flux 80b formed by the winding 21b is Figure 7 In contrast, the direction of the magnetic flux 80c formed by the winding 21c is Figure 7In the downward direction. Figure 8 The thrust of the permanent magnets 10a and 10b at this time is shown in FIG. Figure 8 As shown, the overlap of magnetic flux 80b and magnetic flux 80c generates a positive thrust on permanent magnet 10a. On the other hand, a negative thrust (force in the -X direction) is generated on permanent magnet 10b. That is, it is difficult to transport permanent magnets 10a and 10b side by side in the same direction.

[0103] Therefore, when the distance to the permanent magnets 10a and 10b is short, different current values ​​flow through the windings 21b, 21c, and 21d of the three continuous magnetic poles 25b, 25c, and 25d, giving a gradient to the magnetic flux contributing to the thrust, thereby transporting the two permanent magnets in parallel. Fig. 9 An example of such a pattern is shown.

[0104] exist Fig. 9 In FIG. 1 , an example is shown in which a current of 1.5 [A] flows through winding 21b, a current of 0.3 [A] flows through winding 21c, and a current of -0.9 [A] flows through winding 21d. Figure 7 Similarly, without changing the current value supplied to each winding 21b, 21c, 21d, the permanent magnet 10a integrated with the transported object is moved from section A' to section A' in the X direction, and the permanent magnet 10b is moved from section A' to section A" in the X direction. Fig.10 The thrust acting on the permanent magnets 10a and 10b at this time is shown.

[0105] like Fig.10 As shown, by giving a gradient to the current value, the thrust acting on the permanent magnet 10a due to the overlap with the magnetic fluxes 80b, 80c, and 80d can also be made to have the same direction as the thrust acting on the permanent magnet 10b.

[0106] In addition, Fig. 9 Even in such a situation, a current value having a positive value greater than the current value supplied to the winding 21 b of the magnetic pole 25 b can be supplied to the winding 21 a of the magnetic pole 25 a .

[0107] exist Fig. 9 In the example of FIG. 1 , the gradient of the current value is shown to change linearly according to the position of the magnetic pole 25, but it is preferred that the gradient of the current value increases or decreases in the moving direction of the specimen rack 111 while the positive or negative sign of the slope does not change in the continuous adjacent windings 21. That is, it is preferred to control so that the values ​​of the current are all different so that the gradients of the magnitude of the magnetic flux contributing to the thrust between two or more adjacent magnetic poles 25 have the same sign.

[0108] Furthermore, when supplying current without changing the positive or negative sign of the slope of the gradient, if the values ​​of the current supplied to the adjacent windings 21 along the traveling direction of the specimen rack 111 are made different in positive or negative values, the absolute value of the supplied current can be reduced, which is preferable from the perspective of energy efficiency and heat generation countermeasures.

[0109] In addition, in this embodiment, the case of two permanent magnets is described, but even if the number of permanent magnets is greater than that, in the magnetic poles that generate thrust, it is preferable to set the slope of the magnetic flux that contributes to the thrust based on the current of the winding to the same sign.

[0110] Fig.11 is relative to Fig. 9 This is an example of how the current flows in each winding when the polarity of the permanent magnets 10a and 10b is reversed.

[0111] exist Fig.11 In the process, the current value of the winding far from each permanent magnet is made larger, and the current value of the winding close to each permanent magnet is made smaller, so that the gradient of the change of the magnetic flux contributing to the thrust at each position of the permanent magnet is controlled to one polarity (positive or negative).

[0112] Fig.12 This is an example where 1.0 [A] flows through the winding 21a, 1.0 [A] flows through the winding 21b, -1.0 [A] flows through the winding 21c, and -1.0 [A] flows through the winding 21d. Similarly, without changing the current value of each winding, when the permanent magnet 10a formed integrally with the transported object is moved from the section A to the section A' in the X direction, and the permanent magnet 10b is moved from the section A' to the section A" in the X direction, the thrust acting on the permanent magnets 10a and 10b is as follows: Fig.13 shown.

[0113] like Fig.13 As shown, the permanent magnet 10a between the section A and the section A' is transported by the positive thrust generated by the magnetic flux 80a formed by the winding 21a strengthened by the iron core 22a, the magnetic flux 80b formed by the winding 21b strengthened by the iron core 22b, and the magnetic flux 80c formed by the winding 21c strengthened by the iron core 22c.

[0114] On the other hand, in the magnetic flux 80c generated by the winding 21c and the magnetic flux 80d formed by the winding 21d strengthened by the iron core 22d, which contribute to the thrust, the gradient of the magnetic flux is symmetrical on the left and right, so the thrust direction of the thrust acting on the permanent magnet 10b located in the interval from the interval A' to the interval A" is reversed approximately with the center of the interval from the interval A' to the interval A" as the boundary.

[0115] Therefore, it is difficult to transport the permanent magnet 10a located in the interval from interval A to interval A' and the permanent magnet 10b located in the interval from interval A' to interval A" in the same direction at the same speed. Therefore, in the interval to be transported, the current value flowing through the winding is controlled. In particular, it can be seen that by controlling the gradient of the magnetic flux that contributes to the thrust, the direction and magnitude of the thrust can be controlled.

[0116] The other structures and operations are substantially the same as those of the conveying device and the conveying method of the object to be conveyed in the first embodiment, and detailed description thereof will be omitted.

[0117] In the conveying device and the conveying method of the object to be conveyed according to the second embodiment of the present invention, it is possible to obtain substantially the same effects as those of the conveying device and the conveying method of the object to be conveyed according to the first embodiment described above.

[0118] Furthermore, the current command calculation unit 55 makes the current values ​​supplied to the coils 21 adjacent to each other in the traveling direction of the specimen rack 111 different, thereby enabling efficient conveyance in the same direction even when the objects to be conveyed are continuous, and maintaining high conveyance performance.

[0119] Furthermore, the current command operation unit 55 makes the value of the current supplied to the windings 21 adjacent to each other along the moving direction of the specimen rack 111 different in positive and negative values. In addition, the current command operation unit 55 makes the directions of the magnetic fluxes generated by the windings 21 adjacent to each other along the moving direction of the specimen rack 111 opposite to each other, thereby being able to efficiently transport the supplied current value in the same direction even when the transported body is continuous.

[0120] In addition, when there are at least two specimen racks 111 having more than two magnetic poles 25 and provided with permanent magnets 10, when the number of specimen racks 111 is set to N, the current command operation unit 55 makes the current values ​​of more than N consecutive windings 21 all different, so that even when the transported body is continuous, it is possible to efficiently transport it at approximately the same speed, thereby maintaining a high transport performance.

[0121] Furthermore, the current command calculation unit 55 increases or decreases the current values ​​of N or more consecutive windings 21 in the traveling direction of the specimen rack 111. This allows the objects to be efficiently transported in the same direction even when they are continuous, and can maintain high transport performance.

[0122] <Example 3>

[0123] use Fig.14 as well as Fig.15 A conveying device and a method for conveying an object to be conveyed according to a third embodiment of the present invention will be described.

[0124] First, use Fig.14 The schematic structure of the conveying device of this embodiment will be described. Fig.14 This is a diagram schematically showing the outline of a conveying device 1B according to this embodiment.

[0125] exist Fig.14 In the conveying device 1B shown, 1.0 [A] flows through the winding 21a, -1.0 [A] flows through the winding 21b, 1.0 [A] flows through the winding 21c, and -1.0 [A] flows through the winding 21d. In addition, the magnetization directions 90 of the permanent magnets 10a and 10b are the same.

[0126] Furthermore, when the interval between the magnetic poles 25 is Pc and the interval between the permanent magnets 10a and 10b is Pm, 2Pc=Pm. In this way, when the interval Pm between the permanent magnets 10a and 10b satisfies the condition of 2Pc=Pm, Fig.14 As shown, in the permanent magnet 10a, the magnetic fluxes generated by the magnetic poles 25a and 25c directly below each other can be directed in the same direction, and the magnetic fluxes of the magnetic poles 25b and 25d closest to each other in the direction of travel can also be directed in the same direction. This is also the case when the condition 2Pc<Pm is satisfied.

[0127] That is, when conveying in a manner satisfying the condition 2Pc≤Pm, even if the gradient is not controlled to one polarity (positive or negative) by the current, the magnetic flux contributing to the thrust acting on the permanent magnets 10a and 10b can be made to have the same direction, thereby efficiently conveying.

[0128] When the permanent magnets 10 a and 10 b have opposite polarities, when transmission is performed so as to satisfy the condition of 2Pc≦Pm, it is preferable to control the gradient of the current value supplied to all the windings 21 to have the same polarity.

[0129] Furthermore, when the interval Pm between the permanent magnets 10 satisfies the relationship 2Pc>Pm, it is preferable that the gradient of the current value supplied to the winding 21 is not controlled to have one polarity (positive or negative) but is reversed at a certain portion.

[0130] Thus, the permanent magnet 10a and the permanent magnet 10b can be simultaneously transported in the same direction. By changing the current flowing through the windings 21 of the adjacent magnetic poles 25 in this way, the transported object can be efficiently moved.

[0131] Fig.15 Indicated in Fig.14The thrust of the permanent magnet 10a acting on the section A from the starting position A0 when no current flows through the windings 21a, 21b, 21c, and 21d. Even when no current flows through the windings, the permanent magnet 10a is attracted to the iron core 22a made of a magnetic body. Therefore, a negative thrust is generated in the section from the starting position A0 to 1 / 2Pc. That is, in this area, a positive thrust needs to be generated to overcome the negative thrust.

[0132] On the contrary, in the section from the start position A0 to 1 / 2Pc, the iron core 22b is attracted and a positive thrust is generated. Therefore, by increasing the current value in the section from the start position A0 to 1 / 2Pc and increasing the thrust, a smooth operation can be achieved.

[0133] As described above, when the pitch between two or more cores 22 is set to Pc, a smooth operation can be achieved by making the current value in the section of 1 / 2Pc larger than the current value below 1 / 2Pc.

[0134] The other structures and operations are substantially the same as those of the conveying device and the conveying method of the object to be conveyed in the first embodiment, and detailed description thereof will be omitted.

[0135] In the conveying device and the conveying method of the object to be conveyed according to the third embodiment of the present invention, it is possible to obtain substantially the same effects as those of the conveying device and the conveying method of the object to be conveyed according to the first embodiment described above.

[0136] In addition, when there are two or more magnetic poles 25 and the interval between two or more iron cores 22 is set to Pc, the current value in the interval of 1 / 2Pc is larger than the current value below 1 / 2Pc, thereby smoothly conveying the object to be conveyed, and further improving the conveying performance.

[0137] <Example 4>

[0138] use Fig.16 as well as Fig.17 A conveying device and a conveying method for an object to be conveyed according to a fourth embodiment of the present invention will be described.

[0139] First, use Fig.16 The schematic structure of the conveying device of this embodiment will be described. Fig.16 It is a diagram schematically showing the outline of a conveying device 1C according to this embodiment.

[0140] exist Fig.16 1.0 [A] flows through the winding 21b, and -1.0 [A] flows through the winding 21c. The magnetization direction 90 of the permanent magnet 10a and the magnetization direction 91 of the permanent magnet 10b are opposite to each other.

[0141] In such a conveying device 1C, the thrust generated when currents of different positive and negative values ​​are passed through the adjacent windings 21b and 21c and the magnetization directions of the permanent magnets 10a and 10b are reversed is shown in FIG. Fig.17 .exist Fig.17 , without changing the current value of each winding, the permanent magnet 10a formed integrally with the transported object is moved from the section A to the section A' in the X direction, and the permanent magnet 10b is moved from the section A' to the section A" in the X direction.

[0142] like Fig.17 As shown, it can be seen that the thrusts acting on the permanent magnets 10a and 10b at this time are generated in substantially the same direction, and the object to be transported can be efficiently moved.

[0143] The other structures and operations are substantially the same as those of the conveying device and the conveying method of the object to be conveyed in the first embodiment, and detailed description thereof will be omitted.

[0144] In the conveying device and the conveying method of the object to be conveyed according to the fourth embodiment of the present invention, it is also possible to obtain substantially the same effects as those of the conveying device and the conveying method of the object to be conveyed according to the first embodiment described above.

[0145] <Example 5>

[0146] use Fig.18 as well as Fig.19 A conveying device and a method for conveying an object to be conveyed according to a fifth embodiment of the present invention will be described.

[0147] First, use Fig.18 The schematic structure of the conveying device of this embodiment will be described. Fig.18 It is a diagram schematically showing the outline of a conveying device 1D according to this embodiment.

[0148] Fig.18 This is an example in which 1.0 [A] flows through the winding 21b and -1.0 [A] flows through the winding 21c. Fig.19 The thrust (a) is shown when 1.0 [A] flows through the winding 21b, the thrust (b) is shown when -1.0 [A] flows through the winding 21c, the thrust (c) is shown when both 1.0 [A] and -1.0 [A] currents flow through the winding 21b and 21c, and the thrust (d) is shown when no current flows through any winding. Fig.19 The thrust of is the thrust of the permanent magnet 10a from the section A to the section A'.

[0149] like Fig.19As shown, the thrust (a) when 1.0 [A] flows through the winding 21b becomes larger in the front half of the position (close to the side of interval A). In addition, the thrust (b) when 1.0 [A] flows through the winding 21c becomes larger in the rear half of the position (close to the side of interval A').

[0150] Moreover, the thrust (c) when the current of 1.0 [A] flows through the winding 21b and the current of -1.0 [A] flows through the winding 21c has a thrust waveform that is roughly the same in the front half of the position (close to the side of interval A) and the rear half of the position (close to the side of interval A'), and can stably generate thrust in the interval from interval A to interval A'.

[0151] By allowing different current values ​​to flow through adjacent windings in this manner, it is possible to increase thrust and reduce thrust fluctuations.

[0152] The other structures and operations are substantially the same as those of the conveying device and the conveying method of the object to be conveyed in the first embodiment, and detailed description thereof will be omitted.

[0153] In the conveying device and the conveying method of the object to be conveyed according to the fifth embodiment of the present invention, it is also possible to obtain substantially the same effects as those of the conveying device and the conveying method of the object to be conveyed according to the first embodiment described above.

[0154] <Example 6>

[0155] use Figure 20 to Figure 22 A conveying device and a method for conveying an object to be conveyed according to a sixth embodiment of the present invention will be described.

[0156] First, use Fig. 20 The schematic structure of the conveying device of this embodiment will be described. Fig. 20 It is a diagram schematically showing the outline of a conveying device 1E according to this embodiment.

[0157] exist Fig. 20 1.0 [A] flows through the winding 21b, -1.0 [A] flows through the winding 21c, and 1.0 [A] flows through the winding 21d. In addition, the magnetization direction 90 of the permanent magnet 10a and the magnetization direction 91 of the permanent magnet 10b are opposite to each other.

[0158] Fig.21 Indicated in Fig. 20 The thrust applied to the permanent magnets 10a and 10b under the condition of Fig.21 In the embodiment, the permanent magnet 10a formed integrally with the transported object is moved from the section A to the section A' in the X direction without changing the current value of each winding. In addition, the permanent magnet 10b is moved from the section A' to the section A" in the X direction.

[0159] like Fig.21As shown, the thrust acting on each permanent magnet at this time is generated in approximately the same direction, which can efficiently move the transported object. At this time, it can be seen that the thrust acting on the permanent magnet 10a and the permanent magnet 10b is approximately equal, and the permanent magnet 10a and the permanent magnet 10b can move in the same direction at the same speed.

[0160] exist Fig. 22 As an application example, the thrust is shown in which the current of winding 21b is 0 [A] (no current), -1.0 [A] flows through winding 21c, and 1.0 [A] flows through winding 21d. When permanent magnet 10a and permanent magnet 10b move in the same direction at the same speed, the leading permanent magnet 10b continues to be transported directly. When the permanent magnet 10a is to be stopped or the speed is to be decelerated, the thrust can be reduced by the positive thrust.

[0161] It is found that the fluctuation of the thrust can be suppressed by continuously adjusting the current value supplied to the winding below the permanent magnet being conveyed or in front of the preceding permanent magnet.

[0162] The other structures and operations are substantially the same as those of the conveying device and the conveying method of the object to be conveyed in the first embodiment, and detailed description thereof will be omitted.

[0163] In the conveying device and the conveying method of the object to be conveyed according to the sixth embodiment of the present invention, it is possible to obtain substantially the same effects as those of the conveying device and the conveying method of the object to be conveyed according to the first embodiment described above.

[0164] <Example 7>

[0165] use Fig.23 as well as Fig.24 The following describes an embodiment of a sample analysis system and a sample pretreatment device to which the transport device and the transport method of a transported object according to Embodiment 7 of the present invention are preferably applied. Fig.23 The overall configuration of the sample analysis system 100 will be described. Fig.24 This is a diagram schematically showing the overall configuration of the sample analysis system 100 .

[0166] exist Fig.23 In the figure, the specimen analysis system 100 is a device for injecting a specimen and a reagent into a reaction container respectively to react them, and measuring the liquid after the reaction, and includes a loading unit 101, an emergency rack input port 113, a conveying line 102, a buffer 104, an analysis unit 105, a storage unit 103, a display unit 118, a control unit 120, etc.

[0167] The loading section 101 is a place where a specimen rack 111 storing a plurality of specimen containers 122 storing biological samples such as blood and urine is installed. The emergency rack loading port 113 is a place for loading a specimen rack 111 storing a standard solution (calibration rack) or a specimen container 122 storing a specimen required for emergency analysis into the apparatus.

[0168] The buffer 104 holds a plurality of sample racks 111 conveyed by the transport line 102 so that the order of dispensing samples in the sample racks 111 can be changed.

[0169] The analysis unit 105 analyzes the sample transferred from the buffer 104 via the transmission line 106. The details will be described later.

[0170] The storage unit 103 stores the sample rack 111 containing the sample containers 122 holding the samples analyzed by the analysis unit 105 .

[0171] The conveyor line 102 is a line for conveying the sample rack 111 provided in the loading unit 101 , and has the same structure as any of the conveyor devices described in the above-mentioned Embodiments 1 to 6. In this embodiment, a magnetic body, preferably a permanent magnet, is provided on the back side of the sample rack 111 .

[0172] The analysis unit 105 is composed of a transfer 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 , a spectrophotometer 121 , and the like.

[0173] The transport line 106 is a line for carrying the sample rack 111 in the buffer 104 to the analysis unit 105, and has the same structure as the transport device described in the above-mentioned first to sixth embodiments.

[0174] The reaction disk 108 has a plurality of reaction containers. The specimen dispensing nozzle 107 dispenses the sample from the specimen container 122 to the reaction container of the reaction disk 108 by rotational drive and vertical drive. The reagent disk 110 is provided with a plurality of reagents. The reagent dispensing nozzle 109 dispenses the reagent from the reagent bottle in the reagent disk 110 to the reaction container of the reaction disk 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 the light source (not shown) through the reaction solution of the reaction container.

[0175] The reagent tray 114 is a component for placing reagents when registering reagents 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 placed on the reagent tray 114. The reagent loader 116 is a device for carrying reagents into the reagent disk 110.

[0176] 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.

[0177] The control unit 120 is composed of a computer or the like, controls the operation of each mechanism in the sample analysis system 100 , and performs calculation processing to obtain the concentration of a predetermined component in a sample such as blood or urine.

[0178] The above is the overall configuration of the sample analysis system 100 .

[0179] The sample analysis process of the sample analysis system 100 described above is generally performed according to the following procedure.

[0180] First, the specimen rack 111 is placed in the loading unit 101 or the emergency rack loading port 113 and is loaded into the random-accessible buffer 104 via the conveyor line 102 .

[0181] The sample analysis system 100 carries the sample rack 111 having the highest priority among the racks stored in the buffer 104 to the analysis unit 105 through the transport line 106 according to the priority rule.

[0182] The sample rack 111 that has arrived at the analysis unit 105 is further transferred to a sample separation position near the reaction disk 108 via the transfer line 106, and the sample is dispensed into a reaction container of the reaction disk 108 via the sample dispensing nozzle 107. The sample dispensing nozzle 107 dispenses the sample as many times as necessary according to the analysis item requested for the sample.

[0183] The specimen dispensing nozzle 107 performs specimen dispensing on all the specimen containers 122 loaded on the specimen rack 111. The specimen rack 111 after the dispensing process for all the specimen containers 122 is transferred again to the buffer 104. In addition, the specimen rack 111 after all the specimen dispensing process is completed is transported to the storage section 103 through the conveyor line 106 and the conveyor line 102 including automatic re-inspection.

[0184] The reagent used in the analysis is dispensed from the reagent bottle on the reagent disk 110 to the reaction container into which the sample has been dispensed by the reagent dispensing nozzle 109. Next, the mixed solution of the sample and the reagent in the reaction container is stirred by a stirring mechanism (not shown).

[0185] After that, the light generated from the light source is transmitted through the reaction container containing the stirred mixed liquid, and the luminosity of the transmitted light is measured by the spectrophotometer 121. The luminosity measured by the spectrophotometer 121 is sent to the control unit 120 via the A / D converter and the interface. Then, the control unit 120 performs calculations to obtain the concentration of a predetermined component in a liquid sample such as blood or urine, and displays the result on the result display unit 118 or the like, or stores it in a storage unit (not shown).

[0186] In addition, if Fig.23 As shown, the specimen analysis system 100 does not need to have all the above structures, and can appropriately add units for pretreatment, or delete some units and some structures. In addition, the analysis unit 105 is not limited to biochemical analysis, but can also be used for immunoassay, and does not need to be one, but can have two or more. In this case, the analysis unit 105 is also connected to the loading unit 101 through the conveyor line 102, and the specimen rack 111 is transported from the loading unit 101.

[0187] Next, use Fig.24 The overall structure of the sample preprocessing device 150 will be described. Fig.24 This is a diagram schematically showing the overall configuration of the sample preprocessing device 150 .

[0188] exist Fig.24 In the present invention, the sample preprocessing device 150 is a device that performs various preprocessing required for sample analysis. Fig.24 From the left side to the right side, it includes: a plurality of units with a closing unit 152, a specimen storage unit 153, a bracket stacker 154, a specimen input unit 155, a centrifugal separation unit 156, a liquid volume measuring unit 157, an opening unit 158, a sub-specimen container preparation unit 159, a dispensing unit 165, and a transfer unit 161 as basic elements; a conveying device 170; and an operating unit PC163 that controls the actions of these plurality of units.

[0189] As a transfer destination of the sample processed by the sample preprocessing device 150, a sample analysis system 100 for performing qualitative and quantitative analysis of components of the sample is connected.

[0190] The specimen inserting unit 155 is a unit for inserting the specimen container 122 containing the specimen into the specimen pretreatment device 150. The centrifugal separation unit 156 is a unit for centrifuging the inserted specimen container 122. The liquid volume measuring unit 157 is a unit for measuring the liquid volume of the specimen contained in the specimen container 122. The plug opening unit 158 ​​is a unit for opening the plug of the inserted specimen container 122. The sub-specimen container preparation unit 159 is a unit for performing preparations required for dispensing the sample contained in the inserted specimen container 122 in the next dispensing unit 165. The dispensing unit 165 is a unit for dispensing the centrifuged specimen so that the specimen is analyzed by a specimen analysis system or the like, and for attaching bar codes or the like to the dispensing specimen containers 122 and sub-specimen containers 122. The transfer unit 161 is a unit for sorting the dispensing sub-specimen containers 122 and preparing for transfer to the specimen analysis system. The capping unit 152 is a unit that caps the specimen container 122 and the subsidiary specimen container 122. The specimen storage unit 153 is a unit that stores the capped specimen container 122.

[0191] The transport device 170 is a mechanism for transporting a specimen rack or specimen holder holding the specimen container 122 between these units and between the specimen pretreatment device 150 and the specimen analysis system 100, and any of the transport devices 1 in Embodiments 1 to 6 is used.

[0192] Furthermore, the sample preprocessing device 150 does not need to include all of the above-described configurations, and may further add units, or delete some units or some configurations.

[0193] In addition, the sample analysis system of this embodiment may also be composed of Fig.24 The sample preprocessing device 150 and the sample analysis system 100 shown in the figure constitute a sample analysis system 200. In this case, the sample container 122 can be transported not only within each system but also between systems by connecting the transport device 1 of the above-mentioned embodiments 1 to 6.

[0194] The sample analysis system 100, 200 and the sample pretreatment device 150 of the embodiment 7 of the present invention are equipped with the transport device of the embodiment 1, etc., and can efficiently transport the sample container 122 to the transport destination, thereby shortening the time until the analysis result is obtained. In addition, there are fewer transport failures, which can reduce the burden on the inspection engineer.

[0195] Furthermore, this embodiment illustrates the case where the specimen rack 111 holding five specimen containers 122 containing specimens is transported as the transport target, but in addition to the specimen rack 111 holding five specimen containers 122, a specimen rack holding one specimen container 122 can also be transported as the transport target.

[0196] <Other>

[0197] The present invention is not limited to the above-described embodiments, and includes various modifications. The above-described embodiments are described in detail to explain the present invention in an easy-to-understand manner, and are not limited to necessarily having all the described configurations.

[0198] In addition, a part of the structure of a certain embodiment can be replaced with the structure of another embodiment, and a structure of another embodiment can be added to a structure of a certain embodiment. In addition, for a part of the structure of each embodiment, other structures can be added, deleted, or replaced.

[0199] For example, in Embodiments 1 to 7, the case where the object to be transported is a specimen rack or the like has been described, but the object to be transported is not limited to the specimen rack or the like, and various objects that require large-scale transport can be transported.

[0200] Description of Reference Numerals

[0201] 1, 1A, 1B, 1C, 1D, 1E...Conveying device

[0202] 10, 10a, 10b...permanent magnet (first magnetic body)

[0203] 21, 21a, 21b, 21c, 21d...winding

[0204] 2222a, 22b, 22c, 22d... iron core (second magnetic body)

[0205] 25, 25a, 25b, 25c, 25d... magnetic pole (magnetic circuit)

[0206] 50 drive circuit

[0207] 55···Current command calculation unit (calculation unit)

[0208] 60···Position and speed detection unit (transported object detection unit)

[0209] 65···Weight Inspection Department

[0210] 80a, 80b, 80c, 80d...Magnetic flux

[0211] 90, 91···Magnetization direction

[0212] 100 specimen analysis system

[0213] 101···Moving-in Department

[0214] 102···Conveyor line

[0215] 103···Storage Department

[0216] 104···Buffer

[0217] 105···Analysis Department

[0218] 106···Transmission line

[0219] 107···Specimen dispensing nozzle

[0220] 108···Reaction plate

[0221] 109···Reagent dispensing nozzle

[0222] 110···Reagent disk

[0223] 111···Specimen rack

[0224] 112···Cleaning mechanism

[0225] 113···Emergency rack entry

[0226] 114···Reagent tray

[0227] 115···Reader

[0228] 116···Reagent Loader

[0229] 118···Display unit

[0230] 120···Control Department

[0231] 121···Spectrophotometer

[0232] 122···Specimen container

[0233] 122···Sub-specimen container

[0234] 150···Specimen pretreatment device

[0235] 152···Blocking unit

[0236] 153···Specimen storage unit

[0237] 154···Standard Stacker

[0238] 155···Specimen feeding unit

[0239] 156···Centrifugal separation unit

[0240] 157···Liquid volume measuring unit

[0241] 158···Opening unit

[0242] 159···Sub-sample container preparation unit

[0243] 161···Transfer unit

[0244] 165···Dispensing unit

[0245] 170···Conveying device

[0246] 200···Specimen analysis system.

Claims

1. A conveying device, characterized in that: The conveying device comprises: A first magnetic body, which is arranged on the side of the transported object; Two or more magnetic circuits having an iron core formed of a second magnetic body and a winding wound around an outer circumference of the iron core; a drive circuit that supplies current to the winding of the magnetic circuit; a calculation unit that controls a current value supplied from the drive circuit to the winding; a transported object detection unit for detecting the position or speed of the first magnetic object, The calculation unit makes the value of the current supplied to the windings adjacent to each other along the moving direction of the transported body different in positive and negative values, and changes the current supplied to the windings based on the position or speed information of the first magnetic body detected by the transported body detection unit. When the interval between two or more of the iron cores is set to Pc, the current value in the interval before 1 / 2Pc of the interval is larger than the current value after 1 / 2Pc.

2. The conveying device according to claim 1, characterized in that The conveying device further includes a weight detection unit for detecting the weight of the conveyed object. The calculation unit changes the current supplied to the winding based on the weight information of the transported object detected by the weight detection unit.

3. The conveying device according to claim 1, characterized in that: The calculation unit directs magnetic fluxes generated by the coils adjacent to each other in the traveling direction of the transported object in opposite directions.

4. The conveying device according to claim 1, characterized in that The conveying device is provided with two or more magnetic circuits. When the number of the transported objects provided with the first magnetic body is at least two or more, When the number of the transported objects is N, the calculation unit makes all the current values ​​of the N or more consecutive windings different.

5. The conveying device according to claim 4, characterized in that: The calculation unit increases or decreases the current values ​​of N or more consecutive windings toward the traveling direction of the transported object.

6. The conveying device according to claim 1, characterized in that: When the interval between the two or more cores is Pc, and when the interval Pm between the two or more first magnetic bodies satisfies the relationship of 2Pc≦Pm, the polarities of the first magnetic bodies are in the same direction.

7. The conveying device according to claim 1, characterized in that The first magnetic body is a permanent magnet.

8. A sample analysis system, characterized in that: The sample analysis system includes the transport device according to claim 1 .

9. A specimen pretreatment device, characterized in that: The sample pretreatment device includes the transport device according to claim 1.

10. A method for conveying a conveyed object, which is a method for conveying a conveyed object having a magnetic body, characterized in that: The conveying method comprises: a conveying step of supplying current to two or more magnetic circuits having an iron core composed of a second magnetic body and a winding wound on the outer circumference of the iron core and exciting the iron core, thereby applying thrust to a first magnetic body provided on the side of the conveyed body; a transported object detection step, detecting the position or speed of the first magnetic object, In the conveying step, the value of the current supplied to the windings adjacent to each other along the traveling direction of the conveyed body is made different in positive and negative values, and the current supplied to the windings is changed based on the position or speed information of the first magnetic body detected by the conveyed body detection step. When the interval between two or more of the iron cores is set to Pc, the current value in the interval before 1 / 2Pc of the interval is larger than the current value after 1 / 2Pc.

11. The method for conveying an object to be conveyed according to claim 10, characterized in that: The transport method further comprises: a weight detection step of detecting the weight of the transported object; In the transporting step, the current supplied to the coil is changed based on the weight information of the transported object detected in the weight detecting step.

12. The method for conveying an object to be conveyed according to claim 10, characterized in that: When two or more magnetic circuits are provided and the number of objects to be transported provided with the first magnetic body is at least two or more, In the transporting step, when the number of the transported objects is N, the current values ​​of N or more consecutive windings are all made different.

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