Sample transport device and carrier for sample transport
By designing a carrier structure in the automated specimen inspection system and utilizing multiple gripping and orientation adjustment parts, the problems of specimen container shaking and path limitation in two-dimensional transport were solved, achieving stable and efficient specimen transport.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HITACHI HIGH TECH CORP
- Filing Date
- 2021-03-05
- Publication Date
- 2026-05-12
AI Technical Summary
In automated specimen inspection systems, existing technologies struggle to effectively suppress the shaking of specimen containers during two-dimensional transport while simultaneously avoiding limitations on the transport path.
The carrier structure design features two or more gripping parts with different diameters supporting it from different directions. The direction adjustment part adjusts the carrier's direction of travel as it slides on the conveying surface, so that the force direction of the gripping parts is opposite to the direction of the carrier's travel. Combined with the offset configuration of high-friction components or permanent magnets, this ensures stable transport of the sample container.
This technology enables the electromagnetic transport process to operate without path restrictions while effectively suppressing the shaking of the sample container, thereby increasing the throughput of the transport and processing system and reducing system costs.
Smart Images
Figure CN115803636B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a specimen transport device for specimen containers in an automated specimen transport system and a specimen transport carrier. Background Technology
[0002] To prevent wear on the gripping surface of the robotic arm when holding a bucket containing a sample container, Patent Document 1 describes the following: The robotic arm has multiple fingers including downwardly extending branches and claws that bend from the lower end of the branches toward the central axis of the robotic arm. The bucket has a protruding bar, which includes an umbrella-shaped portion having a shaft and a flange portion protruding horizontally from the side of the shaft, and a slider that can slide up and down along the outer periphery of the side of the shaft at a position lower than the umbrella-shaped portion. When the multiple fingers are gripping the slider, they move upward together with the slider, and during this process, the claws hook onto the flange portion.
[0003] Existing technical documents
[0004] Patent documents
[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-203309 Summary of the Invention
[0006] The problem that the invention aims to solve
[0007] In recent years, the use of automated equipment for examinations aimed at diagnosis in the medical field has been promoted to make the process more labor-saving and faster.
[0008] Therefore, in the automated specimen examination system, the specimen transport device connects the pre-processing device, the automatic analysis device, and the post-processing device, thereby promoting the full automation of the operations involved in blood analysis and processing.
[0009] In the sample transport within such an automated system, a sample carrier capable of holding a sample container containing a sample is used. As an example, a known method involves generating a magnetic field using multiple electromagnets arranged below a transport surface. This causes the magnets within the sample carrier to attract and repel each other, allowing it to slide on the transport surface. This transport method achieves two-dimensional sample transport, not one-dimensional.
[0010] If the sample shakes, it may affect the analytical results; therefore, suppressing liquid shaking of the sample is important. Thus, it is preferable to transport the sample in a manner that prevents the sample container itself from shaking. However, since the sample carrier consists of sample containers of different diameters, it is difficult to control the minute forces involved in transporting the sample carrier based on the attraction / repulsion of electromagnets, making it difficult to suppress shaking of the sample containers.
[0011] Patent Document 1 describes a method of correcting the orientation of a sample carrier by acting from the side of the sample carrier in a one-dimensional belt transport method. However, in such a technology, in two-dimensional sample transport, if the sample carrier is approached from the side, various problems arise, such as the transport path being restricted and the transport time becoming longer.
[0012] The present invention provides a sample transport device and a sample transport carrier that do not restrict the transport path in electromagnetic transport and can suppress the shaking of the sample compared with the past.
[0013] Methods for solving problems
[0014] The present invention includes multiple means for solving the aforementioned problems. For example, a sample transport device is characterized by comprising: a carrier having two or more gripping portions that support sample containers of different diameters from different directions; and a transport surface on which the carrier slides, the carrier having a direction adjustment portion that adjusts the direction of travel of the carrier as it slides on the transport surface, such that the direction of the force exerted by one of the two or more gripping portions on the sample container is opposite to the direction of travel of the carrier.
[0015] Invention Effects
[0016] According to the present invention, in electromagnetic transport, the transport path can be unrestricted, and the shaking of the specimen can be suppressed compared to the past. Other issues, structures, and effects will become clear through the following description of embodiments. Attached Figure Description
[0017] Figure 1 This is a schematic top view showing the overall structure of the automated body examination system according to an embodiment of the present invention.
[0018] Figure 2 This is a diagram showing the schematic structure of the conveying device that constitutes the automated specimen inspection system of the embodiment.
[0019] Figure 3 This diagram illustrates the structure of the specimen carrier inhibiting the specimen container on the transport path from the bottom side.
[0020] Figure 4 This is a diagram illustrating the tilting of the sample container during transport.
[0021] Figure 5 This is a diagram showing the structure of the sample carrier of the present invention viewed from the side and explained.
[0022] Figure 6 This is a diagram illustrating the structure of the sample carrier of the present invention as viewed from the bottom side.
[0023] Figure 7This diagram illustrates the operating principle of the present invention from the bottom side of the specimen carrier.
[0024] Figure 8 This diagram illustrates the operating principle of the present invention from the bottom side of the specimen carrier.
[0025] Figure 9 These are diagrams showing other structures of the specimen carrier of the present invention viewed from the side and bottom sides.
[0026] Figure 10 This is a side view of another structure of the sample carrier of the present invention.
[0027] Figure 11 This is a side view of another structure of the sample carrier of the present invention. Detailed Implementation
[0028] use Figures 1 to 11 Embodiments of the sample delivery device and the sample delivery carrier of the present invention will be described. Furthermore, in the drawings used in this specification, the same or corresponding components are sometimes labeled with the same or similar symbols, and repeated descriptions of these components are omitted.
[0029] First, use Figure 1 and Figure 2 The overall structure of the automated physical examination system is explained. Figure 1 This is a top view showing the overall structure of the automated body examination system according to an embodiment of the present invention. Figure 2 This is a diagram showing the schematic structure of the conveying device that constitutes the automated specimen inspection system of the embodiment.
[0030] Figure 1 The automated specimen examination system 1000 shown in this embodiment is a system equipped with an analytical device for automatically analyzing the components of specimens such as blood and urine.
[0031] The main component of the automated specimen examination system 1000 is a specimen container 150 (see reference) that holds specimens such as blood and urine. Figure 2 100 specimen carriers (refer to) Figure 2 ) or multiple conveying devices 700 for conveying empty retainers (in Figure 1 There are 12 in the middle), and 800 multiple analytical devices (in the middle). Figure 1 The computer 900 is used to control the unified management of the four (in the middle) and the automated examination system 1000.
[0032] The analytical apparatus 800 is a unit for qualitative and quantitative analysis of the components of a sample transported by the delivery device 700. There are no particular limitations on the analytical items performed in this unit; the structure of a known automated analytical apparatus for analyzing biochemical and immunological items can be used. Furthermore, if multiple apparatuses are installed, they can be of the same or different specifications; there are no particular limitations.
[0033] Each conveying device 700 is a type of device that uses magnetic poles 707 (see reference). Figure 2 ) and the magnetic body 105 disposed on the specimen carrier 100 (refer to Figure 2 The interaction of the particles causes them to slide along the transport path, thereby transporting the sample mounted on the sample carrier 100 to its destination. Details are available using... Figure 2 A detailed explanation will follow later.
[0034] The control computer 900 controls the overall operation of the system, including the conveying device 700 and the analysis device 800. It is a computer equipped with a display device such as a liquid crystal display, input devices, a storage device, a CPU, and a memory. The control computer 900 controls the operation of each device based on various programs recorded in the storage device.
[0035] Furthermore, the control processing of actions performed by the control computer 900 can be centralized in a single program, or it can be divided into multiple programs, or a combination of them. Additionally, part or all of the program can be implemented using dedicated hardware, or it can be modularized.
[0036] In addition, in the aforementioned Figure 1 The text describes a scenario with four analytical devices 800, but the number of analytical devices is not particularly limited and can be more than one. Similarly, the number of conveying devices 700 is not particularly limited and can be more than one.
[0037] Furthermore, the automated specimen examination system 1000 can be equipped with various specimen pre-processing / post-processing units that perform pre-processing and post-processing of specimens. The detailed structure of the specimen pre-processing / post-processing units is not particularly limited, and the structure of known pre-processing devices can be adopted.
[0038] Next, use Figure 2 The structure of the conveying device 700 in this embodiment will be described.
[0039] like Figure 2 As shown, multiple specimen carriers 100, each carrying a specimen container 150 containing a specimen, are provided in the transport device 700. A magnetic element 105 is provided on the bottom surface of each of the multiple specimen carriers 100.
[0040] The magnetic body 105 may be made of permanent magnets such as neodymium or ferrite, but may also be made of other magnets and soft magnetic materials, which may be appropriately combined.
[0041] The sample carrier 100, which has a magnetic body 105, moves in a sliding manner on the conveying surface 201. To generate this conveying force, a plurality of magnetic poles 707, each consisting of a cylindrical iron core 705 and a winding 706 wound around the outer periphery of the iron core 705, are provided at the lower part of the conveying surface 201. These magnetic poles 707 constitute each of a plurality of detection points for detecting the position of the magnetic body 105. Furthermore, a plurality of conveying paths are provided above the magnetic poles 707 in a manner that covers them.
[0042] In the conveying device 700 of this embodiment, a plurality of magnetic poles 707 are provided inside to detect the position of the magnetic body 105 and to convey the magnetic body 105, i.e., to convey the sample.
[0043] A drive unit 708 is connected to the magnetic pole 707, which allows a predetermined current to flow through the winding 706 by applying a predetermined voltage to the magnetic pole 707. The magnetic pole 707, to which voltage is applied by the drive unit 708, functions as an electromagnet, attracting the magnetic body 105 of the specimen carrier 100 located on the transport surface 201. After the specimen carrier 100 is attracted by the magnetic pole 707, the voltage applied to the magnetic pole 707 is stopped from the drive unit 708, and similarly, a voltage is applied from the drive unit 708 to a different magnetic pole 707 adjacent to the magnetic pole 707, thereby attracting the magnetic body 105 of the specimen carrier 100 to the adjacent magnetic pole 707.
[0044] By repeatedly performing this step by all the magnetic poles 707 that constitute the transport path, the specimen contained in the specimen container 150 held by the specimen carrier 100 equipped with the magnetic body 105 is transported to the destination.
[0045] The arithmetic unit 709 uses various information such as the position, speed, and weight of the sample carrier 100 to calculate the current flowing through each winding 706 and outputs a command signal to each drive unit 708. The drive unit 708 applies a voltage to the corresponding winding 706 based on the command signal.
[0046] The detection unit 710 only needs to be able to detect the position of the sample container 150, and its structure is not particularly limited. For example, a Hall sensor or length measuring device, which detects the magnetic flux of the magnetic body 105 of the sample container 150, can be used, and its structure can directly determine the position of the sample container 150. Furthermore, by detecting the current flowing through the winding 706 of the magnetic pole 707 and its flow pattern, the position of the magnetic body 105 can be determined, and the position of the sample container 150 can be determined indirectly.
[0047] Furthermore, the structure of the conveying device 700 is not limited to the aforementioned structure; for example, it can employ a structure that performs electromagnetic conveying along a one-dimensional conveying path.
[0048] Next, use Figures 3 to 11 The characteristic structure of the sample carrier is described. Figure 3 This diagram illustrates the structure of the specimen carrier inhibiting the specimen container along the transport path from the bottom side.
[0049] like Figure 2 , Figure 3 As shown, in the automated specimen examination system 1000, the specimen is collected into the specimen container 150 and processed while held in place. The specimen container 150 is inserted into the specimen carrier 100 by the operator through manual operation or through an automatic insertion unit, and transported within the system for various processing.
[0050] Here, the diameter of the sample container 150 inserted into the sample carrier 100 is not fixed. Therefore, the sample carrier 100 has two or more ( Figure 3 There are four gripping portions 101 that support specimen containers 150 of different diameters from different directions. These four gripping portions 101 close or open according to the diameter of the specimen container 150, forming a structure that holds the specimen container 150 at 90° intervals. In this gripping method, the gripping force is greater 21 at the part of the gripping portion 101 that contacts the specimen container 150, and less 22 between the gripping portions 101 and adjacent gripping portions 101.
[0051] Figure 4 This is a diagram illustrating the inertia that occurs during deceleration in the specimen transport carrier 100. (As shown...) Figure 4 As shown, when the sample carrier 100 decelerates, inertia 31 acts on the sample container 150. When the inertia 31 takes effect beyond the gripping force of the gripping part 101, the gripping part 101 is pushed open and the sample container 150 tilts. When the change in speed disappears and the inertia 31 disappears, the pushed-open gripping part 101 closes, and the sample container 150 stands upright. Through the movement of the sample container 150, the sample inside the sample container 150 shakes.
[0052] To suppress the shaking of the sample, it is required that the gripping force 21 be aligned in the opposite direction to the inertia 31 applied to the sample container 150 during deceleration. For this purpose, it is required that the travel direction 10 of the sample carrier 100 be adjusted during sliding on the transport surface 201 so that the direction of the force exerted by one of the two or more gripping parts 101 on the sample container 150 is opposite to the travel direction of the sample carrier 100.
[0053] Figure 5 This diagram illustrates the structure of the sample carrier as observed from the side. Figure 6 This diagram illustrates the structure of the sample carrier when viewed from the bottom side.
[0054] As a direction adjustment unit for adjusting the travel direction of such a specimen carrier 100, in this invention, such as Figure 5 , Figure 6 As shown, a high-friction member 102 is provided on the bottom surface 110 of the specimen carrier 100 at a position offset from the central axis 12 of the specimen carrier 100. The coefficient of friction relative to the conveying surface 201 is higher than that of the material constituting the specimen carrier 100. This high-friction member 102 is located on the opposite side of one of the two or more gripping parts 101 at a 180° angle.
[0055] Therefore, the center 14 of the interaction between the bottom surface 110 of the specimen carrier 100 and the conveying surface 201, that is, the frictional force 11 acting on the bottom surface 110 of the specimen carrier 100, can be set at a position away from the central axis 12 of the specimen carrier 100.
[0056] Figure 7 as well as Figure 8 This diagram illustrates the principle of directional alignment based on friction, viewed from the bottom side of the carrier.
[0057] In such a structure, such as Figure 7 As shown, when the transport begins, the frictional force 11 generated by the transport acts in a direction that is 180° to the direction of travel 10 of the specimen carrier 100.
[0058] In this case, if a component of the frictional force 11 exists in a direction orthogonal to the straight line formed by the central axis 12 of the specimen carrier 100 and the center 14 of the frictional force 11, such as Figure 7 That creates a rotational force 13. Through this rotational force, the specimen carrier 100 rotates simultaneously as it moves forward in the transport direction.
[0059] And, as Figure 8 As shown, when the high-friction component 102 is positioned 180° opposite to the travel direction 10, the straight line formed by the central axis 12 and the center of friction 14 is parallel to the direction of friction 11, and the component of friction in the direction of rotational force 13 disappears. Therefore, rotational force 13 has no effect, and with rotation stopped and the high-friction component 102 positioned behind the travel direction 10, the specimen carrier 100 is transported to a predetermined position.
[0060] In this way, the specimen carrier 100 can rotate automatically during transport, thus aligning itself in a certain direction relative to the transport direction. This allows the direction in which the gripping force 21 exerts its strongest force to automatically align in the opposite direction to the travel direction 10. Consequently, the gripping force 21 is aligned in the direction parallel to the inertia 31 of the specimen container during deceleration, effectively suppressing the tilting of the specimen container 150 during deceleration of the specimen carrier 100.
[0061] Furthermore, the method of providing one high-friction member 102 has been described, but it is not limited to this. As an example, the carrier can also be aligned in any of the three directions by arranging three high-friction members 102 on the bottom surface of the carrier.
[0062] As described above, the shaking of the sample container 150 can be suppressed with a simple mechanism.
[0063] Next, use Figures 9 to 11 The other structures of the sample carrier are described. Figure 9 This is a diagram showing other structures of the sample carrier of the present invention viewed from the bottom side. Figure 10 as well as Figure 11 This is a side view of other structures of the sample carrier of the present invention.
[0064] In the aforementioned Figure 5 In the above, a high-friction component 102 is used to offset the central axis 12 of the specimen carrier 100 from the center 14 of the friction force 11, but the method of offsetting the center 14 of the friction force 11 is not limited to this.
[0065] For example, such as Figure 9 As shown, the center 14 of the friction force 11 can be shifted by the shape of the bottom surface 110A of the specimen carrier 100A.
[0066] More specifically, the shape is designed such that the bottom surface 110A of the specimen carrier 100A has an uneven surface, and only the transport surface contact portion 103A and the outer peripheral portion 109A, which are located off-center from the central axis 12, are in contact with the transport surface 201. With this shape, the non-contact portion 104A of the transport surface, which is the concave portion of the bottom surface 110A, does not slide with the transport surface 201, so no friction is generated. The portion that generates friction through sliding with the transport surface 201 becomes the outer peripheral portion 109A and the convex portion of the bottom surface 110A, namely the transport surface contact portion 103A, which can offset the center 14 of the friction force 11.
[0067] Furthermore, the conveying surface contact portion 103A is positioned 180° opposite to one of the two or more gripping portions 101. The same applies to the permanent magnet 105B and the cavity 108C shown below.
[0068] In the aforementioned Figure 5 Equal and Figure 9 The method shown uses the frictional force 11 generated by the interaction between the bottom surfaces 110 and 110A of the specimen carriers 100 and 100A and the conveying surface 201 to adjust the direction of travel 10, but the direction of travel 10 of the specimen carriers 100B and 100C can also be adjusted in other ways.
[0069] For example, such as Figure 10 As shown, the permanent magnet 105B, which is emitted by the magnetic pole 707 and acts on the electromagnetic force (transport force 106B) for transporting the specimen carrier 100B, is offset relative to the physical center 111B of the specimen carrier 100B.
[0070] In this method, if the conveying force 106B emitted by the magnetic pole 707 acts on the permanent magnet 105B and begins to move, the side where the permanent magnet 105B is located begins to move in such a way that it becomes the front end side of the specimen carrier 100B. Therefore, the specimen carrier 100B is aligned in a certain direction relative to the conveying direction, so that the direction in which the gripping force 21 is strongest is aligned in a direction parallel to the travel direction 10.
[0071] In addition, such as Figure 11 As shown, the physical center 111C of the specimen carrier 100C and the center of gravity 112C of the specimen carrier 100C can be set at different positions.
[0072] For example, such as Figure 11 As shown, there is a method in which a cavity 108C is provided in the bottom part 107C of the bottom part of the specimen carrier 100C at a position offset from the physical center 111C, so that the center of gravity 112C is offset.
[0073] In this method, when the sample carrier 100C begins to move, the lighter side, which has the cavity 108C, moves as the front end of the sample carrier 100C. Therefore, the sample carrier 100C is aligned in a certain direction relative to the transport direction, ensuring that the direction in which the gripping force 21 is strongest is aligned in a direction parallel to the travel direction 10.
[0074] Alternatively, a substitute for cavity 108C can be used, or a substance with a higher density than the material constituting the specimen carrier 100C can be placed at a position offset from the physical center 111C of the specimen carrier 100C.
[0075] In addition, the above can be appropriately combined Figure 5 wait, Figure 9 , Figure 10 , Figure 11 As shown in the diagram.
[0076] Next, the effects of this embodiment will be explained.
[0077] The conveying device 700 of this embodiment includes: specimen carriers 100, 100A, 100B, and 100C having two or more gripping portions 101 that support specimen containers 150 of different diameters from different directions; and a conveying surface 201 on which the specimen carriers 100, 100A, 100B, and 100C slide. The specimen carriers 100, 100A, 100B, and 100C have a direction adjustment portion that adjusts the travel direction 10 of the specimen carriers 100, 100A, 100B, and 100C when they slide on the surface of the conveying surface 201, so that the direction of the force exerted by one of the gripping portions 101 on the specimen container 150 is opposite to the travel direction of the specimen carriers 100, 100A, 100B, and 100C.
[0078] With this structure, the shaking of the sample container 150 when the sample carriers 100A, 100B, and 100C stop is reduced. Therefore, there is no need for a large mechanism to control the direction of the sample carriers 100, 100A, 100B, and 100C, nor for the time required to drive the mechanism. The transport path is also not restricted, which can improve the throughput of transport processing and reduce the cost of the system.
[0079] In addition, the direction adjustment unit adjusts the travel direction 10 of the specimen carriers 100 and 100A by the friction 11 between the bottom surface 110 of the specimen carriers 100 and 100A and the conveying surface 201, so that the direction of the specimen carriers 100 and 100A can be easily and automatically aligned.
[0080] Furthermore, the orientation adjustment unit is composed of multiple regions (high friction component 102 and bottom surface 110) on the bottom surface 110 of the specimen carrier 100 with different coefficients of friction relative to the conveying surface 201, or is composed of a part of the bottom surface 110A of the specimen carrier 100A (conveying surface contact part 103A) in contact with the conveying surface 201. Thus, the orientation of the specimen carriers 100 and 100A can be automatically adjusted by sliding the center 14 of the friction force 11 away from the central axis 12 of the specimen carriers 100 and 100A.
[0081] In addition, the orientation adjustment unit is configured such that the permanent magnet 105B, which exerts electromagnetic force on the sample carrier 100B, is offset relative to the physical center 111B of the sample carrier 100B, and the physical center 111C of the sample carrier 100C is different from the center of gravity 112C. This configuration also makes it easy to automatically align the orientations of the sample carriers 100B and 100C.
[0082] <Other>
[0083] Furthermore, the present invention is not limited to the described embodiments and can be modified and applied in various ways. The described embodiments are examples provided for the purpose of readily understanding the present invention and are not limited to having all the described structures.
[0084] Explanation of reference numerals in the attached figures
[0085] 10…Direction of travel
[0086] 11… Friction (interaction)
[0087] 12…Central Axis
[0088] 13… Rotational force
[0089] 14…center
[0090] 21…Strong grip
[0091] 22…low grip strength
[0092] 31…Inertia
[0093] 100, 100A, 100B, 100C… Specimen carriers (carriers for specimen delivery)
[0094] 101…Grip section
[0095] 102…High-friction components
[0096] 103A…Conveying surface contact part (partial)
[0097] 104A… Non-contact part of the conveyor surface
[0098] 105…Magnetic body
[0099] 105B…Permanent magnet (magnetic material)
[0100] 106B…Transportation capacity
[0101] 107C…bottom surface
[0102] 108C…cavity
[0103] 109A… Peripheral part
[0104] 110, 110A... Bottom surface
[0105] 111B, 111C…Physical Center
[0106] 112C…center of gravity
[0107] 150…sample container
[0108] 201…Conveying surface (the surface in contact with the bottom of the carrier)
[0109] 700… Conveying device
[0110] 705… iron core
[0111] 706…winding
[0112] 707…Magnetic poles
[0113] 708…Drive Section
[0114] 709…Computation Department
[0115] 710… Testing Department
[0116] 800…Analytical Device
[0117] 900… Control computer
[0118] 1000… Automated Specimen Examination System.
Claims
1. A sample delivery device, characterized in that, The sample delivery device has the following features: A carrier having two or more gripping portions that support specimen containers of different diameters from different directions; and The transport surface on which the carrier slides. The carrier has a direction adjustment part that adjusts the direction of travel of the carrier when it slides on the surface of the conveying surface, so that the direction of the force exerted by one of the two or more gripping parts on the specimen container is opposite to the direction of travel of the carrier. The direction adjustment unit adjusts the direction of travel of the carrier by the interaction between the bottom surface of the carrier and the conveying surface. The orientation adjustment part is composed of multiple regions on the bottom surface of the carrier that have different frictional forces relative to the conveying surface, or the orientation adjustment part is composed of a shape in which a portion of the bottom surface of the carrier contacts the conveying surface.
2. The specimen transport device according to claim 1, characterized in that, The orientation adjustment unit is configured such that a magnetic body that exerts electromagnetic force on the carrier is offset relative to the physical center of the carrier.
3. The specimen transport device according to claim 1, characterized in that, The orientation adjustment unit is constructed by the fact that the physical center and the center of gravity of the carrier are different.
4. A carrier for transporting a sample, for holding a test body containing a sample, characterized in that, The carrier for transporting the sample has the following features: Two or more gripping parts that support specimen containers of different diameters from different directions; and The direction adjustment unit adjusts the direction of travel of the sample transport carrier as it slides on the transport surface, such that the direction of the force exerted by one of the two or more gripping parts on the sample container is opposite to the direction of travel of the sample transport carrier. The direction adjustment unit adjusts the direction of travel of the carrier by the interaction between the bottom surface of the carrier and the conveying surface. The orientation adjustment part is composed of multiple regions on the bottom surface of the carrier that have different frictional forces relative to the conveying surface, or the orientation adjustment part is composed of a shape in which a portion of the bottom surface of the carrier contacts the conveying surface.