Automated analysis system

Abstract

The present application provides an automatic analysis system in which the longitudinal or lateral dimension of a moving mechanism with respect to a walking surface can be freely set without affecting the layout of an automatic analysis device. A track column (117) is provided on the front of the automatic analysis device, and a carrying robot (131) moves on the track column (117). The track column (117) restricts the rolling, pitching, and yawing rotation directions so that the carrying robot (131) does not fall over. In addition, the track column (117) is fixed to a first jack (108) and a second jack (113), and each jack (108, 113) is in contact with the automatic analysis device (106) and the main body (101) without a gap, so the rolling, pitching, and yawing rotation directions of the track column (117) itself fixed to each jack (108, 113) are restricted. Thus, an automatic analysis system in which the longitudinal or lateral dimension of the moving mechanism (133) with respect to a walking surface can be freely set can be provided.

Description

Technical Field

[0001] This invention relates to an automated analysis system. Background Technology

[0002] Previously, the addition of various reagents or samples to automated blood analysis devices was primarily done manually. In this case, there is a possibility of human contact with the samples, posing a risk of infection. Regarding the reagents, human contact also carries the risk of organic matter from humans contaminating the reagents. Therefore, Patent Document 1 discloses a technology that uses a self-propelled robot for transport.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2001-278409 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] The present invention relates to an automated analysis device that processes reagents and samples on a raised floor, i.e., a floor installed on the main body to ensure a certain space. In existing automated analysis devices, a transport robot for dispensing reagents or samples moves to its destination via a walking unit that moves on a plane. Furthermore, for dispensing reagents or samples, a robotic arm is provided to transfer the reagents or samples to the vicinity of the dispensing port of the automated analysis device. Since the automated analysis device relies on manual dispensing of reagents or samples, the height from the ground surface to the dispensing port is approximately 0.8m to 1.5m. Therefore, the robotic arm is required to transport reagents or samples at a height of approximately 0.8m to 1.5m above the ground surface.

[0008] In the proposed technology, a robotic arm is needed to transport reagents or samples to the height of the automated analyzer's inlet, thus raising the center of gravity. Therefore, to prevent the robot from tipping over, either or both of its longitudinal and lateral dimensions relative to the walking surface must be larger than their vertical dimensions relative to the walking surface. In this case, space is required at the inlet of the automated analyzer for the robot to move, limiting the layout of the automated analyzer. Furthermore, in facilities where automated analyzers are already installed, introducing a robotic arm requires, depending on the situation, a redesign of the automated analyzer's layout, resulting in time and cost.

[0009] The present invention was made in view of the above-mentioned problems, and its object is to provide an automatic analysis system that allows for the free setting of longitudinal or lateral dimensions relative to the walking surface without affecting the layout of the automatic analysis device.

[0010] Solution for solving the problem

[0011] To achieve the above objectives, the present invention provides an automated analysis system with the following structure: a plurality of support column groups disposed on the ground; a plurality of top plates disposed on a first support column group among the plurality of support columns; an automated analysis device disposed on the plurality of top plates and having a liquid inlet; a track disposed on a second support column group among the plurality of support columns; a robot that moves on the track to transfer consumables to the automated analysis device; and a lifter disposed below the automated analysis device and between the ground and the top plates, the lifter having a lifting part that applies a force to push the automated analysis device upward in a vertical direction, and the track being fixed to the upper part of a portion of the lifter that protrudes outward in the direction of the automated analysis device.

[0012] Invention Effects

[0013] According to the present invention, the following effect is achieved: even if the longitudinal or lateral dimension relative to the walking surface is smaller than the size in the vertical direction relative to the walking surface, the handling robot will not tip over. Attached Figure Description

[0014] Figure 1 This is a diagram showing the main body and supporting columns of an automatic analysis system.

[0015] Figure 2 This is a diagram showing the top panel of the automatic analysis system.

[0016] Figure 3 This is a diagram showing the setup status of the automatic analysis device.

[0017] Figure 4 This is a diagram showing the first lifting device of the automatic analysis system.

[0018] Figure 5 This is a diagram representing the second lifting device of the automatic analysis system.

[0019] Figure 6 This is a diagram showing the configuration location of the crane.

[0020] Figure 7 This is a diagram showing the configuration location of the crane.

[0021] Figure 8 This is a diagram representing the advanced functions of an automated analysis system.

[0022] Figure 9 This is a diagram showing the state after the handle has been removed.

[0023] Figure 10 It is a diagram showing a track system.

[0024] Figure 11This is a diagram illustrating the function of the track column.

[0025] Figure 12 It is a diagram showing the direction of the torque acting on the track train.

[0026] Figure 13 It is a diagram showing the direction of the torque acting on the track train.

[0027] Figure 14 This is a diagram showing the configuration of the handling robots.

[0028] Figure 15 This is a diagram showing the direction of the torque acting on the handling robot.

[0029] Figure 16 It is a diagram representing the entire automated analysis system.

[0030] Figure 17 It means and Figure 16 A diagram showing the overall structure of different automated analysis systems.

[0031] Figure 18 It means and Figure 16 , 17 A diagram showing the overall structure of different automated analysis systems. Detailed Implementation

[0032] The following describes in detail the implementation of the automated analysis system based on the accompanying drawings. Furthermore, in all the drawings used to illustrate the implementation, identical parts are generally labeled with the same symbols, and repeated descriptions are omitted. Additionally, in this specification, containers, libraries, and columns of mass spectrometers (MS), which are the objects to be transported, are collectively referred to as "consumables."

[0033] Example 1

[0034] Example 1 is an embodiment of an automated analysis system with the following structure: the automated analysis system includes: multiple support column groups disposed on the ground; multiple top plates disposed on a first support column group among the multiple support columns; an automated analysis device disposed on the multiple top plates; a track disposed on a second support column group among the multiple support columns; a robot that moves on the track to transfer consumables to the automated analysis device; and a lifter disposed below the automated analysis device and between the ground and the top plates, the lifter having a lifting part that applies a force to push the automated analysis device back vertically upward, and the track being fixed to the upper part of a portion of the lifter that protrudes outward from the automated analysis device.

[0035] More specifically, this is an embodiment of an automated analysis system comprising: multiple support columns disposed on a transport surface for handling consumables; multiple top plates disposed on a first group of support columns; an automated analysis device disposed on the top plates; a track disposed on a second group of support columns; a robot that moves on the track to transfer a container holding liquid to the automated analysis device; and elongated first and second lifting devices disposed vertically below the automated analysis device and between the ground and the first top plate. The automated analysis device has a liquid inlet and is disposed on a W-plane parallel to the plane having the liquid inlet, formed by an X-axis and a Y-axis perpendicular to the X-axis. The first lifting unit is located vertically below the automatic analysis device, and the second support column unit is located on the outside of the automatic analysis device along the Y-axis. The first lifting unit and the second lifting unit are respectively arranged separately along the Y-axis in the X-axis direction. The first lifting unit has a first lifting part and a second lifting part, which apply a force to push the automatic analysis device upward in the vertical direction. The second lifting unit has a third lifting part and a fourth lifting part, which apply a force to push the automatic analysis device upward in the vertical direction. The first lifting part, the second lifting part, the third lifting part, and the fourth lifting part are respectively arranged separately in the Y-axis direction. The track is fixed to the upper part of the portion of the first lifting unit and the second lifting unit that protrudes outward in the Y-axis direction from the automatic analysis device.

[0036] That is, the object of this embodiment is an automated analysis system that includes an automated analysis device installed on a raised floor. Figure 1 , Figure 2 , Figure 3 (a), (b), and (c) show the perspective view, top view, and front view of the components of the raised floor.

[0037] like Figure 1 As shown, first support columns 102 and second support columns 103 are provided at constant intervals on the main body 101, which serves as the structure of the building. They are installed using fastening elements such as adhesives or screws. Details of the shapes of the first support columns 102 and second support columns 103 are shown in enlarged view A of figure (a). Floor fixing holes 104 are provided on the first support columns 102 and second support columns 103.

[0038] Next, as Figure 2 As shown, a top plate 105 is mounted on the first support column 102 and the second support column 103. The top plate 105 is fixed relative to the first support column 102 and the second support column 103 by means of fixing elements such as screws (not shown) through floor fixing holes 104.

[0039] Figure 3This indicates that an automatic analysis device 106 with a liquid inlet 107 is installed on the top plate 105. This is achieved through the use of... Figures 1 to 3 The raised floor shown has a space between the main body 101 and the top plate 105 for laying power cables, etc. As shown in the figure, an automatic analysis device 106 is arranged on a W plane that is parallel to the surface where the liquid inlet 107 is provided and is formed by the X-axis and the Y-axis perpendicular to the X-axis.

[0040] Figure 4 and Figure 5 This illustrates a structural example of a lifting device used in the automatic analysis system of this embodiment. Figure 4 The first lifting device 108 has the function of simultaneously raising and lowering the first elevator 111 and the second elevator 112 by rotating the handle 109 and transmitting rotation through the transmission element 110. Additionally... Figure 5 The second lifting device 113 also has the function of simultaneously raising and lowering the third lifting device 114 and the fourth lifting device 115 by rotating the handle 109.

[0041] like Figure 6 As shown, in the automatic analysis system of this embodiment, the automatic analysis device removes the top plate 105, which is mounted on the second support column 103 and located directly in front of the automatic analysis device 106, and inserts the first lifter 108 and the second lifter 113 into the lower surface of the automatic analysis device 106.

[0042] At this time, as Figure 7 As shown in (b)C, the first lift 108 and the second lift 113 are arranged such that the first lift 111, the second lift 112, the third lift 114, and the fourth lift 115 are located directly below the mounting surface of the automatic analysis device 106 and the top plate 105, i.e., directly below the foot 116 of the automatic analysis device. At this stage, the first lift 111, the second lift 112, the third lift 114, and the fourth lift 115 are not in contact with the top plate 105.

[0043] Next, rotating handle 109 causes the first elevator 111, the second elevator 112, the third elevator 114, and the fourth elevator 115 to rise, as follows: Figure 8 The surface contacts the top plate 105 on which the automatic analysis device foot 116 is mounted. Then, as shown... Figure 9 As shown, the handle 109 is removed from the first lifting device 108 and the second lifting device 113.

[0044] Next, as Figure 10 As shown, regarding the previously removed top plate 105 portion, a track column 117 is installed on the portion directly in front of the automatic analysis device 106, and the top plate 105 is reinstalled on the remaining portions.

[0045] Figure 11 The figures illustrate the elements of the track column 117 in this embodiment. As shown in (a), (b), and (c), the track column 117 is composed of a starting track 118, a terminal track 120, and multiple intermediate tracks 119. That is, the track column has two or more planes parallel to the X-axis on the Z-axis perpendicular to the W-plane, and also two or more planes parallel to the W-plane, thus dividing the track column into two or more sections. Furthermore, one of the cuts in the W-plane is concave and the other is convex, and one of the cuts in the V-plane perpendicular to the W-plane is concave and the other is convex.

[0046] exist Figure 11 In the top view of (b), each track is provided with a transverse recess 121 and a transverse protrusion 122, which are fitted together for use. Additionally, in Figure 11 In the main view of (c), each track is provided with a longitudinal recess 123 and a longitudinal protrusion 124, which are used in conjunction with each other.

[0047] By using this interlocking method in both the vertical and horizontal directions, it is possible to eliminate... Figure 12 The twisting of track 117 caused by the deflection axis torque 125 generated by the track column shown in (b) and the pitch axis torque 126 generated by the track axis shown in (c) of the figure.

[0048] Next, in Figure 13 The track 117 shown is joined to the lifting device at the interface 127, which fixes the track 117, the first lifting device 108, and the second lifting device 113. The first lifting device 108 and the second lifting device 113 are physically constrained relative to the vertical direction by the weight 129 of the device and the reaction force 130 of the main body via the first elevator 111, the second elevator 112, the third elevator 114, and the fourth elevator 115, thus eliminating the torsion of the track 117 caused by the rolling axis torque 128 generated in the track.

[0049] Next, as Figure 14 As shown, a transport robot 131 equipped with a robotic arm 132 and a moving mechanism 133 is mounted on a track 117. This transport robot 131 has the function of using the robotic arm 132 to insert a liquid container 134 containing a sample or reagent into the liquid inlet 107 of an automated analysis device.

[0050] use Figure 15The moving mechanism 133 of the automatic analysis system of this embodiment will be described. The moving mechanism 133 makes contact with the V plane of the track column 117 at three or more points, and with the two planes of the track column 117 parallel to the W plane at three or more points. As shown in the DD section of Figure (b), there are a total of eight longitudinal wheels 135, including the four shown in the figure and four opposite wheels at the same position. Relative to the upper and lower edges of the track column 117, four longitudinal wheels 135 are respectively connected to the front side 140 of the track and the depth side 141 of the track. Therefore, the transport robot 131 will not detach from the track column 117 due to the pitch axis torque 138 generated by the transport robot 131.

[0051] Next, as shown in the EE diagram of Figure (a), four lateral wheels 136 are provided. As shown in Figure (c), two lateral wheels 136 are inlaid with each of the track front side 140 and track depth side 141, so the transport robot 131 will not disengage from the track row 117 due to the deflection torque 137 generated by the transport robot 131. Moreover, even if the transport robot 131 generates a rolling axis torque 139, since the longitudinal wheels 135 are composed of the two rows of track front side 140 and track depth side 141, the transport robot 131 will not disengage from the track row 117.

[0052] As described above, the track column 117 in this embodiment utilizes the interlocking of concave and convex surfaces and... Figure 13 The device shown has a self-weight 129 and a main body reaction force 130, so that no torsion occurs on any of the yaw, pitch, or roll axes. Furthermore, the transport robot 131 has three or more wheels connected to both sides of the track relative to the track array 117, thus preventing derailment on the yaw, pitch, and roll axes. This prevents the transport robot 131 from tipping over, allowing for flexible size design without needing to consider the center of gravity.

[0053] Figure 16 This diagram illustrates the overall structure of the automated analysis system in this embodiment. A track array 117 is laid near the automated analysis device 106 and near the reagent / sample storage box 142. The reagent / sample storage box 142 stores multiple liquid containers 134 containing reagents or samples. A storage unit and a control unit (not shown) store reagent or sample management information, storing the number of reagents or samples added to and removed from the automated analysis device 106, and the number of reagents or samples removed from the reagent / sample storage box 142. Based on this stored information, the control unit implements the loading and unloading of reagents or samples by the handling robot 131.

[0054] One application example is as follows: if the reagents in the automated analyzer 106 are insufficient, and if there are reagents in the reagent / sample storage box 142, the reagents are removed and added to the automated analyzer 106. The storage or control unit for the management information of the reagents or samples can be built into the handling robot 131 or configured outside the handling robot 131.

[0055] That is, it has a storage unit that stores the quantity and type of consumables respectively located in the liquid storage tank and the automatic analysis device. When the quantity of consumables put into the automatic analysis device is lower than the quantity preset by the operator, the control unit controls the robot to automatically take out the consumables from the liquid storage tank and put them into the automatic analysis device.

[0056] Figure 17 This is another embodiment of the automated analysis system. The mechanism that moves along the track 117 is a container transport robot 145 that only transports the liquid container 134, and the mechanism that retrieves the liquid container 134 from the reagent / sample storage box 142 is a container retrieval robot 143 fixed to the mounting surface. Furthermore, the mechanism that loads the liquid container 134 transported by the container transport robot 145 into the automated analysis device 106 is a device loading robot 144 fixed to the mounting surface.

[0057] Figure 18 The following structure is shown as another embodiment of this invention, namely, the track is fixed by a jack that is fixed by the weight of the automatic analysis device. As shown in the figure, the track column 117 can be fixed by a first jack 108 that is fixed to the main body 101 by the weight of the main body 101, the top plate 105, and the automatic analysis device 106.

[0058] The automated analysis system with reagent and sample handling devices described in detail in Embodiment 1 above is installed on a movable floor laid on the main body. A lifter with a lifting unit is installed under the movable floor. The track and lifter installed on the movable floor are fixed. A robot that transfers a container containing liquid to the automated analysis device is placed on the track. By raising the lifter until it is flush between the movable floor where the automated analysis device is installed and the main body, the lifter is fixed by the weight of the automated analysis device. The lifter and track are fixed. The track prevents the robot from rotating relative to the roll axis, pitch axis and yaw axis of the center of gravity. Therefore, even if the longitudinal or lateral dimension relative to the walking surface is smaller than the size in the vertical direction relative to the walking surface, the robot can be prevented from tipping over.

[0059] This invention is not limited to the embodiments described above, but includes various modifications. For example, the embodiments described above are examples given in detail to better understand the invention, and are not limited to having all the structures described.

[0060] Symbol Explanation

[0061] 101—Main body, 102—First support column, 103—Second support column, 104—Floor fixing hole, 105—Top plate, 106—Automatic analysis device, 107—Liquid inlet, 108—First lifting device, 109—Handle, 110—Transmission element, 111—First elevator, 112—Second elevator, 113—Second lifting device, 114—Third elevator, 115—Fourth elevator, 116—Foot of automatic analysis device, 117—Railway, 118—Starting track, 119—Intermediate track, 120—End track, 121—Transverse recess, 122—Transverse convex part, 123—Longitudinal recess, 124—Longitudinal convex part, 125—Deflection axis torque generated by the trackway, 126—Production 127—Pitch axis moment generated by the track train; 128—Matching surface between the track train and the lifting device; 129—Roll axis moment generated by the track train; 130—Weight of the device; 131—Main body reaction force; 132—Transporting robot; 133—Manipulator; 134—Moving mechanism; 135—Liquid container; 136—Longitudinal wheel; 137—Yaw axis moment generated by the transporting robot; 138—Pitch axis moment generated by the transporting robot; 139—Roll axis moment generated by the transporting robot; 140—Near the front side of the track; 141—Deep side of the track; 142—Reagent / sample storage box; 143—Container retrieval robot; 144—Device insertion robot; 145—Container transporting robot.

Claims

1. An automatic analysis system, characterized in that, have: Multiple support column groups are set on the ground; Multiple top plates are disposed on the first support column group among the multiple support columns; An automatic analysis device is mounted on the plurality of top plates and has a liquid inlet. The track is mounted on the second group of support columns among the plurality of support columns; A robot, which moves along the track, transfers consumables to the automated analysis device; as well as A lifting device is positioned below the automatic analysis device and between the ground and the top plate. The lifting device includes a lifting section that applies a force to push the automatic analysis device upwards in the vertical direction. The track is fixed to the upper part of the portion of the lifting device that protrudes outward toward the automatic analysis device.

2. The automatic analysis system according to claim 1, characterized in that, The automatic analysis device is equipped with a liquid insertion port. The automatic analysis device is disposed on a W plane that is parallel to the surface where the liquid inlet is located and is formed by the X-axis and the Y-axis that is perpendicular to the X-axis.

3. The automatic analysis system according to claim 2, characterized in that, The crane is raised until it is in close contact with the top plate and the ground where the automatic analysis device is installed, and the crane and the track are fixed by the weight of the automatic analysis device.

4. The automatic analysis system according to claim 2, characterized in that, The first support column group is located vertically below the automatic analysis device. The second support column group is located on the outside of the automatic analysis device and in the Y-axis direction. The lifting device consists of a first lifting device and a second lifting device that are separated in the X-axis direction and arranged along the Y-axis direction.

5. The automatic analysis system according to claim 4, characterized in that, The first lifting device includes a first lifting section and a second lifting section, the first lifting section and the second lifting section applying a force to push the automatic analysis device upward in the vertical direction. The second lifting device includes a third lifting section and a fourth lifting section, which apply a force to push the automatic analysis device back vertically upward. The first lifting part, the second lifting part, the third lifting part, and the fourth lifting part are respectively arranged separately in the Y-axis direction.

6. The automatic analysis system according to claim 5, characterized in that, The track has two or more planes parallel to the X-axis on the Z-axis perpendicular to the W-plane, and also has two or more planes parallel to the W-plane.

7. The automatic analysis system according to claim 6, characterized in that, The track is divided into more than two. Of the cuts made on the W-plane, one is concave and the other is convex. In the cuts made on the V-plane, one side is concave and the other side is convex.

8. The automatic analysis system according to claim 6, characterized in that, The robot has the following features: A moving mechanism for moving on the track; and A robotic arm for feeding the consumable into the liquid inlet.

9. The automatic analysis system according to claim 8, characterized in that, The moving mechanism makes contact with the V plane of the track at three or more points, and with two or more planes of the track that are parallel to the W plane at three or more points.

10. The automatic analysis system according to claim 6, characterized in that, The first lifting device has a detachable handle. The first lifting unit, the second lifting unit, and the handle are connected by a power transmission element. By rotating the handle, the first lifting unit and the second lifting unit can be raised and lowered simultaneously.

11. The automatic analysis system according to claim 6, characterized in that, The second lifting device has a detachable handle. The third lifting unit, the fourth lifting unit, and the handle are connected by a power transmission element. By rotating the handle, the third lifting unit and the fourth lifting unit can be raised and lowered simultaneously.

12. The automatic analysis system according to claim 6, characterized in that, The automated analysis system includes: Liquid storage tank for storing the aforementioned consumables; An automatic analysis device detached from the liquid storage tank; and The track is located between the liquid storage tank and the automatic analysis device.

13. The automatic analysis system according to claim 12, characterized in that, It has a storage unit that stores the quantity and type of consumables respectively set in the liquid storage tank and the automatic analysis device.

14. The automatic analysis system according to claim 13, characterized in that, If the quantity of consumables put into the automatic analysis device in the storage section is lower than the quantity preset by the operator, the robot automatically takes out the consumables from the liquid storage tank and puts them into the automatic analysis device.

Images