Sample measurement device

Abstract

The invention provides a sample measuring device capable of preventing damage of a sample caused by a user error. A sample measurement device is provided with: a measurement instrument for measuring a sample; a transport device which uses a cartridge having a plurality of layers capable of accommodating a plurality of samples of different sizes, takes out the samples one by one from the cartridge of the pickup source and transports the samples to the measuring instrument, and accommodates the samples measured by the measuring instrument in the cartridge of the placement destination; a sample detection unit capable of detecting the presence or absence of a sample in each layer of the cartridge; and a control unit that controls the measuring instrument and the transport device on the basis of the detection result of the sample detection unit.

Description

Technical Field

[0001] The present invention relates to a sample measuring device. Background Art

[0002] In order to automatically and sequentially measure samples of different sizes, the sample measuring device needs to include a measuring device and a transport device. The measuring device measures the sample, and the transport device transports the sample.

[0003] Patent Document 1 describes a technique for determining whether a workpiece is placed on a pallet conveyed by a conveyor using a pressure sensor. The pressure sensor is provided at the center of the pallet and outputs a signal corresponding to the weight of the workpiece placed on the pallet.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2006-185345

[0005] When measuring a sample using the above-mentioned sample measuring device, the user sets a box for storing unmeasured samples and a box for storing measured samples at predetermined positions. In the following description, the box for storing unmeasured samples is also referred to as a "pickup source box", and the box for storing measured samples is also referred to as a "destination box".

[0006] The cassette having multiple layers can load multiple samples of different sizes at shifted positions in the vertical direction. The user pre-sets sample information from the operation unit of the sample measuring device. The sample information is information including the size of the samples in each layer of the cassette stored in the pickup source.

[0007] When the above-mentioned conveying device takes out the unmeasured sample from the box of the pickup source, there is a concern that the sample may be damaged due to the hand of the conveying device or the like colliding with the sample due to the user's mistake. As a user's mistake in this case, for example, when the user installs the unmeasured sample into the box of the pickup source, the user may make a mistake in the position where the sample is installed.

[0008] In addition, when the above-mentioned conveying device stores the measured samples into the box of the placement destination, there is also a concern that the sample may be damaged due to the hand of the conveying device or the like. As a user's error in this case, for example, the user forgets to take out the samples when the user has taken out all the samples from the box to be used as the placement destination box in advance.

[0009] When the above-mentioned conveying device takes out a sample from the box of the pickup source, there is a possibility that the sample size error may occur. The sample size error means that when the conveying device takes out a sample from the pickup target layer of the box of the pickup source, the size of the sample stored in the pickup target layer is different from the size of the sample set for the pickup target layer. The sample size error is caused by the user's mistake. If the sample size error occurs, there is a concern that the above-mentioned conveying device cannot properly handle the sample, resulting in various adverse conditions. Summary of the invention

[0010] An object of the present invention is to provide a sample measurement device that can prevent a sample from being damaged due to a user's mistake.

[0011] The first sample measuring device of the present invention comprises: a measuring instrument for measuring a sample; a conveying device for taking out the samples one by one from the box at a picking source and conveying them to the measuring instrument using a box having a plurality of layers capable of accommodating a plurality of samples of different sizes, and for accommodating the samples in the box at a placing destination after the samples have been measured by the measuring instrument; a sample detection unit capable of detecting the presence or absence of the samples in each layer of the box; and a control unit for controlling the measuring instrument and the conveying device based on the detection result of the sample detection unit.

[0012] The second sample measuring device of the present invention comprises: a measuring instrument for measuring a sample; a conveying device for taking out the samples one by one from a box having a plurality of layers capable of accommodating a plurality of samples of different sizes and conveying the samples to the measuring instrument; a size detecting unit for detecting the sizes of the samples accommodated in each layer of the box; and a control unit for controlling the measuring instrument and the conveying device based on the detection result of the size detecting unit.

[0013] According to the first sample measurement device of the present invention, it is possible to prevent the sample from being damaged due to a user's mistake.

[0014] According to the second sample measuring device of the present invention, it is possible to avoid problems caused by a size error of the sample. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic perspective view showing the structure of a sample measurement device according to the first embodiment of the present invention.

[0016] Figure 2 It is a schematic plan view showing the structure of the sample measurement device according to the first embodiment of the present invention.

[0017] Figure 3 It is a schematic perspective view showing the structure of the box.

[0018] Figure 4 It is a schematic top view showing the structure of the box.

[0019] Figure 5 It is a schematic side view showing the structure of the hand of the conveying device.

[0020] Figure 6 Yes Description Figure 5 FIG. 2 is a diagram showing an example of setting the length of the pushing member.

[0021] Figure 7 This is a schematic plan view showing a state in which the hand of the transport device is allowed to enter the box.

[0022] Figure 8 This is a block diagram showing the configuration of a control system of the sample measuring device according to the first embodiment of the present invention.

[0023] Fig. 9 This is a diagram for explaining a method of detecting the presence or absence of a sample using a pressing member (Part 1).

[0024] Fig.10 This is a diagram for explaining a method of detecting the presence or absence of a sample using a pressing member (part 2).

[0025] Fig.11 This is a flowchart showing an example of a processing procedure when a sample is measured using the sample measuring device according to the first embodiment of the present invention.

[0026] Fig.12 It is a schematic diagram showing a box at a pickup source and a box at a placement destination.

[0027] Fig.13 This is a schematic diagram showing an example of transferring a sample from a pickup source box to a placement destination box.

[0028] Fig.14 This is a schematic diagram (part 1) for explaining an example in which three cartridges are used to measure a sample by a sample measurement device.

[0029] Fig.15 This is a schematic diagram for explaining an example in which three cartridges are used to measure a sample by a sample measurement device (part 2).

[0030] Fig.16 This is a schematic diagram for explaining an example in which three cartridges are used to measure a sample by a sample measurement device (part 3).

[0031] Fig.17 This is a schematic diagram (part 4) for explaining an example in which three cartridges are used to measure a sample by a sample measuring device.

[0032] Fig.18 This is a schematic diagram (part 5) for explaining an example in which three cartridges are used to measure a sample by a sample measurement device.

[0033] Fig.19 This is a schematic diagram (part six) for explaining an example in which three cartridges are used to measure a sample by a sample measuring device.

[0034] Fig. 20 This is a schematic diagram (part 7) for explaining an example in which three cartridges are used to measure a sample by a sample measuring device.

[0035] Fig.21 This is a diagram (part 1) for explaining a distance measuring sensor included in a sample detection unit in a second embodiment of the present invention.

[0036] Fig. 22 This is a diagram (part 2) for explaining the distance measuring sensor included in the sample detection unit in the second embodiment of the present invention.

[0037] Fig.23 It is a diagram for explaining an imaging unit included in a sample detection unit according to a third embodiment of the present invention.

[0038] Fig.24 This is a diagram (part 1) showing an example in which the sample detection sensor included in the sample detection unit in the fourth embodiment of the present invention is constituted by a contact type sensor.

[0039] Fig.25 This is a diagram (part 2) showing an example in which the sample detection sensor included in the sample detection unit in the fourth embodiment of the present invention is constituted by a contact type sensor.

[0040] Fig.26 This is a diagram (part 1) showing an example in which the sample detection sensor included in the sample detection unit in the fourth embodiment of the present invention is constituted by a non-contact sensor.

[0041] Fig. 27 This is a diagram (part 2) showing an example in which the sample detection sensor included in the sample detection unit in the fourth embodiment of the present invention is configured as a non-contact sensor.

[0042] Fig.28 This is a block diagram showing the configuration of a control system of a sample measuring device according to a fifth embodiment of the present invention.

[0043] Fig.29 This is a flowchart showing an example of a processing procedure when a sample is measured using the sample measuring device according to the fifth embodiment of the present invention.

[0044] Fig.30 It is a schematic side view showing the arrangement state of the pressing member.

[0045] Fig.31 It is a schematic side view showing a state where the pressing member is in contact with the sample.

[0046] Fig.32 This is a schematic side view showing a state in which the sample is pressed to the reference end by the pressing member.

[0047] Fig.33 This is a schematic side view for explaining the relationship between the position of the pressing member and the minimum sample size.

[0048] Fig.34 It is a schematic plan view showing a state where the sample is pressed against the side plate portion of the cartridge.

[0049] Fig.35 This is a schematic side view (part 1) for explaining the inclination angle of the pressing member.

[0050] Fig.36 This is a schematic side view (part 2) for explaining the inclination angle of the pressing member.

[0051] Fig.37 This is a diagram for explaining a problem caused by a size error of a sample.

[0052] Fig.38 This is a flowchart showing a modified example of the processing procedure when measuring a sample using the sample measuring device according to the fifth embodiment of the present invention.

[0053] Fig.39 This is a block diagram showing the configuration of a control system of a sample measuring device according to a sixth embodiment of the present invention.

[0054] Fig.40 This is a diagram showing an example of a table.

[0055] Fig.41 This is a flowchart showing an example of a processing procedure when a sample is measured using the sample measuring device according to the sixth embodiment of the present invention.

[0056] Fig.42 It is a schematic plan view showing an example in which a size detection sensor is constructed by an array sensor.

[0057] Fig.43 It is a schematic plan view showing an example in which a dimension detection sensor is constituted by a pressure distribution sensor.

[0058] Explanation of reference numerals: 10, 10A, 10B…sample measuring device, 11…measuring device, 12, 12a, 12b, 12c…box, 13…conveying device, 16…hand, 17…control unit, 18…operating unit, 19…sample detection unit, 19S…size detection unit, 20…memory, 20A…table, 27…pressing component, 30…sample, 50…distance measuring sensor, 52…shooting unit, 54…array sensor (size detection sensor), 56…pressure distribution sensor (size detection sensor), 60…sample detection sensor (contact sensor), 62…sample detection sensor (non-contact sensor). DETAILED DESCRIPTION

[0059] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this specification and the accompanying drawings, elements having substantially the same function or structure are denoted by the same reference numerals, and repeated descriptions are appropriately omitted. In addition, the following descriptions and the accompanying drawings are examples for illustrating the present invention, and are sometimes omitted and simplified for the convenience of explanation. Each structural element may be single or multiple as long as it is not particularly limited. In addition, the position, size, shape, range, etc. of each structural element shown in the accompanying drawings are not indicated in order to facilitate the understanding of the invention. Therefore, the present invention is not necessarily limited to the position, size, shape, range, etc. disclosed in the accompanying drawings.

[0060] <First embodiment>

[0061] Figure 1 It is a schematic perspective view showing the structure of a sample measurement device according to the first embodiment of the present invention. Figure 2 It is a schematic plan view showing the structure of the sample measurement device according to the first embodiment of the present invention.

[0062] like Figure 1 as well as Figure 2 As shown, the sample measuring device 10 includes a measuring device 11, a conveying device 13, and a base 14. The measuring device 11 is a device for measuring a sample (not shown). The conveying device 13 takes out unmeasured samples one by one from a box 12 of a pickup source and conveys them to the measuring device 11. In addition, the conveying device 13 stores the samples that have been measured by the measuring device 11 in the box 12 of a placement destination. The sample measuring device 10 can automatically measure samples of different sizes in sequence. The measuring device 11 and the conveying device 13 are set on the base 14.

[0063] The measuring device 11 has a measuring unit 15. The measuring unit 15 measures the sample for a predetermined measurement item. For example, in the case where the measuring device 11 is a device for measuring the surface state of the sample, the measuring unit 15 measures the surface state of the sample. The surface state of the sample is at least one of the color, surface properties, and glossiness of the sample. The surface property of the sample is typically the surface roughness of the sample. In the present embodiment, as an example, the measuring device 11 is a device for measuring the color of the sample, that is, a colorimeter. The sample to be measured is arranged so that the measured surface of the sample is close to the measuring unit 15 of the measuring device 11 and is opposite to it. The measured surface of the sample is the surface of the sample that is measured (measured) in the measuring unit 15 of the measuring device 11.

[0064] The box 12 can accommodate a plurality of samples. The box 12 can also be an element that constitutes the sample measuring device 10 together with the measuring device 11 and the conveying device 13. A plurality of samples of different sizes can be accommodated in one box 12. The sample that becomes the measuring object is typically a plate-shaped sample, more typically a flat plate-shaped sample. The samples of different sizes can be samples of the same shape or samples of different shapes. The shape of the sample refers to the shape of the plate-shaped sample when observed from the front, that is, the top view shape of the sample placed horizontally. In the present embodiment, as an example, a plate-shaped sample of a quadrilateral (for example, a rectangle, a square, etc.) when viewed from above is the measuring object. The sample is made of a material that does not actually transmit visible light, etc., that is, an opaque material.

[0065] Here, the reason for using the cartridge 12 capable of storing a plurality of samples having different sizes will be described.

[0066] In the case where only samples of the same size are stored in one box 12, it is necessary to prepare a dedicated box 12 according to the size of the sample. As a specific example, consider the case where fifty samples can be stored in one box 12. In this case, even if only one sample of another size is included in the sample of the measurement object, the samples of different sizes must be stored separately in two boxes 12. As a result, the box 12 that only stores one sample occupies the same area as the box that can store fifty samples. As a result, the number of samples that can be carried as a whole of the sample measurement device 10 is reduced. In contrast, in the case of using a box 12 that can store multiple samples of different sizes, the samples of the above-mentioned other sizes can be stored together with other samples in one box 12. Therefore, if a box 12 that can store multiple samples of different sizes is used, the number of samples that can be carried as a whole of the sample measurement device 10 can be increased compared to the case where only samples of the same size are stored in one box 12.

[0067] For the reasons described above, in the present embodiment, the cartridge 12 capable of storing a plurality of samples having different sizes is used.

[0068] A plurality of cartridges 12 are provided on the base 14. Each cartridge 12 is provided on the base 14 in a detachable manner. Each cartridge 12 stores an unmeasured sample or a measured sample. The number of cartridges 12 that can be provided on the base 14 can be changed. Figure 2 In the example, a total of ten cartridges 12 are set on the base 14. When the sample is automatically measured using the sample measuring device 10, at least two cartridges 12 are set on the base 14. In this case, one is a cartridge 12 for picking up the source, and the other is a cartridge 12 for placing the destination.

[0069] Each box 12 has a plurality of layers capable of storing a plurality of samples of different sizes. One sample is stored in one layer. Therefore, one box 12 can store a plurality of samples in a state where they are loaded at predetermined intervals in the vertical direction. In other words, one box 12 can store a plurality of samples in a manner arranged in a plurality of layers (multi-layers) in the vertical direction. In the present embodiment, as an example, it is assumed that a plurality of samples of different sizes are mixed in one box 12. In each layer of the box 12, the sample is stored in a state where the surface to be measured faces downward.

[0070] The conveying device 13 sequentially takes out samples from the box 12 of the pickup source and conveys them to the measuring device 11. In addition, the conveying device 13 sequentially stores the samples that have been measured by the measuring device 11, that is, the samples that have been measured, into the box 12 of the placement destination. The conveying device 13 is composed of a multi-axis robot. In the present embodiment, as an example, the conveying device 13 is composed of a six-axis robot. The conveying device 13 composed of the six-axis robot is equipped with a force sensor not shown in the figure. The force sensor measures the magnitude of the force and torque acting on the conveying device 13 in real time. In the present embodiment, as an example, the conveying device 13 is equipped with a six-axis force sensor.

[0071] The conveying device 13 is provided with a hand 16 for holding the sample. The hand 16 is arranged at the front end of the six-axis robot serving as the conveying device 13. The conveying device 13 holds the unmeasured samples stored in the box 12 of the pickup source one by one through the hand 16. The conveying device 13 conveys the sample held by the hand 16 toward the measuring section 15 of the measuring device 11. In addition, the conveying device 13 positions the sample and arranges it in the measuring section 15 of the measuring device 11. When the measuring section 15 finishes measuring the color of the sample, the conveying device 13 conveys the sample toward the box 12 of the placement destination and stores the sample in the box 12 of the placement destination. The box 12 of the pickup source is a box to be taken out of the sample to be measured by the measuring device 11. The box 12 of the placement destination is a box to be stored in the sample measured by the measuring device 11. Both the box 12 of the pickup source and the box 12 of the placement destination have a common box structure having a plurality of layers.

[0072] The box 12 of the picking source and the box 12 of the placement destination are designated separately. Therefore, after the sample taken out from any box 12 is measured by the measuring device 11, it is stored in the other box 12. In addition, the box 12 of the picking source and the box 12 of the placement destination are arranged at adjacent positions on the base 14. In addition, there is a case where the box 12 that has become empty after all the unmeasured samples are taken out is subsequently used as a box for storing the measured samples, that is, the box 12 of the placement destination. In other words, there is a case where the box 12 of the picking source is subsequently switched to the box 12 of the placement destination. In addition, when the box 12 of the picking source stores a plurality of samples 30, the conveying device 13 takes out the samples 30 one by one from the upper layer of the box 12 toward the lower layer. In addition, when the box 12 of the placement destination stores the samples 30, the conveying device 13 stores the samples 30 one by one from the lower layer of the box 12 toward the upper layer.

[0073] Figure 3 It is a schematic perspective view showing the structure of the box. Figure 4 is a schematic top view showing the structure of the box. Figure 3 as well as Figure 4 In order to make the positional relationship of each part of the box 12 clear, the width direction of the box 12 is the X direction, the depth direction of the box 12 is the Y direction, and the height direction of the box 12 is the Z direction. In the following description, the width direction of the box 12 is also referred to as the "width direction X of the box". In addition, the depth direction of the box 12 is also referred to as the "depth direction Y of the box", and the height direction of the box 12 is also referred to as the "height direction Z of the box". For the box 12, it is possible to take and put samples in the depth direction Y of the box 12. The front side of the box 12 is open so that the sample can be taken and put. In the state where the box 12 is set on the base 14, the width direction X of the box 12 and the depth direction Y of the box 12 are directions roughly parallel to the horizontal direction. In addition, in the state where the box 12 is set on the base 14, the height direction Z of the box 12 is a direction roughly parallel to the vertical direction. In the height direction Z of the box 12, the bottom of the box 12 is closed by the bottom plate 121. In the height direction Z of the box 12, the top of the box 12 is open. The reason why the top of the cassette 12 is open is to avoid interference between the cassette 12 and the hand 16 of the conveying device 13 .

[0074] like Figure 3 as well as Figure 4As shown, the box 12 includes a bottom plate portion 121, a pair of side plates 122, 123 and a back plate portion 124. The pair of side plates 122, 123 stand vertically from the bottom plate portion 121. The pair of side plates 122, 123 are connected by the back plate portion 124. The bottom plate portion 121 is arranged at the lowest part of the height direction Z of the box 12. The pair of side plates 122, 123 are arranged to be opposite to each other in the width direction X of the box 12. The back plate portion 124 is arranged on the inner side of the depth direction Y of the box 12. The back plate portion 124 has a height dimension that is substantially the same as that of the pair of side plates 122, 123. The inner surface 124a of the back plate portion 124 is arranged to face the near front side of the box 12 in the depth direction Y of the box 12.

[0075] The inner surfaces 122a and 123a of a pair of side plates 122 and 123 are arranged to be opposed to each other in the width direction X of the box 12. A plurality of support portions 125 are provided on the inner surface 122a of the side plate 122. A plurality of support portions 126 are provided on the inner surface 123a of the side plate 123. The plurality of support portions 125 are arranged at predetermined intervals in the height direction Z of the box 12. The plurality of support portions 126 are arranged at predetermined intervals in the height direction Z of the box 12. When a plurality of samples are loaded in a plurality of layers and stored in one box 12, the plurality of support portions 125 and the plurality of support portions 126 support the samples in a loading state in each layer. One layer in the box 12 is composed of one support portion 125 and one support portion 126 arranged at the same position in the height direction Z of the box 12.

[0076] In addition, a pair of support portions 125 and 126 supporting the sample in the same layer are arranged in a state of being opposed to each other in the width direction X of the box 12. The support portion 125 is formed in a flat plate shape that is long in the depth direction Y of the box 12. In addition, the support portion 125 is arranged in a state of protruding from the inner surface 122a of the side plate portion 122 toward the center side of the width direction X of the box 12. The support portion 126 is formed in a flat plate shape that is long in the depth direction Y of the box 12, similarly to the support portion 125. In addition, the support portion 126 is arranged in a state of protruding from the inner surface 123a of the side plate portion 123 toward the center side of the width direction X of the box 12. The sample accommodated in the box 12 is supported in a horizontal posture in a state where both ends of the measured surface are placed on the upper surfaces of the pair of support portions 125 and 126.

[0077] In addition, in this embodiment, as the structure of the box 12 having multiple layers, a structure is adopted in which a plurality of support portions 125 are provided on the inner surface 122a of the side plate portion 122, and a plurality of support portions 126 are provided on the inner surface 123a of the side plate portion 123. However, the structure of the box is not limited to Figure 3 as well as Figure 4For example, the box may have a structure in which a plurality of grooves are formed on the inner surfaces 122a and 123a of the pair of side plates 122 and 123, respectively. The plurality of grooves are grooves for supporting a plurality of samples in multiple layers in the height direction Z of the box. The plurality of grooves are formed at predetermined intervals in the height direction Z of the box.

[0078] Figure 5 It is a schematic side view showing the structure of the hand of the conveying device. Figure 6 Yes Description Figure 5 FIG. 2 is a diagram showing an example of setting the length of the pushing member. Figure 7 This is a schematic plan view showing a state in which the hand of the transport device is allowed to enter the box.

[0079] like Figure 5 As shown, the conveying device 13 (refer to Figure 1 ) includes a hand frame 21, a bearing 22, a shaft 23, a vacuum generator 24, a spring 25, a suction pad 26 and a pushing component 27.

[0080] The base end of the hand frame 21 is mounted on the front end of the conveying device 13 formed by the six-axis robot. The bearing 22 is mounted on the front end of the hand frame 21. The shaft 23 is supported on the hand frame 21 via the bearing 22 so as to be able to move freely. The shaft 23 is arranged in a state of penetrating the hand frame 21. The vacuum generator 24 is mounted on the lower end of the shaft 23. The vacuum generator 24 is a device that generates an adsorption force for holding the sample 30 by vacuum adsorption. The spring 25 is located between the bearing 22 and the vacuum generator 24 and is mounted on the shaft 23. The spring 25 is Figure 5 A part of the shaft 23 is in contact with a stopper (not shown) by the force of the spring 25.

[0081] The suction pad 26 is mounted on the lower end of the vacuum generator 24. The suction pad 26 is a rubber pad capable of sucking the sample 30. The suction pad 26 is formed in a cylindrical shape. The suction pad 26 sucks the surface 30b of the sample 30 opposite to the measured surface 30a (hereinafter also referred to as the "sucked surface"). Figure 1 as well as Figure 2 When the measuring section 15 of the measuring device 11 shown measures the surface condition of the sample 30 , the measuring section 15 is disposed close to and facing the measuring section 15 .

[0082] The pressing member 27 is a member capable of pressing the sample stored in the box 12 to the reference end of the box in the depth direction Y. In the present embodiment, as an example, the back plate 124 of the box 12 corresponds to the reference end of the box 12 in the depth direction Y. The pressing member 27 is attached to the upper end of the shaft 23.

[0083] The push member 27 includes a first arm portion 271 and a second arm portion 272. The first arm portion 271 and the second arm portion 272 may be an integral structure or an independent structure. The first arm portion 271 is fixed to the upper end of the shaft 23. As a specific fixing method, for example, screw fixing, press fitting, etc. can be considered. The push member 27 can be integrally fixed with the shaft 23 along the Figure 5 The first arm 271 extends horizontally from the upper end of the shaft 23. The second arm 272 extends vertically downward from the front end of the first arm 271. The second arm 272 is arranged in a direction perpendicular to the first arm 271.

[0084] The lower end 272a of the second arm 272 is arranged vertically above the adsorption surface of the adsorption pad 26. The adsorption surface of the adsorption pad 26 is a surface for adsorbing the sample 30. In the present embodiment, the up and down directions are defined based on the posture of the hand 16 when taking out the sample 30 from the box 12 of the pickup source. In the central axis direction of the shaft 23, the step difference dimension Lg between the lower end 272a of the second arm 272 and the adsorption surface of the adsorption pad 26 is such as Figure 3 As shown, the separation distance between two adjacent support portions 125 in the height direction Z of the box, that is, the length of one layer, is small.

[0085] The length of the pressing member 27 in the height direction Z of the box is set to the length of the multi-layer portion of the box 12. As an example, Figure 6 The case where the length La of the pressing member 27 in the height direction Z of the cartridge is set to the length Lb of five layers of the cartridge 12 is shown. In this case, the sample detection unit 19 described later can detect the presence or absence of samples in each layer of the cartridge 12 by using the pressing member 27 to collect the five layers. The length La of the pressing member 27 can be changed as needed.

[0086] like Figure 5 as well as Figure 7 As shown, a contact surface 272b is formed at the lower end 272a of the second arm 272. When the sample 30 is pressed against the back plate 124 by the pressing member 27, the contact surface 272b contacts the sample 30. The contact surface 272b is formed in a planar shape so that the pressing member 27 contacts the sample 30 with a flat surface.

[0087] Figure 8 This is a block diagram showing the configuration of a control system of the sample measuring device according to the first embodiment of the present invention.

[0088] like Figure 8As shown in FIG. 1 , the sample measuring device 10 includes a control unit 17, an operation unit 18, and a sample detection unit 19 in addition to the measuring device 11 and the conveying device 13 described above. The control unit 17 comprehensively controls the operation of each unit of the sample measuring device 10. The control unit 17 includes, for example, a processor such as a CPU (Central Processing Unit), and a storage unit such as a ROM (Read Only Memory), a RAM (Random Access Memory), and a HDD (Hard Disk Drive) as hardware resources of a computer. The functions of the control unit 17 are realized by the processor reading a program pre-stored in the ROM into the RAM and executing the program.

[0089] The operation unit 18 functions as a user interface. Specifically, the operation unit 18 displays various information to the user who uses the sample measurement device 10. In addition, the operation unit 18 receives input of various information from the user. The operation unit 18 includes, for example, a display unit and an input unit, which are not shown in the figure. In addition, the operation unit 18 receives input for the user to set information related to the samples stored in each layer of the box 12 (hereinafter also referred to as "sample information"). At this time, the user sets the information related to the sample for the layer storing (assembling) the unmeasured sample, does not set the sample information for the layer that does not store the unmeasured sample and makes it blank, or sets the information to the effect that the sample is not stored in the layer. The user inputs the sample information by operating the operation unit 18.

[0090] The above-mentioned sample information includes, for example, the following information (1) to (6).

[0091] (1) Sample size

[0092] (2) Sample shape

[0093] (3) Sample quality

[0094] (4) Sample material

[0095] (5) Information specifying the cassette 12 storing the unmeasured (measurement target) sample and the layer storing the unmeasured sample in the cassette 12

[0096] (6) Information specifying the cassette 12 that should store the measured sample and the layer in which the measured sample is to be stored in the cassette 12

[0097] In addition, the size of the sample includes, for example, the following sizes (a) to (c).

[0098] (a) Sample size in the width direction X of the box

[0099] (b) Sample size in the depth direction Y of the box

[0100] (c) Thickness of the sample

[0101] The sample information is set for each layer of the cartridge 12. Before the sample measuring device 10 starts operating, the user sets the sample information by operating the operation unit 18. The sample information set by the user via the operation unit 18 is stored in the storage unit of the control unit 17, for example.

[0102] The sample detection unit 19 can detect the presence of a sample in each layer of the box 12. The sample detection unit 19 detects the presence of a sample in a specified layer of the box of the pickup source and a specified layer of the box of the placement destination. The specified layer of the box of the pickup source is a layer above the layer storing unmeasured samples. The layer storing unmeasured samples is a layer specified by the user via the operation unit 18. The specified layer of the box of the placement destination is a layer storing measured samples and a layer above the layer storing measured samples. As shown in (6) above, the layer storing measured samples is a layer specified by the user via the operation unit 18.

[0103] The sample detection unit 19 has Figure 5 as well as Figure 6 The pushing member 27 is shown. The pushing member 27 is mounted on the hand 16 of the conveying device 13.

[0104] like Fig. 9 As shown, the sample detection unit 19 senses whether the sample 30 is pressed against the back plate 124 based on the measurement value of the six-axis force sensor when the pressing member 27 approaches the back plate 124 of the box 12 by the horizontal movement of the hand 16 in the y1 direction. In addition, when the sample detection unit 19 senses that the sample 30 is pressed against the back plate 124, it determines that the sample 30 is within the confirmation range. In other words, when the sample 30 pressed by the pressing member 27 abuts against the back plate 124, the sample detection unit 19 detects that the sample 30 is within the confirmation range.

[0105] The confirmation range refers to the range in the height direction Z of the box when the presence of the sample is confirmed by the pressing member 27. For example, the length La of the pressing member 27 is set to the length Lb of the box 12 corresponding to five layers (see Figure 6 ), when the pressing member 27 checks the presence of the sample 30 for five layers, the confirmation range is the range of five layers. In addition, even if the length La of the second arm portion 272 is set to the length Lb of the box 12 corresponding to five layers, when the pressing member 27 checks the presence of the sample 30 for only one layer, the confirmation range is also the range of one layer.

[0106] The pressing force of the pressing member 27 for detecting the presence of the sample 30 is set to a level that does not damage the sample 30. Fig.10 As shown, when the sample detection unit 19 senses that the dimension Lc from the back plate 124 to the pressing member 27 is smaller than the minimum sample dimension during the process of the pressing member 27 approaching the back plate 124 of the cartridge 12 by the horizontal movement of the hand 16 in the y1 direction, the sample detection unit 19 determines that there is no sample 30 within the confirmation range. In other words, when the dimension Lc from the back plate 124 to the pressing member 27 is smaller than the minimum sample dimension, the sample detection unit 19 detects that there is no sample 30 within the confirmation range.

[0107] The minimum sample size is the smallest size of the sample in the depth direction Y of the box among the sizes of the sample included in the sample information set by the user via the operation unit 18. Therefore, when the sample 30 is present within the confirmation range, the sample 30 is pressed against the back plate 124 before the dimension Lc from the back plate 124 to the pressing member 27 becomes smaller than the minimum sample size.

[0108] The operation of the transport device 13 for detecting the presence of the sample 30 using the pressing member 27 is controlled by the control unit 17. In addition, when detecting the presence of the sample 30 using the pressing member 27, the sample detection unit 19 recognizes the position of the pressing member 27 and the positions of the various parts of the cartridge 12 in the coordinate system of the transport device 13. When the sample detection unit 19 determines that there is no sample 30 within the above-mentioned confirmation range, the control unit 17 stops the horizontal movement of the hand 16 before the pressing member 27 contacts the back plate 124.

[0109] Fig.11 This is a flowchart showing an example of a processing procedure when a sample is measured using the sample measuring device according to the first embodiment of the present invention.

[0110] First, the user operates the operation unit 18 to set the sample information (step S101). The sample information set by the user is stored in the storage unit of the control unit 17. The sample information includes the information (1) to (6) described above.

[0111] Next, the control unit 17 repeatedly determines whether there is an instruction to start measurement (step S102). At this time, the control unit 17 determines that there is an instruction to start measurement when the user presses a measurement start button (not shown). The measurement start button is provided on the operation unit 18, for example.

[0112] Next, the control unit 17 drives the conveying device 13 to move the hand 16 from the starting position to the setting position of the box 12 at the placement destination (step S103). The starting position is determined in advance. In addition, the control unit 17 may also confirm whether the box 12 of the pickup source and the box 12 of the placement destination are respectively set (installed) at the prescribed positions on the base 14 before step S103. As a specific example, when the color of the sample is automatically measured using three boxes 12, the control unit 17 confirms whether the three boxes 12 are set at the prescribed positions.

[0113] Next, the sample detection unit 19 detects the presence or absence of the sample in the predetermined layer of the box 12 for the placement destination (step S104). The predetermined layer of the box 12 for the placement destination is the layer storing the sample after the measurement and the layer above the layer storing the sample after the measurement. The following is a specific example for explanation.

[0114] First, for the sake of convenience, consider Fig.12 As shown in the following example. Fig.12 In the example, the source box 12 and the destination box 12 each have eleven layers from the zeroth layer to the tenth layer. In addition, in the source box 12, as set by the user via the operation unit 18, one sample 30 (30-1, 30-2, 30-3, 30-4) is stored from the second layer to the fifth layer.

[0115] The four samples 30 stored in the box 12 of the pickup source are stored in the box 12 of the placement destination according to the contents set by the user via the operation unit 18. Specifically, Fig.13 As shown, the sample 30-1 stored in the second layer of the box 12 of the pickup source is stored in the ninth layer of the box 12 of the placement destination after being measured by the measuring device 11. The sample 30-2 stored in the third layer of the box 12 of the pickup source is stored in the eighth layer of the box 12 of the placement destination after being measured by the measuring device 11. The sample 30-3 stored in the fourth layer of the box 12 of the pickup source is stored in the seventh layer of the box 12 of the placement destination after being measured by the measuring device 11. The sample 30-4 stored in the fifth layer of the box 12 of the pickup source is stored in the sixth layer of the box 12 of the placement destination after being measured by the measuring device 11.

[0116] In this case, the sample detection unit 19 is as follows Fig.12As shown in FIG. 1 , in the destination box 12, the sixth to ninth layers storing the measured samples and the zeroth to fifth layers above the layer storing the measured samples are determined as the predetermined layers D1 and D2, respectively. Furthermore, the sample detection unit 19 detects the presence or absence of the samples in the predetermined layers D1 and D2 of the destination box 12. Specifically, the sample detection unit 19 checks whether the predetermined layers D1 and D2 of the destination box 12 are empty or not.

[0117] The case where there is a sample in the predetermined layer of the destination cartridge 12 is, for example, a case where the user forgets to remove the sample from the predetermined layer during the preparation work of placing the destination cartridge 12 on the base 14. In this case, if the sample measurement operation is started in a state where the sample remains in the predetermined layer, when the sample 30-1 held by the hand 16 of the transport device 13 is stored in the destination cartridge 12, there is a concern that the hand 16 of the transport device 13 and the like collide with the sample remaining in the predetermined layer and the sample may be damaged.

[0118] Therefore, in this embodiment, before starting the sample measurement operation in step S109, the sample detection unit 19 confirms whether or not there is no sample 30 remaining in the predetermined layer of the cartridge 12 at the destination. The sample measurement operation includes an operation of taking out the sample 30 from the cartridge 12 from which it was picked up, an operation of measuring the taken out sample 30 by the measuring device 11, and an operation of storing the sample 30 measured by the measuring device 11 in the cartridge 12 at the destination. Therefore, before starting to store the measured sample 30 in the cartridge 12 at the destination, the above-mentioned process of step S104 is performed.

[0119] When the sample detection unit 19 detects the presence or absence of the sample in a predetermined layer of the cartridge 12 at the placement destination, the control unit 17 controls the operation of the transport device 13 as follows.

[0120] First, if Figure 6 As shown, the control unit 17 arranges the pressing member 27 near the destination box 12. In addition, the control unit 17 arranges the pressing member 27 in accordance with the height of the predetermined layer of the destination box 12. Next, the control unit 17 causes the hand 16 to move from the near side of the destination box 12 toward the back side in the y1 direction (refer to Fig. 9 ) is moved horizontally. As a result, the pushing member 27 moves together with the hand 16 and gradually approaches the back plate portion 124 of the box 12.

[0121] During the horizontal movement of the hand 16, when the sample 30 stored in the predetermined layer is pushed to the back plate 124 by the pushing member 27, the sample detection unit 19 detects that the sample 30 is in the predetermined layer. In addition, during the horizontal movement of the hand 16, when the dimension from the back plate 124 to the pushing member 27 becomes smaller than the minimum sample dimension, the sample detection unit 19 detects that the sample 30 is not in the predetermined layer. The detection result of the sample detection unit 19 is sent from the sample detection unit 19 to the control unit 17.

[0122] Next, the control unit 17 determines (confirms) whether there is no sample 30 in the predetermined layer of the cartridge 12 at the destination based on the detection result of the sample detection unit 19 in step S104 (step S105). Then, if the control unit 17 confirms that there is no sample 30 in the predetermined layer of the cartridge 12 at the destination, that is, if an affirmative judgment is made in step S105, the process proceeds to step S106. On the other hand, if the control unit 17 confirms that there is a sample 30 in the predetermined layer of the cartridge 12 at the destination, that is, if a negative judgment is made in step S105, the process proceeds to step S112.

[0123] In step S106 , the control unit 17 drives the conveyor device 13 to move the hand 16 from the setting position of the cartridge 12 at the placement destination to the setting position of the cartridge 12 at the pickup source.

[0124] Next, the sample detection unit 19 detects the presence or absence of the sample in a predetermined layer of the pickup source box 12 (step S107). The predetermined layer of the pickup source box 12 is a layer above the layer storing the unmeasured sample. Fig.12 In the example, as set by the user via the operation unit 18, one unmeasured sample 30 (30-1, 30-2, 30-3, 30-4) is stored in each of the second to fifth layers of the box 12 of the pickup source. In this case, the sample detection unit 19 determines the layers above the layer storing the unmeasured samples, that is, the zeroth layer and the first layer, as the predetermined layer D3 in the box 12 of the pickup source. Furthermore, the sample detection unit 19 detects the presence or absence of the sample with respect to the predetermined layer D3 of the box 12 of the pickup source. Specifically, the sample detection unit 19 checks whether the predetermined layer D3 of the box 12 of the pickup source is in a state without a sample, that is, is empty.

[0125] The case where there is a sample in a predetermined layer of the pickup source cartridge 12 is, for example, a case where the user mistakenly places the sample 30 in the predetermined layer during the preparation work of placing the pickup source cartridge 12 on the base 14. In this case, if the sample measurement operation is started with the sample 30 placed in the predetermined layer, there is a possibility that the first sample 30 (at the time of the transport device 13 taking out the first sample 30 from the pickup source cartridge 12) is not placed in the predetermined layer. Fig.12In the example of sample 30-1), the hand 16 of the transport device 13 may collide with the sample that is mistakenly mounted on a predetermined layer, thereby causing the sample to be damaged.

[0126] Therefore, in this embodiment, before starting the sample measurement operation in step S109, the sample detection unit 19 confirms whether the sample 30 is not mistakenly mounted in the predetermined layer of the box 12 of the pickup source. As described above, the sample measurement operation includes the operation of taking out the sample 30 from the box 12 of the pickup source, the operation of measuring the taken out sample 30 by the measuring device 11, and the operation of storing the sample 30 measured by the measuring device 11 in the box 12 of the placement destination. Therefore, before starting to take out the sample 30 from the box 12 of the pickup source, the processing of the above-mentioned step S107 is performed.

[0127] The operation of the sample detection unit 19 detecting the presence of the sample in a predetermined layer of the pickup source box 12 is basically the same as the above-mentioned operation of the sample detection unit 19 detecting the presence of the sample in a predetermined layer of the placement destination box 12, so the description is omitted.

[0128] Next, the control unit 17 determines (confirms) whether there is no sample 30 in the predetermined layer of the box 12 of the pickup source based on the detection result of the sample detection unit 19 in step S107 (step S108). Then, if the control unit 17 confirms that there is no sample 30 in the predetermined layer of the box 12 of the pickup source, that is, if an affirmative judgment is made in step S108, the process proceeds to step S109. On the other hand, if the control unit 17 confirms that there is a sample 30 in the predetermined layer of the box 12 of the pickup source, that is, if a negative judgment is made in step S108, the process proceeds to step S112.

[0129] In step S112, the control unit 17 interrupts (terminates) the sample measurement operation based on the measuring device 11 and the conveying device 13 and displays a warning. The display content of the warning is different when moving from step S105 to step S112 and when moving from step S108 to step S112. For example, when moving from step S105 to step S112, the control unit 17 displays the main point that the sample is forgotten to be taken from the box 12 at the placement destination. In addition, when moving from step S108 to step S112, the control unit 17 displays the main point that the sample is incorrectly assembled from the box 12 at the pickup source. In addition, the display content of the warning can be changed in various ways. In addition, in Fig.11 The flowchart shown shows an example in which the processing of steps S106 to S108 is performed after the processing of steps S103 to S105 is performed, but the processing of steps S103 to S105 may be performed after the processing of steps S106 to S108 is performed.

[0130] On the other hand, in step S109, the control unit 17 causes the sample measurement operation by the measuring device 11 and the conveying device 13 to be executed. As described above, the sample measurement operation includes an operation of taking out the sample 30 from the box 12 of the pickup source, an operation of measuring the taken out sample 30 by the measuring device 11, and an operation of storing the sample 30 measured by the measuring device 11 in the box 12 of the placement destination. To explain in more detail, the control unit 17 controls the operation of the conveying device 13 to make the sample 30 stored in the extraction target layer of the box 12 be adsorbed to the adsorption pad 26 of the hand 16 for picking up, and then takes out the sample 30 from the extraction target layer of the box 12. Next, the control unit 17 controls the operation of the conveying device 13 to move the sample 30 adsorbed to the adsorption pad 26 to the measurement position of the measuring device 11. Next, the control unit 17 controls the operation of the measuring device 11 to measure the sample 30 for a predetermined item. Next, the control unit 17 controls the operation of the transport device 13 to adsorb the sample 30 after the measurement by the adsorption pad 26, and transports the sample 30 to the destination box 12. Next, the control unit 17 controls the operation of the transport device 13 to place the sample 30 on the storage target layer of the destination box 12. Thus, the sample 30 after the measurement is stored in the destination box 12.

[0131] Next, the control unit 17 determines whether the sample 30 that becomes the object of measurement in step S109 is the final sample (step S110). Then, if the control unit 17 makes a negative judgment in step S110, it enters step S111. In step S111, the control unit 17 determines whether there is a switch of the box 12. The switch of the box 12 refers to the switch of the box 12 of the pickup source and the box 12 of the placement destination. If the control unit 17 makes a negative judgment in step S111, it returns to the above-mentioned step S109. In addition, if the control unit 17 makes an affirmative judgment in step S111, it returns to step S103. In the case of returning from step S111 to step S103, the processing from step S103 to step S108 is performed with the switched box 12 as the object. In addition, if the control unit 17 makes an affirmative judgment in step S110, a series of processing is terminated.

[0132] In addition, Fig.11 In the example of the case where the sample detection unit 19 needs to detect the presence of the sample, the case of switching the box 12 is illustrated, but the present invention is not limited to this example. For example, the case where the sample detection unit 19 needs to detect the presence of the sample may be the case of switching the group of samples taken out from the box 12 of the pickup source. When the user sets the sample information via the operation unit 18, the sample groups are divided according to the types of samples, for example. For example, the types of samples are divided according to the material, size, etc. of the samples.

[0133] Figures 14 to 20 This is a schematic diagram for explaining an example in which three cartridges are used to measure a sample by a sample measuring device.

[0134] First, as a premise for explanation, Fig.14 As shown, the three boxes 12a, 12b, and 12c each have eleven layers from the zeroth layer to the tenth layer from top to bottom. Box 12a is an empty box that does not store any samples. In box 12b, a total of ten samples 30 (30-1 to 30-10) are stored from the first layer to the tenth layer. In addition, in box 12c, a total of eight samples 30 (30-11 to 30-18) are stored from the first layer to the third layer and from the sixth layer to the tenth layer. The samples 30 (30-11 to 30-13) stored in the first layer to the third layer of box 12c and the samples 30 (30-14 to 30-18) stored in the sixth layer to the tenth layer of box 12c are samples belonging to different groups.

[0135] Under such a premise, the sample detection unit 19 first uses the box 12a as the placement destination box and the box 12b as the pickup source box to detect the presence or absence of the sample. Fig.15 As shown, the sample detection unit 19 uses the zeroth layer to the tenth layer of the box 12a at the placement destination as the specified layer, and detects the presence of the sample in the specified layer. In addition, the sample detection unit 19 uses the zeroth layer of the box 12b at the pickup source as the specified layer, and detects the presence of the sample in the specified layer. Moreover, when the sample detection unit 19 detects that there is no sample in the specified layer of the box 12a at the placement destination, and there is no sample in the specified layer of the box 12b at the pickup source, under the control of the control unit 17, a sample measurement operation based on the measuring device 11 and the conveying device 13 is performed. In this sample measurement operation, ten samples 30 (30-1 to 30-10) stored in the box 12b are taken out in sequence from the top and measured by the measuring device 11. In addition, the samples 30 (30-1 to 30-10) that have completed the measurement are as shown Fig.16 As shown, the boxes 12a are stored in order from the lower layer (the tenth layer in the example of the figure) of the box 12a. At this point, the box 12b is empty.

[0136] Next, the sample detection unit 19 detects the presence or absence of the sample using the box 12b as the placement destination box and the box 12c as the pickup source box. In other words, the sample detection unit 19 detects the presence or absence of the sample when the box 12 is switched. Specifically, the sample detection unit 19 detects the presence or absence of the sample. Fig.17As shown, the zeroth to tenth layers of the box 12b at the placement destination are taken as specified layers, and the presence or absence of samples is detected in the specified layers. In addition, the sample detection unit 19 takes the zeroth layer of the box 12c at the pickup source as the specified layer, and detects the presence or absence of samples in the specified layer. Moreover, when the sample detection unit 19 detects that there is no sample in the specified layer of the box 12b at the placement destination, and there is no sample in the specified layer of the box 12c at the pickup source, a sample measurement operation based on the measuring device 11 and the conveying device 13 is performed under the control of the control unit 17. In this sample measurement operation, samples 30-11 to 30-13 stored in the first to third layers of the eight samples 30 stored in the box 12c are taken out in sequence from the top and measured by the measuring device 11. In addition, the samples 30-11 to 30-13 that have completed the measurement are as shown in FIG. Fig.18 As shown, the components are stored in the box 12b in order starting from the lower layer (the tenth layer in the example shown in the figure) of the box 12b.

[0137] Next, the sample detection unit 19 detects the presence or absence of the sample at the timing of switching the group of the sample 30. In other words, the sample detection unit 19 detects the presence or absence of the sample when switching the group of the sample 30. Specifically, the sample detection unit 19 detects the presence or absence of the sample. Fig.19 As shown, the zeroth to fifth layers of the box 12b at the placement destination are taken as specified layers, and the presence or absence of the sample is detected in the specified layers. In addition, the sample detection unit 19 takes the zeroth to fifth layers of the box 12c at the pickup source as specified layers, and detects the presence or absence of the sample in the specified layers. Moreover, when the sample detection unit 19 detects that there is no sample in the specified layer of the box 12b at the placement destination, and there is no sample in the specified layer of the box 12c at the pickup source, under the control of the control unit 17, a sample measurement operation based on the measuring device 11 and the conveying device 13 is performed. In this sample measurement operation, the samples 30-14 to 30-18 remaining in the box 12c are taken out in sequence from the top and measured by the measuring device 11. In addition, the samples 30-14 to 30-18 that have completed the measurement are as shown in FIG. Fig. 20 As shown, the fifth layer to the first layer of the box 12b are sequentially housed in the box 12b.

[0138] As described above, the sample measuring device 10 according to the first embodiment of the present invention includes the sample detection unit 19 and the control unit 17 in addition to the measuring device 11 and the conveying device 13. The sample detection unit 19 can detect the presence or absence of the sample in each layer of the box 12. The control unit 17 controls the measuring device 11 and the conveying device 13 based on the detection result of the sample detection unit 19. As a result, the sample measuring device 10 can perform the sample measuring operation in a state where there is no sample in the predetermined layer of the box 12 of the placement destination and the predetermined layer of the box 12 of the pickup source. Therefore, even if the user mistakenly installs the sample in the predetermined layer of the box 12 of the pickup source, it is possible to avoid the hand 16 of the conveying device 13 and the collision with the mistakenly installed sample. In addition, even if the user forgets to take out the sample from the predetermined layer of the box 12 of the placement destination, it is possible to avoid the hand 16 of the conveying device 13 and the collision with the forgotten sample. Therefore, according to the sample measuring device 10, it is possible to prevent the sample from being damaged due to the user's mistake.

[0139] <Second embodiment>

[0140] The sample measuring device according to the second embodiment of the present invention is characterized by the structure of the sample detection unit 19. The sample detection unit 19 according to the second embodiment includes Fig.21 The distance measuring sensor 50 is shown. The distance measuring sensor 50 is mounted on the hand 16. Specifically, the distance measuring sensor 50 is mounted on the upper surface of the hand frame 21. The distance measuring sensor 50 can measure the distance to the object in each layer of the box 12 in the depth direction X of the box 12. When measuring the distance to the object, the distance measuring sensor 50 is arranged in front of the box 12. The object when the distance measuring sensor 50 measures the distance is different in the case where there is a sample 30 in the layer to be measured and in the case where there is no sample.

[0141] Specifically, if Fig.21 As shown in FIG. 1 , when there is no sample 30 in the layer facing the distance measuring sensor 50 in the depth direction Y of the box 12, the distance measuring sensor 50 uses the back plate portion 124 as the object and measures the distance L1 to the object. Fig. 22 As shown, when the sample 30 is present in the layer facing the distance measuring sensor 50 in the depth direction Y of the box 12, the distance measuring sensor 50 measures the distance L2 to the sample 30 as the object.

[0142] As described above, the distance measured by the distance measuring sensor 50 is greatly different between the case where the sample 30 is present in the layer to be measured and the case where the sample is not present. Therefore, the sample detection unit 19 compares the distance measured by the distance measuring sensor 50 with a preset threshold value, and determines whether the sample 30 is present in the layer to be measured based on the comparison result.

[0143] The threshold value for determining the presence or absence of the sample 30 is set to a value smaller than the measurement value (L1) obtained when the distance measuring sensor 50 uses the back plate portion 124 as the target object. In addition, the threshold value is set to a value larger than the measurement value obtained when the distance measuring sensor 50 uses the sample 30 of the smallest sample size as the target object. Thus, when the distance measured by the distance measuring sensor 50 is larger than the threshold value, the sample detection unit 19 can determine that there is no sample 30 in the layer to be measured. In addition, when the distance measured by the distance measuring sensor 50 is less than the threshold value, the sample detection unit 19 can determine that there is a sample 30 in the layer to be measured. When detecting the presence or absence of the sample in a predetermined layer of the box 12, the position of the distance measuring sensor 50 is adjusted in accordance with the height of the predetermined layer.

[0144] Furthermore, when the sample detection unit 19 includes the distance measuring sensor 50, the measurement range of the distance measuring sensor 50 in the height direction Z of the cartridge 12 is preferably larger than the thickness of the sample 30. Thus, even when a sample 30 deformed by warping, bending, or the like is stored in the layer to be measured, the presence or absence of the sample 30 can be reliably detected.

[0145] <Third embodiment>

[0146] The sample measuring device according to the third embodiment of the present invention is characterized by the structure of the sample detection unit 19. The sample detection unit 19 according to the third embodiment includes Fig.23 The photographing unit 52 is shown. The photographing unit 52 is mounted on the hand 16. Specifically, the photographing unit 52 is mounted on the upper surface of the hand frame 21. The photographing unit 52 photographs the interior of the box 12 from the near front side of the box 12. The photographing range of the photographing unit 52 in the height direction Z of the box 12 is as follows: Fig.23 As shown by the dashed line, it is set to the length of a plurality of layers of the cassette 12. Thus, the presence or absence of the sample 30 in each layer of the cassette 12 can be detected by using the imaging unit 52 to collect a plurality of layers.

[0147] When the sample 30 is not shown in the image captured by the imaging unit 52, the sample detection unit 19 determines that there is no sample 30 in the imaging range. When the sample 30 is shown in the image captured by the imaging unit 52, the sample detection unit 19 determines that there is a sample 30 in the imaging range. When detecting the presence or absence of the sample in a predetermined layer of the box 12, the position of the imaging unit 52 is adjusted according to the height of the predetermined layer.

[0148] <Fourth embodiment>

[0149] The sample measuring device of the fourth embodiment of the present invention is characterized by the structure of the sample detection unit 19. The sample detection unit 19 is composed of sample detection sensors provided in each layer of the box 12. The sample detection sensors are provided in all layers of the box 12. The sample detection sensors are composed of contact sensors or non-contact sensors.

[0150] Fig.24 as well as Fig.25 This is a schematic side view showing an example in which a sample detection sensor is constituted by a contact type sensor.

[0151] like Fig.24 as well as Fig.25 As shown, the sample detection sensor 60 is disposed on each support portion 125, 126 (in Fig.24 as well as Fig.25 Only the support portion 126 is shown in the figure. The sample detection sensor 60 has a contact 60a and a sensor body 60b. The contact 60a is displaced from a first position to a second position by contacting the sample 30 as a detection body. The first position is a position where the sensor body 60b is in an off state. The second position is a position where the sensor body 60b is in an on state.

[0152] like Fig.24 As shown in FIG. 1 , when the layers of the box 12 do not contain the sample 30, the sensor main body 60b of each sample detection sensor 60 is in the disconnected state. Fig.25 As shown in FIG. 1 , when the sample 30 is stored in any layer of the cartridge 12, the sensor main body 60b of the sample detection sensor 60 provided in the layer storing the sample 30 is turned on, and the sensor main body 60b of the sample detection sensor 60 provided in the layer not storing the sample 30 is turned off. Thus, the sample detection unit 19 can detect the presence or absence of the sample 30 in each layer of the cartridge 12 based on the on / off state of each sample detection sensor 60.

[0153] Fig.26 as well as Fig. 27 This is a schematic side view showing an example in which a sample detection sensor is configured by a non-contact sensor.

[0154] like Fig.26 as well as Fig. 27 As shown, the sample detection sensor 62 is disposed on each support portion 125, 126 (in Fig.26 as well as Fig. 27 Only the support portion 126 is shown in the figure. The sample detection sensor 62 is composed of, for example, a photoelectric sensor or a proximity sensor. The sample detection sensor 62 is, for example, buried in the support portion 126.

[0155] like Fig.26 As shown in FIG. 1 , when the layers of the box 12 do not contain the sample 30, each sample detection sensor 62 is turned off. Fig. 27 As shown, when a sample 30 is stored in any layer of the cartridge 12, the sample detection sensor 62 provided in the layer storing the sample 30 is turned on, and the sample detection sensor 62 provided in the layer not storing the sample 30 is turned off. Thus, the sample detection unit 19 can detect the presence or absence of the sample 30 in each layer of the cartridge 12 based on the on / off state of each sample detection sensor 62.

[0156] The technical scope of the present invention is not limited to the above-mentioned embodiments, but includes various changes and improvements within the scope of the specific effects obtained by the structural requirements of the invention and the combination thereof.

[0157] For example, in the first embodiment described above, the sample detection unit 19 is configured to detect the presence or absence of the sample 30 in the predetermined layer of the box 12 of the pickup source and the predetermined layer of the box 12 of the placement destination, but the present invention is not limited to this. For example, the sample detection unit 19 may be configured to detect the presence or absence of the sample 30 only in the predetermined layer of the box 12 of the pickup source. In addition, the sample detection unit 19 may be configured to detect the presence or absence of the sample 30 only in the predetermined layer of the box 12 of the placement destination.

[0158] In the first embodiment described above, the layer above the layer storing the unmeasured sample 30 is defined as the "predetermined layer" in the pickup source box 12, but the present invention is not limited thereto. For example, the "predetermined layer" may include not only the layer above the layer storing the unmeasured sample 30 but also the layer below the layer storing the unmeasured sample 30 in the pickup source box 12.

[0159] In the first embodiment described above, the layer storing the measured sample 30 and the layer above the layer storing the measured sample 30 are defined as the "predetermined layer" for the box 12 at the destination, but the present invention is not limited thereto. For example, the "predetermined layer" for the box 12 at the destination may include not only the layer storing the measured sample 30 and the layer above the layer storing the measured sample 30, but also the layer below the layer storing the measured sample 30.

[0160] <Fifth Embodiment>

[0161] Fig.28 This is a block diagram showing the configuration of a control system of a sample measuring device according to a fifth embodiment of the present invention.

[0162] like Fig.28As shown, the sample measurement device 10A of this embodiment replaces Figure 8 The sample detection unit 19 of the sample measurement device 10 according to the first embodiment shown in the figure includes a size detection unit 19S.

[0163] In addition, regarding the setting of sample information in the operation unit 18, in the first embodiment, the user sets information related to the sample for the layer storing (loading) the unmeasured sample, does not set sample information for the layer not storing the unmeasured sample but leaves it blank, or sets information indicating that the sample is not stored for the layer. In the present embodiment, the setting of sample information in the operation unit 18 is not limited to the configuration of setting information related to the presence or absence of storage of the unmeasured sample in each layer of the cartridge.

[0164] In addition, in the first embodiment, the example sample information includes (5) information specifying a box 12 for storing unmeasured (measurement object) samples and a layer for storing unmeasured samples in the box 12, and (6) information specifying a box 12 for storing measured samples and a layer for storing measured samples in the box 12.

[0165] In the present embodiment, the sample information may include, instead of the information (5) and (6), (7) information specifying a box 12 storing unmeasured (measurement target) samples and (8) information specifying a box 12 that should store measured samples.

[0166] The size detection unit 19S detects Figure 3 The size of the sample stored in each layer of the box 12 shown in the figure. The size detection unit 19S detects the size of the sample in the depth direction of the box 12 by actual measurement. The size detection unit 19S has Figure 5 The pushing member 27 is mounted on the hand 16 of the conveying device 13. The size detection unit 19S is as shown in FIG. Figure 7 As shown, the sample 30 is pushed to the back plate portion 124 of the box 12 by the pushing member 27, thereby detecting the size Ly of the sample 30 in the depth direction Y of the box 12. At this time, the operation of the conveying device 13 for detecting the size of the sample 30 is controlled by the control unit 17. In addition, the size detection unit 19S recognizes the position of the pushing member 27 and the positions of each part of the box 12 in the coordinate system of the conveying device 13. In addition, when the sample 30 is pressed into the inner side of the box 12 by the pushing member 27, the size detection unit 19S determines whether the sample 30 is pushed to the back plate portion 124 based on the measurement value of the above-mentioned six-axis force sensor.

[0167] The other structures of the sample measurement device 10A of this embodiment are Figure 8 The sample measuring device 10 of the first embodiment shown is the same and therefore the description thereof will be omitted.

[0168] Fig.29 This is a flowchart showing an example of a processing procedure when a sample is measured using the sample measuring device 10A according to the fifth embodiment of the present invention.

[0169] First, the user sets the sample information by operating the operation unit 18 (step S201). The sample information set by the user is stored in the storage unit of the control unit 17. The sample information includes the information (1) to (4) and (7) to (8) described above.

[0170] Next, the control unit 17 repeatedly determines whether there is an instruction to start measurement (step S202). At this time, the control unit 17 determines that there is an instruction to start measurement when the user presses a measurement start button (not shown). The measurement start button is provided on the operation unit 18, for example.

[0171] Next, the control unit 17 drives the transport device 13 to move the hand 16 from the home position to the placement position of the pickup source cassette 12 (step S203). The home position is determined in advance. The pickup source cassette 12 is a cassette that stores unmeasured samples.

[0172] Here, if Fig.30 As shown, for example, consider the case where a sample is taken out from the mth layer on the top of the box 12 of the pickup source. In this case, the control unit 17 Fig.30 As shown, the conveying device 13 is controlled so that the lower end 272a of the pressing member 27 is slightly lower than the height of the upper surface of the pair of support parts 125 and 126 forming the mth layer. Fig.30 As shown, when the sample 30 is stored in the mth layer, the end surface 300 of the sample 30 and the contact surface 272 b of the pressing member 27 are arranged to face each other in the depth direction Y of the cassette. The end surface 300 of the sample 30 is the end surface of the sample 30 arranged toward the front side of the cassette 12 .

[0173] Next, the size detection unit 19S detects the size of the sample 30 stored in the extraction target layer in the box 12 of the pickup source (step S204). The extraction target layer refers to the layer that becomes the target of the sample extraction in this measurement. At this time, the control unit 17 drives the conveying device 13 to move the hand 16 in the y1 direction (refer to Fig.31 ) moves horizontally. As a result, the pushing member 27 moves together with the hand 16 and gradually approaches the back plate 124 of the box 12. In addition, when the sample 30 is stored in the object layer, as shown in FIG. Fig.31 As shown in FIG. 1 , the contact surface 272b of the pressing member 27 contacts the end surface 300 of the sample 30. Then, the sample 30 is pressed by the pressing member 27 and moves in the y1 direction. During this movement, the end surface 301 of the sample 30 moves as shown in FIG. Figure 7 as well as Fig.32As shown, the sample 30 is pressed against the inner surface 124 a of the back plate portion 124 . In this way, the torque acting on the hand 16 increases. The end surface 301 of the sample 30 is the end surface of the sample 30 disposed toward the inner side of the cartridge 12 .

[0174] On the other hand, during the movement of the hand 16, the control unit 17 determines whether the sample 30 is pushed to the back plate portion 124 by repeatedly comparing the torque acting on the hand 16 with a prescribed torque threshold at prescribed intervals. Specifically, the control unit 17 determines that the sample 30 is not pushed to the back plate portion 124 when the torque acting on the hand 16 is below the prescribed torque threshold. In this case, the control unit 17 continues the movement of the hand 16. In addition, the control unit 17 determines that the sample 30 is pushed to the back plate portion 124 when the torque acting on the hand 16 exceeds the prescribed torque threshold. In this case, the control unit 17 stops the movement of the hand 16. When the sample 30 is pushed to the back plate portion 124 of the box 12 by the pushing member 27, the size detection unit 19S detects the dimension from the contact surface 272b of the second arm portion 272 to the inner surface 124a of the back plate portion 124 as the dimension Ly of the sample 30 (refer to Figure 7 ).

[0175] In addition, if the sample 30 is not stored in the extraction target layer due to the user's mistake, the pushing member 27 does not contact the sample 30 but approaches the back plate 124. Therefore, during the movement of the hand 16, as long as the pushing member 27 does not press against the back plate 124, the torque acting on the hand 16 does not exceed the predetermined torque threshold. In such a case, the size detection unit 19S checks (senses) that the size of the sample stored in the extraction target layer is smaller than the minimum sample size Lmin (refer to Fig.33 ) is smaller. In other words, when the size detection unit 19S detects that the size of the sample stored in the extraction target layer is smaller than the minimum sample size Lmin, it determines that the sample 30 is not stored in the extraction target layer. In this way, the control unit 17 stops the movement of the hand 16 before the pressing member 27 contacts the back plate 124.

[0176] The minimum sample size refers to the smallest size of the sample in the depth direction Y of the box 12 among the sizes of the samples included in the sample information set by the user in the above-mentioned step S201 . Fig.33 The sample 30 having the smallest sample size Lmin is shown in dashed lines.

[0177] Next, the control unit 17 determines whether the size of the sample detected by the size detection unit 19S in the above-mentioned step S204 is smaller than the minimum sample size (step S205). If the control unit 17 makes a negative judgment in step S205, it proceeds to step S206. If the control unit 17 makes an affirmative judgment in step S205, it moves to step S208. In the case of moving from step S205 to step S208, it is equivalent to skipping the extraction target layer. Skipping the extraction target layer means skipping a layer that becomes the target of extraction of samples and switching to the next layer.

[0178] In step S206, the control unit 17 determines whether the size of the sample detected by the size detection unit 19S in the extraction target layer is consistent with the size of the sample set by the user for the extraction target layer in the above-mentioned step S201. And, if the control unit 17 makes an affirmative judgment in step S206, it proceeds to step S207. Then, in step S207, the control unit 17 continues the sample measurement operation by the measuring device 11 and the conveying device 13. In addition, if the control unit 17 makes a negative judgment in step S206, it interrupts (stops) the sample measurement operation by the measuring device 11 and the conveying device 13 and displays a warning (step S209). In step S209, the control unit 17 displays a warning message such as "The size of the sample is different from the set size." on the display unit of the operation unit 18. In addition, when the control unit 17 displays a warning in step S209, it displays information indicating which layer of which box the inconsistency of the sample size occurs on the display unit of the operation unit 18. The sample measurement operation by the measuring device 11 and the conveying device 13 will be described in detail later.

[0179] On the other hand, in step S208, the control unit 17 determines whether the sample 30 that has been subjected to the size detection in the above-mentioned step S204 is the final sample. If the control unit 17 makes a negative determination in step S208, the process returns to the above-mentioned step S203. If the control unit 17 makes a positive determination in step S208, a series of processes are terminated. The case where the control unit 17 makes a negative determination in step S208 means that an unmeasured sample 30 remains in the box 12 of the pickup source.

[0180] In addition, although Fig.29Although not shown, after confirming the content of the warning displayed in step S209, the user can restart the sample measurement operation by the measuring device 11 and the conveying device 13 by performing a predetermined operation. The predetermined operation includes an operation for eliminating the sample size error and an operation for instructing the control unit 17 to restart the measurement via the operation unit 18. The operation for eliminating the sample size error is an operation in which the user re-sets correct sample information to the extraction target layer, or an operation in which the sample is re-installed on the extraction target layer.

[0181] Here, the sample measurement operation by the measuring device 11 and the transport device 13 will be described in detail. The main body that controls the sample measurement operation is the control unit 17, and the objects controlled by the control unit 17 are the measuring device 11 and the transport device 13.

[0182] First, the control unit 17 causes the sample 30 stored in the removal target layer of the cartridge 12 to be adsorbed onto the adsorption pad 26 of the hand 16. At this time, the control unit 17 causes the hand 16 to descend toward the sample 30 to be removed, so that the adsorption pad 26 and the adsorbed surface 30b of the sample 30 (see Figure 5 ) contact. At this time, the adsorption pad 26 contacts the sample 30 due to the descent of the hand 16, and if the contact pressure exceeds a predetermined value, the spring 25 is compressed. In this way, the adsorption pad 26 is pressed against the sample 30 by the reaction force caused by the compression of the spring 25. Therefore, the adsorption pad 26 can be brought into close contact with the sample 30.

[0183] Next, the control unit 17 causes the vacuum generator 24 to generate a vacuum suction force, thereby causing the sample 30 to be sucked onto the suction pad 26 .

[0184] Next, the control unit 17 moves the hand 16 in the width direction X of the box 12, as shown in FIG. Fig.34 As shown, the sample 30 is pushed to the side plate portion 123. The side plate portion 123 corresponds to the reference end portion in the width direction X of the box 12. At this time, the control unit 17 pushes the side end surface 302 of the sample 30 to the inner surface 123a of the side plate portion 123 by moving the hand 16 in the width direction X of the box 12 while adsorbing the sample 30 through the adsorption pad 26. As a result, the sample 30 stored in the removal target layer is positioned in the width direction X of the box. In addition, when the size of the sample is detected in the above-mentioned step S204, the sample 30 stored in the removal target layer is pushed to the back plate portion 124 by the pushing component 27. Therefore, the sample 30 is positioned in both the width direction X of the box and the depth direction Y of the box.

[0185] In addition, in the present embodiment, when positioning the sample 30 in the width direction X of the box 12, the control unit 17 pushes the sample 30 to the side plate 123, but the present invention is not limited thereto, and the control unit 17 may also push the sample 30 to the side plate 122. In other words, the reference end of the box 12 in the width direction X may also be the side plate 122.

[0186] Next, the control unit 17 releases the adsorption of the sample 30 by the adsorption pad 26 .

[0187] Next, the control unit 17 raises the hand 16 by a predetermined amount to ensure a gap between the adsorption pad 26 and the sample 30, and then moves the adsorption pad 26 to the center position of the sample 30. The center position of the sample 30 is the center position of the adsorbed surface 30b of the sample 30. At this time, the control unit 17 determines the center position of the sample 30 based on the size of the sample set by the user for the extraction target layer in the above-mentioned step S201 and / or the size of the sample detected by the size detection unit 19S in the above-mentioned step S204. In addition, the control unit 17 controls the driving of the conveying device 13 so that the adsorption pad 26 is arranged at the determined center position of the sample 30.

[0188] Next, the control unit 17 moves the hand 16 in the same manner as described above to adsorb the sample 30 onto the adsorption pad 26. At this time, the adsorption pad 26 adsorbs the center position of the sample 30. In addition, the position where the adsorption pad 26 adsorbs the sample 30 may be other than the center position of the sample 30 as long as it does not hinder the processing of the sample 30 by the adsorption pad 26 or the measurement of the sample 30 by the measuring device 11.

[0189] Next, the control unit 17 raises the hand 16 by a predetermined amount to slightly lift the sample 30 from the support units 125 and 126. Thus, the sample 30 is picked up by the hand 16 at the extraction target layer.

[0190] Next, the control unit 17 moves the hand 16 horizontally from the back side to the front side of the cassette 12 to remove the sample 30 from the removal target layer of the cassette 12 .

[0191] Next, the control unit 17 moves the sample 30 adsorbed on the adsorption pad 26 to the measurement position of the measuring device 11. At this time, the control unit 17 controls the driving of the conveying device 13 to move the measurement surface 30a (see Figure 5) is positioned in the measuring section 15 of the measuring device 11. In addition, the control unit 17 lightly presses the measured surface 30a of the sample 30 to the measuring section 15 of the measuring device 11 by appropriately changing the posture and position of the hand 16. As a result, the measured surface 30a of the sample 30 is configured to be close to and opposite to the measuring section 15 of the measuring device 11. In addition, the adsorption pad 26 adsorbs the center position of the sample 30. Therefore, the control unit 17 makes the adsorption position of the adsorption pad 26 on the sample 30 coincide with the center position of the measuring section 15 of the measuring device 11 by appropriately changing the posture and position of the hand 16. In other words, the control unit 17 controls the conveying device 13 so that the measured position of the sample 30 coincides with the measuring position of the measuring device 11.

[0192] Next, the control unit 17 sends a measurement command signal to the measuring device 11. Thus, the measuring device 11 measures the sample 30. At this time, the measuring device 11 irradiates the measuring light from the light source of the measuring device 11 to the measured surface 30a of the sample 30. In addition, the measuring device 11 receives the light reflected from the measured surface 30a through the sensor of the measuring device 11. Thus, the measuring device 11 measures the surface state of the sample 30. The structure of the measuring device 11 may be changed depending on which item of the sample 30 is measured. In the present embodiment, the adsorption position of the adsorption pad 26 on the sample 30 is made consistent with the center position of the measuring unit 15 of the measuring device 11. Therefore, the surface state of the sample 30 can be measured with the center part of the measured surface 30a of the sample 30 as the object.

[0193] Next, the control unit 17 moves the hand 16 to the front of the destination cartridge 12 while the sample 30 after measurement is adsorbed by the adsorption pad 26. At this time, the control unit 17 positions the hand 16 to match the height position of the layer that should store the cartridge after measurement among the multiple layers of the destination cartridge 12.

[0194] Next, the control unit 17 moves the adsorption pad 26 from the front side to the back side of the box 12 by horizontally moving the hand 16. As a result, the sample 30 enters the box 12. At this time, the control unit 17 controls the horizontal movement amount of the hand 16 based on the size of the sample set by the user for the extraction target layer in the above step S201 and / or the size of the sample detected by the size detection unit 19S in the above step S204.

[0195] Next, the control unit 17 lowers the hand 16 by a predetermined amount to lower the sample 30 to near the upper surface of the pair of supports 125 and 126. The pair of supports 125 and 126 described here are supports 125 and 126 that form a layer for storing the cassettes after the measurement.

[0196] Next, the control unit 17 releases the adsorption of the sample 30 by the adsorption pad 26. As a result, the sample 30 is supported (placed) on the pair of support parts 125 and 126 in a placed state.

[0197] Next, the control unit 17 separates the adsorption pad 26 from the sample 30 by raising the hand 16 by a predetermined amount.

[0198] Next, the control unit 17 moves the hand 16 to the above-mentioned starting position.

[0199] As described above, the sample measurement operation by the measuring device 11 and the transport device 13 is completed.

[0200] When the size of the sample 30 is detected using the pressing member 27 as described above, the control unit 17 may also change the torque threshold for determining whether the sample 30 is in contact with the back plate 124 according to the hardness of the sample 30. Specifically, the control unit 17 sets the torque threshold to a larger value when the hardness of the sample 30 is high, and sets the torque threshold to a smaller value when the hardness of the sample 30 is low. Thus, even when handling samples 30 of different hardnesses, it is possible to appropriately determine whether the sample 30 is in contact with the back plate 124. The hardness of the sample 30 may be included in the sample information, or may be determined (estimated) based on the material of the sample 30.

[0201] In addition, when the push member 27 is used to detect the size of the sample 30 as described above, the control unit 17 may change the inclination angle of the push member 27 according to the hardness of the sample 30. The inclination angle of the push member 27 is determined by the inclination angle of the push member 27 relative to the height direction Z (vertical axis) of the box. Fig.35 As shown in FIG. 1 , when the second arm portion 272 of the pressing member 27 is not inclined relative to the height direction Z of the cartridge, the inclination angle of the pressing member 27 is 0. Fig.36 As shown in FIG. 1 , when the second arm portion 272 of the pushing member 27 is inclined at an angle relative to the height direction Z of the cartridge, the inclination angle of the pushing member 27 is θ. The control unit 17 sets the inclination angle of the pushing member 27 to a larger value when the hardness of the sample is high, and sets the inclination angle of the pushing member 27 to a smaller value when the hardness of the sample is low.

[0202] When the inclination angle of the pressing member 27 is set to a large value (see Fig.36 ), and the case where the tilt angle is set to a smaller value (refer to Fig.35), the step difference between the adsorption pad 26 and the pushing member 27 becomes smaller (D1>D2). Therefore, when the inclination angle of the pushing member 27 is set to a larger value, when the pushing member 27 is brought into contact with the sample 30 stored in the layer to be taken out, the adsorption pad 26 is not likely to interfere with the sample 30 stored in the layer below the layer to be taken out. However, when the inclination angle of the pushing member 27 is set to a larger value, when the sample 30 is pushed by the pushing member 27, an oblique downward force is applied to the sample 30. Therefore, there is a concern that the sample 30 with a relatively low hardness is pressed and deformed by the pushing member 27, and the correct size cannot be detected. Therefore, when the pushing member 27 pushes the sample 30 with a relatively low hardness, it is preferred that the control unit 17 sets the inclination angle of the pushing member 27 to a smaller value.

[0203] In addition, when the size of the sample 30 is detected using the pressing member 27 as described above, the control unit 17 may also change the pressing force of the pressing member 27 according to the mass of the sample 30. Specifically, the control unit 17 sets the pressing force of the pressing member 27 to a larger value when the mass of the sample is larger, and sets the pressing force of the pressing member 27 to a smaller value when the mass of the sample is smaller. Thus, the pressing member 27 can press the samples 30 of different masses to the back plate 124 with an appropriate force. The pressing force of the pressing member 27 is the force applied to the sample 30 from the pressing member 27 when the pressing member 27 pushes the sample 30 toward the back plate 124.

[0204] In addition, when the pushing member 27 is used to detect the size of the sample 30 as described above, the control unit 17 may also change the pushing force of the pushing member 27 according to the friction coefficient of the sample 30. Specifically, the control unit 17 sets the pushing force of the pushing member 27 to a larger value when the friction coefficient of the sample 30 is larger, and sets the pushing force of the pushing member 27 to a smaller value when the friction coefficient of the sample is smaller. Thus, the pushing member 27 can push the sample 30 with different friction coefficients to the back plate 124 with an appropriate force. The friction coefficient of the sample 30 may be included in the sample information, or may be determined (estimated) based on the material of the sample 30.

[0205] In addition, when the size of the sample 30 is detected using the pressing member 27 as described above, the control unit 17 may change the number of times the sample 30 is pressed by the pressing member 27 according to the hardness of the sample 30. Specifically, the control unit 17 sets the number of times the sample 30 is pressed more when the hardness of the sample 30 is high, and sets the number of times the sample 30 is pressed less when the hardness of the sample 30 is low. In addition, the control unit 17 sets the number of times the sample 30 is pressed to multiple times when the hardness of the sample 30 is high, and sets the number of times the sample 30 is pressed to once when the hardness of the sample 30 is low.

[0206] Here, the adverse conditions caused by the sample size error are explained. As described above, the sample size error is caused by the user's mistake. If a specific example is given, the sample size error is caused when the user sets the wrong sample information for the extraction target layer (hereinafter also referred to as "wrong setting"). In addition, the sample size error is caused when the user assembles a sample of a size different from the set size in the extraction target layer of the picking source (hereinafter also referred to as "wrong assembly"). If the sample size error is caused, there is a concern that the hand 16 of the conveying device 13 will not be able to properly handle the sample 30, and various adverse conditions will occur.

[0207] For example, if the sample size error is caused, Fig.37 As shown in FIG. 1 , the adsorption pad 26 may adsorb the center position P1 of the sample 30, but the adsorption pad 26 may adsorb the position P2 which is greatly deviated from the center position P1. Therefore, the measuring device 11 may measure the surface state of the sample 30 at the position P2 which is deviated from the center position P1 of the sample 30 which should be measured. In addition, when the conveying device 13 holds the sample 30 by vacuum adsorption, the adsorption pad 26 may adsorb the sample 30 at the unstable position P2. As a result, there is a possibility that the sample 30 may fall or be damaged while the conveying device 13 is conveying the sample 30.

[0208] In contrast, the sample measuring device 10A according to the fifth embodiment of the present invention detects the size of the sample 30 stored in each layer of the box 12 by the size detecting unit 19S, with the box 12 being the source of the pickup. The control unit 17 controls the measuring device 11 and the conveying device 13 based on the detection result of the size detecting unit 19S. Thus, the control unit 17 can continue the sample measuring operation by the measuring device 11 and the conveying device 13 after confirming that the size of the sample detected by the size detecting unit 19S in the extraction target layer is consistent with the size of the sample set by the user for the extraction target layer via the operation unit 18. Therefore, even if the user makes an incorrect setting, it is possible to avoid the adsorption pad 26 adsorbing the sample 30 at a position greatly deviated from the center position of the sample 30, or the measuring device 11 measuring the sample 30 at a position P2 deviated from the center position P1 of the sample 30 that should be measured. This is also the case when the user makes an incorrect assembly. Therefore, according to the sample measuring device 10A according to the fifth embodiment, it is possible to avoid a problem caused by an incorrect size of the sample.

[0209] Furthermore, in the fifth embodiment described above, if Fig.29As shown, when the control unit 17 makes a negative judgment in step S206, the sample measurement operation based on the measuring device 11 and the conveying device 13 is interrupted and a warning is displayed, but the present invention is not limited to this. For example, when the control unit 17 makes a negative judgment in step S206, the sample measurement operation based on the measuring device 11 and the conveying device 13 is interrupted and a warning is displayed, but the present invention is not limited to this. Fig.38 Specifically, when the control unit 17 makes a negative judgment in step S206, it judges whether the size of the sample detected by the size detection unit 19S in step S204 is consistent with the size of the sample set by the user for the layer different from the extraction target layer in step S201 (step S209a). Here, the layer different from the extraction target layer refers to a layer located below the extraction target layer, that is, a layer before the sample 30 is extracted.

[0210] Next, if the control unit 17 makes an affirmative judgment in step S209a, it proceeds to step S209b, and if it makes a negative judgment in step S209a, it moves to step S209c. In step S209b, the control unit 17 updates the information (sample information) related to the sample 30 of the extraction target layer to be measured this time. As a result, the size of the sample 30 set for the extraction target layer is rewritten to be consistent with the size of the sample detected by the size detection unit 19S in the above-mentioned step S204. Thereafter, the control unit 17 continues the sample measurement operation based on the measuring device 11 and the conveying device 13 based on the updated sample information (step S207). The updated sample information includes the size of the sample rewritten as described above. In addition, in step S209c, the control unit 17 interrupts (terminates) the sample measurement operation based on the measuring device 11 and the conveying device 13 and displays a warning.

[0211] <Sixth embodiment>

[0212] Fig.39 This is a block diagram showing the configuration of a control system of a sample measuring device according to a sixth embodiment of the present invention.

[0213] like Fig.39 As shown, the sample measuring device 10B includes a memory 20 in addition to the measuring device 11 , the transport device 13 , the control unit 17 , the operation unit 18 , and the size detection unit 19S described above.

[0214] The table 20A is stored in advance in the memory 20 . The memory 20 is constituted by a nonvolatile memory. In the sample measurement device 10B of the sixth embodiment, it is not necessary for the user to set the sample information via the operation unit 18 .

[0215] Table 20A is stored in the memory 20 as a preferred example of registration information for registering the size requirements of the sample to be measured according to the sample type. The sample type refers to the type of the sample. Table 20A is a table that can determine the sample type based on the size of the sample detected by the size detection unit 19S. The size of the sample detected by the size detection unit 19S is the size of the sample in the depth direction Y of the box. The size of the sample in the depth direction Y of the box varies according to the sample type.

[0216] Fig.40 This is a diagram showing an example of a table.

[0217] like Fig.40 As shown, four sample types are registered in Table 20A. Specifically, Sample 1, Sample 2, Sample 3, and Sample 4 are registered in Table 20A. In addition, in Table 20A, the lateral width of the sample, the depth of the sample, the thickness of the sample, the mass of the sample, and the dimensional requirements of the sample are registered for each sample type. The lateral width of the sample is the size of the sample in the width direction X of the box. The depth of the sample is the size of the sample in the depth direction Y of the box.

[0218] Sample 1 is a sample type with a horizontal width of 80 mm, a depth of 30 mm, a thickness of 3 mm, and a mass of 30 g. The size requirement for a sample classified as sample 1 is that the depth of the sample satisfies a requirement of being greater than 25 mm and less than 35 mm.

[0219] Sample 2 is a sample type with a lateral width of 70 mm, a depth of 40 mm, a thickness of 3 mm, and a mass of 40 g. The size requirement for a sample classified as sample 2 is that the depth of the sample satisfies a requirement of 35 mm or more and less than 45 mm.

[0220] Sample 3 is a sample type with a horizontal width of 80 mm, a depth of 120 mm, a thickness of 3.5 mm, and a mass of 35 g. The size requirement for a sample classified as sample 3 is that the depth of the sample satisfies a requirement of 115 mm or more and less than 125 mm.

[0221] Sample 4 is a sample type with a lateral width of 75 mm, a depth of 50 mm, a thickness of 2.5 mm, and a mass of 20 g. The size requirement for a sample classified as sample 4 is that the depth of the sample is greater than 45 mm and less than 55 mm.

[0222] The reason why the required conditions for the size of the sample are defined by the maximum and minimum values ​​is that the size of the actually manufactured book 30 may deviate from the designed value, or an error may occur in the size of the sample detected by the size detection unit 19S.

[0223] The control unit 17 can judge (determine) the type of the sample based on the size of the sample detected by the size detection unit 19S and referring to the table 20A. Specifically, the control unit 17 judges the type of the sample in the range of 25 mm or more and less than 35 mm as "sample 1", and judges the type of the sample in the range of 35 mm or more and less than 45 mm as "sample 2". In addition, the control unit 17 judges the type of the sample in the range of 115 mm or more and less than 125 mm as "sample 3", and judges the type of the sample in the range of 45 mm or more and less than 55 mm as "sample 4". The number of sample types that can be judged using the table 20A can be changed.

[0224] Fig.41 FIG. 6 is a flowchart showing an example of a processing sequence when a sample is measured using the sample measuring device according to the sixth embodiment of the present invention. Fig.41 At the time of the series of processing shown, the table 20A is stored in the memory 20 .

[0225] First, the control unit 17 repeatedly determines whether there is an instruction to start measurement (step S301). The process of step S301 is the same as the process of step S202 described above.

[0226] Next, the control unit 17 drives the conveyor device 13 to move the hand 16 from the home position to the setting position of the cassette 12 of the pickup source (step S302). The process of step S302 is the same as the process of step S203 described above.

[0227] Next, the size detection unit 19S detects the size of the sample 30 stored in the extraction target layer in the cassette 12 of the pickup source (step S303 ). The process of step S303 is the same as the process of step S204 described above.

[0228] Next, the control unit 17 determines whether the size of the sample detected by the size detection unit 19S in the above step S303 is smaller than the minimum sample size (step S304). The minimum sample size used in step S304 is the smallest size among the sample size requirements registered in the table 20A. Fig.40In the table 20A shown, the sample type with the smallest depth is "sample 1", and the minimum value of the size requirement of the sample registered in correspondence with "sample 1" is 25 mm. Therefore, in step S304, the control unit 17 determines whether the size of the sample detected by the size detection unit 19S is smaller than 25 mm. And, if the control unit 17 makes a negative judgment in step S304, it proceeds to step S305. In addition, if the control unit 17 makes an affirmative judgment in step S304, it moves to step S308. In the case of moving from step S304 to step S308, it is equivalent to skipping the extraction object layer.

[0229] In step S305, the control unit 17 determines whether the size of the sample detected by the size detection unit 19S in the extraction target layer satisfies the size requirement of the sample registered in the table 20A. For example, if the size of the sample detected by the size detection unit 19S in the extraction target layer is 31 mm or 119 mm, the control unit 17 makes an affirmative determination in step S305. On the other hand, if the size of the sample detected by the size detection unit 19S in the extraction target layer is 100 mm or 150 mm, the control unit 17 makes a negative determination in step S305.

[0230] The control unit 17 that has made an affirmative judgment in step S305 determines the type of sample stored in the extraction target layer (step S306). Specifically, the control unit 17 determines the type of sample whose size is detected by the size detection unit 19S by referring to the table 20A in the memory 20. For example, when the size of the sample detected by the size detection unit 19S in the extraction target layer is 31 mm, the control unit 17 determines the type of sample stored in the extraction target layer as "sample 1". Thus, the control unit 17 can grasp the information of the sample registered in the table 20A corresponding to the determined sample type. The sample information that the control unit 17 can grasp includes the lateral width, depth, thickness, and mass of the sample.

[0231] Next, the control unit 17 continues the sample measurement operation by the measuring device and the conveying device based on the size (lateral width, depth) of the sample corresponding to the sample type determined as described above (step S307). In addition, if the control unit 17 makes a negative judgment in the above step S305, it interrupts (stops) the sample measurement operation by the measuring device 11 and the conveying device 13 and displays a warning (step S309). The sample measurement operation by the measuring device 11 and the conveying device 13 is the same as that described in the above fifth embodiment, so detailed description is omitted.

[0232] On the other hand, in step S308, the control unit 17 determines whether the sample 30 that has been subjected to the size detection in step S303 is the final sample. If the control unit 17 makes a negative determination in step S308, the process returns to step S302. If the control unit 17 makes an affirmative determination in step S308, the series of processes ends.

[0233] The sample measuring device 10B of the sixth embodiment detects the size of the sample 30 stored in each layer of the box 12 by the size detecting unit 19S, with the box 12 being the source of the pickup. The control unit 17 controls the measuring device 11 and the conveying device 13 based on the detection result of the size detecting unit 19S. Thus, the control unit 17 can continue the sample measuring operation by the measuring device 11 and the conveying device 13 after confirming that the size of the sample detected by the size detecting unit 19S in the extraction target layer satisfies the sample size requirement of the table 20A registered in the memory 20. Therefore, according to the sample measuring device 10B of the sixth embodiment, even if the user does not set the sample information through the operation unit 18, it is possible to avoid the inconvenience caused by the sample size error.

[0234] <Seventh embodiment>

[0235] Next, the seventh embodiment of the present invention is described. The sample measuring device of the seventh embodiment is characterized by the structure of the size detection unit. The size detection unit provided in the sample measuring device of the seventh embodiment is composed of size detection sensors provided in each layer of the box 12. The size detection sensor is composed of an array sensor or a pressure distribution sensor, for example.

[0236] Fig.42 It is a schematic plan view showing an example in which a size detection sensor is constructed by an array sensor.

[0237] like Fig.42 As shown, a plurality of array sensors 54 are respectively provided on a pair of support parts 125 and 126. One array sensor 54 is constituted by, for example, a reflective photoelectric sensor. The plurality of array sensors 54 are arranged in the depth direction Y of the box. The pair of support parts 125 and 126 form one layer in the box 12. The plurality of array sensors 54 are provided in all layers (support parts 125 and 126) of the box 12.

[0238] When the sample 30 is not placed on the support parts 125 and 126, all of the plurality of array sensors 54 are in an off state. In addition, when the sample 30 is placed on the support parts 125 and 126, only the array sensors 54 overlapping the sample 30 are in an on state. At this time, the number of array sensors 54 in the on state is determined according to the size of the sample 30 in the depth direction Y of the box. Therefore, the size of the sample 30 can be detected by the difference in the number of array sensors 54 in the on state. In addition, when the number of array sensors 54 in the on state is zero, it can be determined that the layer formed by the pair of support parts 125 and 126 does not contain the sample 30.

[0239] Fig.43 It is a schematic plan view showing an example in which a dimension detection sensor is constituted by a pressure distribution sensor.

[0240] like Fig.43 As shown, a pressure distribution sensor 56 is provided on each of the pair of support portions 125 and 126. The pressure distribution sensor 56 is a thin sheet-shaped sensor that is long in the depth direction Y of the cartridge. The pressure distribution sensor 56 is provided on all layers of the cartridge 12 (support portions 125 and 126).

[0241] When the sample 30 is not placed on the support parts 125 and 126, the pressure distribution sensor 56 shows a uniformly low pressure value in all sensor areas. In addition, when the sample 30 is placed on the support parts 125 and 126, only the sensor area overlapping with the sample 30 shows a high pressure value. At this time, the area of ​​the sensor area showing a high pressure value is determined by the size of the sample 30 in the depth direction Y of the box. Therefore, the pressure distribution sensor 56 can detect the size of the sample 30 based on the difference in the area of ​​the sensor area showing a high pressure value. In addition, when all sensor areas uniformly show a low pressure value, it can be determined that the sample 30 is not stored in the layer formed by the pair of support parts 125 and 126.

Claims

1. A sample measuring device, wherein: have: A measuring device for measuring a sample; A conveying device, using a box having a plurality of layers capable of accommodating a plurality of samples of different sizes, takes out the samples one by one from the box at the pickup source and conveys them to the measuring device, and stores the samples measured by the measuring device in the box at the placement destination; a sample detection unit capable of detecting the presence or absence of the sample in each layer of the box; as well as The control unit controls the measuring device and the transport device based on the detection result of the sample detection unit.

2. The sample measurement device according to claim 1, wherein: The sample detection unit detects the presence or absence of the sample in a predetermined layer of the cartridge at the pickup source and / or a predetermined layer of the cartridge at the placement destination.

3. The sample measurement device according to claim 2, wherein: When the sample is not present in the predetermined layer, the control unit causes the measuring device and the transport device to perform a sample measurement operation.

4. The sample measurement device according to claim 2, wherein: When the sample is present in the predetermined layer, the control unit interrupts the sample measurement operation by the measuring device and the transport device and displays a warning.

5. The sample measurement device according to claim 2, wherein: The predetermined layer of the box of the pickup source is a layer above the layer storing the unmeasured sample, The predetermined layer of the cassette at the placement destination is a layer storing the measured sample and a layer above the layer storing the measured sample.

6. The sample measurement device according to claim 1, wherein: The sample detection unit moves to the installation position of the cartridge to detect the presence or absence of the sample.

7. The sample measurement device according to claim 2, wherein: The sample detection unit detects the presence or absence of the sample in the predetermined layer of the box of the pickup source before starting to take out the sample from the box of the pickup source.

8. The sample measurement device according to claim 2, wherein: Before starting to store the sample in the cartridge at the placement destination, the sample detection unit detects the presence or absence of the sample in the predetermined layer of the cartridge at the placement destination.

9. The sample measurement device according to claim 2, wherein: The box has a reference end portion on the inner side in the depth direction of the box. The sample detection unit includes a pressing member capable of pressing the sample to the reference end portion, and determines that the sample is not present in the predetermined layer when a dimension from the reference end portion to the pressing member is smaller than a minimum sample dimension.

10. The sample measurement device according to claim 1, wherein: The transport device has a hand for holding the sample. The sample detection unit has a distance measuring sensor installed on the hand. The distance measuring sensor measures the distance to the object in each layer of the box in the depth direction of the box.

11. The sample measurement device according to claim 1, wherein: The measuring device has a hand for holding the sample. The sample detection unit includes an imaging unit that is attached to the hand and captures an image of the interior of the cartridge.

12. The sample measurement device according to claim 1, wherein: An operation unit is provided for a user to set sample information, wherein the sample information includes the size of the sample stored in each layer of the cassette.

13. The sample measurement device according to claim 1, wherein: The sample detection section is composed of sample detection sensors provided in each layer of the cartridge.

14. A sample measuring device, wherein: have: A measuring device for measuring a sample; a transport device for taking out the samples one by one from a box having a plurality of layers capable of accommodating a plurality of the samples of different sizes and transporting the samples to the measuring device; a size detection unit for detecting the size of the samples stored in each layer of the box; and The control unit controls the measuring device and the conveying device based on the detection result of the size detection unit.

15. The sample measurement device according to claim 14, wherein: An operation unit is provided for a user to set sample information, wherein the sample information includes the size of the sample stored in each layer of the cassette.

16. The sample measurement device according to claim 15, wherein: When the size of the sample detected in the extraction target layer by the size detection unit matches the size of the sample set by the user for the extraction target layer via the operation unit, the control unit continues the sample measurement operation by the measurement device and the transport device.

17. The sample measurement device according to claim 15, wherein: When the size of the sample detected by the size detection unit in the extraction target layer does not match the size of the sample set by the user for the extraction target layer via the operation unit, the control unit interrupts the sample measurement operation by the measuring instrument and the transport device and displays a warning.

18. The sample measurement device according to claim 15, wherein: When the size of the sample detected in the extraction target layer by the size detection unit is inconsistent with the size of the sample set by the user for the extraction target layer via the operation unit, but is consistent with the size of the sample set by the user for a layer different from the extraction target layer, the control unit continues the sample measurement action based on the measuring instrument and the conveying device based on the size of the sample set for the different layer.

19. The sample measurement device according to claim 15, wherein: The control unit skips the extraction target layer when the size of the sample detected by the size detection unit in the extraction target layer is smaller than the smallest sample size among the sizes of the samples included in the sample information set by the user via the operation unit.

20. The sample measurement device according to claim 14, wherein: A memory for pre-storing registration information is provided, wherein the registration information is configured by registering the size requirements of the sample to be measured according to the sample type.

21. The sample measuring device according to claim 14, wherein: Before taking out a sample from the extraction target layer, the size detection unit detects the size of the sample.

22. The sample measuring device according to claim 14, wherein: The size detection unit moves to the installation position of the cassette to detect the size of the sample.

23. The sample measuring device according to claim 14, wherein: The size detection section includes a pressing member configured to press the sample stored in the extraction target layer to a reference end portion in a depth direction of the cartridge.

24. The sample measurement device according to claim 14, wherein: The size detection section is composed of a size detection sensor provided on each layer of the box.

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