Automatic centrifugal machine

Abstract

In the automatic centrifugal machine, the initial carrying bucket position of a machine frame which is automatically conveyed is changed during each centrifugal separation operation, so that the load of each bucket is equal. In an automatic centrifugal machine having a processing device for automatically mounting and dismounting a bucket on a rack on which a to-be-detected object container is mounted, a control device changes the initial bucket on which the rack is mounted in accordance with an odd number of centrifugal separation operations or an even number of centrifugal separation operations. During the odd number of centrifugal separation operations, the frame is mounted from the circle 1 of the bucket A. During the even number of centrifugal separation operations, the frame is mounted from the circle 3 of the bucket B. Therefore, the load is prevented from being concentrated on the specific buckets (A, C), and the service life of the buckets is prolonged.

Description

Technical Field

[0001] The present invention relates to an automatic centrifuge which centrifuges urine, blood and other test sample by automatically carrying in and out the test sample using a processing device without resorting to manual methods. Background Art

[0002] In a conventional automatic centrifuge, a processing device is provided in a centrifuge for centrifugally separating a sample to be tested, and a rack containing the sample to be tested is transferred and taken in and out from above the centrifuge by a hand provided in the processing device. Fig.10 2 is a diagram showing the basic structure of a conventional automatic centrifuge 201. Fig.10 As shown, there is a swing rotor 240 of an automatic centrifuge 201 and a plurality of buckets 250 for storing sample specimens, and a plurality of racks 60 can be mounted on each bucket 250. The rack 60 is formed with a plurality of mounting holes for storing tube-shaped sample storage containers 70, and one to a plurality of sample storage containers 70 can be inserted into the mounting holes. The sample storage container 70 is, for example, a vacuum blood collection tube for storing human blood. The rack 60 containing the sample storage container 70 is a unit that is automatically transferred via the transport line 45, and is transferred from a transport starting point (not shown) to a direction of arrow 46a via the transport line 45, and is Fig.10 The rack 60 stops at the position (carry-in / carry-out position) shown in the rack 60. When the rack 60 stops at the carry-in / carry-out position, the rack sensor (not shown) detects the presence of the rack 60, and sends the signal to the control device (not shown).

[0003] The handling device 220 transfers the rack 60 from the loading / unloading position to the bucket 250 of the automatic centrifuge 201, and returns the rack 60 from the bucket 250 to the transport path 45 after the centrifugal separation operation. That is, the handling device 220 is transferred between the transport start point and the bucket 250 at the position closest to the handling device 220 by the transfer device 222 that transfers in the first direction indicated by the arrow 227 and the transfer device 223 that transfers in the second direction (up and down direction) indicated by the arrow 228. The handling device 220 has a hand 221 that holds the short side of the rack 60. The hand 221 provided in the processing device 220 descends to the position of the rack 60 at the carry-in / carry-out position (carrying start point) after the start of carrying-in and grasps the rack 60, and after the rack 60 is transferred to the upper side of the bucket 250 while being held, the hand 221 partially descends and mounts the rack 60 at a predetermined position in the bucket 250. When the rack 60 is mounted on the bucket 250 by the processing device 220, the control device (not shown) manages the rotation position of the swing rotor 240 by rotating the swing rotor 240 so that when the transferred rack 60 is lowered, the target bucket 250 that is the loading destination is located at the lower side of the hand 221.

[0004] When all racks 60 to be loaded are transferred to the bucket 250, the door not shown is closed and the rotor chamber 206 is sealed to perform centrifugal separation operation. After the centrifugal separation is completed, the door not shown is opened, and the rack 60 is started to be transferred to the conveying line 45 by the hand 221. That is, the racks 60 located in the rotor chamber 206 are taken out from the bucket 250 one by one by the processing device 220, and returned to the carrying in / out position of the conveying line 45. The rack 60 returned to the carrying in / out position is transferred in the direction of the arrow 46b by the moving body of the conveying line 45 and delivered to the target conveying destination. The processing device 220 carries out the rack 60 through the control device not shown, and repeats the above operation until all racks 60 are carried out. As such an automatic centrifuge, Patent Document 1 and Patent Document 2 are known.

[0005] The configuration of the bucket of the automatic centrifuge of Patent Document 1 is as follows: Fig.11 (a), four buckets 250 identified as A to D are installed on the swing arm of the swing rotor 240. Three rack storage parts are provided in each bucket 250. Three rack storage parts as shown by circles 1 to 3 are provided in bucket A, and similarly, three rack storage parts as shown by circles 4 to 6, circles 7 to 9, and circles 10 to 12 are provided in buckets B to D, respectively. Fig.10In the conventional automatic centrifuge 201 shown, the positions and order of placing the racks 60 into the buckets 250 are fixed in advance. That is, as the loading order of the racks 60, bucket A becomes the loading start bucket. According to the number of racks 60 loaded, the racks 60 are loaded in the order of bucket A→bucket C→bucket B→bucket D. As to which bucket among the four buckets 250 is set as the loading start bucket (bucket A), the rotation angle of the motor as the driving device is set (for example, the starting point of the rotation angle of 0 degrees).

[0006] like Fig.11 As shown in (a), when the number of racks is less than half of the maximum number of racks 12, the first rack 60 (rack No. 1) is loaded on circle 1 of bucket A, and then the second rack (rack No. 2) is loaded on circle 7 of bucket C which is located at a rotationally symmetrical position with bucket A. In this way, according to the total number of racks 60 to be loaded, Fig.11 The racks 60 are sequentially mounted on the buckets 250 in the order defined in the table (b). When the total number of racks to be mounted is an odd number, for example, when there is only one rack 60, a virtual rack is mounted at the position of circle 7 to obtain a balance when the swing rotor 240 rotates. Similarly, when there are three racks mounted, a virtual rack is mounted at the position of circle 8. The virtual rack not shown is a mass body having the same mass as the average weight of the buckets containing the sample storage containers. The weight of the virtual rack is, for example, set to a weight approximately midway between the heaviest and lightest total weights of the rack 60 on which the sample containers containing the samples are mounted.

[0007] Prior art literature

[0008] Patent Literature

[0009] Patent Document 1: Japanese Patent Laid-Open No. 03-127649

[0010] Patent Document 2: Japanese Patent Laid-Open No. 10-244185 Summary of the invention

[0011] Problems to be solved by the invention

[0012] In the technology of Patent Document 1, regardless of the number of racks loaded in one centrifugal operation, buckets A and C must be loaded with racks or virtual racks at each time. In this way, in the prior art, since the order of loading racks is fixed, the cumulative centrifugal load applied to buckets A and C is larger than that of buckets B and D. In the standard centrifugal separation operation of blood samples, samples to be centrifuged are collected from various hospitals before noon in the morning, and the department responsible for centrifuging the samples loads 12 racks with buckets A to D at the beginning of the operation of the day for centrifugation. After the majority of the collected samples are centrifuged, the samples delivered in sequence are centrifuged each time or in a certain amount. Therefore, in the method of Patent Document 1, the frequency / ratio of racks loaded on buckets A and C tends to increase, so the life of buckets A and C tends to be shorter than that of buckets B and D.

[0013] The present invention has been made in view of the above background, and an object of the present invention is to provide an automatic centrifuge that changes the mounting rule of the rack with respect to the buckets every time the centrifugal separation operation is performed, thereby applying a load evenly to each bucket during a plurality of centrifugal separation operations.

[0014] Another object of the present invention is to provide an automatic centrifuge that makes the load applied to each mounting hole of the rotor during multiple centrifugal separation operations equal by changing the loading rule of the sample storage container relative to the mounting hole of the rotor during each centrifugal separation operation.

[0015] Another object of the present invention is to provide an automatic centrifuge that changes the bucket initially loaded on the rack (loading start bucket) or the mounting hole initially mounted with the sample storage container each time during multiple centrifugal separation operations.

[0016] Technical means of solving problems

[0017] The representative features of the invention disclosed in this application are described as follows.

[0018] According to one feature of the present invention, there is an automatic centrifuge, comprising: a sample storage container for storing a sample; a rotor having a plurality of storage sections for storing a plurality of racks for holding the sample storage container; a drive device for rotating and driving the rotor; a door for accessing a specific mounting hole of the rotor; a processing device for mounting and removing the rack in the storage section; and a control device for controlling the drive device and the processing device, wherein the control device mounts the rack in the storage section according to a certain rule, so that the rack is mounted in the storage section and becomes rotationally symmetrical in mass. At this time, the control device sets the storage section where the rack is initially mounted during the centrifugal separation operation to be different from the storage section where the rack is initially mounted during the immediately preceding centrifugal separation operation. The installed rotor is, for example, a swing rotor, and a bucket supported in a rotatable manner on the swing rotor is used as the storage section, and the bucket can accommodate a plurality of racks. A maximum of n (integer: n≧1) racks can be mounted on one bucket. When the total number of racks mounted on the bucket is an odd number, a virtual rack is installed on the bucket to achieve rotational balance of the rotor.

[0019] According to another feature of the invention, the total number m of buckets is 4, and

[0020] (a) During even-numbered centrifugal separation operations, the rack is initially loaded with the first bucket.

[0021] (b) During an odd-numbered centrifugal separation operation, the rack is initially loaded starting from the second bucket.

[0022] The processing device comprises: a first-direction conveying device for moving the object storage container to the vicinity of the door; and a second-direction conveying device for transferring the object storage container transported by the moving component to the bucket. The control device controls the first conveying device and the second conveying device, and transfers the bucket to a bucket positioned at the lower side of the door opening and on standby.

[0023] According to another feature of the present invention, there is an automatic centrifuge, comprising: a sample storage container for storing a sample; an angular rotor having a plurality of mounting holes for holding the sample storage container; a drive device for rotating and driving the angular rotor; a door for accessing a specific mounting hole of the rotor; a processing device for installing and removing the sample storage container in the mounting hole; and a control device for controlling the drive device and the processing device, wherein the control device carries the sample storage container in the mounting hole according to a certain rule, so that the sample storage container is mounted in the mounting hole to become rotationally symmetrical in mass, and the starting position of the mounting hole where the sample storage container is first mounted during the centrifugal separation operation is set to be different from the starting position of the mounting hole where the sample storage container is first mounted during the immediately preceding centrifugal separation operation. In addition, when the number of sample storage containers carried by the angular rotor is an odd number, the rotation balance of the angular rotor is achieved by installing a dummy container in the mounting hole. Furthermore, when the total number of the sample storage containers carried by the angular rotor is S, starting from the mounting holes that initially accommodate the sample storage containers during the initial centrifugal separation operation, the sample storage containers are installed starting from the mounting holes that are offset by t positions (where t is an integer, 0<t<S) during the next centrifugal separation operation, and each time multiple centrifugal separations are performed, the positions of the mounting holes that are initially installed are regularly offset circumferentially.

[0024] Effects of the Invention

[0025] According to the present invention, in an automatic centrifuge, when a series of centrifugal operations of loading the rack onto the bucket, performing the centrifugal separation operation, and removing the rack from the bucket are repeated, the centrifugal load of the rack applied to each bucket is substantially equal, and thus, as a result, the variation in bucket life caused by the centrifugal load can be eliminated. In addition, even when an angle rotor that does not use a bucket is used, the frequency of use of a specific mounting hole can be prevented from increasing, and the life of the angle rotor can be extended. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] [ Figure 1 ] is a stereoscopic view of an automatic centrifuge 1 according to an embodiment of the present invention, and shows the main parts in a perspective view.

[0027] [ Figure 2 ] is a top view of the automatic centrifuge 1 of an embodiment of the present invention, and shows a portion in a perspective view.

[0028] [ Figure 3 ] is a block circuit diagram of the control device of the automatic centrifuge 1 according to an embodiment of the present invention.

[0029] [ Figure 4 ]yes Figure 1 A three-dimensional view of the bucket 50.

[0030] [ Figure 5 ]yes Figure 1 A three-dimensional view of a rack 60 and an object storage container 70.

[0031] [ Figure 6 ] is a configuration diagram showing the loading status of the frame 60 of the automatic centrifuge 1 according to an embodiment of the present invention on the bucket 50.

[0032] [ Figure 7 ] is a table showing the loading start bucket and loading order of the rack 60 to the bucket 50 of the automatic centrifuge 1 of the embodiment of the present invention.

[0033] [ Figure 8 ] is a flowchart showing the control flow of the processing device 20 of the automatic centrifuge 1 according to an embodiment of the present invention.

[0034] [ Fig. 9 ] is a three-dimensional view of an angle rotor 140 for an automatic centrifuge according to a second embodiment of the present invention.

[0035] [ Fig.10 ] is a three-dimensional diagram showing a conventional automatic centrifuge 201.

[0036] [ Fig.11 ](a) is a configuration diagram showing the loading status of the rack to the bucket 250 in the conventional automatic centrifuge, and (b) is a table showing the loading start bucket and loading order to the bucket in the conventional automatic centrifuge. DETAILED DESCRIPTION

[0037] Example 1

[0038] Hereinafter, embodiments of the present invention will be described based on the accompanying drawings. In addition, in the following figures, the same parts are marked with the same symbols and repeated descriptions are omitted. In addition, in this specification, the directions of front, back, left, right, up and down are set as the directions shown in the figures for description.

[0039] Figure 1 1 is a perspective view of an automatic centrifuge 1 according to an embodiment of the present invention, and shows the main parts in a perspective view. The automatic centrifuge 1 has a rotor 40 and a motor 3 for rotating the rotor 40 inside a frame 2, and is controlled by a control device 10 (see the following). Figure 3 ) is controlled to drive the motor 3 to perform centrifugal separation. An input device 11 for inputting operations from a user to the control device 10 and an output device 12 for displaying information to the user are provided on the front side of the upper surface of the frame 2. Figure 1 Although not shown in the figure, the back side (rear side) of the automatic centrifuge 1 is provided with Fig.10The conveying route 45 as described above. The rotor chamber 6 is defined by a bowl 5 and an upper cover 7 that blocks the upper opening of the bowl 5. The upper cover 7 is fixed to the frame 2 by screws, and a door not shown is provided on the upper cover 7 via hinges. When the rotor 40 is to be maintained or loaded and unloaded, the door not shown is opened. Furthermore, a small rectangular opening 7a is provided in a portion of the upper cover 7, and the frame 60 is brought into and out of the rotor chamber 6 through the opening 7a. A sliding door 8 that can be opened / closed is provided in the opening 7a for accessing a specific storage portion of the rotor 40. Under the control of the control device 10, the front end of the hand 21 of the processing device 20 is used to press the opening and closing operation panel 8a that makes the metal plate of the sliding door 8 stand up, and the opening and closing action is performed. Figure 1 In the state shown, the door 8 is open, and the rack 60 to which the sample storage container 70 is fixed is carried in and out through the opening 7a. In addition, the method of opening and closing the door 8 is arbitrary, and the door 8 can also be opened / closed (slid) by a motor not shown controlled by the control device 10.

[0040] A swinging rotor is used as the rotor 40. The swinging rotor 40 has four swing arms 41 extending radially outward from the rotation axis and in a Y-shape when viewed from above. A swing pin 42 is provided between adjacent swing arms 41, and four buckets 50 serving as storage portions are installed in a manner suspended from two swing pins 42. Two racks 60 provided with sample storage containers 70 can be mounted on each bucket 50, and a total of eight racks 60 can be rotated in one centrifugal separation operation. A ball balancer 44 is provided on the upper side of the rotation axis of the rotor 40, and the ball balancer 44 is used to adjust the balance of the rotating rotor 40 by moving a plurality of balls not shown in the figure in a direction to achieve balance.

[0041] A motor 3 is provided on the lower side of the rotor 40 via a motor shaft housing 4. The rotation of the motor 3 is controlled by a control device 10, and a known motor such as a brushless DC motor and an induction motor is used as the motor 3. A so-called encoder (not shown) for detecting the rotation angle of the rotating shaft of the motor 3 is provided on the lower side of the motor 3. This type of motor 3 is generally called a servo motor, and the encoder outputs a Z signal of 1 pulse / revolution, an A-phase pulse of 2048 pulses / revolution, and a B-phase pulse that is 90 degrees out of phase with the A-phase. The rotation speed and rotation angle of the motor 3 based on the Z signal can be detected based on the pulse train. Since the rotating shaft of the motor 3 and the rotor 40 are directly fixed by screws, the rotation angle of the motor 3 is the same as the rotation angle of the rotor 40. The offset angle of the offset angle between the Z signal representing the reference position of the motor 3 and the reference position of the rotor 40 is corrected by teaching adjustment. Here, for the sake of convenience, an angle sensor (not shown) for detecting the rotation angle of the rotor 40 is provided on the lower side of the motor 3, as it would be complicated if an encoder was used. In addition, a magnetic sensor (not shown) for detecting the rotation position of the rotor 40 is provided near the lower surface of the rotor 40, and the position of the rotor 40 (rotation angle from the reference position) can be detected by the control device 10. Figure 1 Although not shown in the figure, a refrigerator 90 (not shown) is provided to cool the inside of the rotor chamber 6 (see Figure 3 ), a pipe-shaped evaporator (not shown) is wound around the outer periphery of the drum 5 to circulate the refrigerant. The temperature of the rotor chamber 6 is measured by a temperature sensor 91 (see Figure 3 ) is measured and monitored by the control device 10. During the centrifugal separation operation and when the sample storage container 70 is stored in the rotor chamber 6, the rotor chamber 6 is controlled by the control device 10 to be maintained at a constant temperature.

[0042] The processing device 20 is arranged along the left side of the upper surface of the automatic centrifuge 1, and the movable member 37 is moved in the ±X direction in order to move the frame 60 using the link arm mechanism. The processing device 20 includes a first guide member 31 and a second guide member 32 that are parallel to each other, and a first slider 33a that slides on the first guide member 31 and a second slider 33b that slides on the second guide member 32 constitute a link arm mechanism. The first slider 33a is fixed to a timing belt (not visible in the figure) and moves in the +X direction or the -X direction by rotating the stepping motor 34a. Similarly, the second slider 33b is also fixed to a timing belt (not visible in the figure) and moves in the +X direction or the -X direction by rotating the stepping motor 34b. In addition, one end of the first arm 35 is axially supported on the first slider 33a, and similarly, one end of the second arm 36 is also axially supported on the second slider 33b. The other end of the first arm 35 and the other end of the second arm 36 are axially supported on the movable member 37 including the hand 21 on the same axis. Furthermore, the moving member 37 and the first slider are axially supported by a parallel link 38 parallel to the first arm 35 , so that the posture of the moving member 37 is kept constant during the vertical movement.

[0043] As mentioned above, the movable member 37 is supported by the front end shafts of the first arm 35 and the second arm 36. Since the first arm 35 and the second arm 36 have the same length, the vertex of the isosceles triangle is the movable member 37, and the first slider 33a and the second slider 33b form a shape with a base. The positions of the first slider 33a and the second slider 33b are controlled by rotating the stepper motor 34a and the stepper motor 34b, so that the movable member 37 moves in the up and down directions (±Z directions). In this specification, the ±X direction is defined as the first direction, and the ±Z direction is defined as the second direction. Furthermore, a gripping mechanism is provided, which moves in a manner that reduces or expands the interval between the fingers 22a and the fingers 22b at both ends of the hand 21, and a stepper motor 34c (refer to Figure 3 ). The finger 22a can move in the ±Y direction, and the finger 22b can move in the ±Y direction. The finger 22a and the finger 22b move synchronously in opposite directions. In this way, by using a plurality of stepper motors 34a, 34b, and 34c, the hand 21 can move up and down (±Z direction), and by reducing the interval in the left-right direction (Y direction), the frame 60 can be grasped, and then, the grasped frame 60 can be released by expanding the interval in the left-right direction (Y direction). In addition, a frame sensor 39 (refer to Figure 3) and the like, and sends the detection result to the control device 10. The control device 10 controls the movement operation of the finger 22a and the finger 22b according to the output from the rack sensor 39. Although in most cases, identification marks such as bar codes are attached to the sample storage container 70, in order to avoid errors in the sample, it is important to control in the following manner: before and after the automatic centrifugal separation operation, the order of arrangement in the transport line 45 of the rack 60 does not change.

[0044] A virtual rack placement 18 for accommodating a virtual rack 65 is provided in an area on the upper surface of the automatic centrifuge 1. The virtual rack 65 has the same appearance as the rack 60, and does not have a receiving hole (see Figure 5 61a to 61e) and can be mounted on the bucket 50 without shaking. When the number of racks 60 mounted on the rotor 40 is an odd number, the virtual rack 65 is mounted on a predetermined bucket 50 from the retreat position of the virtual rack (virtual rack placement 18) by the processing device 20. After the centrifugal separation operation, the virtual rack 65 returns from the bucket 50 to the virtual rack placement 18.

[0045] Figure 2 FIG. 1 is a top view of the automatic centrifuge 1, showing a portion in perspective. Figure 2 The processing device 20 is not shown in the figure. Although not shown in the figure, a Fig.10 The transport line 45 shown in FIG. A plurality of racks 60 transferred from the transport line 45 pass through Figure 1 The processing device 20 shown in the figure is sequentially loaded in the bucket 50. An opening 7a is formed in a part of the upper cover 7, and a sliding door 8 is provided in the opening 7a. The sliding door 8 is opened / closed by moving the moving member 37 in the front-back direction when the hand 21 provided on the moving member 37 of the processing device 20 is in contact with the opening and closing operation plate 8a. The size of the opening 7a is sufficient for carrying in / out the rack 60, and is a size to the extent that one bucket 50 cannot be removed, so even if the bucket 50 is lifted together when the rack 60 is taken out, only the rack 60 can be taken out.

[0046] Figure 2 The second rack 60 is shown mounted on the bucket 50 (here, one side of the bucket C). Figure 2In the rotor 40 shown, the number of buckets 50 is four, and two racks 60 can be accommodated in the buckets 50, so the number of racks 60 that can perform centrifugal separation operation at one time is up to 8. Regarding the loading of the racks 60 on the buckets, the loading positions of the odd-numbered racks 60 are loaded at positions that are rotationally symmetrical with the even-numbered racks 60 to achieve mass balance with respect to the rotation axis. Just after the second rack 60 is loaded, the bucket A located at a position facing the bucket C across the rotation axis A1 is placed in a state where the rack 60 is loaded. On the other hand, the buckets B and D are in a state where the rack 60 has not yet been loaded.

[0047] A plurality of magnets (not visible in the figure) are integrally installed at the lower part of the rotor 40, and the initial position of the rotation direction of the rotor 40 is detected by detecting the position of the magnets using the Hall element 9 arranged on the rotor chamber side (not shown). The control device 10 rotates and positions the rotor 40 so that each bucket 50 sequentially comes to the position for carrying in / out the rack 60 (a position rotated 90 degrees from the origin, a position rotated 180 degrees from the origin, and a position rotated 270 degrees from the origin). After all the racks 60 used in the centrifugal separation operation are loaded on the bucket 50, the door 8 moves parallel to the front side from the position in the figure so as to cover the opening 7a, thereby closing the rotor chamber 6. In addition, when the number of racks 60 loaded is an odd number, the virtual rack 65 is loaded last.

[0048] Figure 3 1 is a block diagram of an automatic centrifuge 1 according to an embodiment of the present invention. The control device 10 is composed of a central processing unit (CPU) board 13 and a driver 16. The input device 11, the output device 12, the storage device 14, and the communication interface (I / F) 17 are connected to the CPU board 13 via a data bus 15. The input device 11 is composed of Figure 1 The output device 12 is composed of a keyboard input component. Figure 1 In addition, the input device 11 and the output device 12 may not be as shown. Figure 1 Instead of being independently configured as such, it is configured by a liquid crystal touch panel display and can be configured so that other portable terminals such as smartphones can be used as input / output devices.

[0049] The CPU board 13 is equipped with a processor for executing computer programs. The CPU board 13 includes a board form equipped with a microcomputer, a read-only memory (ROM), a random access memory (RAM), a non-volatile memory, etc. (not shown). The various parts in the control device 10 are connected to each other via a data bus 15. The storage device 14 is a non-volatile secondary storage device such as a hard disk device and a flash memory. The communication interface 17 is a known interface device for connecting to a local area network (LAN) or the Internet, other public networks, etc., for example, connecting to an external server device 120.

[0050] The control device 10 is provided with a driver 16 for driving each motor. The microcomputer included in the CPU board 13 controls the rotation of each motor via the driver 16. The processing device 20 is composed of three motors: a stepping motor 34a, a stepping motor 34b, and a stepping motor 34c. The stepping motor 34a and the stepping motor 34b are Figure 1 The motor shown in the figure is a driving source for moving the movable member 37 in the front-to-back direction (±X direction) and the up-down direction (±Z direction). The stepping motor 34c is a motor as a driving source for moving the two fingers 22a and 22b connected to the hand 21 in the left-right direction (±Y direction) along the gripping direction or the release direction. The driving motor 3 is a motor as a driving source for controlling the rotation and rotational position of the rotor 40. In addition, the refrigerator 90 is a device for cooling the rotor chamber 6, and is composed of a motor for operating the compressor.

[0051] In order to drive the stepper motor 34a, the stepper motor 34b, the stepper motor 34c, and the motor 3 for driving the rotor 40, signals from various sensors are input to the CPU board 13. The rack sensor 39 is a sensor for detecting whether the bucket 50 is present between the hands 21. The virtual sensor 19 is a sensor for detecting whether the virtual rack 65 is placed on the virtual rack placement 18. The angle sensor 59 is a sensor for detecting the rotation angle of the rotor 40 from the reference position (the position of the rotation angle of 0 degrees). The Hall element 9 is provided directly below the rotor 40 and is a sensor for detecting the identifier (ID) of the rotor 40 and the rotation speed of the rotor 40. The stop sensor 47 is a sensor for detecting whether the rack 60 is present at the carry-in / carry-out position of the conveying line 45. The temperature sensor 91 is a sensor for detecting the temperature of the rotor chamber 6.

[0052] Figure 4 yes Figure 1The bucket 50 is a three-dimensional view of the bucket 50. The bucket 50 is a component suspended from the swing arm 41 of the rotor 40 in a state where two frames 60 are mounted. The bucket 50 is made of, for example, an integral body of a metal such as an aluminum alloy. The bucket 50 has an opening 51 at the top, and a partition wall 52 extending in a direction perpendicular to the swing axis direction is formed from the opening 51 to the bottom surface. The internal space of the bucket 50 is divided into a first receiving portion 53 and a second receiving portion 54 by the partition wall 52. The first receiving portion 53 and the second receiving portion 54 are of equal size, and the size of the rectangular opening portion and the bottom portion is set relative to the frame 60 (refer to Figure 5 ) is the most preferred volume and shape, so that the accommodated frame 60 is kept from shaking relative to the bucket 50.

[0053] A connecting wall 55 is formed above the side wall portion 53a of the long side of the first receiving portion 53 of the bucket 50, and a pin receiving portion 57 is formed extending from the upper end of the connecting wall 55 to one side in the rotation direction. Similarly, a connecting wall 56 is formed above the side wall portion 54a of the long side of the second receiving portion 54, and a pin receiving portion 58 is formed extending from the upper end of the connecting wall 56 to the other side in the rotation direction. A swing pin 42 (see FIG. 4 ) formed to be suspended on the swing arm 41 of the rotor 40 is formed on the lower side of the pin receiving portion 58. Figure 2 ) is formed with a semi-cylindrical surface of the swing bearing portion 58a. Similarly, a swing bearing portion 57a ​​(not visible in the figure) is also formed on the lower side of the pin receiving portion 57.

[0054] Figure 5 yes Figure 1 A three-dimensional view of a rack 60 and five sample storage containers 70 (70a to 70e) mounted on the rack 60. The sample collected in the sample storage container 70 is, for example, human blood, and the sample storage container 70 is called a so-called vacuum blood collection tube. The sample storage container 70a to the sample storage container 70e are tubular containers made of glass or synthetic resin, and have a circular opening surface on the upper side (not visible in the figure) and a hemispherical bottom on the lower side (not visible in the figure). Figure 5 In the state shown, the opening surfaces of the five sample storage containers 70a to 70e are closed by caps 75 (75a to 75e). The cap 75a is formed of a cover portion 76a and a knob portion 77a. The cap 75 can be made of synthetic resin.

[0055] The rack 60 is a member for arranging a plurality of sample storage containers 70 in an upright state and maintaining them in a row. Five sample storage containers 70a to 70e can be installed. The rack 60 is manufactured by integral molding of metal or synthetic resin. Since the rack 60 is automatically transported through the transport line 45, its size is determined by the width W of the transport path of the transport line 45.1 The corresponding width W forms (W 1 >W). In addition, the length L of the long side of the frame 60 is set to match the size of the first receiving portion 53 and the second receiving portion 54 of the mounted bucket 50. This is because the size of the bucket 50, especially the distance between the swing pins 42, is limited by the size of the rotating rotor 40.

[0056] The frame 60 is formed with five receiving holes 61a to 61e for mounting the sample receiving container 70. The receiving holes 61a to 61e are cylindrical holes similar in shape to the sample receiving container 70, and their bottoms (not visible in the figure) are hemispherical in shape like the bottom of the sample receiving container 70. On the other hand, when viewed from the central axis of the cylindrical portion, a cut-off portion 62a (also see FIG. 1 ) is formed on one side. Figure 1 ).exist Figure 5 Although it is not visible in the stereoscopic view because it is the back side, cut-off portions 62b to 62e (not visible in the figure) having the same shape as the cut-off portion 62a are also formed on the side surfaces of the receiving holes 61b to 61e. Here, a maximum of five sample storage containers 70 are stored in the rack 60, but the rack 60 is prepared in the most preferred size and shape to match the size of the bucket 50 installed on the rotor 40 and the size of the sample storage container 70 used. Since the sample storage container 70 is placed in the rack 60 in an upright state, after the centrifugal separation operation, the serum of the blood moves to the upper side and the blood clot moves to the bottom side.

[0057] Figure 6 1 is a diagram showing the arrangement of the frame 60 of the automatic centrifuge 1 according to the embodiment of the present invention, in which the bucket 50 is mounted. Figure 4 The state of the four buckets 50 shown. Two receiving portions ( Figure 4 The first receiving section 53 and the second receiving section 54 of the swing arm 41 can accommodate two racks 60. In order to identify these buckets 50 and the storage positions, the buckets 50 are represented in the form of A, B, C, and D along the rotation direction (hereinafter referred to as "bucket A", "bucket B", "bucket C", and "bucket D"). In addition, for the sake of convenience, the receiving sections of the four buckets 50 formed in the swing arm 41 are shown in sequence by numbers surrounded by circles, that is, circles 1 to 8, when viewed in the rotation direction.

[0058] Figure 7 is a table showing the loading order of the rack 60 to the bucket 50. In the conventional automatic centrifuge, Fig.11As described in (b), the racks 60 loaded with the sample storage containers 70 sent from the transport line 45 must be loaded starting from the bucket A. That is, when the rotor 40 is at the reference rotation position (rotation angle 0 degrees), the loading start position of the rack 60 is fixed at the opening 7a (see Figure 2 ). In this way, the bucket 50 located at the position of the rotation angle of 0 degrees of the rotor 40 is fixed as the "loading start position", but in this embodiment, the "loading start position" is changed every time the centrifugal separation operation is performed. For example, in the odd-numbered times of the centrifugal separation operation, the bucket A is set as the loading start position, and in the even-numbered times, the next bucket B located at the position of the rotation angle of 90 degrees of the rotor 40 is set as the "loading start position".

[0059] The loading rules of the rack 60 after the loading start position is set are the same for the odd-numbered and even-numbered times. Figure 7 In the odd-numbered centrifugal separation operation shown in (a), the second rack 60 is mounted on the bucket C located at a position where the rotor 40 is rotated 180 degrees from the position of the first bucket A. Figure 6 It can be seen that the positions of circle 1 and circle 5 are 180 degrees opposite to each other with respect to the rotation axis O, that is, they are in a rotationally symmetrical relationship. The third rack 60 is mounted on bucket A located after the rotor 40 is rotated 180 degrees again. The fourth rack 60 is mounted on bucket C located after the rotor 40 is rotated 180 degrees again. In this way, after the rack 60 is mounted on the two buckets A and C located at the rotationally symmetrical positions, after the next rack 60 is transported, the control device 10 rotates the rotor 40 270 degrees and positions bucket B below the opening 7a.

[0060] Next, the control device 10 starts loading the rack 60 with respect to bucket B and bucket D, with bucket B as a reference. The fifth rack 60 is loaded at the position of circle 3 of bucket B. The sixth rack 60 is loaded at the position of circle 7 of bucket D, which is located after the rotor 40 is rotated 180 degrees. The seventh rack 60 is loaded at the position of circle 4 of bucket B, which is located after the rotor 40 is rotated 180 degrees again. The last eighth rack 60 is loaded at the position of circle 8 of bucket D, which is located after the rotor 40 is rotated 180 degrees again. In this way, when the loading of the rack 60 to the two buckets B and D located at the rotationally symmetrical positions is completed, the loading of the eight racks 60 to all the buckets 50 is completed.

[0061] Figure 7 (b) is a table for explaining the loading positions and loading order of the bucket 50 for even-numbered times. Figure 7The difference between (a) and (b) is that the loading start position of the first rack 60 is changed from bucket A to bucket B, which is located after the rotor 40 is rotated 90 degrees. In terms of relative positional relationship, the loading rule of the rack 60 after bucket B is set as the loading start position is the same as Figure 7 The mounting rule shown in (a) is the same. When the number of racks 60 to be mounted is an odd number, in order to obtain the rotation balance of the rotor 40, one virtual rack 65 is mounted last.

[0062] As described above, in this embodiment, when performing the 1st to nth (where n is a positive integer) centrifugal separation operations, the bucket serving as the loading start position can be changed in the case of an even-numbered (2nth) centrifugal separation operation and in the case of an odd-numbered (2n+1th) centrifugal separation operation. Figure 7 (a) Figure 7 The odd-numbered and even-numbered loading start positions and loading rules shown in (b) are stored in the storage device 14 in advance in the form of a table, a program, or a parameter. The microcomputer included in the control device 10 determines the bucket 50 to be loaded first, that is, any one of buckets A to D, and then loads the relative loading position relative to the bucket 50 according to the loading rule. In addition, when all buckets 50 can load a maximum of n (N>1 integer) racks 60, when the total number of racks 60 loaded on the bucket 50 is an odd number, the rotation balance of the rotor 40 is achieved by loading a virtual rack on the bucket 50.

[0063] Furthermore, when the number of buckets 50 that can be mounted on the swing rotor 40 is six (buckets A to F), Figure 7 The loading rule shown is set to three modes, and bucket A is set to the loading start position in the 3n+1th (where n is a positive integer) centrifugal separation operation, bucket B is set to the loading start position in the 3n+2th centrifugal separation operation, and bucket C is set to the loading start position in the 3n+3th centrifugal separation operation. In addition, when there are six buckets 50, it is important to prepare two virtual racks. Even when the number of buckets 50 that can be mounted on the rotor 40 is other than four or six, it is sufficient to sequentially change the position of the bucket 50 starting the loading rack 60 each time the centrifugal separation operation is performed. In addition, virtual racks corresponding to the number of buckets can be prepared.

[0064] Figure 8 This is a flowchart showing the control flow of the processing device 20 of the automatic centrifuge 1 according to the embodiment of the present invention. These flows are realized by software by a microcomputer (microcomputer) included in the control device 10 executing a computer program. Figure 8The process shown in the flowchart is automatically started after the power of the automatic centrifuge 1 is turned on (ON). Initially, according to the instruction from the control device 10, the origin standby action (step 81) is performed. In the origin standby, the stepping motor 34a~stepping motor 34c for driving the link arm is excited, and the processing device 20 starts the origin return action. In the origin return action, the hand 21 is made to stop at the initial position moving upward in the vertical direction. In addition, the control device 10 can clear the value of the counter N used to count the number of centrifugal separation operations since the power is turned on, or maintain or set it to a specified value.

[0065] Next, the control device 10 drives the stepper motor 34a and the stepper motor 34b to move the first slide 33a and the second slide 33b, thereby moving the moving member 37 to the pickup position of the rack 60 in the conveying line 45. The control device 10 picks up the first rack 60 through the processing device 20, and increments the counter N that counts the number of centrifugal separation operations (step 82). Next, the control device 10 determines whether the value of the counter N is an odd number or an even number (step 83). If the value of the counter N indicating the number of centrifugal separation operations is an odd number, the control device 10 selects the number of centrifugal separation operations. Figure 7 (a) shows the odd-numbered table (step 84), and if it is an even number, select Figure 7 (b) The even-numbered table shown (step 85).

[0066] Next, the control device 10 sequentially loads the plurality of racks 60 on the bucket 50 in accordance with the loading order specified in the table selected in step 84 or step 85 (step 86). Here, the drive motor 3 of the rotor 40 is controlled to rotate the rotor 40 at a low speed of 20 rpm, and the rotor 40 is rotated until the bucket 50 on which the rack 60 is initially mounted comes to the lower side of the opening 7a. Next, the processing device 20 is operated to transfer the rack 60 from the conveying line 45 and load it on the bucket 50. Next, the control device 10 controls the motor 3 to rotate the rotor 40 180 degrees or 270 degrees, thereby moving the bucket 50 on which the next rack 60 is loaded to the lower side of the opening 7a. The above actions are repeated to load the racks 60 for one centrifugal operation on the bucket 50.

[0067] After all racks 60 are loaded into the bucket 50, the control device 10 closes the door 8 of the opening 7a, and then performs centrifugal operation according to the set centrifugal operation conditions (step 87). During the centrifugal operation, the interior of the rotor chamber 6 is maintained at a predetermined low temperature, the rotor 40 is accelerated, and the rotor 40 is adjusted at the set rotation speed, and the operation is performed for the set time. After the prescribed centrifugal time, for example, 5 minutes, the rotor is decelerated. After the rotor is completely stopped and the centrifugal operation is completed, the rack 60 inside the centrifuge is carried out according to the removal action instruction from the control device 10. After the rotor 40 stops, the control device 10 rotates the rotor 40 until the bucket 50 that first takes out the rack 60 comes to the lower side of the opening 7a, opens the door 8, and then takes out the rack 60 in sequence (step 88). In the process of taking out the rack 60, the rack 60 is moved to the conveying line 45 in sequence in the same order as the loading process, and is automatically transferred to the destination through the conveying line 45.

[0068] Regarding the order in which the racks 60 are unloaded from the buckets 50, the racks 60 are unloaded in the order in which they are unloaded according to the order in which they are unloaded and the data on the place in which they are unloaded stored in the storage device 14. For example, for the unloading action of the racks 60, if it is the odd number, the racks 60 are unloaded from buckets A and C first, and if it is the even number, the racks 60 are unloaded from buckets B and D, and the order in which they can be unloaded to the transport line 45 is returned. In addition, it is also possible to configure the unloading order so that the buckets 50 are returned to the transport line 45 in an arbitrary order or in an unspecified order. After all the racks 60 are unloaded, if the virtual racks 65 are used, the virtual racks 65 are returned to the original virtual rack placement place to wait for the next unloading action instruction of the centrifugal separation operation. In this way, the unloading, centrifugation, and unloading actions are repeatedly performed. Not only during the centrifugal separation operation, but also during the unloading before the centrifugal separation operation and the unloading after the centrifugal separation operation, the control device 10 can keep the rotor chamber 6 at a constant set temperature by operating a refrigerator not shown.

[0069] According to the process described above, in this embodiment, in multiple centrifugal separation operations, by changing the starting position of the frame 60 loading onto the bucket 50 in odd-numbered times and the starting position of the frame 60 loading onto the bucket 50 in even-numbered times, the overload state of buckets A and C can be eliminated, and the same load is applied to buckets B and D, thereby extending the life of the four buckets A to D.

[0070] Example 2

[0071] In the first embodiment, the rotor 40 is described as an example of a swinging rotor that holds a plurality of (here four) buckets 50, but the type of rotor 40 provided as an object of the present invention is arbitrary and is not limited to application only to a swinging rotor, but is also applicable to an angle rotor 140. Fig. 9 The angle rotor 140 shown is the "T15A41 angle rotor (product name)" currently being sold by the applicant. The rotor body 141 of the angle rotor 140 is a metal integral body and is formed with a plurality of mounting holes, in which a large specimen storage container 170 or a small specimen storage container (not shown) is mounted. The specimen storage container 170 is a sample container sealed by a cover 175. Four mounting holes 142a to 142d are formed in the angle rotor 140 for the specimen storage container 170 (of which 142c and 142d are in the Fig. 9 ), and four small-diameter inspection object storage containers with mounting holes 144a to 144d (wherein the mounting holes 142b to 142d are not visible in the figure). Fig. 9 One to four sample storage containers 170 or one to four sample storage containers of small diameter (not shown) can be installed. Each sample storage container 170 is automatically transferred from the conveying line by a processing device (not shown) and is sequentially loaded on a plurality of installation holes in a predetermined order. The processing device is, for example, a robot-type device.

[0072] The processing device (not shown) installs the first sample storage container 170 in the installation hole 142a, installs the next sample storage container 170 in the installation hole 142c (not visible in the figure) located at a position 180 degrees away from the installation hole 142a, installs the next sample storage container 170 in the installation hole 142b arranged between the installation hole 142a and the installation hole 142c, and installs the last sample storage container 170 in the installation hole 142d (not visible in the figure). When the number of sample storage containers 170 to be installed is an odd number, a virtual container (not shown) having a shape substantially the same as that of the sample storage container 170 is installed to maintain rotational balance. The virtual container (not shown) is used for the same purpose as the virtual rack 65 of the first embodiment, and is a mass body having the average weight of the sample storage containers 170 containing the samples. In addition, in the second centrifugal separation operation, the loading start position of the sample storage container 170 is changed, and the first sample storage container 170 is installed as the installation hole 142b. Similarly, in the third centrifugal separation operation, the first sample storage container 170 is installed as the installation hole 142c, and in the fourth centrifugal separation operation, the first sample storage container 170 is installed as the installation hole 142d. In this way, if the loading start position of the sample storage container 170 is changed sequentially during each centrifugal separation operation, it is possible to effectively avoid the load being concentrated only on a specific installation hole (especially the installation hole 142a).

[0073] As shown in the second embodiment, even when the angle rotor 140 is used, if the mounting hole for loading is sequentially changed at each centrifugal separation operation so that the load is not concentrated on a specific mounting hole and the load is applied to each mounting hole approximately equally, the durability of the angle rotor 140 is also improved. In addition, in the first and second embodiments, the loading order is divided into two data tables, but a plurality of data tables (not shown) may be prepared corresponding to the number of buckets (A to D) or the number of mounting holes, and the data table may be selected at each centrifugal separation operation.

[0074] The present invention has been described above based on two embodiments, but the present invention is not limited to the embodiments, and various changes can be made within the scope of the main purpose. For example, in the embodiments, the loading start position to each bucket is regularly set, but the loading start position can also be randomly changed at each loading. Specifically, the loading start position of bucket A is circle 1, but at the next loading, it can also start from circle 2 or other buckets, thereby distributing the load even when only one frame in the bucket is operating.

[0075] Explanation of symbols

[0076] 1: Automatic centrifuge

[0077] 2: Frame

[0078] 3: Motor

[0079] 4: Motor shaft housing

[0080] 5: Rotating drum

[0081] 6: Rotor chamber

[0082] 7: Upper cover

[0083] 7a: Opening

[0084] 8: Door

[0085] 8a: Open and close the operation panel

[0086] 9: Hall element

[0087] 10: Control device

[0088] 11: Input device

[0089] 12: Output device

[0090] 13: CPU board

[0091] 14: Storage device

[0092] 15: Data bus

[0093] 16: Drive

[0094] 17: Communication interface

[0095] 18: Virtual rack placement

[0096] 19: Virtual Sensor

[0097] 20: Processing device

[0098] 21: Hands

[0099] 22a, 22b: fingers

[0100] 31: First guide member

[0101] 32: Second guide member

[0102] 33a: First sliding member

[0103] 33b: Second sliding member

[0104] 34a~34c:Stepper motor

[0105] 35: First Arm

[0106] 36: Second Arm

[0107] 37: Mobile components

[0108] 38: Parallel Link

[0109] 39: Rack sensor

[0110] 40: Rotor

[0111] 41: Swing arm

[0112] 42: Swing pin

[0113] 44: Ball Balancer

[0114] 45: Transport line

[0115] 47: Stop sensor

[0116] 50: Bucket

[0117] 51: Opening

[0118] 52: Partition wall

[0119] 53: Containment Sector 1

[0120] 53a: Side wall

[0121] 54: Containment Unit II

[0122] 54a: Side wall

[0123] 55, 56: Connecting wall

[0124] 57, 58: Pin receiving part

[0125] 57a, 58a: Swing receiving part

[0126] 59: Angle sensor

[0127] 60: Rack

[0128] 61, 61a~61e: receiving hole

[0129] 62a~62e:Cut the lower part

[0130] 65: Virtual Rack

[0131] 70, 70a~70e: Container for the object to be inspected

[0132] 75, 75a~75e: Cap

[0133] 76a~76e: Closing cover

[0134] 77a~77e:Knob part

[0135] 90: Freezer

[0136] 91: Temperature sensor

[0137] 110: Server device

[0138] 140: Angle rotor

[0139] 141: Rotor body

[0140] 142a~142d: Installation hole

[0141] 170: Container for inspection object

[0142] 175: Cover

[0143] 201: Automatic centrifuge

[0144] 206: Rotor chamber

[0145] 220: Processing device

[0146] 221: Hands

[0147] 222, 223: Transfer device

[0148] 240: Swinging rotor

[0149] 250: Bucket

Claims

1. An automatic centrifuge, comprising: The container for the sample to be tested is used to store the sample; A rotor having a plurality of storage parts for storing a plurality of racks for holding the sample storage containers; A driving device for driving the rotor to rotate; A door capable of accessing a specific storage portion of the rotor; A processing device for installing and disassembling the rack in the storage portion; as well as A control device controls the driving device and the processing device, wherein the automatic centrifuge is characterized in that: The control device mounts the rack on the storage portion according to a certain rule so that the rack becomes rotationally symmetrical in mass due to the rack being mounted on the storage portion, and The storage section where the frame is first mounted during a centrifugal separation operation is set to be different from the storage section where the frame is first mounted during an immediately preceding centrifugal separation operation.

2. The automatic centrifuge according to claim 1, characterized in that: The rotor is a swing rotor, and a bucket rotatably supported on the swing rotor is used as the storage portion. The bucket can accommodate a plurality of the racks.

3. The automatic centrifuge according to claim 2, characterized in that: A maximum of n racks can be carried in the bucket. When the number of the racks carried in the bucket is an odd number, a virtual rack is installed in the bucket to achieve rotational balance of the rotor.

4. The automatic centrifuge according to claim 3, characterized in that: The total number m of the buckets is 4, and (a) during an even-numbered centrifugal separation operation, the rack is initially loaded with the first bucket, (b) During an odd-numbered centrifugal separation operation, the rack is initially loaded with the second bucket.

5. The automatic centrifuge according to claim 4, characterized in that: The processing device comprises: a first transfer device that moves the sample storage container to the vicinity of the door; and a second transfer device, for transferring the sample storage container transported by the first transfer device to the bucket; The control device controls the first transfer device and the second transfer device to transfer the bucket to the bucket waiting at the lower side of the door.

6. An automatic centrifuge comprising: The container for the sample to be tested is used to store the sample; An angle rotor having a plurality of mounting holes for holding the object receiving container; A driving device for driving the angle rotor to rotate; A door capable of accessing the specific mounting hole of the angle rotor; A processing device for installing and removing the object storage container in the installation hole; as well as A control device controls the driving device and the processing device, wherein the automatic centrifuge is characterized in that: The control device places the sample storage container on the installation hole according to a certain rule so that the sample storage container becomes rotationally symmetrical in mass when placed on the installation hole, and The starting position of the mounting hole for initially mounting the sample storage container during centrifugal separation operation is set to be different from the starting position of the mounting hole for initially mounting during the immediately preceding centrifugal separation operation.

7. The automatic centrifuge according to claim 6, characterized in that: When the number of the sample storage containers carried by the angle rotor is an odd number, a dummy container is installed in the installation hole to obtain a rotation balance of the angle rotor.

8. The automatic centrifuge according to claim 7, characterized in that: When the total number of the sample storage containers carried by the angle rotor is S, Starting from the installation hole that initially accommodated the sample container during the initial centrifugal separation operation, the sample container is installed from the installation hole that is offset by t positions (where t is an integer, 0<t<S) during the next centrifugal separation operation.

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