Dispensing probe device and automatic analysis device

Abstract

The present invention provides a dispensing probe device and an automatic analysis device capable of suppressing a decrease in the number of dispenses to be processed within a certain period of time. A first drive mechanism of the dispensing probe device moves a first support arm (114) in the vertical direction and rotates the first support arm in the horizontal direction. The second drive mechanism moves the second support arm (124) in the vertical direction and rotates the second support arm in the horizontal direction. The distance in the horizontal direction from the center of rotation of the first support arm (114) to the second reagent probe (24A) is longer than the distance in the horizontal direction from the center of rotation of the second support arm (124) to the second reagent probe (24B). A sector having a trajectory drawn at one end of the second support arm (124) farther from the center of rotation as an arc is included in a sector having a trajectory of the second reagent probe (24A) as an arc.

Description

Technical Field

[0001] The present invention relates to a dispensing probe device and an automatic analysis device. Background Art

[0002] An automatic analysis device is used for examinations in various fields such as biochemical examinations and blood transfusion examinations, and can simultaneously perform analysis processing on a plurality of specimens. In addition, the automatic analysis device has a dispensing probe device that aspirates and discharges liquids such as specimens and reagents, that is, dispenses liquids such as specimens and reagents.

[0003] For example, Patent Document 1 describes an automatic analysis device equipped with a dispensing probe device. The automatic analysis device described in Patent Document 1 has two reagent dispensing arms 5 and 6. The two reagent dispensing arms 5 and 6 rotate in the same plane around a rotation axis extending in the vertical direction.

[0004] The reagent tray 10 rotates a plurality of reagent positions 3 along the outer track 1 and the inner track 2. In addition, the reaction disk 20 rotates a plurality of reaction vessels along the outer periphery 21 and the inner periphery 22. The two reagent dispensing arms 5 and 6 aspirate reagents from the plurality of reagent positions 3 of the reagent tray 10 and dispense the reagents to the plurality of reaction vessels of the reaction disk 20.

[0005] When the two reagent dispensing arms 5 and 6 approach the reagent tray 10, the reagent dispensing arm 5 on the side of the reagent tray 10 rotates first, and then the reagent dispensing arm 6 rotates. Then, each of the reagent dispensing arms 5 and 6 aspirates a reagent from the reagent positions 3 of the outer track 1 and the inner track 2 at the aspiration position.

[0006] When the two reagent dispensing arms 5 and 6 approach the reaction disk 20, the reagent dispensing arm 6 on the side of the reaction disk 20 rotates first, and then the reagent dispensing arm 5 rotates. Then, each of the reagent dispensing arms 5 and 6 dispenses the reagent to the reaction vessels of the outer periphery 21 and the inner periphery 22 at the dispensing position.

[0007] Prior Art Documents

[0008] Patent Documents

[0009] Patent Document 1: Specification of Chinese Patent Application Publication No. 103376331 Summary of the Invention

[0010] Problems to be Solved by the Invention

[0011] However, in the automatic analysis device described in Patent Document 1, since the two reagent dispensing arms 5 and 6 rotate in the same plane, the reagent dispensing arm that performs the rotation action later cannot exceed the preceding reagent dispensing arm.

[0012] The time for the reagent dispensing arm to perform the cleaning operation in the cleaning tank sometimes exceeds the time of one cycle. For example, when the cleaning operation of the reagent dispensing arm 5 is not completed, even if the reagent dispensing arm 6 can perform the dispensing operation, it is necessary to wait for the cleaning operation of the reagent dispensing arm 5 to be completed. Therefore, the automatic analysis device described in Patent Document 1 has such a problem that the number of dispensings processed within a certain time decreases.

[0013] In view of the above problems, an object of the present invention is to provide a dispensing probe device and an automatic analysis device that can suppress a decrease in the number of dispensings processed within a certain time.

[0014] Solution to the problem

[0015] To solve the above problems and achieve the object of the present invention, a dispensing probe device reflecting one aspect of the present invention includes a first dispensing probe and a second dispensing probe extending in the vertical direction, a first support arm, a first drive mechanism, a second support arm, and a second drive mechanism. The first support arm supports the upper end of the first dispensing probe. The first drive mechanism moves the first support arm in the vertical direction and rotates the first support arm in the horizontal direction. The second support arm supports the upper end of the second dispensing probe. The second drive mechanism moves the second support arm in the vertical direction and rotates the second support arm in the horizontal direction. The horizontal distance from the rotation center of the first support arm to the first dispensing probe is longer than the horizontal distance from the rotation center of the second support arm to the second dispensing probe. A sector with the locus of the farther end of the second support arm from the rotation center as an arc is included in a sector with the orbit of the first dispensing probe as an arc.

[0016] In addition, the above-described dispensing probe device is a technical solution of the present invention, and an automatic analysis device reflecting one aspect of the present invention is also configured in the same manner as the above-described dispensing probe device.

[0017] Effects of the invention

[0018] According to the automatic analysis device of the present invention, a decrease in the number of dispensings processed within a certain time can be suppressed.

[0019] Through the following description of the embodiments, other problems, structures, and effects can be clarified. Description of the drawings

[0020] Figure 1 It is a schematic structural diagram showing an automatic analysis device according to a first embodiment of the present invention.

[0021] Figure 2 It is a perspective view of a dispensing probe device according to a first embodiment of the present invention.

[0022] Figure 3This is a diagram showing the orbits of two reagent probes according to the first embodiment of the present invention.

[0023] Figure 4 This is a diagram illustrating the arrangement of two reagent probes according to the first embodiment of the present invention.

[0024] Figure 5 This is a diagram showing the airspace when the reagent probe and the support arm rotate and move according to the first embodiment of the present invention.

[0025] Figure 6 This is a diagram showing the vertical stroke of two drive shafts according to the first embodiment of the present invention.

[0026] Figure 7 This is a diagram illustrating the origin position detection mechanism of the dispensing probe device according to the first embodiment of the present invention.

[0027] Figure 8 This is a diagram showing the sensor detection part for the rotation origin of the dispensing probe device according to the first embodiment of the present invention.

[0028] Figure 9 This is a block diagram showing an example of the structure of the control system of the dispensing probe device according to the first embodiment of the present invention.

[0029] Figure 10 This is a flowchart showing the first example of the origin recovery process of the dispensing probe device according to the first embodiment of the present invention.

[0030] Figure 11 This is a perspective view showing the state where two support arms of the dispensing probe device according to the first embodiment of the present invention cross each other.

[0031] Figure 12 This is a flowchart showing the second example of the origin recovery process of the dispensing probe device according to the first embodiment of the present invention.

[0032] Figure 13 This is a flowchart showing the third example of the origin recovery process of the dispensing probe device according to the first embodiment of the present invention.

[0033] Figure 14 This is an explanatory diagram of the origin position detection mechanism of the dispensing probe device according to the second embodiment of the present invention.

[0034] Figure 15 This is an explanatory diagram showing the state where the second drive shaft of the dispensing probe device according to the second embodiment of the present invention is disposed at the upper and lower origin positions.

[0035] Figure 16 This is an explanatory diagram of the second drive shaft when two support arms of the dispensing probe device according to the second embodiment of the present invention are in a cross - configured state.

[0036] Figure 17 This is a block diagram showing a structural example of a control system of a dispensing probe device according to the second embodiment of the present invention.

[0037] Figure 18 This is a flowchart showing an example of a home return process of a dispensing probe device according to the second embodiment of the present invention.

[0038] Explanation of Reference Numerals

[0039] 1, automatic analysis device; 1a, measurement unit; 1b, control unit; 2, sample turntable; 3, dilution turntable; 4, first reagent turntable; 5, second reagent turntable; 6, reaction turntable; 11, dilution stirring device; 12, dilution cleaning device; 13, first reaction stirring device; 14, second reaction stirring device; 15, multi-wavelength photometer; 16, reaction vessel cleaning device; 21, specimen dispensing unit; 22, diluted specimen dispensing unit; 23, first reagent dispensing unit; 23A, first reagent probe; 23B, first reagent probe; 24, second reagent dispensing unit; 24A, second reagent probe; 24B, second reagent probe; 31, 32A, 32B, 33A, 33B, 34A, 34B, probe cleaning device; 101, base; 102, first dispensing mechanism; 103, second dispensing mechanism; 111, first drive shaft; 112, first vertical drive unit; 113, first rotational drive unit; 114, first support arm; 116, detected unit; 118, first weighing pump; 119, first cleaning pump; 121, second drive shaft; 122, second vertical drive unit; 123, second rotational drive unit; 124, second support arm; 128, second weighing pump; 129, first cleaning pump; 131, first vertical home position detection sensor; 132, first horizontal home position detection sensor; 134, first liquid level detection sensor; 135, first probe collision detection sensor; 141, second vertical home position detection sensor; 142, second horizontal home position detection sensor; 143, cross detection sensor; 144, second liquid level detection sensor; 145, second probe collision detection sensor; 201, first support arm airspace; 202, probe A airspace; 211, second support arm airspace; 212, probe B airspace. Detailed Embodiments

[0040] Hereinafter, embodiments of the dispensing probe device and the automatic analysis device of the present invention will be described in detail based on the drawings. In addition, the same reference numerals are assigned to the components common to the respective figures.

[0041] 1. First Embodiment

[0042] <Structure of Automatic Analysis Device>

[0043] Figure 1 This is a schematic structural diagram of the automatic analysis device according to the first embodiment.

[0044] Figure 1 The automatic analysis device 1 shown is a biochemical analysis device that automatically measures the amount of a specific component contained in a biological sample such as blood or urine. The automatic analysis device 1 includes a measurement unit 1a and a control unit 1b.

[0045] The measurement unit 1a includes, for example, a sample turntable 2, a dilution turntable 3, a first reagent turntable 4, a second reagent turntable 5, and a reaction turntable 6. In addition, the measurement unit 1a includes a dilution stirring device 11, a dilution cleaning device 12, a first reaction stirring device 13, a second reaction stirring device 14, a multi-wavelength photometer 15, and a reaction vessel cleaning device 16.

[0046] In addition, the measurement unit 1a includes a specimen dispensing unit 21, a diluted specimen dispensing unit 22, a first reagent dispensing unit 23, a second reagent dispensing unit 24, and a plurality of probe cleaning devices. And the measurement unit 1a may also include a cleaning container holding unit (not shown here). The first reagent dispensing unit 23 and the second reagent dispensing unit 24 represent specific examples of the dispensing probe device of the present invention.

[0047] On the other hand, the control unit 1b includes a display unit 41, and as will be described in detail below, includes an input unit, a storage unit, and a control unit. Hereinafter, these structural elements will be described in detail in the order of the measurement unit 1a and the control unit 1b.

[0048] <Measurement unit 1a>

[0049] [Sample turntable 2]

[0050] The sample turntable 2 is formed in a substantially cylindrical shape. The sample turntable 2 holds a plurality of specimen containers P2 arranged in multiple columns along the circumferential direction. The sample turntable 2 rotates along the circumferential direction by a drive mechanism (not shown) and conveys the held plurality of specimen containers P2 along the circumferential direction.

[0051] In each specimen container P2 held by the sample turntable 2, there are stored a specimen to be measured and a control specimen for accuracy management as dispensing liquids. The sample turntable 2 conveys the various specimens to be measured to a predetermined position.

[0052] In addition, in addition to the specimen container P2, the sample turntable 2 can also hold a dilution liquid container storing a dilution liquid and a hemolytic agent container storing a hemolytic agent for performing hemolysis treatment. In addition, the sample turntable 2 may also have a function of cooling the held specimen container P2 and other containers.

[0053] [Dilution turntable 3]

[0054] The dilution turntable 3 is formed in a substantially cylindrical shape. The dilution turntable 3 holds a plurality of dilution containers P3 storing dispensed liquids in a circumferential arrangement. The dilution turntable 3 is rotated in the circumferential direction by a drive mechanism (not shown) to convey the held plurality of dilution containers P3 in the circumferential direction.

[0055] A specimen (hereinafter referred to as "diluted specimen") that has been aspirated and diluted from the specimen container P2 disposed on the specimen turntable 2 is injected as a dispensed liquid into the dilution container P3 held by the dilution turntable 3. In addition, the automatic analyzer 1 may not include the dilution turntable 3.

[0056] [First reagent turntable 4 and second reagent turntable 5]

[0057] The first reagent turntable 4 corresponds to the storage unit and the first turntable of the present invention. The first reagent turntable 4 is formed in a substantially cylindrical shape. The first reagent turntable 4 holds a plurality of first reagent containers P4 in two circumferential rows. The line on the inner side where a plurality of first reagent containers P4 are arranged is called the reagent line 4A, and the line on the outer side where a plurality of first reagent containers P4 are arranged is called the reagent line 4B.

[0058] The first reagent turntable 4 is rotated in the circumferential direction by a drive mechanism (not shown) to convey the held plurality of first reagent containers P4 in the circumferential direction. A first reagent is stored in the plurality of first reagent containers P4 as a dispensed liquid.

[0059] The second reagent turntable 5 corresponds to the storage unit and the first turntable of the present invention. The second reagent turntable 5 is formed in a substantially cylindrical shape. The second reagent turntable 5 holds a plurality of second reagent containers P5 in two circumferential rows. The line on the inner side where a plurality of second reagent containers P5 are arranged is called the reagent line 5A, and the line on the outer side where a plurality of second reagent containers P5 are arranged is called the reagent line 5B.

[0060] The second reagent turntable 5 is rotated in the circumferential direction by a drive mechanism (not shown) to convey the held plurality of second reagent containers P5 in the circumferential direction. A second reagent is stored in the second reagent containers P5 as a dispensed liquid.

[0061] [Reaction turntable 6]

[0062] The reaction turntable 6 corresponds to the second turntable of the present invention. The reaction turntable 6 is formed in a substantially cylindrical shape. The reaction turntable 6 holds a plurality of reaction containers P6 in two circumferential rows. The line on the inner side where a plurality of reaction containers P6 are arranged is called the reaction line 6A, and the line on the outer side where a plurality of reaction containers P6 are arranged is called the reaction line 6B. The reaction turntable 6 is rotated in the circumferential direction by a drive mechanism (not shown) to convey the held plurality of reaction containers P6 in the circumferential direction.

[0063] A diluted sample taken out from the dilution container P3 of the dilution turntable 3 and the first reagent taken out from the first reagent container P4 of the first reagent turntable 4 or the second reagent taken out from the second reagent container P5 of the second reagent turntable 5 are respectively dispensed in predetermined amounts into the reaction container P6. Then, in the reaction container P6, the diluted sample and the first reagent or the second reagent are stirred to carry out a reaction.

[0064] The reaction turntable 6 as described above has a thermostat (not shown). The thermostat always keeps the temperature of the reaction container P6 constant. In addition, when the automatic analyzer 1 does not have the dilution turntable 3, a sample taken out from the sample container P2 of the sample turntable 2 is dispensed into the reaction container P6 held on the reaction turntable 6.

[0065] [Dilution stirring device 11]

[0066] The dilution stirring device 11 is arranged around the dilution turntable 3. The dilution stirring device 11 has a stirring mechanism and a driving mechanism for driving the stirring mechanism. The dilution stirring device 11 inserts the stirring member of the stirring mechanism into the dilution container P3 held on the dilution turntable 3 to stir the sample to be measured and the diluent.

[0067] [Dilution cleaning device 12]

[0068] The dilution cleaning device 12 is arranged around the dilution turntable 3. The dilution cleaning device 12 cleans the dilution container P3 after the diluted sample is aspirated by the diluted sample dispensing unit 22 described below.

[0069] [First reaction stirring device 13 and second reaction stirring device 14]

[0070] The first reaction stirring device 13 and the second reaction stirring device 14 are arranged around the reaction turntable 6. The first reaction stirring device 13 and the second reaction stirring device 14 stir the diluted sample and the first reagent or the second reagent in the reaction container P6 held on the reaction turntable 6.

[0071] The first reaction stirring device 13 and the second reaction stirring device 14 have a stirring mechanism and a driving mechanism for driving the stirring mechanism. The first reaction stirring device 13 and the second reaction stirring device 14 insert the stirring member of the stirring mechanism into the reaction container P6 held at a predetermined position on the reaction turntable 6 to stir the diluted sample (or the sample) and the first reagent or the second reagent. Thereby, the reaction between the diluted sample and the first reagent and the second reagent proceeds.

[0072] [Multi-wavelength photometer 15]

[0073] The multi-wavelength photometer 15 is a specific example of the measurement unit of the present invention. The multi-wavelength photometer 15 is arranged around the reaction turntable 6. The multi-wavelength photometer 15 optically measures the diluted sample that reacts with the first reagent and the second reagent in the reaction vessel P6, and detects the reaction state of the diluted sample. The multi-wavelength photometer 15 outputs the amounts of various components in the sample to the control unit 1b in the form of absorbance.

[0074] [Reaction vessel cleaning device 16]

[0075] The reaction vessel cleaning device 16 is arranged around the reaction turntable 6. The reaction vessel cleaning device 16 cleans the inside of the reaction vessel P6 after the inspection.

[0076] [Specimen dispensing unit 21]

[0077] The specimen dispensing unit 21 is arranged around the sample turntable 2 and the dilution turntable 3. The specimen dispensing unit 21 includes a thin tubular specimen probe 21A extending in the vertical direction. The specimen dispensing unit 21 operates according to a preset measurement procedure. The specimen dispensing unit 21 inserts the tip of the specimen probe 21A into the specimen in the specimen container P2 held on the sample turntable 2, and aspirates a predetermined amount of the specimen.

[0078] In addition, the specimen dispensing unit 21 supplies a predetermined amount of diluent (such as physiological saline, pure water) into the specimen probe 21A. The specimen dispensing unit 21 inserts the tip of the specimen probe 21A into the dilution container P3 of the dilution turntable 3, and discharges the specimen aspirated from the specimen container P2 and a predetermined amount of diluent into the dilution container P3. Thus, the specimen to be measured diluted to a predetermined multiple concentration is injected into the dilution container P3.

[0079] In addition, when the automatic analyzer 1 does not have the dilution turntable 3, the specimen dispensing unit 21 inserts the tip of the specimen probe 21A into the reaction container P6 of the reaction turntable 6. Then, only the specimen aspirated from the specimen container P2 is discharged into the reaction container P6, or the specimen aspirated from the specimen container P2 and a predetermined amount of diluent are discharged into the reaction container P6.

[0080] The specimen probe 21A is provided with a liquid level detection mechanism (not shown). The liquid level detection mechanism detects the contact between the tip of the specimen probe and the liquid level based on, for example, the capacitance between the liquid level and the tip of the specimen probe.

[0081] [Diluted specimen dispensing unit 22]

[0082] The diluted sample dispensing unit 22 is disposed between the dilution turntable 3 and the reaction turntable 6. The diluted sample dispensing unit 22 includes diluted sample probes 22A and 22B. The diluted sample probes 22A and 22B are each formed as a thin tube extending in the vertical direction. The diluted sample dispensing unit 22 operates according to a preset measurement procedure. In addition, the automatic analyzer 1 that does not have the dilution turntable 3 does not need to have the diluted sample dispensing unit 22.

[0083] The diluted sample dispensing unit 22 inserts the tips of the diluted sample probes 22A and 22B into different dilution containers P3 of the dilution turntable 3 respectively, and aspirates a predetermined amount of the diluted sample. The diluted sample dispensing unit 22 inserts the tip of the diluted sample probe 22A into the reaction container P6 arranged along the reaction line 6A of the reaction turntable 6, and discharges the diluted sample aspirated from the dilution container P3 into the reaction container P6. In addition, the diluted sample dispensing unit 22 inserts the tip of the diluted sample probe 22B into the reaction container P6 arranged along the reaction line 6B of the reaction turntable 6, and discharges the diluted sample aspirated from the dilution container P3 into the reaction container P6.

[0084] [First reagent dispensing unit 23]

[0085] The first reagent dispensing unit 23 is disposed between the reaction turntable 6 and the first reagent turntable 4. The first reagent dispensing unit 23 includes first reagent probes 23A and 23B (see Figure 2 ). The first reagent probe 23A corresponds to the first dispensing probe of the present invention. The first reagent probe 23B corresponds to the second dispensing probe of the present invention. The first reagent probes 23A and 23B are each formed as a thin tube extending in the vertical direction. The first reagent dispensing unit 23 operates according to a preset measurement procedure.

[0086] The first reagent dispensing unit 23 inserts the tip of the first reagent probe 23A into the first reagent container P4 arranged along the reagent line 4A of the first reagent turntable 4, and aspirates a predetermined amount of the first reagent. In addition, the first reagent dispensing unit 23 inserts the tip of the first reagent probe 23A into the reaction container P6 arranged along the reaction line 6A of the reaction turntable 6, and discharges the first reagent aspirated from the first reagent container P4.

[0087] The first reagent dispensing unit 23 inserts the tip of the first reagent probe 23B into the first reagent container P4 arranged along the reagent line 4B of the first reagent turntable 4, and aspirates a predetermined amount of the first reagent. In addition, the first reagent dispensing unit 23 inserts the tip of the first reagent probe 23B into the reaction container P6 arranged along the reaction line 6B of the reaction turntable 6, and discharges the first reagent aspirated from the first reagent container P4.

[0088] [Second reagent dispensing unit 24]

[0089] The second reagent dispensing unit 24 is disposed between the reaction turntable 6 and the second reagent turntable 5. The second reagent dispensing unit 24 has the same structure as the first reagent dispensing unit 23, and includes second reagent probes 24A and 24B (refer to Figure 2 ). The second reagent probe 24A corresponds to the first dispensing probe of the present invention. The second reagent probe 24B corresponds to the second dispensing probe of the present invention. The second reagent dispensing unit 24 operates according to a preset measurement procedure.

[0090] The second reagent dispensing unit 24 inserts the tip of the second reagent probe 24A into the second reagent container P5 arranged along the reagent line 5A of the second reagent turntable 5, and aspirates a predetermined amount of the second reagent. In addition, the second reagent dispensing unit 24 inserts the tip of the second reagent probe 24A into the reaction container P6 arranged along the reaction line 6A of the reaction turntable 6, and discharges the second reagent aspirated from the second reagent container P5.

[0091] The second reagent dispensing unit 24 inserts the tip of the second reagent probe 24B into the second reagent container P5 arranged along the reagent line 5B of the second reagent turntable 5, and aspirates a predetermined amount of the second reagent. In addition, the second reagent dispensing unit 24 inserts the tip of the second reagent probe 24B into the reaction container P6 arranged along the reaction line 6B of the reaction turntable 6, and discharges the second reagent aspirated from the second reagent container P5.

[0092] [Probe cleaning device 31]

[0093] The probe cleaning device 31 is disposed on the track of the specimen probe 21A of the specimen dispensing unit 21. The probe cleaning device 31 cleans the outer wall of the specimen probe 21A. The probe cleaning device 31 includes a cleaning water supply pipe and a cleaning tank. The cleaning water supply pipe supplies cleaning water in a spray form to the tip of the specimen probe 21A disposed above the cleaning tank. Thereby, the outer wall of the specimen probe 21A is cleaned.

[0094] [Probe cleaning devices 32A and 32B]

[0095] The probe cleaning device 32A is disposed on the track of the diluted specimen probe 22A of the diluted specimen dispensing unit 22. The probe cleaning device 32A cleans the outer wall of the diluted specimen probe 22A. The probe cleaning device 32B is disposed on the track of the diluted specimen probe 22B of the diluted specimen dispensing unit 22. The probe cleaning device 32B cleans the outer wall of the diluted specimen probe 22B. The probe cleaning devices 32A and 32B include a cleaning water supply pipe and a cleaning tank.

[0096] [Probe cleaning devices 33A and 33B]

[0097] The probe cleaning device 33A is arranged on the track of the first reagent probe 23A of the first reagent dispensing unit 23. The probe cleaning device 33A cleans the outer wall of the first reagent probe 23A. The probe cleaning device 33B is arranged on the track of the first reagent probe 23B of the first reagent dispensing unit 23. The probe cleaning device 33B cleans the outer wall of the first reagent probe 23B. Each of the probe cleaning devices 33A and 33B includes a barrel-shaped cleaning tank, a cleaning water supply pipe provided on the inner wall side of the side surface of the cleaning tank, and a cleaning liquid outlet provided on the inner wall side of the bottom surface of the cleaning tank. The cleaning water supply pipes of the probe cleaning devices 33A and 33B respectively supply cleaning water in a spray form to the tips of the first reagent probes 23A and 23B arranged at the upper part of the cleaning tank. The cleaning liquid outlets of the probe cleaning devices 33A and 33B have a cylindrical shape and are configured to eject cleaning liquids such as an alkaline cleaning agent and an acid cleaning agent from their upper ends, and the first reagent probes 23A and 23B arranged above the cleaning liquid outlets can suck the cleaning liquid.

[0098] [Probe cleaning devices 34A and 34B]

[0099] The probe cleaning device 34A is arranged on the track of the second reagent probe 24A of the second reagent dispensing unit 24. The probe cleaning device 34A cleans the outer wall of the second reagent probe 24A. The probe cleaning device 34B is arranged on the track of the second reagent probe 24B of the second reagent dispensing unit 24. The probe cleaning device 34B cleans the outer wall of the second reagent probe 24B. Each of the probe cleaning devices 34A and 34B includes a barrel-shaped cleaning tank, a cleaning water supply pipe provided on the inner wall side of the side surface of the cleaning tank, and a cleaning liquid outlet provided on the inner wall side of the bottom surface of the cleaning tank. The cleaning water supply pipes of the probe cleaning devices 34A and 34B respectively supply cleaning water in a spray form to the tips of the second reagent probes 24A and 24B arranged at the upper part of the cleaning tank. The cleaning liquid outlets of the probe cleaning devices 34A and 34B have a cylindrical shape and are configured to eject cleaning liquids such as an alkaline cleaning agent and an acid cleaning agent from their upper ends, and the second reagent probes 24A and 24B arranged above the cleaning liquid outlets can suck the cleaning liquid.

[0100] <Control unit 1b>

[0101] The control unit 1b is connected to the drive mechanisms of the respective constituent elements constituting the above-described measurement unit 1a, the multi-wavelength photometer 15, and the specimen supply device for supplying a specimen to the measurement unit 1a.

[0102] The specimen supply device includes a supply unit, a recovery unit, a conveyance unit, and a barcode reader. The supply unit supplies a specimen rack containing a plurality of (e.g., five) specimens to the measurement unit 1a. The recovery unit recovers the specimen rack that has completed the dispensing process by the specimen dispensing unit 21. The conveyance unit conveys the specimen rack from the supply unit to the recovery unit. The barcode reader is disposed between the supply unit and the specimen extraction position.

[0103] When the operator inserts the specimen rack into the supply unit, the conveyance unit conveys the specimen rack to the barcode reading position of the barcode reader. The barcode reader reads the barcode information pasted on the specimen container. Then, the conveyance unit conveys the specimen rack to the specimen extraction position. When the dispensing process by the specimen dispensing unit 21 ends, the conveyance unit conveys the specimen rack to the recovery unit.

[0104] <First Reagent Dispensing Unit 23>

[0105] Next, refer to Figure 2 to describe the detailed structure of the first reagent dispensing unit 23.

[0106] Figure 2 is a perspective view of the first reagent dispensing unit 23.

[0107] As Figure 2 shown, the first reagent dispensing unit 23 includes a base 101, a first dispensing mechanism 102, and a second dispensing mechanism 103. The base 101 is formed in a substantially rectangular parallelepiped shape that is long in the vertical direction. The first dispensing mechanism 102 and the second dispensing mechanism 103 are mounted on the base 101.

[0108] [First Dispensing Mechanism 102]

[0109] The first dispensing mechanism 102 includes a first drive shaft 111, a first vertical drive unit 112, a first rotational drive unit 113, a first support arm 114, and a first reagent probe 23A. The first drive shaft 111, the first vertical drive unit 112, and the first rotational drive unit 113 correspond to the first drive mechanism of the present invention.

[0110] The first drive shaft 111 is a rod-shaped member extending in the vertical direction. The first drive shaft 111 is supported by the base 101 so as to be movable in the vertical direction and rotatable in the horizontal direction.

[0111] The first vertical drive unit 112 is disposed at the lower part of the base 101. The first vertical drive unit 112 moves the first drive shaft 111 in the vertical direction. The first vertical drive unit 112 has, for example, a motor, a rack, and a pinion. The rack and the pinion convert the rotational motion of the rotation shaft of the motor into a linear motion in the vertical direction along the first drive shaft 111. In addition, as the first vertical drive unit of the present invention, other conversion mechanisms such as a ball screw, a belt and pulley mechanism, etc. may be adopted instead of the rack and the pinion.

[0112] The first rotational drive unit 113 is disposed at the upper part of the base 101. The first rotational drive unit 113 rotates the first drive shaft 111 in the horizontal direction. The first rotational drive unit 113 has, for example, a motor and a toothed belt. The toothed belt transmits the rotation of the rotation shaft of the motor to the first drive shaft 111. In addition, as the first rotational drive unit of the present invention, other transmission mechanisms such as a gear train, etc. may be adopted instead of the toothed belt.

[0113] A rotating pulley (not shown) is mounted on the first drive shaft 111. The toothed belt of the first rotational drive unit 113 meshes with the rotating pulley. The rotating pulley and a spline nut (not shown) are integrally formed. The spline nut guides the movement of the first drive shaft 111 in the vertical direction (axial direction), and transmits the rotational torque to the first drive shaft 111. Thus, the first drive shaft 111 is guided by the spline nut to move in the vertical direction, and rotates together with the rotating pulley and the spline nut.

[0114] The first support arm 114 is formed of a substantially rectangular plate body that is long in the horizontal direction. One end portion in the length direction of the lower surface of the first support arm 114 is fixed to the upper end of the first drive shaft 111. The first support arm 114 moves in the vertical direction together with the first drive shaft 111, and rotates in the horizontal direction together with the first drive shaft 111. That is, the first support arm 114 moves in the axial direction of the first drive shaft 111, and rotates about the axis of the first drive shaft 111.

[0115] The first reagent probe 23A is detachably mounted at the other end portion in the length direction of the lower surface of the first support arm 114. The first reagent probe 23A is a dispensing probe that dispenses the first reagent stored in the first reagent container P4 into the reaction container P6.

[0116] The first reagent probe 23A is formed as a thin tube extending in the vertical direction. The upper end of the first reagent probe 23A is connected to one end of the tube 115. The tube 115 extends along the length direction of the first support arm 114. The other end of the tube 115 is connected to the first weighing pump 118 and the first cleaning pump 119 (refer to Figure 9 ).

[0117] When the first metering pump 118 is driven, the first reagent in the first reagent container P4 is sucked into the first reagent probe 23A. Thus, the sucked first reagent is stored in the first reagent probe 23A. In addition, when the first metering pump 118 is driven, the first reagent stored in the first reagent probe 23A is discharged. Thus, the first reagent in the first reagent probe 23A is dispensed into the reaction container P6.

[0118] Pure water is filled as system water in the first reagent probe 23A and the tube 115. In addition, an air accumulation portion is formed at an end portion of the first reagent probe 23A on the side opposite to the tube 115. The air accumulation portion prevents the first reagent and pure water from being mixed when the first reagent is sucked into the first reagent probe 23A. In addition, as the liquid pre-filled in the first reagent probe 23A and the tube 115, it is not limited to non-conductive pure water, and saline solution having conductivity or various other liquids may be filled.

[0119] A first liquid level detection sensor 134 (see Figure 9 ) is connected to the first reagent probe 23A. The first liquid level detection sensor 134 detects the capacitance value of the first reagent probe 23A. The capacitance value detected by the first liquid level detection sensor 134 is output to the control unit 1b. The control unit 1b detects the contact between the first reagent probe 23A and the liquid (first reagent, cleaning liquid) based on the value detected by the first liquid level detection sensor 134 (sensor output value).

[0120] The moving range of the first drive shaft 111 in the vertical direction is preset. The upper end of the moving range of the first drive shaft 111 in the vertical direction is set as the origin position in the vertical direction of the first drive shaft 111 (hereinafter referred to as "vertical origin position"). The lower end of the moving range of the first drive shaft 111 in the vertical direction is set to a position where the tip of the first reagent probe 23A does not contact the bottom of the first reagent container P4 of the first reagent turntable 4 and the bottom of the reaction container P6 of the reaction turntable 6. In addition, the lower end of the moving range of the first drive shaft 111 in the vertical direction may also be set to a position several millimeters lower than the bottom surface of the reaction container P6. In this case, the control unit 1b controls the first vertical drive unit 112 to stop the movement (descent) of the first drive shaft 111 at a predetermined position where the tip of the first reagent probe 23A does not contact the bottom surface of the reaction container P6. That is, the moving range of the first drive shaft 111 in the vertical direction can also be set according to the function of the software.

[0121] In addition, the rotation range of the first drive shaft 111 in the horizontal direction is preset. When the first drive shaft 111 is at one end of the rotation range, the first reagent probe 23A is located on the reagent line 4A of the first reagent turntable 4 (see Figure 1)。Therefore, if the first drive shaft 111 is rotated to one end of the rotation range and then lowered, the first reagent probe 23A is inserted into the first reagent container P4 arranged along the reagent line 4A. In addition, one end of the rotation range of the first drive shaft 111 is set as the origin position in the horizontal direction of the first drive shaft 111 (hereinafter referred to as the "horizontal origin position").

[0122] On the other hand, when the first drive shaft 111 is located at the other end of the rotation range, the first reagent probe 23A is located on the reaction line 6A of the reaction turntable 6. Therefore, if the first drive shaft 111 is rotated to the other end of the rotation range and then lowered, the first reagent probe 23A is inserted into the reaction container P6 arranged along the reaction line 6A.

[0123] The rotation direction of the first drive shaft 111 rotating from the other end to one end of the movement range in the horizontal direction is set as the first rotation direction. In addition, the rotation direction of the first drive shaft 111 rotating from one end to the other end of the movement range in the horizontal direction is set as the second rotation direction. In the present embodiment, the first rotation direction is the counterclockwise direction when observing the automatic analyzer 1 from above, and the second rotation direction is the clockwise direction when observing the automatic analyzer 1 from above.

[0124] [Second dispensing mechanism 103]

[0125] The second dispensing mechanism 103 includes a second drive shaft 121, a second vertical drive unit 122, a second rotation drive unit 123, a second support arm 124, and a first reagent probe 23B. The second drive shaft 121, the second vertical drive unit 122, and the second rotation drive unit 123 correspond to the second drive mechanism of the present invention.

[0126] The second drive shaft 121 is a rod-shaped member extending in the vertical direction. The second drive shaft 121 is supported by the base 101 so as to be movable in the vertical direction and rotatable in the horizontal direction.

[0127] The second vertical drive unit 122 is disposed at the lower part of the base 101. The second vertical drive unit 122 moves the second drive shaft 121 in the vertical direction. The second vertical drive unit 122, for example, includes a motor, a rack, and a pinion. The rack and the pinion convert the rotational motion of the rotation shaft of the motor into a linear motion in the vertical direction along the second drive shaft 121. In addition, as the second vertical drive unit of the present invention, other conversion mechanisms such as a ball screw, a belt, and a pulley mechanism may be used instead of the rack and the pinion.

[0128] The second rotation drive unit 123 is disposed above the base 101. The second rotation drive unit 123 rotates the second drive shaft 121 in the horizontal direction. The second rotation drive unit 123 has, for example, a motor and a toothed belt. The toothed belt transmits the rotation of the rotation shaft of the motor to the second drive shaft 121. In addition, as the second rotation drive unit of the present invention, other transmission mechanisms such as a gear train may be employed instead of the toothed belt.

[0129] The second support arm 124 is formed of a substantially rectangular plate body that is long in the horizontal direction. The length in the length direction of the second support arm 124 is shorter than the length in the length direction of the first support arm 114. One end portion in the length direction on the lower surface of the second support arm 124 is fixed to the upper end of the second drive shaft 121. The second support arm 124 moves in the vertical direction together with the second drive shaft 121, and rotates in the horizontal direction together with the second drive shaft 121. That is, the second support arm 124 moves in the axial direction of the second drive shaft 121 and rotates about the axis of the second drive shaft 121.

[0130] The first reagent probe 23B is detachably attached to the other end portion in the length direction on the lower surface of the second support arm 124. The first reagent probe 23B is a dispensing probe that dispenses the first reagent stored in the first reagent container P4 into the reaction container P6.

[0131] The first reagent probe 23B is formed in a thin tubular shape extending in the vertical direction, similar to the first reagent probe 23A. The upper end of the first reagent probe 23B is connected to one end of the tube 125. The tube 125 extends along the length direction of the second support arm 124. The other end of the tube 125 is connected to the second weighing pump 128 and the second cleaning pump 129 (see Figure 9 ).

[0132] When the second weighing pump 128 is driven, the first reagent in the first reagent container P4 is sucked into the first reagent probe 23B. Thus, the sucked first reagent is stored in the first reagent probe 23B. In addition, when the second weighing pump 128 is driven, the first reagent stored in the first reagent probe 23B is discharged. Thus, the first reagent in the first reagent probe 23B is dispensed into the reaction container P6.

[0133] Pure water is filled as system water in the first reagent probe 23B and the tube 125. In addition, an air accumulation portion is formed at the end portion of the first reagent probe 23B on the side opposite to the tube 125. The air accumulation portion prevents the first reagent and the pure water from being mixed when the first reagent is sucked into the first reagent probe 23B.

[0134] The second liquid level detection sensor 144 is connected to the first reagent probe 23B (see Figure 9)。The second liquid level detection sensor 144 detects the capacitance value of the first reagent probe 23B. The capacitance value detected by the second liquid level detection sensor 144 is output to the control unit 1b. The control unit 1b detects the contact between the first reagent probe 23B and the liquid (the first reagent, the cleaning liquid) based on the value detected by the second liquid level detection sensor 144 (sensor output value).

[0135] The second drive shaft 121 is shorter than the first drive shaft 111. Moreover, the vertical movement range of the second drive shaft 121 is smaller than the vertical movement range of the first drive shaft 111. The upper end of the vertical movement range of the second drive shaft 121 is set at a position lower than the upper end of the vertical movement range of the first drive shaft 111.

[0136] The upper end of the vertical movement range of the second drive shaft 121 is set as the vertical origin position of the second drive shaft 121. The lower end of the vertical movement range of the second drive shaft 121 is set at a position where the tip of the first reagent probe 23B does not contact the bottom of the first reagent container P4 of the first reagent turntable 4 and the bottom of the reaction container P6 of the reaction turntable 6. In addition, the lower end of the vertical movement range of the second drive shaft 121 can also be set at a position several millimeters further below the bottom surface of the reaction container P6. In this case, the control unit 1b controls the second vertical drive unit 122 to stop the movement (descent) of the second drive shaft 121 at a predetermined position where the tip of the first reagent probe 23B does not contact the bottom surface of the reaction container P6. That is, the vertical movement range of the second drive shaft 121 can also be set according to the function of the software.

[0137] In addition, the horizontal rotation range of the second drive shaft 121 is preset. When the second drive shaft 121 is at one end of the rotation range, the first reagent probe 23B is on the reagent line 4B of the first reagent turntable 4 (refer to Figure 1 ). Therefore, if the second drive shaft 121 is rotated to one end of the rotation range and then lowered, the first reagent probe 23B is inserted into the first reagent container P4 arranged along the reagent line 4B.

[0138] On the other hand, when the second drive shaft 121 is at the other end of the rotation range, the first reagent probe 23B is on the reaction line 6B of the reaction turntable 6. Therefore, if the second drive shaft 121 is rotated to the other end of the rotation range and then lowered, the first reagent probe 23B is inserted into the reaction container P6 arranged along the reaction line 6B. In addition, the other end of the rotation range of the second drive shaft 121 is set as the horizontal origin position of the second drive shaft 121.

[0139] In addition, similar to the horizontal origin position of the first drive shaft 111, the horizontal origin position of the second drive shaft 121 can be set to one end of the rotation range (the side where the first reagent probe 23B is located on the reagent line 4B). Alternatively, the horizontal origin position of the first drive shaft 111 can be set to the other end of the rotation range (the side where the first reagent probe 23A is located on the reaction line 6A). Moreover, the horizontal origin positions of the first drive shaft 111 and the second drive shaft 121 can be set to any position within the rotation range.

[0140] In this way, the first reagent dispensing unit 23 can independently control the operations of the first drive shaft 111 and the second drive shaft 121. Additionally, the first reagent dispensing unit 23 can independently control the suction and discharge operations of the first reagent probes 23A and 23B. As a result, the first reagent dispensing unit 23 can suppress the decrease in the number of dispensed portions processed within a certain period of time.

[0141] The second reagent dispensing unit 24 (refer to Figure 1 ) has the same structure as the first reagent dispensing unit 23. In addition, the names of the dispensing probes of the second reagent dispensing unit 24 are the second reagent probes 24A and 24B. The second reagent probes 24A and 24B are the same components as the first reagent probes 23A and 23B of the first reagent dispensing unit 23.

[0142] <Orbits of the Two Reagent Probes>

[0143] Next, refer to Figure 3 to describe the orbits of the second reagent probes 24A and 24B.

[0144] Figure 3 is a diagram showing an example of the orbits of the second reagent probes 24A and 24B.

[0145] The orbits of the first reagent probes 23A and 23B of the first reagent dispensing unit 23 are the same as the orbits of the second reagent probes 24A and 24B of the second reagent dispensing unit 24. Therefore, here, as the orbits of the dispensing probes of the present invention, the orbits of the second reagent probes 24A and 24B are taken as an example for description.

[0146] As Figure 3 shows, the length in the longitudinal direction of the first support arm 114 of the second reagent dispensing unit 24 is longer than the length in the longitudinal direction of the second support arm 124. Moreover, the sector formed by the locus described by one end in the longitudinal direction of the second support arm 124 is included in the sector formed by the orbit of the second reagent probe 24A mounted on the first support arm 114 as an arc. Thereby, the orbits of the second reagent probe 24A and the second reagent probe 24B do not intersect.

[0147] The vertical position of the first support arm 114 when it rotates in the horizontal direction, i.e., the first rotation height, is higher than the vertical position of the second support arm 124 when it rotates in the horizontal direction, i.e., the second rotation height. Moreover, the first support arm 114 at the first rotation height does not contact the second support arm 124 at the second rotation height. Thus, during the rotation of the second support arm 124 and the second reagent probe 24B in the horizontal direction, they will not interfere with the first support arm 114 and the second reagent probe 24A.

[0148] The length La in the longitudinal direction of the first support arm 114 is set to be greater than or equal to the length obtained by adding the diameter Dm of the second reagent probe 24A, the distance Dt between the first drive shaft 111 and the second drive shaft 121, and the safety gap d1 to the length Lb in the longitudinal direction of the second support arm 124. That is, the length La is set to be the length that satisfies the following formula (1).

[0149] [Equation 1]

[0150] La≥Lb + Dm + Dt + d1 ···(1)

[0151] The safety gap d1 is a constant determined according to the amplitude when the second reagent probe 24A is displaced horizontally due to the vibration of the first support arm 114, etc., and the adjustment gap required for manufacturing the automatic analyzer 1. The safety gap d1 is an inherent value corresponding to the type of the automatic analyzer.

[0152] In addition, it is not necessary to make the central angle of the sector with the orbit of the first reagent probe 23A as an arc equal to the central angle of the sector with the orbit of the second reagent probe 24A as an arc.

[0153] <Configuration of Two Reagent Probes>

[0154] Next, with reference to Figure 4 the configuration of the second reagent probes 24A and 24B will be described.

[0155] Figure 4 It is a diagram for explaining the configuration of the second reagent probes 24A and 24B.

[0156] The geometric conditions to be satisfied when configuring the second reagent probes 24A and 24B will be described. As Figure 4 shown, first, an imaginary line VL connecting the rotation center of the reaction turntable 6 and the rotation center of the second reagent turntable 5 is drawn. Next, a perpendicular line PL substantially perpendicular to the imaginary line VL is drawn. The rotation centers of the first support arm 114 and the second support arm 124 are arranged on the perpendicular line PL. That is, the first drive shaft 111 and the second drive shaft 121 (refer to Figure 2 ) are arranged on the perpendicular line PL.

[0157] The position where the vertical line PL is drawn is near the middle of the reaction turntable 6 and the second reagent turntable 5, preferably, the position where the lines connecting the two ends of the rotation range of the first support arm 114 and the second support arm 124 and the rotation center of each of the first support arm 114 and the second support arm 124 form an isosceles triangle. In this way, the rotation range of the first support arm 114 and the second support arm 124 can be reduced.

[0158] In addition, the distance between the rotation center of the first support arm 114 and the rotation center of the second support arm 124 is set to a length such that the first support arm 114 and the second support arm 124 do not overlap at both ends of the rotation range of the first support arm 114 and the second support arm 124 when viewed from the top and bottom directions. Thus, even if the first support arm 114 and the second support arm 124 move in the top and bottom directions, the first support arm 114 and the second support arm 124 do not interfere with each other at one end or the other end of the rotation range.

[0159] In addition, the lengths of the first support arm 114 and the second support arm 124 are set to satisfy the above-mentioned formula (1). Thus, a sector whose track drawn by one end of the length direction of the second support arm 124 is an arc is contained in a sector whose track of the second reagent probe 24A mounted on the first support arm 114 is an arc. As a result, if the first support arm 114 and the second support arm 124 are arranged at positions that do not interfere with each other in the up-down direction, the first support arm 114 (the second reagent probe 24A) and the second support arm 124 (the second reagent probe 24B) can perform rotational movements that exceed each other.

[0160] <Space during the rotational movement of the reagent probe and the support arm>

[0161] Next, refer to Figure 5 Illustrate the airspace during the rotational movement of the reagent probe and the support arm.

[0162] Figure 5 It is a diagram showing a space when the second reagent probes 24A and 24B and the support arms 114 and 124 are rotationally moved.

[0163] like Figure 5 As shown in the figure, the first driving shaft 111 and the first supporting arm 114 rotate and move between the two ends of the rotation range after rising to the upper end of the vertical movement range of the first driving shaft 111. Here, the area in the air occupied by the first supporting arm 114 when rotating is defined as the first supporting arm airspace 201. In addition, the area in the air occupied by the second reagent probe 24A when rotating is defined as the probe A airspace 202.

[0164] After the second drive shaft 121 and the second support arm 124 rise to the upper end of the vertical movement range of the second drive shaft 121, they rotate between the two ends of the rotation range. Here, the area in the air occupied when the second support arm 124 rotates is defined as the second support arm airspace 211. In addition, the area in the air occupied when the second reagent probe 24B rotates is defined as the probe B airspace 212.

[0165] The first support arm airspace 201 is set above the second support arm airspace 211. Moreover, when viewed from the horizontal direction, the first support arm airspace 201 does not overlap with the second support arm airspace 211. In addition, the probe A airspace 202 is set at a position radially outside the second support arm airspace 211 and the probe B airspace 212 with respect to the second drive shaft 121. Therefore, during rotational movement, the first support arm 114 and the second reagent probe 24A will not interfere with the second support arm 124 and the second reagent probe 24B.

[0166] <Stroke of the drive shaft>

[0167] Next, refer to Figure 6 to describe the strokes of the first drive shaft 111 and the second drive shaft 121.

[0168] Figure 6 is a diagram showing the strokes of the first drive shaft 111 and the second drive shaft 121.

[0169] As Figure 6 shown, the second reagent probes 24A and 24B are set to the same length. The second reagent probes 24A and 24B aspirate and discharge the second reagent at the lower end (hereinafter referred to as the "lower end position") of the vertical movement range of the first drive shaft 111 (the first support arm 114) and the second drive shaft 121 (the second support arm 124).

[0170] The first drive shaft 111 and the second drive shaft 121 rotate horizontally at the upper end of the vertical movement range (hereinafter referred to as the "upper end position") respectively. The upper end position of the first drive shaft 111 is higher than the upper end position of the second drive shaft 121. On the other hand, the stroke S1 of the first drive shaft 111 (the first support arm 114) is longer than the stroke S2 of the second drive shaft 121 (the second support arm 124). Therefore, the height positions of the upper ends in the vertical direction of the second reagent probes 24A and 24B when aspirating and discharging the second reagent can be made the same.

[0171] In addition, when cleaning the second reagent probe 24A using the probe cleaning device 34A, first, the first drive shaft 111 is rotated horizontally at the upper end position, and the second reagent probe 24A is disposed above the cleaning tank of the probe cleaning device 34A. At this time, the cleaning water supply pipe of the probe cleaning device 34A supplies cleaning water to the tip of the second reagent probe 24A disposed above the cleaning tank in a spray form. Thereby, the second reagent probe 24A is cleaned.

[0172] In addition, when cleaning the second reagent probe 24B using the probe cleaning device 34B, first, the second drive shaft 121 is rotated horizontally at the upper end position, and the second reagent probe 24B is disposed above the cleaning tank of the probe cleaning device 34B. At this time, the cleaning water supply pipe of the probe cleaning device 34B supplies cleaning water to the tip of the second reagent probe 24B disposed above the cleaning tank in a spray form. Thereby, the second reagent probe 24B is cleaned.

[0173] The horizontal positions of the probe cleaning devices 34A and 34B are set on the tracks of the second reagent probes 24A and 24B and within the rotation ranges of the second reagent probes 24A and 24B (drive shafts 111 and 121) (refer to Figure 1 ). And the probe cleaning devices 34A and 34B are close to each other. Therefore, when cleaning the second reagent probe 24A and the second reagent probe 24B simultaneously, when viewed from the up-down direction, a part of the first support arm 114 overlaps with a part of the second support arm 124.

[0174] On the other hand, the vertical position of the probe cleaning device 34A is higher than the vertical position of the probe cleaning device 34B. In the present embodiment, the difference in the vertical positions of the probe cleaning devices 34A and 34B is equal to the vertical distance between the lower surface of the first support arm 114 when the first drive shaft 111 is at the upper end position and the upper surface of the second support arm 124 when the second drive shaft 121 is at the upper end position. Therefore, during the cleaning process of the second reagent probe 24A, the first support arm 114 is located at a height that does not interfere with the second support arm 124 during the cleaning process of the second reagent probe 24B.

[0175] In the normal cleaning of each probe including the second reagent probes 24A and 24B, it is not necessary to move the probe up and down in the cleaning tank, and the second reagent probes 24A and 24B are cleaned at the upper end positions within the up-down movement ranges of the first drive shaft 111 and the second drive shaft 121, respectively. Therefore, even when normally cleaning the second reagent probes 24A and 24B simultaneously, the first support arm 114 and the second reagent probe 24B do not interfere with each other.

[0176] On the other hand, in order to avoid contamination between specimens and reagents, etc., each probe sometimes requires strong cleaning, i.e., enhanced cleaning. In this case, the probe sucks the cleaning liquid from the cleaning liquid outlet provided in the cleaning tank. Moreover, when the probe sucks the cleaning liquid, it is necessary to make the probe perform a descending motion in the cleaning tank and then an ascending motion (up-and-down motion).

[0177] For example, during the normal cleaning of the second reagent probe 24B mounted on the second support arm 124, the second reagent probe 24A mounted on the first support arm 114 may be subjected to enhanced cleaning. In this case, the second reagent probe 24A performs an up-and-down motion in the cleaning tank of the probe cleaning device 34A. Therefore, it is necessary to prevent the first support arm 114 and the second support arm 124 that perform the up-and-down motion from interfering with each other.

[0178] Therefore, the vertical distance between the lower surface of the first support arm 114 when the first drive shaft 111 is arranged at the upper end position and the upper surface of the second support arm 124 when the second drive shaft 121 is arranged at the upper end position is set as the interference avoidance distance Dc. The interference avoidance distance Dc is a separation distance set for the purpose of avoiding interference between the support arms 114 and 124 when cleaning the second reagent probes 24A and 24B in the probe cleaning devices 34A and 34B.

[0179] The interference avoidance distance Dc is set to be greater than or equal to the length obtained by adding the safety gap d2 to the depth Dp of the cleaning liquid outlet. That is, the interference avoidance distance Dc is determined by the following formula (2).

[0180] [Equation 2]

[0181] Dc ≥ Dp + d2 ··· (2)

[0182] The depth Dp of the cleaning liquid outlet is equal to the stroke of the second reagent probe 24A for sucking the cleaning liquid during the up-and-down motion in the cleaning tank. The depth Dp of the cleaning liquid outlet is an inherent value corresponding to the type of the cleaning liquid outlet. In addition, the safety gap d2 is a constant determined according to the height of the protrusions such as pipes arranged on the second support arm 124 and the height of the protrusions arranged on the lower surface of the first support arm 114. The safety gap d2 is an inherent value corresponding to the types of the first support arm 114 and the second support arm 124.

[0183] In this embodiment, the following structure is adopted: during normal cleaning, the second reagent probes 24A and 24B are cleaned without moving up and down in the cleaning tank. However, as the dispensing probe device of the present invention, in order to improve the cleaning efficiency, it may also be configured to clean the reagent probes by moving them up and down in the cleaning tank during normal cleaning. However, the descending distance of the reagent probes in the cleaning tank is set to be less than or equal to the depth Dp of the cleaning liquid outlet.

[0184] <Origin position detection mechanism>

[0185] Next, with reference to Figure 7 and Figure 8 the origin position detection mechanisms of the first drive shaft 111 and the second drive shaft 121 will be described.

[0186] Figure 7 FIG. is a diagram for explaining the origin position detection mechanism of the first reagent dispensing unit 23. Figure 8 FIG. is a diagram showing the detected portion for the rotation origin of the first reagent dispensing unit 23.

[0187] As Figure 7 shown, the origin position detection mechanism of the first drive shaft 111 in the first reagent dispensing unit 23 is composed of a first vertical origin position detection sensor 131, a first horizontal origin position detection sensor 132, a vertical origin detected portion 116, and a rotation origin detected portion 117.

[0188] Sensor holding plates 130 and 140 are mounted on the side surface of the base 101 (refer to Figure 2 ) in the first reagent dispensing unit 23. The sensor holding plate 130 is disposed in the horizontal direction at a position opposite to the first drive shaft 111. The sensor holding plate 130 holds the first vertical origin position detection sensor 131 and the first horizontal origin position detection sensor 132.

[0189] The vertical origin detected portion 116 is mounted on the first drive shaft 111 via a slider (not shown). The vertical origin detected portion 116 is disposed in the vertical direction at a position opposite to the first vertical origin position detection sensor 131. The vertical origin detected portion 116 is formed in a flat plate shape having a plane substantially perpendicular to the horizontal direction. The rotation origin detected portion 117 is fixed to the rotation pulley (not shown) of the first drive shaft 111. The rotation origin detected portion 117 is disposed in the horizontal direction at a position opposite to the first horizontal origin position detection sensor 132.

[0190] As Figure 8As shown, the rotation origin detection part 117 is formed in an annular shape having a fitting hole 117a that fits with the first drive shaft 111. The rotation origin detection part 117 has a slit 117b for detecting the horizontal origin position of the first drive shaft 111. The slit 117b is formed in a substantially rectangular shape extending radially from the outer peripheral surface of the rotation origin detection part 117.

[0191] Figure 7 The first vertical origin position detection sensor 131 and the first horizontal origin position detection sensor 132 shown are, for example, transmissive photoelectric sensors. The optical axis of the first vertical origin position detection sensor 131 extends in the horizontal direction. When the optical axis of the first vertical origin position detection sensor 131 is blocked by the vertical origin detection part 116, it is detected that the first drive shaft 111 is disposed at the vertical origin position. The optical axis of the first horizontal origin position detection sensor 132 extends in the vertical direction. When the optical axis of the first horizontal origin position detection sensor 132 passes through the slit 117b of the rotation origin detection part 117, it is detected that the first drive shaft 111 is disposed at the horizontal origin position.

[0192] The origin position detection mechanism of the second drive shaft 121 in the first reagent dispensing unit 23 is composed of a second vertical origin position detection sensor 141 (refer to Figure 9 ), a second horizontal origin position detection sensor 142 (refer to Figure 9 ), a vertical origin detection part 126 (refer to Figure 14 ), and a rotation origin detection part 127 (refer to Figure 14 ).

[0193] The second vertical origin position detection sensor 141 and the second horizontal origin position detection sensor 142 are the same sensors as the first vertical origin position detection sensor 131 and the first horizontal origin position detection sensor 132. The second vertical origin position detection sensor 141 and the second horizontal origin position detection sensor 142 are held by a sensor holding plate 140. The sensor holding plate 140 is disposed in a position opposite to the second drive shaft 121 in the horizontal direction.

[0194] The vertical origin detection part 126 is the same as the above-mentioned vertical origin detection part 116, and the rotation origin detection part 127 is the same as the rotation origin detection part 117. The vertical origin detection part 126 is mounted on the second drive shaft 121 via a sliding member (not shown). The rotation origin detection part 127 is fixed to the rotation pulley (not shown) of the second drive shaft 121.

[0195] When the optical axis of the second vertical origin position detection sensor 141 is blocked by the detected part 126 for the vertical origin, it is detected that the second drive shaft 121 is disposed at the vertical origin position. When the optical axis of the second horizontal origin position detection sensor 142 passes through the slit of the detected part 127 for the rotation origin, it is detected that the second drive shaft 121 is disposed at the horizontal origin position.

[0196] In addition, the origin position detection mechanism of the second reagent dispensing unit 24 is the same as the origin position detection mechanism of the first reagent dispensing unit 23 described above.

[0197] <Control System of the First Reagent Dispensing Unit 23>

[0198] Next, with reference to Figure 9 An example of the structure of the control system of the first reagent dispensing unit 23 will be described.

[0199] Figure 9 It is a block diagram showing an example of the structure of the control system of the first reagent dispensing unit 23.

[0200] The control unit 1b includes, for example, a Central Processing Unit (CPU), a Read Only Memory (ROM), and a Random Access Memory (RAM). The CPU reads out various processing programs stored in the ROM and loads them into the RAM. The CPU controls the operations of the respective drive mechanisms of the measurement unit 1a according to the loaded programs.

[0201] The ROM stores various processing programs for controlling the operations of the respective drive mechanisms of the measurement unit 1a, parameters required for the execution of the programs, table data, various files, etc. The RAM is constituted by, for example, a volatile semiconductor memory. The RAM forms a work area for temporarily storing various processing programs read out from the ROM, input or output data, and parameters during various processes executed by the CPU.

[0202] The first vertical drive unit 112, the first rotation drive unit 113, the first weighing pump 118, the first cleaning pump 119, the second vertical drive unit 122, the second rotation drive unit 123, the second weighing pump 128, and the second cleaning pump 129 of the first reagent dispensing unit 23 are electrically connected to the control unit 1b. In addition, the drive units of the first reagent turntable 4, the second reagent turntable 5, the reaction turntable 6, the sample dispensing unit 21, the second reagent dispensing unit 24, etc. are electrically connected to the control unit 1b, which is not shown in Figure 9 herein.

[0203] The first vertical drive unit 112 moves the first drive shaft 111 in the vertical direction according to the drive control signal supplied from the control unit 1b. The first rotational drive unit 113 rotates the first drive shaft 111 in the horizontal direction according to the drive control signal supplied from the control unit 1b. The first weighing pump 118 aspirates the first reagent from the first reagent probe 23A according to the drive control signal supplied from the control unit 1b. Further, the first weighing pump 118 discharges the first reagent from the first reagent probe 23A according to the drive control signal supplied from the control unit 1b.

[0204] The second vertical drive unit 122 moves the second drive shaft 121 in the vertical direction according to the drive control signal supplied from the control unit 1b. The second rotational drive unit 123 rotates the second drive shaft 121 in the horizontal direction according to the drive control signal supplied from the control unit 1b. The second weighing pump 128 aspirates the first reagent from the first reagent probe 23B according to the drive control signal supplied from the control unit 1b. Further, the second weighing pump 128 discharges the first reagent from the first reagent probe 23B according to the drive control signal supplied from the control unit 1b.

[0205] The first vertical origin position detection sensor 131, the first horizontal origin position detection sensor 132, the first liquid level detection sensor 134, and the first probe collision detection sensor 135 of the first reagent dispensing unit 23 are electrically connected to the control unit 1b.

[0206] The first vertical origin position detection sensor 131 detects the situation where the first drive shaft 111 is disposed at the vertical origin position, and transmits the detection result to the control unit 1b. The first horizontal origin position detection sensor 132 detects the situation where the first drive shaft 111 is disposed at the horizontal origin position, and transmits the detection result to the control unit 1b.

[0207] The first liquid level detection sensor 134 detects the capacitance value of the first reagent probe 23A, and transmits the detection result to the control unit 1b. The first probe collision detection sensor 135 detects the situation where the first reagent probe 23A contacts other spare parts such as the first reagent container P4, and transmits the detection result to the control unit 1b.

[0208] The second vertical origin position detection sensor 141, the second horizontal origin position detection sensor 142, the second liquid level detection sensor 144, and the second probe collision detection sensor 145 of the first reagent dispensing unit 23 are electrically connected to the control unit 1b.

[0209] The second vertical origin position detection sensor 141 detects the situation where the second drive shaft 121 is disposed at the vertical origin position, and transmits the detection result to the control unit 1b. The second horizontal origin position detection sensor 142 detects the situation where the second drive shaft 121 is disposed at the horizontal origin position, and transmits the detection result to the control unit 1b.

[0210] The second liquid level detection sensor 144 detects the capacitance value of the first reagent probe 23B and sends the detection result to the control unit 1b. The second probe collision detection sensor 145 detects the contact of the first reagent probe 23B with other spare parts such as the first reagent container P4 and sends the detection result to the control unit 1b.

[0211] <Origin position restoration process>

[0212] Before starting the analysis operation (measurement operation), the automatic analyzer 1 performs the origin position restoration process for the first reagent dispensing unit 23 and the second reagent dispensing unit 24. In the origin position restoration process, the driving of the first vertical driving unit 112, the second vertical driving unit 122, the first rotation driving unit 113, and the second rotation driving unit 123 is controlled to arrange the first driving shaft 111 (the first support arm 114) and the second driving shaft 121 (the second support arm 124) at the origin positions (the vertical origin position and the horizontal origin position).

[0213] [First example]

[0214] Next, refer to Figure 10 to describe the first example of the origin restoration process of the first reagent dispensing unit 23.

[0215] Figure 10 is a flowchart showing the first example of the origin restoration process of the first reagent dispensing unit 23.

[0216] When starting the first example of the origin restoration process, the control unit 1b controls the driving of the first vertical driving unit 112 and the second vertical driving unit 122 to raise the first driving shaft 111 and the second driving shaft 121 (S1). Next, after the first driving shaft 111 and the second driving shaft 121 respectively reach the vertical origin positions, the control unit 1b stops the driving of the first vertical driving unit 112 and the second vertical driving unit 122 and stops the rising operation of the first driving shaft 111 and the second driving shaft 121 (S2).

[0217] Next, the control unit 1b controls the driving of the first rotation driving unit 113 to rotate the first driving shaft 111 in the first rotation direction (S3). The first rotation direction is the counterclockwise direction in Figure 1 and is the direction in which the first driving shaft 111 goes to the horizontal origin position. Next, after the first driving shaft 111 reaches the horizontal origin position, the control unit 1b stops the driving of the first rotation driving unit 113 and stops the rotation operation of the first driving shaft 111 (S4).

[0218] Next, the control unit 1b controls the driving of the second rotation driving unit 123 to rotate the second driving shaft 121 in the second rotation direction (S5). The second rotation direction is inFigure 1 The direction is clockwise and is the direction in which the second drive shaft 121 goes to the horizontal origin position. Next, after the second drive shaft 121 reaches the horizontal origin position, the control unit 1b stops the drive of the second rotation drive unit 123 and stops the rotation operation of the second drive shaft 121 (S6). After the processing of step S6, the control unit 1b ends the first example of the origin recovery process.

[0219] The above step S5 and step S6 can also be executed before step S3 and step S4. In addition, the above step S5 can also be executed simultaneously with step S3. Thereby, the time required for the origin recovery process can be shortened.

[0220] [Crossing of two dispensing probes]

[0221] Next, refer to Figure 11 to illustrate the state where the first support arm 114 and the second support arm 124 cross each other.

[0222] Figure 11 is a perspective view showing the state where the first support arm 114 of the first reagent dispensing unit 23 crosses the second support arm 124.

[0223] As described above, in the first reagent probes 23A and 23B, the sector formed by the locus described by one end in the length direction of the second support arm 124 is included in the sector formed by the orbit of the first reagent probe 23A mounted on the first support arm 114 as an arc. Moreover, the first support arm 114 and the second support arm 124 rotate in the horizontal direction at a position where the first support arm 114 and the second support arm 124 do not contact each other in the vertical direction. Therefore, when observing the first support arm 114 and the second support arm 124 during the dispensing operation from above, the middle part in the length direction of the first support arm 114 does not cross the middle part in the length direction of the second support arm 124.

[0224] However, during maintenance, the user or the operator performing the maintenance inspection may sometimes move the drive shafts 111, 121, and the support arms 114, 124. In this case, it is assumed that the first support arm 114 and the second support arm 124 are in an accidentally crossed configuration state. As Figure 11 shown, when the support arms 114, 124 are in the crossed configuration state, the first support arm 114 is disposed at a position lower than the second support arm 124.

[0225] In the cross configuration state, if the first example of the above-mentioned home position recovery process is executed, after the first drive shaft 111 and the second drive shaft 121 start to rise in step S1, the second drive shaft 121 reaches the upper and lower home positions first and stops. Then, the first drive shaft 111 continues to perform the rising action, and the first support arm 114 hits the second support arm 124 from below. That is, the first support arm 114 collides with the second support arm 124. The collision between the support arms 114 and 124 may cause a device failure, so it needs to be avoided.

[0226] [Second Example]

[0227] Next, refer to Figure 12 to describe the second example of the home position recovery process of the first reagent dispensing unit 23.

[0228] Figure 12 is a flowchart showing the second example of the home position recovery process of the first reagent dispensing unit 23.

[0229] In the second example of the home position recovery process, it is detected whether it is in the cross configuration state. Moreover, in the second example of the home position recovery process, when it is in the cross configuration state, an error is output, and when it is not in the cross configuration state, the first drive shaft 111 and the second drive shaft 121 are arranged at the home positions.

[0230] When starting the second example of the home position recovery process, the control unit 1b turns on the excitation of the first drive shaft 111 (S11). That is, the control unit 1b turns on the excitation of the first up / down drive unit 112 and the first rotation drive unit 113. Next, the control unit 1b turns on the excitation of the second drive shaft 121 (S12). That is, the control unit 1b turns on the excitation of the second up / down drive unit 122 and the second rotation drive unit 123.

[0231] Next, the control unit 1b controls the driving of the first up / down drive unit 112 and the second up / down drive unit 122 to raise the first drive shaft 111 and the second drive shaft 121 (S13). Next, the control unit 1b determines whether the first drive shaft 111 has reached the upper and lower home positions first (S14).

[0232] In step S14, when it is determined that the first drive shaft 111 has reached the upper and lower home positions first (S14 is YES), after the first drive shaft 111 and the second drive shaft 121 respectively reach the upper and lower home positions, the control unit 1b stops the driving of the first up / down drive unit 112 and the second up / down drive unit 122, and stops the rising action of the first drive shaft 111 and the second drive shaft 121 (S15).

[0233] When the first drive shaft 111 reaches the vertical origin position first, the first support arm 114 is located above the second support arm 124. Therefore, after stopping the upward movement of the first drive shaft 111, even if the second drive shaft 121 is raised, the second support arm 124 will not collide with the first support arm 114.

[0234] Next, the control unit 1b controls the drive of the first rotation drive unit 113 to rotate the first drive shaft 111 to the horizontal origin position (S16). Next, the control unit 1b controls the drive of the second rotation drive unit 123 to rotate the second drive shaft 121 to the horizontal origin position (S17). After the process of step S17, the control unit 1b ends the second example of the origin recovery process.

[0235] In step S14, when it is determined that the first drive shaft 111 does not reach the vertical origin position first (S14 is NO), the control unit 1b stops the drives of the first vertical drive unit 112 and the second vertical drive unit 122 after the second drive shaft 121 reaches the vertical origin position, and stops the upward movement of the first drive shaft 111 and the second drive shaft 121 (S18).

[0236] Next, the control unit 1b sets the excitation of the first drive shaft 111 to OFF (S19). That is, the control unit 1b sets the excitations of the first vertical drive unit 112 and the first rotation drive unit 113 to OFF. Next, the control unit 1b controls the drive of the second vertical drive unit 122 to lower the second drive shaft 121 by a certain amount from the horizontal origin position (S20).

[0237] Next, the control unit 1b sets the excitation of the second drive shaft 121 to OFF (S21). That is, the control unit 1b sets the excitations of the second vertical drive unit 122 and the second rotation drive unit 123 to OFF. Next, the control unit 1b sets the excitation of the first drive shaft 111 to ON (S22). Then, the control unit 1b controls the drive of the first vertical drive unit 112 to raise the first drive shaft 111 (S23).

[0238] Next, the control unit 1b determines whether the first drive shaft 111 reaches the vertical origin position first (S24). In step S24, when it is determined that the first drive shaft 111 reaches the vertical origin position first (S24 is YES), the control unit 1b stops the drive of the first vertical drive unit 112, stops the upward movement of the first drive shaft 111, and sets the excitation of the second drive shaft 121 to ON (S25). When the first drive shaft 111 reaches the vertical origin position first, the first support arm 114 is located above the second support arm 124.

[0239] Next, the control unit 1b controls the drive of the second vertical drive unit 122 to raise the second drive shaft 121 to the vertical origin position (S26). Next, the control unit 1b controls the drive of the first rotational drive unit 113 to rotate the first drive shaft 111 to the horizontal origin position (S27). Next, the control unit 1b controls the drive of the second rotational drive unit 123 to rotate the second drive shaft 121 to the horizontal origin position (S28). After the process of step S28, the control unit 1b ends the second example of the origin recovery process.

[0240] In step S24, when it is determined that the first drive shaft 111 has not reached the vertical origin position first (S24 is NO), the control unit 1b detects that the second drive shaft 121 has reached the vertical origin position (S29).

[0241] The case where the second drive shaft 121 with OFF excitation reaches the vertical origin position is the case where the second support arm 124 mounted on the second drive shaft 121 is pushed up by the first support arm 114. Therefore, in step S29, the control unit 1b can detect the cross configuration state.

[0242] The control unit 1b stops the drive of the first vertical drive unit 112 and stops the upward movement of the first drive shaft 111, and outputs a cross configuration error indicating the cross configuration state to a display control unit (not shown) (S30). When the display control unit receives the cross configuration error, it displays the cross configuration state on the display unit 41 (see Figure 1 ). When the user or the operator performing maintenance inspection sees the display unit 41 and recognizes the cross configuration state, the cross configuration state is manually eliminated.

[0243] [Third Example]

[0244] Next, refer to Figure 13 to describe the third example of the origin recovery process of the first reagent dispensing unit 23.

[0245] Figure 13 is a flowchart showing the third example of the origin recovery process of the first reagent dispensing unit 23.

[0246] In the third example of the origin recovery process, the cross configuration state is eliminated and the first drive shaft 111 and the second drive shaft 121 are restored to the origin positions. Therefore, when performing the third example of the origin recovery process, at least the setting of the horizontal rotation range of the second drive shaft 121 is released. As a result, the second drive shaft 121 can rotate 360°.

[0247] As used Figure 3As described above, in the case of performing the dispensing operation, the second support arm 124 rotates within a sector having an arc of the orbit of the second reagent probe 24A mounted on the first support arm 114. However, in the case of eliminating the cross configuration state, the second support arm 124 can exceptionally move outside the sector having an arc of the orbit of the second reagent probe 24A.

[0248] When starting the third example of the origin return process, the control unit 1b controls the driving of the first vertical driving unit 112 and the second vertical driving unit 122 to raise the first drive shaft 111 and the second drive shaft 121 (S41). Next, the control unit 1b determines whether the first drive shaft 111 has reached the vertical origin position first (S42).

[0249] In step S42, when it is determined that the first drive shaft 111 has reached the vertical origin position first (S42 is YES), the control unit 1b stops the driving of the first vertical driving unit 112 and the second vertical driving unit 122, and stops the raising drive of the first drive shaft 111 and the second drive shaft 121 (S43).

[0250] When the first drive shaft 111 reaches the vertical origin position first, the first support arm 114 is located above the second support arm 124. Therefore, even if the first drive shaft 111 is rotated in the horizontal direction, the first support arm 114 will not collide with the second support arm 124.

[0251] Next, the control unit 1b controls the driving of the first rotation driving unit 113 to rotate the first drive shaft 111 in the first rotation direction (S44). The first rotation direction is Figure 1 the counterclockwise direction in

[0252] and is the direction in which the first drive shaft 111 goes to the horizontal origin position. Next, after the first drive shaft 111 reaches the horizontal origin position, the control unit 1b stops the driving of the first rotation driving unit 113 and stops the rotation operation of the first drive shaft 111 (S45).

[0253] Next, the control unit 1b controls the driving of the second vertical driving unit 122 to raise the second drive shaft 121 (S46). Next, after the second drive shaft 121 reaches the vertical origin position, the control unit 1b stops the driving of the second vertical driving unit 122 and stops the raising operation of the second drive shaft 121 (S47).

[0253] Next, the control unit 1b controls the driving of the second rotation driving unit 123 to rotate the second drive shaft 121 in the second rotation direction (S48). The second rotation direction is in Figure 1The middle is the clockwise direction and is the direction in which the second drive shaft 121 goes to the horizontal origin position. Next, after the second drive shaft 121 reaches the horizontal origin position, the control unit 1b stops the drive of the second rotation drive unit 123 and stops the rotation operation of the second drive shaft 121 (S49). After the process of step S49, the control unit 1b ends the third example of the origin recovery process.

[0254] In step S42, when it is determined that the first drive shaft 111 has not reached the upper and lower origin positions first (S42 is NO), the control unit 1b stops the drives of the first up-and-down drive unit 112 and the second up-and-down drive unit 122, and stops the upward drive of the first drive shaft 111 and the second drive shaft 121 (S50).

[0255] Next, the control unit 1b controls the drive of the second rotation drive unit 123 to rotate the second drive shaft 121 in the direction away from the first support arm 114 of the first reagent probe 23B of the second support arm 124 (S51).

[0256] In step S51, when the first reagent probe 23B of the second support arm 124 is located at a position on one end side of the rotation range relative to the first support arm 114, the control unit 1b rotates the second drive shaft 121 (the second support arm 124) to one end side of the rotation range. Then, the control unit 1b rotates the second drive shaft 121 until it crosses one end of the rotation range and reaches the other end of the rotation range. As a result, the first reagent probe 23B rotates around the end on the rotation center side of the first support arm 114, and the second support arm 124 moves away from the first support arm 114. As a result, the cross-configuration state is eliminated.

[0257] In step S51, when the first reagent probe 23B of the second support arm 124 is located at a position on the other end side of the rotation range relative to the first support arm 114, the control unit 1b rotates the second drive shaft 121 (the second support arm 124) to the other end side of the rotation range. Then, the control unit 1b rotates the second drive shaft 121 until it crosses the other end of the rotation range and reaches one end of the rotation range. As a result, the first reagent probe 23B rotates around the end on the rotation center side of the first support arm 114, and the second support arm 124 moves away from the first support arm 114. As a result, the cross-configuration state is eliminated.

[0258] Next, after the second drive shaft 121 reaches one end or the other end of the rotation range, the control unit 1b stops the drive of the second rotation drive unit 123 and stops the rotation operation of the second drive shaft 121 (S52). Next, the control unit 1b controls the drive of the first vertical drive unit 112 to raise the first drive shaft 111 (S53). Next, after the first drive shaft 111 reaches the vertical origin position, the control unit 1b stops the drive of the first vertical drive unit 112 and stops the raising operation of the first drive shaft 111 (S54).

[0259] Next, the control unit 1b controls the drive of the first rotation drive unit 113 to rotate the first drive shaft 111 in the first rotation direction (S55). Next, after the first drive shaft 111 reaches the horizontal origin position, the control unit 1b stops the drive of the first rotation drive unit 113 and stops the rotation operation of the first drive shaft 111 (S56). After the process of step S56, the control unit 1b moves to the process of step S48.

[0260] Cables and tubes penetrate through the drive shafts 111 and 121. Therefore, after eliminating the cross - configured state, it is preferable to eliminate the twist of the cables in the second drive shaft 121. Therefore, after executing the third example of the origin recovery process, the second drive shaft 121 is rotated in the reverse direction by one more turn to eliminate the twist of the cables.

[0261] In the second example of the above - mentioned origin recovery process (refer to Figure 12 ), in step S30, the cross - configuration error was output to a display control unit (not shown). However, after the process of step S29, it is also possible to execute steps S51 to S56, step S48, and step S49 in the third example of the origin recovery process. Thus, the first reagent dispensing unit 23 can eliminate the cross - configured state and can return the first drive shaft 111 and the second drive shaft 121 to the origin positions.

[0262] 2. Second Embodiment

[0263] <Structure of the Automatic Analyzer>

[0264] The part where the structure of the automatic analyzer in the second embodiment is different from the structure of the automatic analyzer in the first embodiment is the origin position detection mechanism. Therefore, here, with reference to Figures 14 to 16 the origin position detection mechanism of the second embodiment will be described, and the description of the structure repeated with the first embodiment will be omitted.

[0265] <Origin Position Detection Mechanism>

[0266] Figure 14 It is a diagram for explaining the origin position detection mechanism of the first reagent dispensing unit 23. Figure 15It is an explanatory diagram showing the state where the second drive shaft 121 is arranged at the upper and lower origin positions. Figure 16 It is an explanatory diagram of the second drive shaft 121 when the support arms 114 and 124 are in a crossed arrangement state.

[0267] The origin position detection mechanism of the first drive shaft 111 in the second embodiment is the same as that of the first drive shaft 111 in the first embodiment. That is, the origin position detection mechanism of the first drive shaft 111 in the second embodiment is composed of a first upper and lower origin position detection sensor 131, a first horizontal origin position detection sensor 132, a detected part 116 for upper and lower origin positions, and a detected part 117 for rotational origin (refer to Figure 7 ).

[0268] As Figure 14 shown, the origin position detection mechanism of the second drive shaft 121 in the second embodiment is composed of a second upper and lower origin position detection sensor 141, a second horizontal origin position detection sensor 142, a crossing detection sensor 143, a detected part 126 for upper and lower origin positions, and a detected part 127 for rotational origin. The second upper and lower origin position detection sensor 141, the second horizontal origin position detection sensor 142, the detected part 126 for upper and lower origin positions, and the detected part 127 for rotational origin are the same as those in the first embodiment.

[0269] As Figure 15 shown, when the optical axis of the second upper and lower origin position detection sensor 141 is blocked by the detected part 126 for upper and lower origin positions, it is detected that the second drive shaft 121 is arranged at the upper and lower origin positions. In addition, when the optical axis of the second horizontal origin position detection sensor 142 passes through the slit of the detected part 127 for rotational origin, it is detected that the second drive shaft 121 is arranged at the horizontal origin position.

[0270] The crossing detection sensor 143 is held together with the second upper and lower origin position detection sensor 141 and the second horizontal origin position detection sensor 142 on a sensor holding plate 140 (refer to Figure 2 ). The detected part 126 for upper and lower origin positions is arranged in the up and down direction at a position opposite to the second upper and lower origin position detection sensor 141 and the crossing detection sensor 143.

[0271] The crossing detection sensor 143 is, for example, a transmissive photoelectric sensor. The optical axis of the crossing detection sensor 143 extends in the horizontal direction. As Figure 16As shown, when the optical axis of the cross-detection sensor 143 is blocked by the detected part 126 at the upper and lower origin points, it is detected that the second drive shaft 121 is disposed at the cross-detection position. The cross-detection position is set at a position above the upper and lower origin positions. The second drive shaft 121 is disposed at the cross-detection position when the second support arm 124 is pushed up by the first support arm 114.

[0272] <Control System of the First Reagent Dispensing Unit 23>

[0273] Next, with reference to Figure 17 An example of the structure of the control system of the first reagent dispensing unit 23 according to the second embodiment will be described.

[0274] Figure 17 It is a block diagram showing an example of the structure of the control system of the first reagent dispensing unit 23 according to the second embodiment.

[0275] The structure of the control system of the first reagent dispensing unit 23 according to the second embodiment is a structure in which the cross-detection sensor 143 is added to the structure of the control system of the first reagent dispensing unit 23 according to the first embodiment. The cross-detection sensor 143 detects the case where the second drive shaft 121 is disposed at the cross-detection position and sends the detection result to the control unit 1b.

[0276] <Origin Position Restoration Process>

[0277] Next, with reference to Figure 18 The origin restoration process of the first reagent dispensing unit 23 according to the second embodiment will be described.

[0278] Figure 18 It is a flowchart showing an example of the origin restoration process of the first reagent dispensing unit 23 according to the second embodiment.

[0279] In the origin restoration process of the first reagent dispensing unit 23 according to the second embodiment, it is detected whether it is in the cross configuration state. If it is in the cross configuration state, an error is output. If it is not in the cross configuration state, the first drive shaft 111 and the second drive shaft 121 are disposed at the origin positions.

[0280] When starting the origin restoration process of the second embodiment, the control unit 1b sets the excitation of the first drive shaft 111 to ON (S61). That is, the control unit 1b sets the excitation of the first up-down drive unit 112 and the first rotation drive unit 113 to ON. Next, the control unit 1b sets the excitation of the second drive shaft 121 to ON (S62). That is, the control unit 1b sets the excitation of the second up-down drive unit 122 and the second rotation drive unit 123 to ON.

[0281] Next, the control unit 1b controls the driving of the first vertical driving unit 112 and the second vertical driving unit 122 to raise the first drive shaft 111 and the second drive shaft 121 (S63). Next, the control unit 1b determines whether the first drive shaft 111 has reached the vertical origin position first (S64).

[0282] In step S64, when it is determined that the first drive shaft 111 has reached the vertical origin position first (S64 is YES), after the first drive shaft 111 and the second drive shaft 121 have reached the vertical origin positions respectively, the control unit 1b stops the driving of the first vertical driving unit 112 and the second vertical driving unit 122, and stops the raising operation of the first drive shaft 111 and the second drive shaft 121 (S65).

[0283] Next, the control unit 1b controls the driving of the first rotation driving unit 113 to rotate the first drive shaft 111 to the horizontal origin position (S66). Next, the control unit 1b controls the driving of the second rotation driving unit 123 to rotate the second drive shaft 121 to the horizontal origin position (S67). After the processing of step S67, the control unit 1b ends the origin recovery process of the second embodiment.

[0284] In step S64, when it is determined that the first drive shaft 111 has not reached the vertical origin position first (S64 is NO), after the second drive shaft 121 has reached the vertical origin position, the control unit 1b stops the driving of the first vertical driving unit 112 and the second vertical driving unit 122, and stops the raising operation of the first drive shaft 111 and the second drive shaft 121 (S68).

[0285] Next, the control unit 1b sets the excitation of the second drive shaft 121 to OFF (S69). That is, the control unit 1b sets the excitation of the second vertical driving unit 122 and the second rotation driving unit 123 to OFF. Next, the control unit 1b controls the driving of the first vertical driving unit 112 to raise the first drive shaft 111 (S70).

[0286] Next, the control unit 1b determines whether the first drive shaft 111 has reached the vertical origin position first (S71). In step S71, when it is determined that the first drive shaft 111 has reached the vertical origin position first (S71 is YES), the control unit 1b stops the driving of the first vertical driving unit 112, stops the raising operation of the first drive shaft 111, and sets the excitation of the second drive shaft 121 to ON (S72). When the first drive shaft 111 reaches the vertical origin position first, the first support arm 114 is located above the second support arm 124.

[0287] Next, the control unit 1b controls the drive of the second vertical drive unit 122 to raise the second drive shaft 121 to the vertical origin position (S73). Next, the control unit 1b controls the drive of the first rotation drive unit 113 to rotate the first drive shaft 111 to the horizontal origin position (S74). Next, the control unit 1b controls the drive of the second rotation drive unit 123 to rotate the second drive shaft 121 to the horizontal origin position (S75). After the process of step S75, the control unit 1b ends the origin recovery process of the second embodiment.

[0288] When it is determined in step S71 that the first drive shaft 111 has not reached the vertical origin position first (S71 is NO), the control unit 1b detects that the second drive shaft 121 has reached the intersection detection position (S76).

[0289] The case where the second drive shaft 121 with OFF excitation reaches the intersection detection position is the case where the second support arm 124 mounted on the second drive shaft 121 is pushed up by the first support arm 114. Therefore, the control unit 1b can detect the cross configuration state in step S76.

[0290] The control unit 1b stops the drive of the first vertical drive unit 112, stops the upward movement of the first drive shaft 111, and outputs a cross configuration error indicating the cross configuration state to a display control unit (not shown) (S77). When the display control unit receives the cross configuration error, it displays the cross configuration state on the display unit 41 (see Figure 1 ). When the user or the operator performing the maintenance inspection sees the display unit 41 and recognizes the cross configuration state, the cross configuration state is manually eliminated.

[0291] In the origin recovery process of the second embodiment described above, in step S77, the cross configuration error was output to a display control unit (not shown). However, after the process of step S76, the steps S51 to S56, step S48, and step S49 in the third example of the origin recovery process of the first embodiment may also be executed. Thereby, the first reagent dispensing unit 23 can eliminate the cross configuration state and can return the first drive shaft 111 and the second drive shaft 121 to the origin positions.

[0292] The above has described the embodiments of the present invention. However, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the gist of the invention described in the claims. For example, the above embodiments have described the present invention in detail in an easy-to-understand manner, and the present invention is not necessarily limited to having all the structures described. In addition, a part of the structure of a certain embodiment can be replaced with the structure of another embodiment, and the structure of another embodiment can also be added to the structure of a certain embodiment. In addition, with respect to a part of the structure of each embodiment, addition, deletion, and replacement of other structures can be performed.

[0293] In the above first and second embodiments, the horizontal positions of the probe cleaning devices 34A and 34B are set on the tracks of the second reagent probes 24A and 24B and within the rotation ranges of the second reagent probes 24A and 24B (drive shafts 111 and 121). However, as long as the probe cleaning device of the probe of the cleaning and dispensing probe device of the present invention is on the track of the probe, it may also be set outside the rotation range related to the dispensing operation of the probe.

Claims

1. A dispensing probe device, wherein: The dispensing probe device has: A first dispensing probe and a second dispensing probe extending in the up-down direction; a first supporting arm supporting an upper end of the first dispensing probe; a first driving mechanism that moves the first support arm in the up-down direction and rotates the first support arm in the horizontal direction; a second supporting arm that supports an upper end of the second dispensing probe; and a second driving mechanism that moves the second support arm in the up-down direction and rotates the second support arm in the horizontal direction, A horizontal distance from a rotation center of the first support arm to the first dispensing probe is longer than a horizontal distance from a rotation center of the second support arm to the second dispensing probe. The sector shape in which the trajectory drawn by the end of the second supporting arm that is far from the rotation center is an arc is included in the sector shape in which the trajectory of the first dispensing probe is an arc.

2. The dispensing probe device according to claim 1, wherein: When the first supporting arm is rotated in the horizontal direction, the vertical position of the first supporting arm, i.e., the first rotation height, is higher than the vertical position of the second supporting arm, i.e., the second rotation height, when the second supporting arm is rotated in the horizontal direction. The first support arm located at the first rotation height does not contact the second support arm located at the second rotation height.

3. The dispensing probe device according to claim 2, wherein: The first dispensing probe is cleaned by moving it up and down in a cleaning tank of a first probe cleaning device arranged on a track. The second dispensing probe is cleaned by moving up and down in a cleaning tank of a second probe cleaning device arranged on a track. The vertical distance between the first support arm at the first rotation height and the second support arm at the second rotation height is set to a distance at which the first support arm and the second support arm do not interfere with each other when cleaning the first dispensing probe and the second dispensing probe.

4. The dispensing probe device according to claim 3, wherein: The difference between the vertical positions of the first probe cleaning device and the second probe cleaning device is equal to the vertical distance between the first support arm located at the first rotation height and the second support arm located at the second rotation height.

5. The dispensing probe device according to claim 1, wherein: The first dispensing probe and the second dispensing probe suck liquid in a plurality of first containers held on a first turntable rotating in a horizontal direction, and discharge the sucked liquid into a plurality of second containers held on a second turntable rotating in a horizontal direction. The rotation center of the first support arm and the rotation center of the second support arm are arranged on a vertical line that is substantially perpendicular to an imaginary line connecting the rotation center of the first turntable and the rotation center of the second turntable.

6. The dispensing probe device according to claim 5, wherein: The perpendicular line is disposed at a position where a line connecting both ends of the rotation range of the first supporting arm and the second supporting arm with the respective rotation centers forms an isosceles triangle.

7. The dispensing probe device according to claim 1, wherein: The first supporting arm airspace, which is an area in the air occupied by the first supporting arm when the first supporting arm moves rotationally, is set above the second supporting arm airspace, which is an area in the air occupied by the second supporting arm when the second supporting arm moves rotationally.

8. An automatic analysis device, wherein: The automatic analysis device has: A storage unit having a plurality of containers containing liquids; a dispensing probe device for dispensing the liquid; a measuring unit that measures the liquid dispensed by the dispensing probe device, The dispensing probe device comprises: A first dispensing probe and a second dispensing probe extending in the up-down direction; a first supporting arm supporting an upper end of the first dispensing probe; a first driving mechanism that moves the first support arm in the up-down direction and rotates the first support arm in the horizontal direction; a second supporting arm that supports an upper end of the second dispensing probe; and a second driving mechanism that moves the second support arm in the up-down direction and rotates the second support arm in the horizontal direction, A horizontal distance from a rotation center of the first support arm to the first dispensing probe is longer than a horizontal distance from a rotation center of the second support arm to the second dispensing probe. The sector shape in which the trajectory drawn by the end of the second supporting arm that is far from the rotation center is an arc is included in the sector shape in which the trajectory of the first dispensing probe is an arc.

9. The automatic analysis device according to claim 8, wherein: The automatic analyzer further includes a control unit for controlling the driving of the first driving mechanism and the second driving mechanism. The control unit performs an origin restoration process of placing the first support arm and the second support arm at respective origin positions. The origin position of the first supporting arm in the vertical direction is higher than the origin position of the second supporting arm in the vertical direction.

10. The automatic analysis device according to claim 9, wherein: In the origin recovery process, after the first support arm is configured at the origin position in the vertical direction, the first support arm is configured at the origin position in the horizontal direction, and after the second support arm is configured at the origin position in the vertical direction, the second support arm is configured at the origin position in the horizontal direction.

11. The automatic analysis device according to claim 10, wherein: The dispensing probe device includes a cross detection sensor for detecting a cross arrangement state in which the first support arm is located below the second support arm and the first support arm crosses the second support arm when viewed from above.

Images