Sample measuring device

Abstract

To provide a sample measuring device that can prevent in advance damage to a sample caused by a user's mistake.SOLUTION: A sample measuring device comprises: a measuring instrument that measures samples; a conveying device that uses cassettes each having a plurality of stages capable of storing a plurality of samples different in size from each other, takes out the samples one by one from the cassette from which the samples are picked out and conveys the samples to the measuring instrument, and stores the samples in which measurement is finished by the measuring instrument, to the cassette in which the samples are placed; a sample detection unit that can detect the presence or absence of the samples in each of the stages of the cassettes; and a control unit that controls the measuring instrument and the conveying device on the basis of a result of the detection performed by the sample detection unit.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a sample measurement device. [Background technology]

[0002] In order to automatically measure samples of different sizes in sequence, the sample measurement device must include a measurement device and a transport device. The measurement device measures the samples. The transport device transports the samples.

[0003] Patent Document 1 describes a technology that uses a pressure sensor to determine whether a workpiece is placed on a pallet transported by a conveyor. The pressure sensor is provided at the center of the pallet. The pressure sensor outputs a signal according to the weight of the workpiece placed on the pallet. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2006-185345 A Summary of the Invention [Problem to be solved by the invention]

[0005] When measuring samples using the above sample measurement device, the user places a cassette for storing unmeasured samples and a cassette for storing measured samples in their respective predetermined locations. In the following description, the cassette for storing unmeasured samples is also referred to as the "pickup source cassette," and the cassette for storing measured samples is also referred to as the "placement destination cassette."

[0006] A cassette with multiple stages can hold multiple samples of different sizes, shifted vertically. The user sets sample information in advance using the operation unit of the sample measurement device. The sample information includes the size of the sample stored in each stage of the cassette from which the sample is picked up.

[0007] When the transport device removes an unmeasured sample from a cassette to be picked up, a user error may cause the hand of the transport device to collide with the sample, resulting in damage to the sample. A possible user error in this case may be, for example, the user placing the unmeasured sample in the cassette to be picked up by the user in the wrong position.

[0008] In addition, when the transport device stores the measured sample in the destination cassette, a user error may cause the hand of the transport device to collide with the sample, damaging the sample. A possible user error in this case is, for example, the user forgetting to remove all the samples from the cassette to be used as the destination cassette when the user is supposed to remove all the samples in advance.

[0009] An object of the present invention is to provide a sample measurement device that can prevent damage to a sample caused by a user's error. [Means for solving the problem]

[0010] The sample measurement device of the present invention comprises a measuring instrument for measuring a sample, a transport device which uses a cassette having multiple stages capable of storing multiple samples of different sizes to pick up the samples one by one from the cassette from which they are picked up and transport them to the measuring instrument, and stores the samples that have been measured by the measuring instrument in the cassette to which they are placed, a sample detection unit which can detect the presence or absence of a sample in each stage of the cassette, and a control unit which controls the measuring instrument and the transport device based on the detection results of the sample detection unit. Effect of the Invention

[0011] According to the present invention, damage to a sample caused by a user's error can be prevented. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic perspective view showing the configuration of a sample measurement device according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic plan view showing the configuration of the sample measurement device according to the first embodiment of the present invention. [Diagram 3] FIG. 3 is a schematic perspective view showing the configuration of the cassette. [Figure 4] FIG. 4 is a schematic plan view showing the configuration of the cassette. [Diagram 5] FIG. 5 is a schematic side view showing the configuration of a hand unit of the transport device. [Figure 6] FIG. 6 is a diagram for explaining an example of setting the length of the pressing member. [Figure 7] FIG. 7 is a block diagram showing the configuration of a control system of the sample measurement device according to the first embodiment of the present invention. [Figure 8] FIG. 8 is a diagram (part 1) for explaining a method for detecting the presence or absence of a sample using a pressing member. [Figure 9] FIG. 9 is a diagram (part 2) for explaining a method for detecting the presence or absence of a sample using a pressing member. [Figure 10] FIG. 10 is a flowchart showing an example of a processing procedure when measuring a sample using the sample measurement device according to the first embodiment of the present invention. [Figure 11] FIG. 11 is a schematic diagram showing a cassette to be picked up and a cassette to be placed. [Figure 12] FIG. 12 is a schematic diagram showing an example of transferring a sample from a cassette from which the sample is picked up to a cassette to which the sample is placed. [Figure 13] FIG. 13 is a schematic diagram (part 1) illustrating an example in which three cassettes are used to measure a sample with a sample measurement device. [Figure 14] FIG. 14 is a schematic diagram (part 2) illustrating an example in which three cassettes are used to measure a sample with a sample measurement device. [Figure 15]FIG. 15 is a schematic diagram (part 3) illustrating an example in which three cassettes are used to measure a sample with a sample measurement device. [Figure 16] FIG. 16 is a schematic diagram (part 4) illustrating an example in which three cassettes are used to measure a sample with a sample measurement device. [Figure 17] FIG. 17 is a schematic diagram (part 5) illustrating an example in which three cassettes are used to measure a sample with a sample measurement device. [Figure 18] FIG. 18 is a schematic diagram (part 6) illustrating an example in which three cassettes are used to measure a sample with a sample measurement device. [Figure 19] FIG. 19 is a schematic diagram (part 7) illustrating an example in which three cassettes are used to measure a sample with a sample measurement device. [Figure 20] FIG. 20 is a diagram (part 1) for explaining a distance measuring sensor provided in a sample detection unit according to the second embodiment of the present invention. [Figure 21] FIG. 21 is a diagram (part 2) for explaining a distance measuring sensor provided in a sample detection unit according to the second embodiment of the present invention. [Figure 22] FIG. 22 is a diagram illustrating an imaging unit included in a sample detection unit in the third embodiment of the present invention. [Diagram 23] FIG. 23 is a diagram (part 1) showing an example in which the sample detection sensor included in the sample detection unit according to the fourth embodiment of the present invention is configured using a contact-type sensor. [Figure 24] FIG. 24 is a diagram (part 2) showing an example in which the sample detection sensor included in the sample detection unit according to the fourth embodiment of the present invention is configured using a contact-type sensor. [Diagram 25] FIG. 25 is a diagram (part 1) showing an example in which the sample detection sensor included in the sample detection unit according to the fourth embodiment of the present invention is configured using a non-contact sensor. [Figure 26] FIG. 26 is a diagram (part 2) showing an example in which the sample detection sensor included in the sample detection unit according to the fourth embodiment of the present invention is configured using a non-contact sensor. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. In this specification and the drawings, elements having substantially the same functions or configurations are given the same reference numerals, and duplicated descriptions are omitted as appropriate. In addition, the following description and drawings are examples for explaining the present invention, and may be omitted or simplified for convenience of explanation. Each component may be singular or plural unless otherwise limited. In addition, the position, size, shape, range, etc. of each component shown in the drawings may not represent the actual position, size, shape, range, etc., in order to facilitate understanding of the invention. Therefore, the present invention is not necessarily limited to the position, size, shape, range, etc. disclosed in the drawings.

[0014] First Embodiment Fig. 1 is a schematic perspective view showing the configuration of a sample measurement device according to a first embodiment of the present invention, Fig. 2 is a schematic plan view showing the configuration of a sample measurement device according to the first embodiment of the present invention.

[0015] As shown in Figures 1 and 2, the sample measurement device 10 includes a measurement device 11, a transport device 13, and a stand 14. The measurement device 11 is an instrument that measures a sample (not shown). The transport device 13 picks up unmeasured samples one by one from a cassette 12 from which they are picked up and transports them to the measurement device 11. The transport device 13 also stores samples that have been measured by the measurement device 11 in the cassette 12 to which they are placed. The sample measurement device 10 can automatically measure samples of different sizes in sequence. The measurement device 11 and the transport device 13 are installed on the stand 14.

[0016] The measuring instrument 11 has a measuring section 15. The measuring section 15 measures the sample for a predetermined measurement item. For example, when the measuring instrument 11 is an instrument for measuring the surface condition of the sample, the measuring section 15 measures the surface condition of the sample. The surface condition of the sample is at least one of the color, surface properties, and glossiness of the sample. The surface properties of the sample are typically the surface roughness of the sample. In the present embodiment, as an example, the measuring instrument 11 is an instrument for measuring the color of the sample, that is, a colorimeter. The sample to be measured is placed in a state where the measured surface of the sample is close to and faces the measuring section 15 of the measuring instrument 11. The measured surface of the sample is the surface of the sample 30 that is measured (measured) by the measuring section 15 of the measuring instrument 11.

[0017] The cassette 12 can store a plurality of samples. The cassette 12 may be an element constituting the sample measurement device 10 together with the measuring device 11 and the transport device 13. A single cassette 12 can store a plurality of samples of different sizes. The sample to be measured is typically a plate-shaped sample, more typically a flat plate-shaped sample. The samples of different sizes may be the same in shape, or may be samples of different shapes. The shape of the sample refers to the shape of the plate-shaped sample when viewed from the front, in other words, the planar shape of the sample placed horizontally. In this embodiment, as an example, a plate-shaped sample that is quadrangular in plan view (e.g., rectangular, square, etc.) is used as the measurement target. The sample is made of a material that does not substantially transmit visible light, i.e., an opaque material.

[0018] Here, the reason for using the cassette 12 capable of storing a plurality of samples of different sizes will be explained. When only samples of the same size are stored in one cassette 12, it is necessary to prepare a dedicated cassette 12 for each size of sample. As a specific example, consider a case where 50 samples can be stored in one cassette 12. In this case, if even one sample of a different size is included in the samples to be measured, the samples of different sizes must be stored separately in two cassettes 12. As a result, a cassette 12 that stores only one sample occupies the same area as a cassette that can store 50 samples. Therefore, the number of samples that can be mounted on the entire sample measurement device 10 is reduced. In contrast, when a cassette 12 that can store multiple samples of different sizes is used, the above-mentioned samples of different sizes can be stored together with other samples in one cassette 12. Therefore, when a cassette 12 that can store multiple samples of different sizes is used, the number of samples that can be mounted on the entire sample measurement device 10 can be increased compared to when only samples of the same size are stored in one cassette 12. For the above reasons, in this embodiment, a cassette 12 capable of storing a plurality of samples of different sizes is used.

[0019] A plurality of cassettes 12 are placed on the stand 14. Each cassette 12 is removably placed on the stand 14. An unmeasured sample or a measured sample is stored in each cassette 12. The number of cassettes 12 that can be placed on the stand 14 can be changed. In FIG. 2, as an example, a total of ten cassettes 12 are placed on the stand 14. When automatically measuring samples using the sample measurement device 10, at least two cassettes 12 are placed on the stand 14. In this case, one is the cassette 12 to be picked up and the other is the cassette 12 to be placed.

[0020] Each cassette 12 has multiple stages capable of storing multiple samples of different sizes. One sample is stored in one stage. Therefore, one cassette 12 can store multiple samples stacked at a predetermined interval in the vertical direction. In other words, one cassette 12 can store multiple samples arranged in multiple stages (multiple stages) in the vertical direction. In this embodiment, as an example, it is assumed that multiple samples of different sizes are mixed and loaded in one cassette 12. In each stage of the cassette 12, a sample is stored with the surface to be measured facing downward.

[0021] The transport device 13 sequentially picks up samples from the cassette 12 from which they are picked up and transports them to the measuring instrument 11. The transport device 13 also sequentially stores samples that have been measured by the measuring instrument 11, i.e., samples that have been measured, in the cassette 12 to which they are placed. The transport device 13 is configured with a multi-axis robot. In this embodiment, as an example, the transport device 13 is configured with a six-axis robot. The transport device 13 made of a six-axis robot is equipped with a force sensor (not shown). The force sensor measures the magnitude of the force and torque acting on the transport device 13 in real time. In this embodiment, as an example, the transport device 13 is equipped with a six-axis force sensor.

[0022] The transport device 13 includes a hand unit 16 for holding a sample. The hand unit 16 is disposed at the tip of a six-axis robot serving as the transport device 13. The transport device 13 holds the unmeasured samples stored in the cassette 12 from which the sample is picked up, one by one, using the hand unit 16. The transport device 13 transports the sample held by the hand unit 16 toward the measurement unit 15 of the measurement device 11. The transport device 13 also aligns and places the sample in the measurement unit 15 of the measurement device 11. When the measurement unit 15 finishes measuring the color of the sample, the transport device 13 transports the sample toward the cassette 12 from which the sample is to be placed, and stores the sample in the cassette 12 from which the sample is to be placed. The cassette 12 from which the sample is to be picked up is a cassette from which the sample to be measured by the measurement device 11 is taken out. The cassette 12 from which the sample is to be placed is a cassette from which the sample measured by the measurement device 11 is to be stored. The cassette 12 from which the cassette is picked up and the cassette 12 to which the cassette is placed both have a common cassette structure having multiple stages.

[0023] The cassette 12 to be picked up and the cassette 12 to be placed are specified separately. Therefore, a sample taken out from one of the cassettes 12 is stored in another cassette 12 after the measuring device 11 completes the measurement of the sample. The cassette 12 to be picked up and the cassette 12 to be placed are arranged in adjacent positions on the stand 14. The cassette 12 that is emptied after all unmeasured samples have been taken out may be used as a cassette for storing measured samples, that is, as the cassette 12 to be placed. In other words, the cassette 12 to be picked up may be switched to the cassette 12 to be placed. When a plurality of samples 30 are stored in the cassette 12 to be picked up, the transport device 13 takes out the samples 30 one by one from the upper stage to the lower stage of the cassette 12. When storing the samples 30 in the cassette 12 to be placed, the transport device 13 stores the samples 30 one by one from the lower stage to the upper stage of the cassette 12.

[0024] FIG. 3 is a schematic perspective view showing the configuration of the cassette. FIG. 4 is a schematic plan view showing the configuration of the cassette. In FIG. 3 and FIG. 4, in order to clarify the positional relationship of each part of the cassette 12, the width direction of the cassette 12 is the X direction, the depth direction of the cassette 12 is the Y direction, and the height direction of the cassette 12 is the Z direction. In the following description, the width direction of the cassette 12 is also referred to as the "cassette width direction X". The depth direction of the cassette 12 is also referred to as the "cassette depth direction Y", and the height direction of the cassette 12 is also referred to as the "cassette height direction Z". The cassette 12 can insert and remove samples in the cassette depth direction Y. The front side of the cassette 12 is open so that samples can be inserted and removed. In a state where the cassette 12 is installed on the stand 14, the cassette width direction X and the cassette depth direction Y are directions that are approximately parallel to the horizontal direction. In a state where the cassette 12 is installed on the stand 14, the cassette height direction Z is a direction that is approximately parallel to the vertical direction. In the cassette height direction Z, the lower part of the cassette 12 is closed by a bottom plate portion 121. In the cassette height direction Z, the upper part of the cassette 12 is open. The reason that the upper part of the cassette 12 is open is to avoid interference between the cassette 12 and a hand portion 16 of the transport device 13.

[0025] As shown in FIG. 3 and FIG. 4, the cassette 12 includes a bottom plate portion 121, a pair of side plate portions 122, 123, and a back plate portion 124. The pair of side plate portions 122, 123 stand vertically from the bottom plate portion 121. The pair of side plate portions 122, 123 are connected by the back plate portion 124. The bottom plate portion 121 is disposed at the bottom in the cassette height direction Z. The pair of side plate portions 122, 123 are disposed in a state in which they face each other in the cassette width direction X. The back plate portion 124 is disposed on the far side in the cassette depth direction Y. The back plate portion 124 has approximately the same height dimension as the pair of side plate portions 122, 123. An inner surface 124a of the back plate portion 124 is disposed so as to face the front side of the cassette 12 in the cassette depth direction Y.

[0026] The inner surfaces 122a, 123a of the pair of side plate portions 122, 123 are arranged to face each other in the cassette width direction X. The inner surface 122a of the side plate portion 122 is provided with a plurality of support portions 125. The inner surface 123a of the side plate portion 123 is provided with a plurality of support portions 126. The plurality of support portions 125 are arranged at predetermined intervals in the cassette height direction Z. The plurality of support portions 126 are arranged at predetermined intervals in the cassette height direction Z. When a plurality of samples are stored in a single cassette 12 in a plurality of stages, the plurality of support portions 125 and the plurality of support portions 126 support the samples in a mounted state in each stage. One stage in the cassette 12 is composed of one support portion 125 and one support portion 126 arranged at the same position in the cassette height direction Z.

[0027] A pair of support parts 125, 126 supporting the sample at the same stage are arranged to face each other in the cassette width direction X. The support part 125 is formed in a flat plate shape that is long in the cassette depth direction Y. The support part 125 is arranged to protrude from the inner surface 122a of the side plate part 122 toward the center in the cassette width direction X. The support part 126, like the support part 125, is formed in a flat plate shape that is long in the cassette depth direction Y. The support part 126 is arranged to protrude from the inner surface 123a of the side plate part 123 toward the center in the cassette width direction X. The sample stored in the cassette 12 is supported in a horizontal position with both ends of the measurement surface placed on the upper surfaces of the pair of support parts 125, 126.

[0028] In this embodiment, the cassette 12 having multiple stages is configured such that a plurality of support portions 125 are provided on the inner surface 122a of the side plate portion 122, and a plurality of support portions 126 are provided on the inner surface 123a of the side plate portion 123. However, the configuration of the cassette is not limited to the configuration shown in Figs. 3 and 4. For example, the cassette may be configured such that a plurality of grooves are formed on the inner surfaces 122a, 123a of the pair of side plate portions 122, 123, respectively. The plurality of grooves are grooves for supporting a plurality of samples in multiple stages in the cassette height direction Z. The plurality of grooves are formed at predetermined intervals in the cassette height direction Z.

[0029] FIG. 5 is a schematic side view showing the configuration of a hand unit of the transport device. As shown in FIG. 5, the hand unit 16 of the transfer device 13 (see FIG. 1) includes a hand frame 21, a bearing 22, a shaft 23, a vacuum generator 24, a spring 25, a suction pad 26, and a pressing member 27.

[0030] The base end of the hand frame 21 is attached to the tip of the transport device 13 consisting of a six-axis robot. The bearing 22 is attached to the tip of the hand frame 21. The shaft 23 is supported by the hand frame 21 via the bearing 22 so as to be freely movable. The shaft 23 is disposed in a state in which it penetrates the hand frame 21. The vacuum generator 24 is attached to the lower end of the shaft 23. The vacuum generator 24 is a device that generates an adsorption force for holding the sample 30 by vacuum adsorption. The spring 25 is attached to the shaft 23, positioned between the bearing 22 and the vacuum generator 24. The spring 25 is a member that biases the shaft 23 and the vacuum generator 24 downward in FIG. 5. A part of the shaft 23 is abutted against a stopper (not shown) by the biasing force of the spring 25.

[0031] The suction pad 26 is attached to the lower end of the vacuum generator 24. The suction pad 26 is a rubber pad capable of adsorbing the sample 30. The suction pad 26 is formed in a cylindrical shape. The suction pad 26 adsorbs a surface 30b (hereinafter also referred to as the "adsorbed surface") opposite to the measured surface 30a of the sample 30. The measured surface 30a of the sample 30 is positioned in close proximity to and facing the measurement unit 15 of the measuring instrument 11 shown in Figures 1 and 2 when the surface condition of the sample 30 is measured by the measurement unit 15.

[0032] The pressing member 27 is a member capable of pressing a sample stored in the cassette 12 against a reference end in the cassette depth direction Y. In the present embodiment, as an example, the back plate portion 124 of the cassette 12 corresponds to the reference end in the set depth direction Y. The pressing member 27 is attached to the upper end of the shaft 23.

[0033] The pressing member 27 includes a first arm portion 271 and a second arm portion 272. The first arm portion 271 and the second arm portion 272 may be integrally formed or may be separate. The first arm portion 271 is fixed to the upper end portion of the shaft 23. Specific fixing means include, for example, screwing and press-fitting. The pressing member 27 is movable in the up-down direction of FIG. 5 together with the shaft 23. The first arm portion 271 extends horizontally from the upper end portion of the shaft 23. The second arm portion 272 extends vertically downward from the tip portion of the first arm portion 271. The second arm portion 272 is disposed in a direction perpendicular to the first arm portion 271.

[0034] The lower end 272a of the second arm portion 272 is disposed vertically above the suction surface of the suction pad 26. The suction surface of the suction pad 26 is a surface for suctioning the sample 30. In this embodiment, the up-down direction is defined based on the posture of the hand portion 16 when the sample 30 is taken out from the cassette 12 that is the pickup source. In the central axial direction of the shaft 23, the step dimension Lg between the lower end 272a of the second arm portion 272 and the suction surface of the suction pad 26 is smaller than the separation distance between two adjacent support portions 125 in the cassette height direction Z, i.e., the length of one step, as shown in FIG.

[0035] The length of the pressing member 27 in the cassette height direction Z is set to a length equivalent to multiple stages of the cassette 12. Fig. 6 shows, as an example, a case in which the length La of the pressing member 27 in the cassette height direction Z is set to a length Lb equivalent to five stages of the cassette 12. In this case, the sample detection unit 19 described later can detect the presence or absence of a sample in each stage of the cassette 12 all five stages at once using the pressing member 27. The length La of the pressing member 27 can be changed as necessary.

[0036] FIG. 7 is a block diagram showing the configuration of a control system of the sample measurement device according to the first embodiment of the present invention. 7, the sample measurement device 10 includes a control unit 17, an operation unit 18, and a sample detection unit 19 in addition to the above-mentioned measuring device 11 and transport device 13. The control unit 17 comprehensively controls the operation of each unit of the sample measurement device 10. The control unit 17 includes, for example, a processor such as a central processing unit (CPU) and a storage unit such as a read only memory (ROM), a random access memory (RAM), and a hard disk drive (HDD) as hardware resources of a computer. The functions of the control unit 17 are realized by the processor reading a program stored in the ROM in advance into the RAM and executing it.

[0037] The operation unit 18 functions as a user interface. Specifically, the operation unit 18 displays various information to the user who uses the sample measurement device 10. The operation unit 18 also accepts input of various information from the user. The operation unit 18 includes, for example, a display unit and an input unit, not shown. The operation unit 18 also accepts input for the user to set information about the samples stored in each stage of the cassette 12 (hereinafter also referred to as "sample information"). At that time, the user sets information about the samples in the stage in which the unmeasured samples are stored (set), and in the stage in which the unmeasured samples are not stored, the user does not set sample information and leaves it blank, or sets information to the effect that no samples are stored in the stage. The user inputs sample information by operating the operation unit 18.

[0038] The above sample information includes, for example, the following information (1) to (6). (1) Sample size (2) Sample shape (3) Mass of the sample (4) Sample material (5) Information designating the cassette 12 in which the unmeasured (measurement target) samples are stored and the stage in which the unmeasured samples are stored within the cassette 12 (6) Information designating the cassette 12 in which the measured sample is to be stored and the stage in which the measured sample is to be stored within the cassette 12

[0039] Moreover, the sample size includes, for example, the following sizes (a) to (c). (a) Size of sample in cassette width direction X (b) Size of the sample in the cassette depth direction Y (c) Sample thickness

[0040] The sample information is set for each stage of the cassette 12. Moreover, the sample information is set by the user operating the operation unit 18 before the sample measurement device 10 starts operating. The sample information set by the user via the operation unit 18 is stored in the memory unit of the control unit 17, for example.

[0041] The sample detection unit 19 can detect the presence or absence of a sample in each stage of the cassette 12. The sample detection unit 19 detects the presence or absence of a sample in a predetermined stage of the cassette from which the sample is picked up and in a predetermined stage of the cassette to which the sample is placed. The predetermined stage of the cassette from which the sample is picked up is a stage above the stage in which the unmeasured samples are stored. The stage in which the unmeasured samples are stored is a stage specified by the user via the operation unit 18. The predetermined stage of the cassette to which the sample is placed is a stage in which the measured samples are stored and a stage above the stage in which the measured samples are stored. The stage in which the measured samples are stored is a stage specified by the user via the operation unit 18 as shown in (6) above.

[0042] The sample detection unit 19 includes a pressing member 27 shown in Figures 5 and 6. The pressing member 27 is attached to the hand unit 16 of the transport device 13.

[0043] 8, in the process of moving the pressing member 27 closer to the back plate 124 of the cassette 12 by horizontally moving the hand unit 16 in the y1 direction, the sample detection unit 19 detects whether the sample 30 has been pressed against the back plate 124 based on the measurement value of the six-axis force sensor. When the sample detection unit 19 detects that the sample 30 has been pressed against the back plate 124, it determines that the sample 30 is present within the confirmation range. In other words, when the sample 30 pressed by the pressing member 27 hits the back plate 124, the sample detection unit 19 detects that the sample 30 is present within the confirmation range.

[0044] The confirmation range refers to the range in the cassette height direction Z when the pressing member 27 confirms the presence or absence of samples. For example, when the length Lc of the pressing member 27 is set to a length Lb (see FIG. 6) equivalent to five stages of the cassette 12 and the pressing member 27 checks the presence or absence of samples 30 for all five stages at once, the confirmation range is the range of five stages. Also, even if the length Lc of the second arm portion 272 is set to the length Lb equivalent to five stages of the cassette 12, when the pressing member 27 checks the presence or absence of samples 30 for only one stage, the confirmation range is the range of one stage.

[0045] The pressing force of the pressing member 27 for detecting the presence or absence of the sample 30 is set to a value that does not damage the sample 30. Furthermore, as shown in Fig. 9, in the process of moving the pressing member 27 closer to the back plate 124 of the cassette 12 by horizontally moving the hand unit 16 in the y1 direction, the sample detection unit 19 determines that the sample 30 is not present in the confirmation range when it detects that the dimension Lc from the back plate 124 to the pressing member 27 is smaller than the minimum sample size. In other words, the sample detection unit 19 detects that the sample 30 is not present in the confirmation range when the dimension Lc from the back plate 124 to the pressing member 27 becomes smaller than the minimum sample size.

[0046] The minimum sample size refers to the smallest sample size in the cassette depth direction Y among the sample sizes included in the sample information set by the user via the operation unit 18. Therefore, if the sample 30 is present in the confirmation range, the sample 30 is pressed against the back plate portion 124 before the dimension Lc from the back plate portion 124 to the pressing member 27 becomes smaller than the minimum sample size.

[0047] The operation of the transport device 13 for detecting the presence or absence of the sample 30 using the pressing member 27 is controlled by the control unit 17. When detecting the presence or absence of the sample 30 using the pressing member 27, the sample detection unit 19 recognizes the position of the pressing member 27 and the positions of each part of the cassette 12 in the coordinate system of the transport device 13. When the sample detection unit 19 determines that the sample 30 is not present within the above-mentioned confirmation range, the control unit 17 stops the horizontal movement of the hand unit 16 before the pressing member 27 comes into contact with the back plate portion 124.

[0048] FIG. 10 is a flowchart showing an example of a processing procedure when measuring a sample using the sample measurement device according to the first embodiment of the present invention. First, the user sets the above-mentioned sample information by operating the operation unit 18 (step S101). The sample information set by the user is stored in the storage unit of the control unit 17. The sample information includes the above information (1) to (6).

[0049] Next, the control unit 17 repeatedly judges whether or not a command to start measurement has been issued (step S102). At this time, the control unit 17 judges that a command to start measurement has been issued when a user presses a measurement start button (not shown). The measurement start button is provided on the operation unit 18, for example.

[0050] Next, the control unit 17 drives the transport device 13 to move the hand unit 16 from the home position to the installation position of the destination cassette 12 (step S103). The home position is determined in advance. Note that, before step S103, the control unit 17 may check whether the cassette 12 to be picked up and the cassette 12 to be placed are installed (mounted) at predetermined positions on the stand 14. As a specific example, when the color of a sample is automatically measured using three cassettes 12, the control unit 17 checks whether the three cassettes 12 are installed at predetermined positions.

[0051] Next, the sample detection unit 19 detects the presence or absence of a sample in a predetermined stage of the cassette 12 to which the sample is to be placed (step S104). The predetermined stage of the cassette 12 to which the sample is to be placed is a stage that stores a sample that has already been measured, and a stage above the stage that stores a sample that has already been measured. A specific example will be described below.

[0052] First, for convenience of explanation, consider the case shown in Fig. 11. In Fig. 11, the source cassette 12 for pickup and the destination cassette 12 for placement each have a total of 11 stages from the 0th stage to the 10th stage from top to bottom. Also, the source cassette 12 for pickup contains one sample 30 (30-1, 30-2, 30-3, 30-4) in each of the 2nd to 5th stages, as set by the user via the operation unit 18.

[0053] The four samples 30 stored in the cassette 12 from which the samples are picked up are stored in the cassette 12 from which the samples are placed, according to the settings made by the user via the operation unit 18. Specifically, as shown in FIG. 12, the sample 30-1 stored in the second row of the cassette 12 from which the samples are picked up is measured by the measuring device 11 and then stored in the ninth row of the cassette 12 from which the samples are placed. The sample 30-2 stored in the third row of the cassette 12 from which the samples are picked up is measured by the measuring device 11 and then stored in the eighth row of the cassette 12 from which the samples are placed. The sample 30-3 stored in the fourth row of the cassette 12 from which the samples are picked up is measured by the measuring device 11 and then stored in the seventh row of the cassette 12 from which the samples are placed. The sample 30-4 stored in the fifth row of the cassette 12 from which the samples are picked up is measured by the measuring device 11 and then stored in the sixth row of the cassette 12 from which the samples are placed.

[0054] In such a case, the sample detection unit 19 identifies the 6th to 9th stages in the destination cassette 12, which are stages storing measured samples, and the 0th to 5th stages, which are stages above the stages storing measured samples, as the specified stages D1 and D2, respectively, as shown in Fig. 11. Then, the sample detection unit 19 detects the presence or absence of a sample in the specified stages D1 and D2 of the destination cassette 12. Specifically, the sample detection unit 19 detects whether the specified stages D1 and D2 of the destination cassette 12 are in a state without a sample, i.e., whether they are empty.

[0055] The case where a sample is present at a predetermined stage of the destination cassette 12 is, for example, when the user forgets to remove the sample from the predetermined stage during the preparation work of placing the destination cassette 12 on the stand 14. In this case, if the sample measurement operation is started with the sample remaining at the predetermined stage, when the sample 30-1 held by the hand unit 16 of the transport device 13 is stored in the destination cassette 12, the hand unit 16 of the transport device 13 etc. may collide with the sample remaining at the predetermined stage, causing the sample to be damaged.

[0056] For this reason, in this embodiment, before starting the sample measurement operation in step S109, the sample detection unit 19 checks whether or not any sample 30 remains in a predetermined stage of the destination cassette 12. The sample measurement operation includes an operation of removing the sample 30 from the cassette 12 from which the sample is picked up, an operation of measuring the removed sample 30 by the measuring instrument 11, and an operation of storing the sample 30 measured by the measuring instrument 11 in the destination cassette 12. For this reason, the process of step S104 is performed before starting to store the measured sample 30 in the destination cassette 12.

[0057] When the sample detection unit 19 detects the presence or absence of a sample at a predetermined stage of the cassette 12 as a placement destination, the control unit 17 controls the operation of the transport device 13 as follows. First, the control unit 17 places the pressing member 27 in front of the destination cassette 12 as shown in Fig. 6. The control unit 17 also places the pressing member 27 in accordance with the height of a predetermined step of the destination cassette 12. Next, the control unit 17 horizontally moves the hand unit 16 in the y1 direction (see Fig. 8) from the front side to the back side of the destination cassette 12. As a result, the pressing member 27 gradually approaches the back plate portion 124 of the cassette 12 while moving together with the hand unit 16.

[0058] When the sample 30 stored in a predetermined stage is pressed against the back plate 124 by the pressing member 27 during the horizontal movement of the hand unit 16 described above, the sample detection unit 19 detects that the sample 30 is present in the predetermined stage. Also, when the dimension from the back plate 124 to the pressing member 27 becomes smaller than the minimum sample size during the horizontal movement of the hand unit 16, the sample detection unit 19 detects that the sample 30 is not present in the predetermined stage. The detection result of the sample detection unit 19 is sent from the sample detection unit 19 to the control unit 17.

[0059] Next, the control unit 17 judges (confirms) whether or not the sample 30 is present at the predetermined stage of the cassette 12 at the placement destination based on the detection result of the sample detection unit 19 in step S104 (step S105). Then, when the control unit 17 confirms that the sample 30 is not present at the predetermined stage of the cassette 12 at the placement destination, that is, when the control unit 17 judges YES in step S105, it proceeds to step S106. On the other hand, when the control unit 17 confirms that the sample 30 is present at the predetermined stage of the cassette 12 at the placement destination, that is, when the control unit 17 judges NO in step S105, it proceeds to step S112.

[0060] In step S106, the control unit 17 drives the transport device 13 to move the hand unit 16 from the installation position of the cassette 12 of the placement destination to the installation position of the cassette 12 of the pickup source.

[0061] Next, the sample detection unit 19 detects the presence or absence of a sample in a predetermined stage of the cassette 12 to be picked up (step S107). The predetermined stage of the cassette 12 to be picked up is a stage above the stage in which the unmeasured samples are stored. For example, in FIG. 11, as set by the user via the operation unit 18, the second to fifth stages of the cassette 12 to be picked up are each stored with one unmeasured sample 30 (30-1, 30-2, 30-3, 30-4). In this case, the sample detection unit 19 specifies the 0th and 1st stages, which are stages above the stage in which the unmeasured samples are stored, as the predetermined stage D3 in the cassette 12 to be picked up. Then, the sample detection unit 19 detects the presence or absence of a sample in the predetermined stage D3 of the cassette 12 to be picked up. Specifically, the sample detection unit 19 detects whether the predetermined stage D3 of the cassette 12 to be picked up is in a state without a sample, that is, whether it is empty.

[0062] The case where a sample is present in a predetermined stage of the cassette 12 to be picked up is, for example, when a user mistakenly sets a sample 30 in a predetermined stage during preparation work for placing the cassette 12 to be picked up on the stand 14. In this case, if the sample measurement operation is started with the sample 30 set in the predetermined stage, when the transport device 13 takes out the first sample 30 (sample 30-1 in the example of FIG. 11) from the cassette 12 to be picked up, the hand unit 16 of the transport device 13 etc. may collide with the sample that has been mistakenly set in the predetermined stage, causing the sample to be damaged.

[0063] For this reason, in this embodiment, before starting the sample measurement operation in step S109, the sample detection unit 19 checks whether the sample 30 has been erroneously set in a predetermined stage of the source cassette 12. As described above, the sample measurement operation includes the operation of removing the sample 30 from the source cassette 12, the operation of measuring the removed sample 30 by the measuring instrument 11, and the operation of storing the sample 30 measured by the measuring instrument 11 in the destination cassette 12. For this reason, the process of step S107 is performed before starting to remove the sample 30 from the source cassette 12.

[0064] The operation of the sample detection unit 19 to detect the presence or absence of a sample at a specified stage of the cassette 12 to be picked up is basically the same as the operation of the sample detection unit 19 to detect the presence or absence of a sample at a specified stage of the cassette 12 to be placed described above, so a description thereof will be omitted.

[0065] Next, the control unit 17 judges (confirms) whether or not there is a sample 30 in the specified stage of the cassette 12 to be picked up based on the detection result of the sample detection unit 19 in step S107 (step S108). Then, when the control unit 17 confirms that there is no sample 30 in the specified stage of the cassette 12 to be picked up, that is, when the control unit 17 judges in step S108 that there is a sample 30 in the specified stage of the cassette 12 to be picked up, it proceeds to step S109. On the other hand, when the control unit 17 confirms that there is a sample 30 in the specified stage of the cassette 12 to be picked up, that is, when the control unit 17 judges in step S108 that there is a negative result, it proceeds to step S112.

[0066] In step S112, the control unit 17 suspends (stops) the sample measurement operation by the measuring device 11 and the transport device 13 and displays a warning. The contents of the warning displayed differ depending on whether the process moves from step S105 to step S112 or from step S108 to step S112. For example, when the process moves from step S105 to step S112, the control unit 17 displays a message indicating that the sample has been left behind in the cassette 12 at the placement destination. Also, when the process moves from step S108 to step S112, the control unit 17 displays a message indicating that the sample has been erroneously set in the cassette 12 at the pickup source. Note that the contents of the warning displayed can be changed in various ways. Also, the flowchart shown in FIG. 10 shows an example in which the processes of steps S103 to S105 are performed and then the processes of steps S106 to S108 are performed, but the processes of steps S103 to S108 may be performed after the processes of steps S106 to S108 are performed.

[0067] Meanwhile, in step S109, the control unit 17 causes the measuring device 11 and the transport device 13 to execute a sample measurement operation. As described above, the sample measurement operation includes an operation of taking out the sample 30 from the cassette 12 from which the sample is picked up, an operation of measuring the taken out sample 30 by the measuring device 11, and an operation of storing the sample 30 measured by the measuring device 11 in the cassette 12 to which the sample is placed. To explain in more detail, the control unit 17 controls the operation of the transport device 13 to pick up the sample 30 stored in the stage to be taken out of the cassette 12 by adsorbing it to the suction pad 26 of the hand unit 16, and then takes out the sample 30 from the stage to be taken out of the cassette 12. Next, the control unit 17 controls the operation of the transport device 13 to move the sample 30 adsorbed to the suction pad 26 to the measurement position of the measuring device 11. Next, the control unit 17 controls the operation of the measuring device 11 to measure the sample 30 for a predetermined item. Next, the control unit 17 controls the operation of the transport device 13 to transport the measured sample 30 to the destination cassette 12 while adsorbing the measured sample 30 by the suction pad 26. Next, the control unit 17 controls the operation of the transport device 13 to place the sample 30 on the storage target stage of the destination cassette 12. As a result, the measured sample 30 is stored in the destination cassette 12.

[0068] Next, the control unit 17 judges whether the sample 30 that was the subject of measurement in step S109 is the final sample (step S110). If the control unit 17 judges negative in step S110, the process proceeds to step S111. In step S111, the control unit 17 judges whether the cassette 12 has been switched. The switching of the cassette 12 means that the cassette 12 from which the sample is picked up is switched to the cassette 12 to which the sample is placed. If the control unit 17 judges negative in step S111, the process returns to the above step S109. If the control unit 17 judges positive in step S111, the process returns to step S103. If the process returns from step S111 to step S103, the process from step S103 to step S108 is performed on the cassette 12 after the switching. If the control unit 17 judges positive in step S110, the process ends.

[0069] 10 illustrates an example of a case where the cassette 12 is switched as an example of a case where the sample detection unit 19 needs to detect the presence or absence of a sample, but the present invention is not limited to this example. For example, a case where the sample detection unit 19 needs to detect the presence or absence of a sample may be a case where the group of samples taken out from the cassette 12 that is the pickup source is switched. The sample groups are divided, for example, by the type of sample when the user sets the sample information via the operation unit 18. The type of sample is divided, for example, by differences in the material, size, etc. of the sample.

[0070] 13 to 19 are schematic diagrams illustrating an example in which a sample is measured by a sample measuring device using three cassettes. First, as a premise for the explanation, as shown in FIG. 13, each of the three cassettes 12a, 12b, and 12c has a total of 11 stages from the 0th stage to the 10th stage from top to bottom. The cassette 12a is an empty cassette in which no samples are stored. The cassette 12b stores a total of 10 samples 30 (30-1 to 30-10) from the 1st stage to the 10th stage. The cassette 12c stores a total of 8 samples 30 (30-11 to 30-18) from the 1st stage to the 3rd stage and the 6th stage to the 10th stage. The samples 30 (30-11 to 30-13) stored in the 1st stage to the 3rd stage of the cassette 12c and the samples 30 (30-14 to 30-18) stored in the 6th stage to the 10th stage of the cassette 12c belong to different groups.

[0071] Under such a premise, the sample detection unit 19 first detects the presence or absence of a sample with the cassette 12a as the cassette to be placed and the cassette 12b as the cassette to be picked up. Specifically, as shown in FIG. 14, the sample detection unit 19 detects the presence or absence of a sample at the predetermined stage with the 0th stage to the 10th stage of the cassette 12a as the cassette to be placed. Also, the sample detection unit 19 detects the presence or absence of a sample at the predetermined stage with the 0th stage of the cassette 12b as the cassette to be picked up. Then, when the sample detection unit 19 detects that there is no sample at the predetermined stage of the cassette 12a as the cassette to be placed and that there is no sample at the predetermined stage of the cassette 12b as the cassette to be picked up, the measuring device 11 and the transport device 13 perform a sample measurement operation under the control of the control unit 17. In this sample measurement operation, the 10 samples 30 (30-1 to 30-10) stored in the cassette 12b are taken out in order from the top and measured by the measuring device 11. Furthermore, the samples 30 (30-1 to 30-10) for which the measurement has been completed are stored in the cassette 12a in order from the bottom row (the tenth row in the illustrated example) of the cassette 12a as shown in Fig. 15. At this point, the cassette 12b becomes empty.

[0072] Next, the sample detection unit 19 detects the presence or absence of a sample with the cassette 12b as the cassette to be placed and the cassette 12c as the cassette to be picked up. In other words, the sample detection unit 19 detects the presence or absence of a sample when the cassette 12 is switched. Specifically, as shown in FIG. 16, the sample detection unit 19 detects the presence or absence of a sample at the predetermined stage by setting the 0th stage to the 10th stage of the cassette 12b to be the predetermined stage. Also, the sample detection unit 19 detects the presence or absence of a sample at the predetermined stage by setting the 0th stage of the cassette 12c to be the predetermined stage. Then, when the sample detection unit 19 detects that there is no sample at the predetermined stage of the cassette 12b to be placed and that there is no sample at the predetermined stage of the cassette 12c to be picked up, the measuring device 11 and the transport device 13 perform a sample measurement operation under the control of the control unit 17. In this sample measurement operation, among the eight samples 30 stored in cassette 12c, samples 30-11 to 30-13 stored in the first to third rows are taken out in order from the top and measured by measuring device 11. Moreover, after the measurements are completed, samples 30-11 to 30-13 are stored in cassette 12b in order from the bottom row (the tenth row in the illustrated example) as shown in FIG.

[0073] Next, the sample detection unit 19 detects the presence or absence of a sample at the timing when the group of the sample 30 is switched. In other words, the sample detection unit 19 detects the presence or absence of a sample when the group of the sample 30 is switched. Specifically, as shown in FIG. 18, the sample detection unit 19 detects the presence or absence of a sample at the predetermined stage, with the 0th to 5th stages of the cassette 12b of the placement destination being the predetermined stage. Also, the sample detection unit 19 detects the presence or absence of a sample at the predetermined stage, with the 0th to 5th stages of the cassette 12c of the pickup source being the predetermined stage. Then, when the sample detection unit 19 detects that there is no sample at the predetermined stage of the cassette 12b of the placement destination and that there is no sample at the predetermined stage of the cassette 12c of the pickup source, the measuring device 11 and the transport device 13 perform a sample measurement operation under the control of the control unit 17. In this sample measurement operation, the samples 30-14 to 30-18 remaining in the cassette 12c are taken out in order from the top and measured by the measuring device 11. Furthermore, the samples 30-14 to 30-18 for which the measurements have been completed are stored in the cassette 12b in order from the fifth stage to the first stage of the cassette 12b, as shown in FIG.

[0074] As described above, the sample measurement device 10 according to the first embodiment of the present invention includes the sample detection unit 19 and the control unit 17 in addition to the measurement device 11 and the transport device 13. The sample detection unit 19 can detect the presence or absence of a sample in each stage of the cassette 12. The control unit 17 controls the measurement device 11 and the transport device 13 based on the detection result of the sample detection unit 19. As a result, the sample measurement device 10 can perform a sample measurement operation in a state where there is no sample in a predetermined stage of the cassette 12 at the placement destination and in a predetermined stage of the cassette 12 at the pickup source. Therefore, even if a user mistakenly sets a sample in a predetermined stage of the cassette 12 at the pickup source, it is possible to prevent the hand unit 16 of the transport device 13 from colliding with the erroneously set sample. Also, even if a user forgets to take a sample from a predetermined stage of the cassette 12 at the placement destination, it is possible to prevent the hand unit 16 of the transport device 13 from colliding with the forgotten sample. Therefore, according to the sample measurement device 10, it is possible to prevent damage to the sample caused by a user's mistake.

[0075] <Second embodiment> The sample measurement device according to the second embodiment of the present invention is characterized by the configuration of the sample detection unit 19. The sample detection unit 19 in the second embodiment includes a distance measurement sensor 50 shown in FIG. 20. The distance measurement sensor 50 is attached to the hand unit 16. Specifically, the distance measurement sensor 50 is attached to the upper surface of the hand frame 21. The distance measurement sensor 50 can measure the distance to an object in each stage of the cassette 12 in the cassette depth direction X. When measuring the distance to an object, the distance measurement sensor 50 is positioned in front of the cassette 12. The object when the distance measurement sensor 50 measures the distance differs depending on whether or not a sample 30 is present in the stage to be measured.

[0076] Specifically, as shown in Fig. 20, when there is no sample 30 on the stage facing the distance measuring sensor 50 in the cassette depth direction Y, the distance measuring sensor 50 measures the distance L1 to the target object, using the back plate portion 124 as the target. Also, as shown in Fig. 21, when there is a sample 30 on the stage facing the distance measuring sensor 50 in the cassette depth direction Y, the distance measuring sensor 50 measures the distance L2 to the target object, using the sample 30 as the target.

[0077] As described above, the distance measured by the distance measuring sensor 50 differs greatly depending on whether or not the sample 30 is present on the stage being measured. Therefore, the sample detection unit 19 compares the distance measured by the distance measuring sensor 50 with a preset threshold value, and determines whether or not the sample 30 is present on the stage being measured based on the comparison result.

[0078] The threshold for determining the presence or absence of the sample 30 is set to a value smaller than the measurement value (L1) obtained when the distance measuring sensor 50 targets the back plate portion 124. The threshold is also set to a value larger than the measurement value obtained when the distance measuring sensor 50 targets the sample 30 of the smallest sample size. This allows the sample detection unit 19 to determine that the sample 30 is not present in the stage to be measured when the distance measured by the distance measuring sensor 50 is greater than the threshold. Also, the sample detection unit 19 can determine that the sample 30 is present in the stage to be measured when the distance measured by the distance measuring sensor 50 is equal to or smaller than the threshold. When detecting the presence or absence of a sample in a specified stage of the cassette 12, the position of the distance measuring sensor 50 may be adjusted to match the height of the specified stage.

[0079] Furthermore, when the sample detection unit 19 has a distance measurement sensor 50, it is preferable that the measurement range of the distance measurement sensor 50 in the cassette height direction Z is larger than the thickness of the sample 30. This makes it possible to reliably detect the presence or absence of the sample 30 even if the sample 30 stored in the stage to be measured is deformed, for example, by warping or bending.

[0080] <Third embodiment> The sample measurement device according to the third embodiment of the present invention is characterized by the configuration of the sample detection section 19. The sample detection section 19 in the third embodiment includes an imaging section 52 shown in FIG. 22. The imaging section 52 is attached to the hand section 16. Specifically, the imaging section 52 is attached to the upper surface of the hand frame 21. The imaging section 52 images the inside of the cassette 12 from the front side of the cassette 12. The imaging range of the imaging section 52 in the cassette height direction Z is set to the length of multiple stages of the cassette 12, as shown by the dashed line in FIG. 22. This allows the presence or absence of a sample in each stage of the cassette 12 to be detected for multiple stages at once using the imaging section 52.

[0081] The sample detection unit 19 determines that the sample 30 is not present in the imaging range when the sample 30 is not captured in the image captured by the imaging unit 52. The sample detection unit 19 determines that the sample 30 is present in the imaging range when the sample 30 is captured in the image captured by the imaging unit 52. When detecting the presence or absence of a sample at a specific stage of the cassette 12, the position of the imaging unit 52 can be adjusted to match the height of the specific stage.

[0082] <Fourth embodiment> The sample measurement device according to the fourth embodiment of the present invention is characterized by the configuration of the sample detection unit 19. The sample detection unit 19 is composed of a sample detection sensor provided on each stage of the cassette 12. The sample detection sensors are provided on all stages of the cassette 12. The sample detection sensors are composed of contact sensors or non-contact sensors.

[0083] 23 and 24 are schematic side views showing an example in which the sample detection sensor is configured as a contact type sensor. As shown in Figures 23 and 24, a sample detection sensor 60 is provided for each of the support parts 125, 126 (only the support part 126 is shown in Figures 23 and 24) that form each stage of the cassette 12. The sample detection sensor 60 has a contactor 60a and a sensor main body 60b. The contactor 60a is displaced from a first position to a second position by contacting the sample 30, which is the detection body. The first position is a position where the sensor main body 60b is in an OFF state. The second position is a position where the sensor main body 60b is in an ON state.

[0084] As shown in Fig. 23, when no sample 30 is stored in any stage of the cassette 12, the sensor main body 60b of each sample detection sensor 60 is turned off. Also, as shown in Fig. 24, when a sample 30 is stored in any stage of the cassette 12, the sensor main body 60b of the sample detection sensor 60 provided in the stage in which the sample 30 is stored is turned on, and the sensor main body 60b of the sample detection sensor 60 provided in the stage in which the sample 30 is not stored is turned off. This allows the sample detection unit 19 to detect the presence or absence of a sample 30 in each stage of the cassette 12 based on the on / off state of each sample detection sensor 60.

[0085] 25 and 26 are schematic side views showing an example in which the sample detection sensor is configured by a non-contact sensor. 25 and 26, a sample detection sensor 62 is provided for each of the supports 125, 126 (only the support 126 is shown in FIGS. 25 and 26) that form each stage of the cassette 12. The sample detection sensor 60 is configured by, for example, a photoelectric sensor or a proximity sensor. The sample detection sensor 60 is embedded in the support 126, for example.

[0086] As shown in Fig. 25, when no sample 30 is stored in any stage of the cassette 12, all of the sample detection sensors 62 are in the OFF state. Also, as shown in Fig. 26, when a sample 30 is stored in any stage of the cassette 12, the sample detection sensor 62 provided in the stage in which the sample 30 is stored is in the ON state, and the sample detection sensor 62 provided in the stage in which the sample 30 is not stored is in the OFF state. This allows the sample detection unit 19 to detect the presence or absence of a sample 30 in each stage of the cassette 12 based on the ON / OFF state of each sample detection sensor 62.

[0087] The technical scope of the present invention is not limited to the above-described embodiment, and includes various modifications and improvements within the scope of the specific effects obtained by the constituent elements of the invention and their combinations.

[0088] For example, in the first embodiment, the sample detection unit 19 is configured to detect the presence or absence of the sample 30 at a predetermined stage of the cassette 12 from which the sample is picked up and at a predetermined stage of the cassette 12 to which the sample is placed, but the present invention is not limited to this. For example, the sample detection unit 19 may be configured to detect the presence or absence of the sample 30 only at a predetermined stage of the cassette 12 from which the sample is picked up. Also, the sample detection unit 19 may be configured to detect the presence or absence of the sample 30 only at a predetermined stage of the cassette 12 to which the sample is placed.

[0089] In the first embodiment, the "predetermined stage" is the stage above the stage in which the unmeasured samples 30 are stored in the cassette 12 from which the samples are picked up, but the present invention is not limited to this. For example, the "predetermined stage" may include not only the stage above the stage in which the unmeasured samples 30 are stored in the cassette 12 from which the samples are picked up, but also the stage below the stage in which the unmeasured samples 30 are stored.

[0090] In the first embodiment, the stage for storing the measured samples 30 and the stage above the stage for storing the measured samples 30 are defined as the "predetermined stage" in the cassette 12 to be placed, but the present invention is not limited to this. For example, the "predetermined stage" in the cassette 12 to be placed may include not only the stage for storing the measured samples 30 and the stage above the stage for storing the measured samples 30, but also the stage below the stage for storing the measured samples 30. [Explanation of symbols]

[0091] 10...Sample measurement device 11...Measuring instrument 12, 12a, 12b, 12c...Cassette 13...Transportation device 16…Hand section 17...Control section 18...Operation unit 19...Sample detection section 27...Pressing member 30…Sample 50...Distance sensor 52...imaging unit 60...Sample detection sensor (contact type sensor) 62...Sample detection sensor (non-contact sensor)

Claims

1. A measuring instrument for measuring the sample; a conveying device that uses a cassette having a plurality of stages capable of accommodating a plurality of samples of different sizes, picks out the samples one by one from the cassette as a pickup source, conveys the samples to the measuring device, and stores the samples that have been measured by the measuring device in the cassette as a placement destination; a sample detection unit capable of detecting the presence or absence of the sample in each stage of the cassette; A control unit that controls the measuring device and the transport device based on a detection result of the sample detection unit; A sample measurement device comprising:

2. The sample detection unit detects the presence or absence of the sample at a predetermined stage of the cassette from which the sample is picked up and / or at a predetermined stage of the cassette to which the sample is placed. The sample measurement device according to claim 1 .

3. The control unit causes the measuring device and the transport device to perform a sample measurement operation when the sample is not present on the predetermined stage.

3. The sample measurement device according to claim 2.

4. When the sample is present on the predetermined stage, the control unit suspends the sample measurement operation by the measuring device and the transport device and displays a warning.

3. The sample measurement device according to claim 2.

5. the predetermined stage of the cassette from which the sample is picked up is a stage above a stage in which the unmeasured sample is stored, The predetermined stage of the cassette to be placed is a stage that stores the measured sample and a stage above the stage that stores the measured sample.

3. The sample measurement device according to claim 2.

6. The sample detection unit moves to a location where the cassette is installed and detects the presence or absence of the sample. The sample measurement device according to claim 1 .

7. The sample detection unit detects the presence or absence of the sample at the predetermined stage of the cassette as the pickup source before starting to take out the sample from the cassette as the pickup source.

3. The sample measurement device according to claim 2.

8. The sample detection unit detects the presence or absence of the sample at the predetermined stage of the cassette before the sample starts to be stored in the cassette at the placement destination.

3. The sample measurement device according to claim 2.

9. the cassette has a reference end portion on a rear side in a cassette depth direction, The sample detection unit has a pressing member capable of pressing the sample against the reference end, and when a dimension from the reference end to the pressing member is smaller than a minimum sample size, it is determined that the sample is not present in the predetermined stage.

3. The sample measurement device according to claim 2.

10. The length of the pressing member in the cassette height direction is set to a length corresponding to a number of stages of the cassette.

10. The sample measurement device according to claim 9.

11. the transport device has a hand unit for holding the sample, The pressing member is attached to the hand portion.

10. The sample measurement device according to claim 9.

12. the transport device has a hand unit for holding the sample, the sample detection unit has a distance measurement sensor attached to the hand unit, The distance measuring sensor measures the distance to an object in each stage of the cassette in the cassette depth direction. The sample measurement device according to claim 1 .

13. The measurement range of the distance measuring sensor in the cassette height direction is greater than the thickness of the sample.

13. The sample measurement device of claim 12.

14. The measuring device has a hand unit for holding the sample, The sample detection unit has an imaging unit attached to the hand unit for imaging the inside of the cassette. The sample measurement device according to claim 1 .

15. The imaging range of the imaging unit in the cassette height direction is set to a length equivalent to a number of stages of the cassette.

15. The sample measurement device of claim 14.

16. The cassette further includes an operation unit for allowing a user to set sample information including the size of the samples to be stored in each stage. The sample measurement device according to claim 1 .

17. The sample detection unit is constituted by a sample detection sensor provided on each stage of the cassette. The sample measurement device according to claim 1 .

Images