Sample measuring device

Abstract

To provide a sample measuring device that can avoid malfunctions caused by a difference in the size of a sample.SOLUTION: A sample measuring device comprises: a measuring instrument that measures samples; a conveying device that takes out samples one by one from cassettes each having a plurality of stages capable of storing a plurality of samples different in size from each other and conveys the samples to the measuring instrument; a size detection unit that detects the size of the samples stored 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 size 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 from 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 takes out a sample from a cassette from which the sample is picked up, the wrong size of the sample may occur. The wrong size of the sample means that when the transport device takes out a sample from the stage to be picked up of the cassette from which the sample is picked up, the size of the sample stored in the stage to be picked up differs from the size of the sample set in the stage to be picked up. The wrong size of the sample is caused by user error. If the wrong size of the sample occurs, the transport device cannot handle the sample appropriately, and various problems may occur.

[0008] An object of the present invention is to provide a sample measurement device that can avoid problems caused by incorrect sample size. [Means for solving the problem]

[0009] The sample measurement device of the present invention comprises a measuring instrument for measuring a sample, a transport device for removing the samples one by one from a cassette having multiple stages capable of storing multiple samples of different sizes and transporting them to the measuring instrument, a size detection unit for detecting the size of the samples stored in each stage of the cassette, and a control unit for controlling the measuring instrument and the transport device based on the detection results of the size detection unit. Effect of the Invention

[0010] According to the present invention, problems caused by incorrect sample sizes can be avoided. [Brief description of the drawings]

[0011] [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 schematic plan view showing a state in which the hand portion of the transport device has entered the cassette. [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 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 9] FIG. 9 is a schematic side view showing an arrangement of the pressing member. [Figure 10] FIG. 10 is a schematic side view showing a state in which the pressing member is in contact with the sample. [Figure 11] FIG. 11 is a schematic side view showing a state in which the sample is pressed against the reference end by the pressing member. [Figure 12] FIG. 12 is a schematic side view for explaining the relationship between the position of the pressing member and the minimum sample size. [Figure 13] FIG. 13 is a schematic plan view showing a state in which the sample is pressed against the side plate of the cassette. [Figure 14] FIG. 14 is a schematic side view (part 1) illustrating the inclination angle of the pressing member. [Figure 15] FIG. 15 is a schematic side view (part 2) illustrating the inclination angle of the pressing member. [Figure 16] FIG. 16 is a diagram for explaining a problem caused by an incorrect sample size. [Figure 17] FIG. 17 is a flowchart showing a modified example of the processing procedure when measuring a sample using the sample measurement device according to the first embodiment of the present invention. [Figure 18] FIG. 18 is a block diagram showing the configuration of a control system of a sample measurement device according to the second embodiment of the present invention. [Figure 19] FIG. 19 is a diagram illustrating an example of the table. [Figure 20] FIG. 20 is a flowchart showing an example of a processing procedure when measuring a sample using the sample measurement device according to the second embodiment of the present invention. [Figure 21] FIG. 21 is a schematic plan view showing an example in which the size detection sensor is configured by an array sensor. [Figure 22] FIG. 21 is a schematic plan view showing an example in which the size detection sensor is configured using a pressure distribution sensor. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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 samples are automatically measured 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] Fig. 5 is a schematic side view showing the configuration of a hand unit of the transport device, and Fig. 6 is a schematic plan view showing a state in which the hand unit of the transport device has entered a cassette. As shown in Figures 5 and 6, the hand unit 16 of the conveying device 13 (see Figure 1) includes a hand frame 21, a bearing 22, a shaft 23, a vacuum generator 24, a spring 25, a suction pad 26, and a pressing member 27.

[0029] 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.

[0030] 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.

[0031] The pressing member 27 is a member for pressing the sample 30 stored in the cassette 12 to be picked up against the back plate portion 124. The back plate portion 124 corresponds to a reference end portion of the cassette 12 in the depth direction Y. The pressing member 27 is attached to the upper end portion of the shaft 23.

[0032] 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.

[0033] 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 of the cassette 12. 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.

[0034] A contact surface 272b is formed on the lower end 272a of the second arm portion 272. When the pressing member 27 presses the sample 30 against the back plate portion 124, the contact surface 272b comes into contact with the sample 30. The contact surface 272b is formed in a flat shape so that the pressing member 27 contacts the sample 30 with a flat surface.

[0035] 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 size 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 beforehand into the RAM and executing it.

[0036] 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"). The user inputs the sample information by operating the operation unit 18.

[0037] 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 for designating the cassette 12 in which the unmeasured (measurement target) sample is stored (6) Information specifying the cassette 12 in which the measured sample should be stored

[0038] 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

[0039] 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.

[0040] The size detection unit 19 detects the size of the samples stored in each stage of the cassette 12 shown in FIG. 3. The size detection unit 19 detects the size of the samples in the depth direction of the cassette 12 by actual measurement. The size detection unit 19 includes a pressing member 27 shown in FIG. 5. The pressing member 27 is attached to the hand unit 16 of the transport device 13. As shown in FIG. 6, the size detection unit 19 detects the size Ly of the sample 30 in the cassette depth direction Y by pressing the sample 30 against the back plate portion 124 of the cassette 12 with the pressing member 27. At that time, the operation of the transport device 13 for detecting the size of the sample 30 is controlled by the control unit 17. In addition, the size detection unit 19 recognizes the position of the pressing member 27 and the position of each part of the cassette 12 in the coordinate system of the transport device 13. Furthermore, when the pressing member 27 presses the sample 30 toward the rear of the cassette 12, the size detection unit 19 determines whether the sample 30 has pressed against the back plate portion 124 based on the measurement value of the six-axis force sensor.

[0041] FIG. 8 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).

[0042] 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.

[0043] 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 cassette 12 to be picked up (step S103). The home position is determined in advance. The cassette 12 to be picked up is a cassette in which an unmeasured sample is stored. At this time, the control unit 17, as shown in FIG. 9, refers to the stage to be removed, which is the stage from which the sample is to be removed in the current measurement. For example, consider a case in which a sample is removed from the m-th stage counted from the top of the cassette 12 to be picked up. In this case, as shown in FIG. 9, the control unit 17 controls the transport device 13 so that the lower end 272a of the pressing member 27 is positioned slightly lower than the height of the upper surfaces of the pair of support parts 125, 126 forming the m-th stage. As a result, as shown in FIG. 9, when the sample 30 is stored in the m-th stage, the end surface 300 of the sample 30 and the contact surface 272b of the pressing member 27 are arranged in a state in which they face each other in the cassette depth direction Y. The end surface 300 of the sample 30 is the end surface of the sample 30 that is arranged facing the front side of the cassette 12 .

[0044] Next, the size detection unit 19 detects the size of the sample 30 stored in the stage to be removed in the cassette 12 from which the sample is picked up (step S104). At this time, the control unit 17 drives the transport device 13 to move the hand unit 16 horizontally in the y1 direction (see FIG. 10). As a result, the pressing member 27 moves together with the hand unit 16 and gradually approaches the back plate portion 124 of the cassette 12. Then, when the sample 30 is stored in the stage to be removed, the contact surface 272b of the pressing member 27 comes into contact with the end surface 300 of the sample 30 as shown in FIG. 10. Thereafter, the sample 30 is pressed by the pressing member 27 and moves in the y1 direction. During this movement, the end surface 301 of the sample 30 presses against the inner surface 124a of the back plate portion 124 as shown in FIG. 6 and FIG. 11. Then, the torque acting on the hand unit 16 increases. The end surface 301 of the sample 30 is the end surface of the sample 30 that is arranged facing the back side of the cassette 12.

[0045] Meanwhile, the control unit 17 judges whether or not the sample 30 is pressed against the back plate portion 124 by repeatedly comparing the torque acting on the hand unit 16 with a predetermined torque threshold at predetermined time intervals while the hand unit 16 is moving. Specifically, the control unit 17 judges that the sample 30 is not pressed against the back plate portion 124 when the torque acting on the hand unit 16 is equal to or less than the predetermined torque threshold. In this case, the control unit 17 continues the movement of the hand unit 16. Furthermore, the control unit 17 judges that the sample 30 is pressed against the back plate portion 124 when the torque acting on the hand unit 16 exceeds the predetermined torque threshold. In this case, the control unit 17 stops the movement of the hand unit 16. When the sample 30 is pressed against the back plate portion 124 of the cassette 12 by the pressing member 27, the size detection unit 19 detects the dimension from the contact surface 272b of the second arm portion 272 to the inner surface 124a of the back plate portion 124 as the size Ly of the sample 30 (see Figure 6).

[0046] Also, if the sample 30 is not stored in the stage to be removed due to a user mistake, the pressing member 27 approaches the back plate portion 124 without coming into contact with the sample 30. Therefore, unless the pressing member 27 presses against the back plate portion 124 while the hand portion 16 is moving, the torque acting on the hand portion 16 does not exceed a predetermined torque threshold. In such a case, the size detection portion 19 detects (senses) that the size of the sample stored in the stage to be removed is smaller than the minimum sample size Lmin (see FIG. 12) before the pressing member 27 presses against the back plate portion 124. In other words, when the size detection portion 19 detects that the size of the sample stored in the stage to be removed is smaller than the minimum sample size Lmin, it determines that the sample 30 is not stored in the stage to be removed. In this case, the control portion 17 stops the movement of the hand portion 16 before the pressing member 27 comes into contact with the back plate portion 124.

[0047] 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 in step S101 above. In Figure 12, sample 30 having the minimum sample size Lmin is indicated by a dashed line.

[0048] Next, the control unit 17 judges whether or not the size of the sample detected by the size detection unit 19 in step S104 is smaller than the minimum sample size (step S105). If the control unit 17 judges negative in step S105, the process proceeds to step S106. If the control unit 17 judges positive in step S105, the process proceeds to step S108. The transition from step S105 to step S108 corresponds to skipping the stage to be extracted. Skipping the stage to be extracted means skipping the stage to be extracted from and switching to the next stage.

[0049] In step S106, the control unit 17 judges whether the size of the sample detected by the size detection unit 19 in the stage to be removed matches the size of the sample set by the user in the stage to be removed in step S101. If the control unit 17 judges in step S106 as positive, the process proceeds to step S107. In step S107, the control unit 17 continues the sample measurement operation by the measuring device 11 and the transport device 13. If the control unit 17 judges in step S106 as negative, the control unit 17 interrupts (stops) the sample measurement operation by the measuring device 11 and the transport device 13 and displays a warning (step S109). In step S109, the control unit 17 displays a warning message such as "The size of the sample is different from the set size" on the display unit of the operation unit 18. If the control unit 17 displays a warning in step S109, the control unit 17 displays information indicating which stage of which cassette the mismatch in sample size occurred on the display unit of the operation unit 18. The sample measurement operation by the measuring device 11 and the transport device 13 will be described in detail later.

[0050] On the other hand, in step S108, the control unit 17 judges whether the sample 30 subjected to size detection in step S104 is the final sample. If the control unit 17 judges negative in step S108, the process returns to step S103. If the control unit 17 judges positive in step S108, the process ends. The control unit 17 judges negative in step S108 when there are unmeasured samples 30 remaining in the cassette 12 from which the samples were picked up.

[0051] Although not shown in Fig. 8, the user can resume the sample measurement operation by the measuring device 11 and the transport device 13 by performing a prescribed operation after checking the contents of the warning displayed in step S109. The prescribed operation includes an operation for correcting the mistake in sample size and an operation for instructing the control unit 17 to resume measurement via the operation unit 18. The operation for correcting the mistake in sample size is an operation in which the user resets the correct sample information for the stage to be removed, or an operation in which the user resets the sample in the stage to be removed.

[0052] Here, a detailed description will be given of the sample measurement operation by the measuring device 11 and the transport device 13. The sample measurement operation is controlled mainly by the control unit 17, and the objects controlled by the control unit 17 are the measuring device 11 and the transport device 13.

[0053] First, the control unit 17 causes the suction pad 26 of the hand unit 16 to suction the sample 30 stored in the stage to be removed of the cassette 12. At this time, the control unit 17 causes the hand unit 16 to lower toward the sample 30 to be removed, thereby bringing the suction pad 26 into contact with the suction surface 30b (see FIG. 5) of the sample 30. At this time, the suction pad 26 comes into contact with the sample 30 as the hand unit 16 is lowered, and when the contact pressure exceeds a predetermined value, the spring 25 is compressed. Then, the suction pad 26 is pressed against the sample 30 by the reaction force caused by the compression of the spring 25. This allows the suction pad 26 to be in close contact with the sample 30.

[0054] Next, the control unit 17 causes the vacuum generator 24 to generate a vacuum suction force, thereby causing the suction pad 26 to suction the sample 30 .

[0055] Next, the control unit 17 moves the hand unit 16 in the cassette width direction X, thereby pressing the sample 30 against the side plate unit 123 as shown in FIG. 13. The side plate unit 123 corresponds to a reference end in the cassette width direction X. At this time, the control unit 17 presses the lateral end face 302 of the sample 30 against the inner surface 123a of the side plate unit 123 by moving the hand unit 16 in the width direction X of the cassette 12 while adsorbing the sample 30 with the suction pad 26. As a result, the sample 30 stored in the stage to be removed is positioned in the cassette width direction X. In addition, the sample 30 stored in the stage to be removed is pressed against the back plate unit 124 by the pressing member 27 when the size of the sample is detected in the above step S104. Therefore, the sample 30 is positioned in both the cassette width direction X and the cassette depth direction Y. In this embodiment, when positioning the sample 30 in the cassette width direction X, the sample 30 is pressed against the side plate portion 123, but the present invention is not limited to this, and the sample 30 may be pressed against the side plate portion 122. In other words, the reference end portion in the cassette width direction X may be the side plate portion 122.

[0056] Next, the control unit 17 releases the suction pad 26 from the suction of the sample 30 . Next, the control unit 17 lifts the hand unit 16 by a predetermined amount so that a gap is secured between the suction pad 26 and the sample 30, and then moves the suction pad 26 to the center position of the sample 30. The center position of the sample 30 is the center position of the attracted surface 30b of the sample 30. At this time, the control unit 17 specifies the center position of the sample 30 based on the size of the sample set by the user in the removal target stage in step S101 above and / or the size of the sample detected by the size detection unit 19 in step S104 above. The control unit 17 also controls the driving of the transport device 13 so that the suction pad 26 is located at the specified center position of the sample 30.

[0057] Next, the control unit 17 operates the hand unit 16 in the same manner as above to cause the suction pad 26 to suction the sample 30. At this time, the suction pad 26 suctions the center position of the sample 30. Note that the position at which the suction pad 26 suctions the sample 30 may be other than the center position of the sample 30, as long as this does not interfere with the handling of the sample 30 by the suction pad 26 or the measurement of the sample 30 by the measuring device 11.

[0058] Next, the control unit 17 raises the hand unit 16 by a predetermined amount to slightly lift the sample 30 from the supports 125 and 126. As a result, the hand unit 16 picks up the sample 30 at the removal target stage. Next, the control unit 17 horizontally moves the hand unit 16 from the rear side to the front side of the cassette 12 to remove the sample 30 from the stage of the cassette 12 to be removed.

[0059] Next, the control unit 17 moves the sample 30 adsorbed on the suction pad 26 to the measurement position of the measurement instrument 11. At this time, the control unit 17 aligns the measurement surface 30a (see FIG. 5) of the sample 30 with the measurement unit 15 of the measurement instrument 11 by controlling the driving of the transport device 13. The control unit 17 also lightly presses the measurement surface 30a of the sample 30 against the measurement unit 15 of the measurement instrument 11 by appropriately changing the attitude and position of the hand unit 16. As a result, the measurement surface 30a of the sample 30 is disposed in a state in which it is close to and faces the measurement unit 15 of the measurement instrument 11. The suction pad 26 also adsorbs the center position of the sample 30. Therefore, the control unit 17 adjusts the adsorption position of the sample 30 by the suction pad 26 to the center position of the measurement unit 15 of the measurement instrument 11 by appropriately changing the attitude and position of the hand unit 16. That is, the control unit 17 controls the transport device 13 so that the measurement position of the sample 30 coincides with the measurement position of the measurement instrument 11.

[0060] Next, the control unit 17 sends a measurement command signal to the measuring instrument 11. As a result, the measuring instrument 11 measures the sample 30. At this time, the measuring instrument 11 irradiates the measurement surface of the sample 30 with measurement light from a light source provided in the measuring instrument 11. The measuring instrument 11 also receives the light reflected from the measurement surface with a sensor provided in the measuring instrument 11. As a result, the measuring instrument 11 measures the surface condition of the sample 30. The configuration of the measuring instrument 11 may change depending on what is to be measured in the sample 30. In this embodiment, the suction position of the sample 30 by the suction pad 26 is aligned with the center position of the measurement unit 15 of the measuring instrument 11. Therefore, the surface condition of the sample 30 can be measured by targeting the center of the measurement surface 30a of the sample 30.

[0061] Next, the control unit 17 moves the hand unit 16 to the front of the destination cassette 12 while adsorbing the measured sample 30 by the adsorption pad 26. At this time, the control unit 17 positions the hand unit 16 to match the height position of the stage in which the destination cassette 12 should store the measured cassette, among the multiple stages of the destination cassette 12.

[0062] Next, the control unit 17 moves the suction pad 26 from the front side to the back side of the cassette 12 by horizontally moving the hand unit 16. This causes the sample 30 to enter the cassette 12. At this time, the control unit 17 controls the horizontal movement amount of the hand unit 16 based on the size of the sample set in the removal target stage by the user in step S101 above and / or the size of the sample detected by the size detection unit 19 in step S104 above.

[0063] Next, the control unit 17 lowers the hand unit 16 by a predetermined amount, thereby lowering the sample 30 to the vicinity of the upper surfaces of the pair of support units 125, 126. The pair of support units 125, 126 described here are support units 125, 126 forming a stage for storing the measured cassettes. Next, the control unit 17 releases the suction of the sample 30 by the suction pad 26. As a result, the sample 30 is supported (placed) on the pair of supports 125, 126 in a resting state. Next, the control unit 17 separates the suction pad 26 from the sample 30 by raising the hand unit 16 by a predetermined amount. Next, the control unit 17 moves the hand unit 16 to the home position. This completes the sample measurement operation by the measuring device 11 and the transport device 13.

[0064] When detecting the size of the sample 30 using the pressing member 27 as described above, the control unit 17 may change the torque threshold for determining whether or not the sample 30 has hit the back plate portion 124 depending on the hardness of the sample 30. Specifically, the control unit 17 sets the torque threshold to a large value when the hardness of the sample 30 is high, and sets the torque threshold to a small value when the hardness of the sample 30 is low. This makes it possible to appropriately determine whether or not the sample 30 has hit the back plate portion 124 even when handling samples 30 with different hardnesses. The hardness of the sample 30 may be included in the sample information, or may be specified (estimated) from the material of the sample 30.

[0065] Furthermore, when the size of the sample 30 is detected using the pressing member 27 as described above, the control unit 17 may change the inclination angle of the pressing member 27 depending on the hardness of the sample 30. The inclination angle of the pressing member 27 is defined by the inclination angle of the pressing member 27 with respect to the cassette height direction Z (vertical axis). As shown in FIG. 14, when the second arm portion 272 of the pressing member 27 is not inclined with respect to the cassette height direction Z, the inclination angle of the pressing member 27=0. Also, as shown in FIG. 15, when the second arm portion 272 of the pressing member 27 is inclined by an angle θ with respect to the cassette height direction Z, the inclination angle of the pressing member 27=θ. When the hardness of the sample is high, the control unit 17 sets the inclination angle of the pressing member 27 to a large value, and when the hardness of the sample is low, the control unit 17 sets the inclination angle of the pressing member 27 to a small value.

[0066] When the tilt angle of the pressing member 27 is set to a large value (see FIG. 15), the step between the suction pad 26 and the pressing member 27 is smaller (D1>D2) than when the tilt angle is set to a small value (see FIG. 14). Therefore, when the tilt angle of the pressing member 27 is set to a large value, when the pressing member 27 is brought into contact with the sample 30 stored in the stage to be removed, the suction pad 26 is less likely to interfere with the sample 30 stored in the stage below the stage to be removed. However, when the tilt angle of the pressing member 27 is set to a large value, a diagonally downward force is applied to the sample 30 when the sample 30 is pressed by the pressing member 27. Therefore, the sample 30 with low hardness may be deformed by being pressed by the pressing member 27, and the accurate size may not be detected. Therefore, when the sample 30 with low hardness is pressed by the pressing member 27, it is preferable to set the tilt angle of the pressing member 27 to a small value.

[0067] Furthermore, when detecting the size of the sample 30 using the pressing member 27 as described above, the control unit 17 may change the pressing force of the pressing member 27 according to the mass of the sample 30. Specifically, when the mass of the sample is large, the control unit 17 sets the pressing force of the pressing member 27 to a large value, and when the mass of the sample is small, the control unit 17 sets the pressing force of the pressing member 27 to a small value. This allows samples 30 with different masses to be pressed against the back plate portion 124 with an appropriate force. The pressing force of the pressing member 27 is the force applied to the sample 30 from the pressing member 27 when the pressing member 27 presses the sample 30 against the back plate portion 124.

[0068] Furthermore, when detecting the size of the sample 30 using the pressing member 27 as described above, the control unit 17 may change the pressing force of the pressing member 27 depending on the friction coefficient of the sample 30. Specifically, when the friction coefficient of the sample 30 is large, the control unit 17 sets the pressing force of the pressing member 27 to a large value, and when the friction coefficient of the sample is small, the control unit 17 sets the pressing force of the pressing member 27 to a small value. This allows samples 30 with different friction coefficients to be pressed against the back plate portion 124 with an appropriate force. The friction coefficient of the sample 30 may be included in the sample information, or may be specified (estimated) from the material of the sample 30.

[0069] Furthermore, when detecting the size of the sample 30 using the pressing member 27 as described above, the control unit 17 may change the number of times the pressing member 27 presses the sample 30 depending on the hardness of the sample 30. Specifically, when the hardness of the sample 30 is high, the control unit 17 sets the number of times the pressing member 27 presses the sample 30 to be large, and when the hardness of the sample 30 is low, the control unit 17 sets the number of times the pressing member 27 presses the sample 30 to be small. Furthermore, when the hardness of the sample 30 is high, the control unit 17 sets the number of times the pressing member 27 presses the sample 30 to be multiple times, and when the hardness of the sample 30 is low, the control unit 17 sets the number of times the pressing member 27 presses the sample 30 to be one time.

[0070] Here, we will explain problems that occur due to incorrect sample size. As mentioned above, incorrect sample size occurs due to user error. To give a specific example, incorrect sample size occurs when the user sets incorrect sample information for the target removal stage (hereinafter also referred to as "missetting"). In addition, incorrect sample size also occurs when the user sets a sample of a size different from the set size in the target removal stage from which it is to be picked up (hereinafter also referred to as "missetting"). When a wrong sample size occurs, the hand unit 16 of the transport device 13 cannot properly handle the sample 30, and various problems may occur.

[0071] For example, if a mistake is made in the size of the sample, as shown in Fig. 16, the suction pad 26 may suction the sample 30 at a position P2 that is far from the center position P1, even though the suction pad 26 should suction the sample 30 at the center position P1 as it should. This may cause the measuring device 11 to measure the surface condition of the sample 30 at a position P2 that is displaced from the center position P1 of the sample 30 that should be measured. Also, when the transport device 13 holds the sample 30 by vacuum suction, the suction pad 26 may suction the sample 30 at an unstable position P2. As a result, the sample 30 may fall or be damaged in the process of transporting the sample 30 by the transport device 13.

[0072] In contrast, the sample measurement device 10 according to the first embodiment of the present invention detects the size of the samples 30 stored in each stage of the cassette 12 from which the sample is picked up by the size detection unit 19. The control unit 17 controls the measurement device 11 and the transport device 13 based on the detection result of the size detection unit 19. As a result, the control unit 17 can continue the sample measurement operation by the measurement device 11 and the transport device 13 after confirming that the size of the sample detected by the size detection unit 19 in the stage to be removed matches the size of the sample set by the user in the stage to be removed via the operation unit 18. Therefore, even if the user makes an incorrect setting, it is possible to prevent the suction pad 26 from suctioning the sample 30 at a position far removed from the center position of the sample 30, or the measurement device 11 from measuring the sample 30 at a position P2 that is displaced from the center position P1 of the sample 30 that should be measured. This is also true in the case of an incorrect setting by the user. Therefore, according to the sample measurement device 10 according to the first embodiment, problems caused by incorrect sample size can be avoided.

[0073] In the first embodiment, as shown in FIG. 8, when the control unit 17 judges negative in step S106, it suspends the sample measurement operation by the measuring device 11 and the transport device 13 and displays a warning, but the present invention is not limited to this. For example, when the control unit 17 judges negative in step S106, it may process in the procedure shown in FIG. 17. Specifically, when the control unit 17 judges negative in step S106, it judges whether the size of the sample detected by the size detection unit 19 in step S104 matches the size of the sample set by the user in step S101 in a stage different from the stage to be removed (step S109a). Here, the stage different from the stage to be removed refers to a stage located below the stage to be removed, i.e., the stage before the sample 30 is removed.

[0074] Next, if the control unit 17 judges in step S109a as positive, it proceeds to step S109b, and if the control unit 17 judges in step S109a as negative, it proceeds to step S109c. In step S109b, the control unit 17 updates information (sample information) about the sample 30 in the removal target stage to be measured this time. As a result, the size of the sample 30 set in the removal target stage is rewritten to match the size of the sample detected by the size detection unit 19 in step S4 above. Thereafter, the control unit 17 continues the sample measurement operation by the measuring device 11 and the transport device 13 based on the updated sample information (step S107). The updated sample information includes the rewritten sample size as described above. Also, in step S109c, the control unit 17 interrupts (stops) the sample measurement operation by the measuring device 11 and the transport device 13 and displays a warning.

[0075] <Second embodiment> FIG. 18 is a block diagram showing the configuration of a control system of a sample measurement device according to the second embodiment of the present invention. As shown in Fig. 18, the sample measurement device 10A includes the above-mentioned measuring device 11, transport device 13, control unit 17, operation unit 18, and size detection unit 19, as well as a memory 20. A table 20A is stored in advance in the memory 20. The memory 20 is made of a non-volatile memory. In the sample measurement device 10A according to the second embodiment, it is not necessary for the user to set sample information via the operation unit 18.

[0076] Table 20A is stored in memory 20 as a suitable example of registered information in which size requirements for samples to be measured are registered for each sample type. A sample type refers to the type of sample. Table 20A is a table that makes it possible to determine the sample type from the size of the sample detected by size detection unit 19. The size of the sample detected by size detection unit 19 is the size of the sample in the cassette depth direction Y. The size of the sample in the cassette depth direction Y differs for each sample type.

[0077] FIG. 19 is a diagram illustrating an example of the table. As shown in Fig. 19, four sample types are registered in table 20A. Specifically, sample 1, sample 2, sample 3, and sample 4 are registered in table 20A. In addition, table 20A also registers the sample width, sample depth, sample thickness, sample mass, and sample size requirements for each sample type. The sample width is the size of the sample in the cassette width direction X. The sample depth is the size of the sample in the cassette depth direction Y.

[0078] Sample 1 is a sample type with a width of 80 mm, a depth of 30 mm, a thickness of 3 mm, and a mass of 30 g. The size requirement for a sample to be classified as Sample 1 is that the depth of the sample must be greater than or equal to 25 mm and less than 35 mm. Sample 2 is a sample type with a width of 70 mm, a depth of 40 mm, a thickness of 3 mm, and a mass of 40 g. The size requirement for a sample to be classified as Sample 2 is that the depth of the sample must be greater than or equal to 35 mm and less than 45 mm.

[0079] Sample 3 is a sample type with a width of 80 mm, a depth of 120 mm, a thickness of 3.5 mm, and a mass of 35 g. The size requirement for a sample to be classified as Sample 3 is that the sample depth must be greater than or equal to 115 mm and less than 125 mm. Sample 4 is a sample type with a width of 75 mm, a depth of 50 mm, a thickness of 2.5 mm, and a mass of 20 g. The size requirement for a sample to be classified as Sample 4 is that the depth of the sample must be greater than or equal to 45 mm and less than 55 mm. The reason that the size requirements for the sample are specified by maximum and minimum values ​​is that the dimensions of the sample 30 actually produced may vary around the design value, and there may be an error in the sample size detected by the size detection unit 19.

[0080] The control unit 17 can determine (specify) the type of the sample by referring to table 20A based on the size of the sample detected by size detection unit 19. Specifically, the control unit 17 determines the type of sample whose depth is in the range of 25 mm or more and less than 35 mm as "sample 1", and determines the type of sample whose depth is in the range of 35 mm or more and less than 45 mm as "sample 2". The control unit 17 also determines the type of sample whose depth is in the range of 115 mm or more and less than 125 mm as "sample 3", and determines the type of sample whose depth is in the range of 45 mm or more and less than 55 mm as "sample 4". The number of sample types that can be determined using table 20A is changeable.

[0081] Fig. 20 is a flow chart showing an example of a processing procedure when a sample is measured using the sample measurement device according to the second embodiment of the present invention. At the start of the series of processing shown in Fig. 20, table 20A is stored in memory 20.

[0082] First, the control unit 17 repeatedly judges whether or not an instruction to start measurement has been given (step S201). The process of step S201 is similar to the process of step S102 described above. 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 cassette 12 to be picked up (step S202). The process of step S202 is the same as the process of step S103 described above.

[0083] Next, the size detection unit 19 detects the size of the sample 30 stored in the stage to be removed within the cassette 12 from which the sample is picked up (step S203). The process of step S203 is similar to the process of step S104 described above.

[0084] Next, the control unit 17 judges whether the size of the sample detected by the size detection unit 19 in the above step S203 is smaller than the minimum sample size (step S204). The minimum sample size applied in step S204 is the smallest size among the size requirements of the samples registered in the table 20A. In the table 20A shown in FIG. 19, the sample type with the smallest depth is "sample 1", and the minimum value of the size requirement of the sample registered in association with this "sample 1" is 25 mm. Therefore, in step S204, the control unit 17 judges whether the size of the sample detected by the size detection unit 19 is smaller than 25 mm. Then, if the control unit 17 judges negative in step S204, it proceeds to step S205. If the control unit 17 judges positive in step S204, it proceeds to step S208. The transition from step S204 to step S208 corresponds to the skipping of the removal target stage.

[0085] In step S205, control unit 17 judges whether the size of the sample detected by size detection unit 19 in the stage to be removed satisfies the sample size requirements registered in table 20A. As a specific example, if the size of the sample detected by size detection unit 19 in the stage to be removed is 31 mm or 119 mm, control unit 17 makes a positive judgment in step S205. On the other hand, if the size of the sample detected by size detection unit 19 in the stage to be removed is 100 mm or 150 mm, control unit 17 makes a negative judgment in step S205.

[0086] If the control unit 17 judges in step S205 that the result is positive, it identifies the type of sample stored in the tier to be removed (step S206). Specifically, the control unit 17 identifies the type of sample whose size has been detected by the size detection unit 19 by referring to table 20A in memory 20. For example, if the size of the sample detected by the size detection unit 19 in the tier to be removed is 31 mm, the control unit 17 identifies the type of sample stored in the tier to be removed as "sample 1". This allows the control unit 17 to grasp the sample information registered in table 20A corresponding to the identified sample type. The sample information that the control unit 17 can grasp includes the width, depth, thickness, and mass of the sample.

[0087] Next, the control unit 17 continues the sample measurement operation by the measuring device and the transport device based on the size (width, depth) of the sample corresponding to the sample type identified as described above (step S207). If the control unit 17 judges negative in the above step S205, it interrupts (stops) the sample measurement operation by the measuring device 11 and the transport device 13 and displays a warning (step S209). The sample measurement operation by the measuring device 11 and the transport device 13 is the same as that described in the first embodiment, so a detailed description will be omitted.

[0088] On the other hand, in step S208, the control unit 17 judges whether the sample 30 subjected to size detection in the above step S203 is the final sample. If the control unit 17 judges negative in step S208, the control unit 17 returns to the above step S202. If the control unit 17 judges positive in step S208, the control unit 17 ends the series of processes.

[0089] The sample measurement device 10A according to the second embodiment detects the size of the samples 30 stored in each stage of the cassette 12 from which the samples are picked up by the size detection unit 19. The control unit 17 controls the measurement device 11 and the transport device 13 based on the detection result of the size detection unit 19. This allows the control unit 17 to continue the sample measurement operation by the measurement device 11 and the transport device 13 after confirming that the size of the sample detected by the size detection unit 19 in the stage to be picked up satisfies the size requirements of the sample registered in the table 20A in the memory 20. Therefore, according to the sample measurement device 10A according to the second embodiment, problems caused by incorrect sample sizes can be avoided even if the user does not set sample information via the operation unit 18.

[0090] <Third embodiment> Next, a third embodiment of the present invention will be described. The sample measurement device according to the third embodiment is characterized by the configuration of a size detection unit. The size detection unit of the sample measurement device according to the third embodiment is composed of a size detection sensor provided on each stage of the cassette 12. The size detection sensor is composed of, for example, an array sensor or a pressure distribution sensor.

[0091] FIG. 21 is a schematic plan view showing an example in which the size detection sensor is configured by an array sensor. As shown in Fig. 21, a plurality of array sensors 50 are provided on each of the pair of support parts 125, 126. Each array sensor 50 is, for example, configured of a reflective photosensor. The plurality of array sensors 50 are lined up in the cassette depth direction Y. The pair of support parts 125, 126 form one stage in the cassette 12. The plurality of array sensors 50 are provided on all stages (support parts 125, 126) of the cassette 12.

[0092] When no sample 30 is placed on the supports 125, 126, all of the array sensors 50 are in the OFF state. When a sample 30 is placed on the supports 125, 126, only the array sensors 50 that overlap the sample 30 are in the ON state. At this time, the number of array sensors 50 that are in the ON state is determined by the size of the sample 30 in the cassette depth direction Y. Therefore, the size of the sample 30 can be detected by the difference in the number of array sensors 50 that are in the ON state. When the number of array sensors 50 that are in the ON state is zero, it can be determined that no sample 30 is stored in the stage formed by the pair of supports 125, 126.

[0093] FIG. 22 is a schematic plan view showing an example in which the size detection sensor is configured using a pressure distribution sensor. 22, a pressure distribution sensor 52 is provided on each of the pair of support portions 125, 126. The pressure distribution sensor 52 is a film-like sensor that is long in the cassette depth direction Y. The pressure distribution sensor 52 is provided on all levels of the cassette 12 (support portions 125, 126).

[0094] When the sample 30 is not placed on the supports 125, 126, all the sensor regions of the pressure distribution sensor 52 show a uniformly low pressure value. When the sample 30 is placed on the supports 125, 126, only the sensor regions overlapping with the sample 30 show a high pressure value. In this case, the area of ​​the sensor region showing a high pressure value is determined by the size of the sample 30 in the cassette depth direction Y. Therefore, the size of the sample 30 can be detected from the difference in the area of ​​the sensor region showing a high pressure value. When all the sensor regions show a uniformly low pressure value, it can be determined that the sample 30 is not stored in the step formed by the pair of supports 125, 126. [Explanation of symbols]

[0095] 10,10A…Sample measurement device 11...Measuring instrument 12...Cassette 13...Transportation device 16…Hand section 17...Control section 18...Operation unit 19...Size detection section 27...Pressing member 30…Sample 20…Memory 20A…Table 50...Array sensor (size detection sensor) 52...Pressure distribution sensor (size detection sensor) 124...Back plate part (reference end part) Y: Cassette depth direction

Claims

1. A measuring instrument for measuring the sample; a conveying device that takes out the samples one by one from a cassette having a plurality of stages capable of accommodating a plurality of samples of different sizes and conveys the samples to the measuring device; a size detection unit that detects the size of the samples stored in each stage of the cassette; a control unit that controls the measuring device and the conveying device based on a detection result of the size detection unit; A sample measurement device comprising:

2. 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 .

3. The control unit continues the sample measurement operation by the measuring device and the transport device when the size of the sample detected by the size detection unit in the removal target stage matches the size of the sample set in the removal target stage by a user via the operation unit.

3. The sample measurement device according to claim 2.

4. When the size of the sample detected by the size detection unit at the removal target stage does not match the size of the sample set at the removal target stage by the user via the operation unit, the control unit interrupts the sample measurement operation by the measurement device and the transport device and displays a warning.

3. The sample measurement device according to claim 2.

5. When the size of the sample detected by the size detection unit at the stage to be removed does not match the size of the sample set by the user at the stage to be removed via the operation unit, but matches the size of the sample set by the user at a stage different from the stage to be removed, the control unit continues the sample measurement operation by the measuring instrument and the transport device based on the size of the sample set at the different stage.

3. The sample measurement device according to claim 2.

6. The control unit skips the stage to be taken out when the size of the sample detected by the size detection unit in the stage to be taken out is smaller than the minimum sample size of the sample sizes included in the sample information set by the user via the operation unit.

3. The sample measurement device according to claim 2.

7. The size requirements of the samples to be measured are registered for each sample type, and the registration information is stored in advance in a memory. The sample measurement device according to claim 1 .

8. The control unit continues the sample measurement operation by the measuring device and the transport device when the size of the sample detected by the size detection unit at the removal target stage satisfies the size requirement of the sample included in the registration information. The sample measurement device according to claim 7.

9. When the size of the sample detected by the size detection unit at the removal stage does not satisfy the size requirement of the sample included in the registration information, the control unit interrupts the sample measurement operation by the measuring device and the transport device and displays a warning. The sample measurement device according to claim 7.

10. The control unit skips the stage to be taken out when the size of the sample detected by the size detection unit in the stage to be taken out is smaller than a minimum sample size among size requirements for the sample included in the registration information. The sample measurement device according to claim 7.

11. The registered information is stored in the memory as a table that enables a sample type to be determined from the size of the sample detected by the size detection unit. The sample measurement device according to claim 7.

12. The size detection unit detects the size of the sample before extracting the sample from the extraction target stage. The sample measurement device according to claim 1 .

13. The size detection unit moves to a location where the cassette is installed and detects the size of the sample. The sample measurement device according to claim 1 .

14. The size detection unit has a pressing member for pressing the sample stored in the removal target stage against a reference end in the depth direction of the cassette. The sample measurement device according to claim 1 .

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

15. The sample measurement device of claim 14.

16. When the sample is pressed against the reference end, the size detection unit detects the dimension from the reference end to the pressing member as the size of the sample.

15. The sample measurement device of claim 14.

17. The control unit changes a torque threshold for determining whether the sample is pressed against the reference end in accordance with the hardness of the sample.

15. The sample measurement device of claim 14.

18. The control unit changes a pressing angle of the pressing member in accordance with the hardness of the sample.

15. The sample measurement device of claim 14.

19. The control unit changes the pressing force of the pressing member in accordance with the mass of the sample.

15. The sample measurement device of claim 14.

20. The control unit changes the pressing force of the pressing member in accordance with the friction coefficient of the sample.

15. The sample measurement device of claim 14.

21. The control unit changes the number of times the pressing member presses the sample in accordance with the hardness of the sample.

15. The sample measurement device of claim 14.

22. The size detection unit is composed of a size detection sensor provided on each stage of the cassette. The sample measurement device according to claim 1 .

Images