Specimen conveyance device, specimen analysis system and specimen pre-processing device

Abstract

To provide a conveyance device having high estimation accuracy for a position when a body to be conveyed stops, and having a large thrust force when the body to be conveyed starts to move.SOLUTION: A conveyance device according to the present invention includes a plurality of electric magnets 70 each including a tooth 20 configured of a magnetic material and a coil 30 wound on the tooth 20, a body to be conveyed 11 including a permanent magnet 10 and placed above the electric magnets 70, and a position detection unit 56 that detects a position of the permanent magnet 10. The body to be conveyed is a container carrier that holds a specimen container storing a specimen as a biological sample. The position detection unit 56 determines the position of the permanent magnet 10 on the basis of a change in magnetic flux of the permanent magnet 10 interlinking with the coil 30. The permanent magnet 10 has a ring shape. When a center of the permanent magnet 10 is located right above a center of the tooth 20, a distance between an upper surface part 20a of the tooth 20 and a lower surface of the permanent magnet 10 is different between an inner peripheral part of the permanent magnet 10 and an outer peripheral part of the permanent magnet 10.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a specimen transport device that transports specimens, which are biological samples, a specimen analysis system that analyzes specimens, and a specimen pretreatment device that performs pretreatment on specimens. [Background technology]

[0002] Sample analysis systems for clinical testing perform specified analysis items on biological samples (specimens) such as blood, plasma, serum, urine, and other bodily fluids. Such sample analysis systems are connected to multiple types of equipment and can automatically process each process. In other words, to streamline laboratory operations, analysis sections for multiple fields such as biochemistry and immunology, and pre-processing sections that perform pre-processing required for analysis, are connected by a transport device (transport line) and operated as a single system.

[0003] In conventional sample analysis systems, the transport device mainly transports samples using a belt drive system. With this belt drive system, if any abnormality occurs in the belt and sample transport stops, samples cannot be supplied to each device, and sample analysis is interrupted. For this reason, transport devices using a belt drive system must pay close attention to belt abnormalities (e.g., wear). For this reason, a method of transporting samples using electromagnetic attraction force as thrust is attracting attention.

[0004] With the advancement of medical technology and the progress of an aging society, the importance of sample processing is increasing. Therefore, in order to improve the analytical processing capacity of sample analysis systems, there is a demand for devices that can transport samples at high speed, simultaneously transport large quantities of samples, and transport samples in multiple directions. An example of a conventional technology that realizes such transport is described in Patent Document 1.

[0005] The conveying device described in Patent Document 1 is very flexible and has high conveying performance, and conveys a transfer container equipped with a magnetic body to a destination position. The transfer device described in Patent Document 1 includes: a plurality of magnetic poles each having a core and a coil wound around the core; a drive unit that applies a voltage to each of the coils of the plurality of magnetic poles; a current detection unit that detects the value of current flowing through the coil; a calculation unit that estimates the position of the transfer container based on the current value detected by the current detection unit; and a memory unit that stores the amount of current change for each magnetic pole when a fixed value pulse voltage is applied to each of the coils of the plurality of magnetic poles when no magnetic body is present on the transfer surface. The calculation unit estimates the position of the transfer container based on the deviation between the amount of current change in the coil acquired when detecting the position of the transfer container and the amount of current change in the corresponding coil when no magnetic body is present, which is stored in the memory unit. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent Publication No. 2021-189069 Summary of the Invention [Problem to be solved by the invention]

[0007] In a conventional transport device such as that described in Patent Document 1, the position of a transported object (e.g., a transport container) on which a magnet is installed is estimated based on the value of the current flowing through a coil wound around a tooth (core). The transported object stops directly above the tooth, and when dispensing or opening and closing a cap in a sample analysis system, the transported object is required to stop with high accuracy. In addition, the position directly above the tooth is the position where the transported object starts moving.

[0008] If the accuracy of estimating the position of the transported object directly above the teeth decreases, the transported object may stop at a deviation from the target position, or may overshoot or undershoot from the target position. Furthermore, if the accuracy of estimating the position of the transported object decreases, the speed and thrust of the transported object may not be controlled as instructed due to position estimation errors, making it difficult to transport the transported object stably. Furthermore, if the transported object contains a liquid sample, uneven speed of the transported object may cause the sample to shake, resulting in foaming or liquid spillage, which may have a negative impact on the sample analysis.

[0009] Furthermore, it is also important for a conveying device to stably convey the object, shorten the conveying time, and suppress heat generation during operation of the conveying device. To achieve this, the conveying device needs to generate a large thrust with a small current at the start of conveyance. Increasing the diameter and thickness of the magnet installed on the object to be conveyed is an effective way to increase the thrust. However, if the diameter and thickness of the magnet are increased, saturation occurs in the magnetic path due to the influence of the magnetic flux of the magnet on the object to be conveyed when the object to be conveyed approaches the vicinity directly above the teeth. This causes the amount of change in the coil current to remain unchanged even when the position of the object to be conveyed changes, which can reduce the accuracy of estimating the position of the object to be conveyed.

[0010] For this reason, there is a demand for a conveying device that can estimate the position of the conveyed object with high accuracy when the object is stopped and that can exert a large thrust when the object starts moving.

[0011] In the conveyance device described in Patent Document 1, a calculation unit estimates the position of a conveyance object based on the deviation between the amount of change in coil current acquired when detecting the position of a conveyance container (which is a conveyance object equipped with a magnet) and the amount of change in coil current stored in a storage unit when the magnetic body is not present. However, in the conveyance device described in Patent Document 1, the amount of change in coil current may not change depending on the position of the conveyance object, especially when the conveyance object is located directly above a tooth. This is undesirable because it reduces the accuracy of estimating the position of the conveyance object directly above the tooth.

[0012] The object of the present invention is to provide a transport device that has high estimation accuracy for the position of the transported object when it stops and has a large thrust force when the transported object starts moving, and a sample analysis system and sample pre-processing device that are equipped with this transport device. [Means for solving the problem]

[0013] The sample transport device according to the present invention comprises a plurality of electromagnets, each having teeth made of a magnetic material and a coil wound around the teeth; a transport object having a permanent magnet and positioned above the electromagnets; and a position detection unit that detects the position of the permanent magnet. The transport object is a container carrier that holds a sample container containing a biological sample, and is transported along at least a portion of a transport line to an analysis unit. In the analysis unit, components contained in the biological sample that has reacted with a reagent are analyzed. The position detection unit determines the position of the permanent magnet based on changes in the magnetic flux of the permanent magnet that links to the coil. The permanent magnet is ring-shaped. When the center of the permanent magnet is located directly above the center of the tooth, the distance between the upper surface of the tooth and the lower surface of the permanent magnet is different between the inner peripheral portion of the permanent magnet and the outer peripheral portion of the permanent magnet.

[0014] The sample analysis system according to the present invention includes a container carrier for holding a sample container containing a biological sample, and includes a loading section in which the sample is placed, an analysis section for analyzing the transported sample, and a sample transport device for transporting the sample from the loading section to the analysis section. The analysis section analyzes components contained in the biological sample after the biological sample has reacted with a reagent. The sample transport device includes a plurality of electromagnets, each including teeth made of a magnetic material and a coil wound around the teeth, the sample to be transported, which includes a permanent magnet and is positioned above the electromagnets, and a position detection section for detecting the position of the permanent magnet. The position detection section determines the position of the permanent magnet based on changes in the magnetic flux of the permanent magnet that interlinks with the coil. The permanent magnet is ring-shaped. When the center of the permanent magnet is located directly above the center of the tooth, the distance between the upper surface of the tooth and the lower surface of the permanent magnet is different between the inner peripheral portion and the outer peripheral portion of the permanent magnet.

[0015] A sample pretreatment device according to the present invention includes a container carrier for holding a sample container containing a biological sample, a sample analysis system for analyzing the sample, a pretreatment unit for performing pretreatment on the sample transported to the sample analysis system, and a sample transport device for transporting the sample to the sample analysis system. The sample analysis system includes an analysis unit for analyzing components contained in the biological sample after reaction with a reagent. The sample transport device includes multiple electromagnets, each including teeth made of a magnetic material and a coil wound around the teeth, the sample to be transported, which includes a permanent magnet and is positioned above the electromagnets, and a position detection unit for detecting the position of the permanent magnet. The position detection unit determines the position of the permanent magnet based on changes in the magnetic flux of the permanent magnet that interlinks with the coil. The permanent magnet is ring-shaped. When the center of the permanent magnet is located directly above the center of the tooth, the distance between the upper surface of the tooth and the lower surface of the permanent magnet is different between the inner peripheral portion and the outer peripheral portion of the permanent magnet. [Effects of the Invention]

[0016] According to the present invention, it is possible to provide a transport device that has high estimation accuracy for the position of the transported object when it stops and has a large thrust force when the transported object starts moving, as well as a sample analysis system and sample pre-processing device that are equipped with this transport device. [Brief explanation of the drawings]

[0017] [Figure 1] 2 is a diagram schematically illustrating a magnetic circuit and a position detection unit included in the conveyance device according to the first embodiment of the present invention. FIG. [Figure 2] 1 is a diagram showing an outline of the configuration of a conveying device according to a first embodiment. [Figure 3] 2 is a diagram schematically illustrating a cross section of a magnetic circuit of the conveyance device according to the first embodiment. FIG. [Figure 4] 10A and 10B are diagrams illustrating examples of thrust characteristics when a transported object starts to move. [Figure 5A] 10A and 10B are diagrams showing an example in which the upper surface portions of the teeth are convexly curved surfaces facing the permanent magnets. [Figure 5B] 10A and 10B are diagrams showing examples in which the upper surface of a tooth has a shape that includes a flat portion in the center and an inclined portion on the periphery. [Figure 5C] FIG. 10 is a diagram showing an example in which the upper surface of the tooth is formed as a flat surface parallel to the lower surface of the permanent magnet, and has a protruding portion in the center that faces the permanent magnet. [Figure 5D] 10A and 10B are diagrams illustrating examples of the shape of the upper surface of the teeth in a conventional transport device. [Figure 6] 10A and 10B are diagrams illustrating an example of the relationship between the position of a permanent magnet and the amount of change over time of a current flowing through a coil. [Figure 7] FIG. 10 is a diagram showing an outline of the overall configuration of a sample analysis system according to a third embodiment of the present invention. [Figure 8] FIG. 10 is a diagram showing an outline of the overall configuration of a specimen pretreatment device according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0018] The specimen transport device (hereinafter simply referred to as the "transport device") according to the present invention can be used, for example, in a specimen analysis system that analyzes a biological sample such as blood or urine (hereinafter referred to as the "specimen"), using a container carrier as the transport object, or in a specimen pretreatment device that performs the pretreatment required for specimen analysis on the specimen.

[0019] In the sample transport device according to the present invention, when the permanent magnet of the object to be transported is positioned in the vicinity of directly above the teeth, the amount of change in the current flowing through the coil wound around the teeth can be increased, thereby increasing the amount of change in the coil's inductance. Therefore, the sample transport device according to the present invention can accurately estimate the position of the permanent magnet (the position of the object to be transported) and increase the thrust when the object to be transported starts moving from a stopped position. Furthermore, the sample transport device according to the present invention can stably transport the object by suppressing liquid sloshing, liquid splashing, and speed fluctuations in the object to be transported, and can also reduce operating time and heat generation by reducing drive current.

[0020] A sample transport device, a sample analysis system, and a sample pretreatment device according to embodiments of the present invention will be described below with reference to the drawings. The object transported by the sample transport device is, for example, a container carrier. The container carrier is, for example, a sample holder that holds one sample container at a time, or a sample rack that holds multiple sample containers. The sample container is a container that contains a sample, such as a test tube or sample cell that can hold a liquid sample. The object is transported to the analysis unit via at least a part of a transport line (sample transport device) to the analysis unit provided in the sample analysis system. In the analysis unit, the components contained in the sample (biological sample) that has reacted with a reagent are analyzed.

[0021] In the following description, the vertical direction (up and down direction) is defined as the Z direction, and two directions perpendicular to each other in a plane (horizontal plane) perpendicular to the Z direction are defined as the X direction and the Y direction. In the drawings used in this specification, the same or corresponding components are designated by the same reference numerals, and repeated description of these components may be omitted. [Example]

[0022] A conveying device according to a first embodiment of the present invention will be described.

[0023] Fig. 1 is a diagram schematically showing a magnetic circuit 2 and a position detection unit 56 provided in a transport device 1 according to this embodiment. Fig. 2 is a diagram showing an outline of the configuration of the transport device 1 according to this embodiment.

[0024] The conveying device 1 includes a magnetic circuit 2, a permanent magnet 10, a conveying surface 15, a bridge 40, a current control unit 50, and a position detection unit 56.

[0025] The magnetic circuit 2 includes a plurality of electromagnets 70 arranged along the XY plane. Each of the electromagnets 70 includes teeth 20, which are cores made of a magnetic material, and coils 30 wound around the teeth 20. That is, the transport device 1 includes a plurality of pairs of teeth 20 and coils 30 as the magnetic circuit 2. FIG. 1 shows two electromagnets 70 (two pairs of teeth 20 and coils 30) as an example. The electromagnets 70 are arranged in a cross shape in the XY plane. This arrangement of the electromagnets 70 allows the permanent magnet 10 to move on the XY plane, i.e., on a two-dimensional plane.

[0026] The permanent magnet 10 is installed on the object 11 to be conveyed. The permanent magnet 10 is ring-shaped, has an upper surface and a lower surface, and is magnetized so that magnetic poles are generated on these upper and lower surfaces. The magnetization direction (direction of the magnetic field) of the permanent magnet 10 is the Z direction. Furthermore, when viewed from the teeth 20, the direction in which the object 11 (permanent magnet 10) is located is the upward direction (+Z direction).

[0027] The transported body 11 has at least one permanent magnet 10 and is disposed above the electromagnet 70. Although not shown, the transported body 11 has claws for gripping the sample container and recesses into which the sample container is fitted, and is designed to prevent the sample container from shaking or tilting when the transported body 11 moves. In the following explanation, an example will be described in which the transported body 11 has one permanent magnet 10.

[0028] The conveying surface 15 is installed above the electromagnet 70 and is a surface parallel to the XY plane (horizontal plane). The permanent magnet 10 moves on the conveying surface 15 along a plurality of teeth 20 arranged along the XY plane. The object 11 to be conveyed moves on the conveying surface 15 together with the movement of the permanent magnet 10. In other words, the permanent magnet 10 and the object 11 to be conveyed can move on the two-dimensional plane of the conveying surface 15.

[0029] The position of the permanent magnet 10 when the center of the permanent magnet 10 coincides with the center of the tooth 20 on the conveying surface 15, i.e., the position of the permanent magnet 10 when the center of the permanent magnet 10 is located directly above the center of the tooth 20, is the initial position when the conveyed object 11 starts to move, and is the stopping position when the conveyed object 11 stops moving.

[0030] Hereinafter, when the center of the permanent magnet 10 coincides with the center of the tooth 20 on the conveying surface 15, that is, when the center of the permanent magnet 10 is located directly above the center of the tooth 20, this is referred to as the permanent magnet 10 being located directly above the tooth 20.

[0031] The bridge 40 is made of a magnetic material and is located below the electromagnets 70. The bridge 40 connects and holds the plurality of electromagnets 70 together.

[0032] The current control unit 50 is connected to the coil 30, and energizes the coil 30 to drive the permanent magnet 10 and move the object 11. The current control unit 50 controls the voltage applied to the coil 30 to adjust the current flowing through the coil 30, thereby controlling the thrust of the object 11.

[0033] The position detection unit 56 includes a current detection device 55 and a position calculation unit 53, and detects the position of the permanent magnet 10 installed on the transported object 11 to determine the position of the transported object 11. The position detection unit 56 detects the position of the permanent magnet 10 based on a change in the electrical phenomenon caused by a change in the interlinkage magnetic flux of the coil 30 (i.e., a change in the inductance of the coil 30).

[0034] The current detection device 55 is a device that detects the current flowing through the coil 30. Specifically, the current detection device 55 detects the current flowing through the coil 30 when a predetermined voltage for driving the permanent magnet 10 is applied to the coil 30. This predetermined voltage is given to the current control unit 50 by an external command.

[0035] The current detection device 55 can be configured with any device. For example, the current detection device 55 can be a device that measures a current value with a current sensor using a probe such as a current transformer (CT) or a potential transformer (PT), a device that measures the voltage across a shunt resistor installed in the wiring, or a device that measures a current value inside the current control unit 50.

[0036] The position calculation unit 53 calculates and determines the position of the permanent magnet 10 installed on the transported object 11. The position calculation unit 53 estimates the inductance of the coil 30 using the time change in current detected by the current detection device 55. Then, the position calculation unit 53 determines the position of the permanent magnet 10 based on the change in inductance of the coil 30, i.e., based on the change in the magnetic flux of the permanent magnet 10 that links with the coil 30. The position calculation unit 53 can determine the position of the permanent magnet 10 based on the change in inductance of the coil 30 using a known method.

[0037] When a predetermined voltage E is applied to the coil 30, the change over time (di / dt) of the current i flowing through the coil 30 satisfies the relationship expressed by equation (1). E=Ri+L(di / dt) (1) In equation (1), R is the resistance of the coil 30, and L is the inductance of the coil 30. The resistance R of the coil 30 can be obtained in advance when the conveyance device 1 is designed, for example.

[0038] The coil 30 can be regarded as an RL equivalent circuit with respect to the voltage E. If the voltage E is applied by an external command, the time change (di / dt) of the current i changes according to the value of the inductance L.

[0039] The position calculation unit 53 calculates the time change (di / dt) of the current i using the current i flowing through the coil 30 detected by the current detection device 55, estimates the inductance L using the time change (di / dt) of the current i and equation (1), and detects the position of the permanent magnet 10 based on the estimated change in inductance L, thereby calculating the position of the transported body 11.

[0040] When the inductance L of the coil 30 does not change (i.e., when the change in current i over time (di / dt) does not change), it is difficult to accurately estimate the position of the permanent magnet 10 (i.e., the position of the transported object 11) within the range in which the inductance L does not change.

[0041] In this embodiment, as described above, the permanent magnet 10 is ring-shaped. A support member for supporting the object 11 and a spherical rolling member (e.g., a ball) can be placed in the center (hollow portion) of the ring-shaped permanent magnet 10. Such support members and rolling members enable stable transportation of the object 11. For example, the rolling member placed in the center of the ring-shaped permanent magnet 10 can suppress the reaction force of the object 11 starting to move, regardless of the direction in which the object 11 moves on the transportation surface 15 (XY plane), allowing stable transportation of the object 11.

[0042] In this way, when permanent magnet 10 is ring-shaped, the empty space in the center can be used to support and stably transport object 11, and the reaction force at the start of movement can be made uniform regardless of the direction in which object 11 moves on transport surface 15. This makes it possible to stably control the thrust and speed of object 11, and reduce shaking of object 11 during transport.

[0043] Fig. 3 is a diagram schematically showing a cross section of the magnetic circuit 2 of the conveyance device 1 according to this embodiment. Fig. 3 shows a ZX cross section of the magnetic circuit 2. Fig. 3 also shows the magnetic circuit 2 and the permanent magnet 10 when the permanent magnet 10 is positioned directly above the tooth 20.

[0044] When the permanent magnet 10 is positioned directly above the tooth 20, the tooth 20 positioned directly below the permanent magnet 10 is referred to as the tooth 21 of interest, and the tooth 20 adjacent to the tooth 21 of interest is referred to as the adjacent tooth 22. The distance in the XY plane between the permanent magnet 10 positioned directly above the tooth 21 of interest and the center of the adjacent tooth 22 is called the initial distance 60. The adjacent tooth 22 generates an attractive force on the permanent magnet 10, causing the permanent magnet 10 to move toward the adjacent tooth 22.

[0045] The teeth 20 have an upper surface 20a (a planar portion extending along the X and Y directions) facing the ring-shaped permanent magnet 10, and a columnar portion 20b (a columnar portion extending in the Z direction) connected to the upper surface, and are axially symmetrical about the Z axis. The upper surface 20a has a convex shape that protrudes toward the permanent magnet 10.

[0046] The ring-shaped permanent magnet 10 is magnetized in the Z direction, which is the thickness direction. The magnetic poles of the permanent magnet 10 are configured so that, for example, a north pole is generated on the bottom surface of the permanent magnet 10 and a south pole is generated on the top surface of the permanent magnet 10.

[0047] 3 shows an example in which the top surface 20a of the tooth 20 has a shape that includes a flat portion in the center of the tooth 20 and an inclined portion (tapered portion) on the periphery. The inclined portion is located around the flat portion and is inclined so that the distance between the tooth 20 and the permanent magnet 10 located directly above it becomes smaller as it moves from the periphery to the center (flat portion) of the top surface 20a.

[0048] When the permanent magnet 10 is positioned directly above the tooth 20, it is preferable that the inclined portions of the upper surface portions 20a of the tooth 20 face the lower surface of the ring-shaped permanent magnet 10 in the Z direction. When the permanent magnet 10 is positioned directly above the tooth 20, it is preferable that the flat portions of the upper surface portions 20a of the tooth 20 face the hollow portion in the center of the ring-shaped permanent magnet 10 (i.e., the flat portion of the upper surface portions 20a does not face the lower surface of the permanent magnet 10 in the Z direction).

[0049] When the permanent magnet 10 is positioned directly above the tooth 20, the distance in the Z direction between the upper surface 20a of the tooth 20 and the lower surface of the permanent magnet 10 is D. As shown in Fig. 3, the distance D (Di) at the inner periphery of the ring-shaped permanent magnet 10 is different from the distance D (Do) at the outer periphery. More specifically, the distance Di at the inner periphery of the permanent magnet 10 is smaller than the distance Do at the outer periphery of the permanent magnet 10.

[0050] If the distance Di at the inner periphery of the permanent magnet 10 and the distance Do at the outer periphery are different from each other, the amount of change in inductance L of the coil 30 can be increased when the center of the permanent magnet 10 is displaced from the position directly above the center of the tooth 20. Therefore, even if the center of the permanent magnet 10 is slightly displaced from the position directly above the center of the tooth 20, this slight displacement will cause a time change (di / dt) in the current i shown in equation (1). This is because the lower surface of the permanent magnet 10 and the convex upper surface 20a of the tooth 20 face each other in the Z direction (up and down direction), and when the position of the permanent magnet 10 is displaced in the X or Y direction, the upper surface 20a of the tooth 20 facing the permanent magnet 10 has a convex shape that protrudes toward the permanent magnet 10, so the magnetic flux generated in the tooth 20 due to the action of the permanent magnet 10 is likely to change.

[0051] This allows the position detection unit 56 to detect the time change (di / dt) of the current i to estimate the inductance L, and to detect the position of the permanent magnet 10 based on the change in the estimated inductance L with high accuracy.

[0052] 3, the upper surface portions 20a of the teeth 20 have inclined portions on the periphery that are inclined so that the distance from the permanent magnet 10 decreases from the periphery toward the center, and therefore the magnetic flux of the N pole on the lower surface of the permanent magnet 10 tends to flow through the inclined portions of the upper surface portions 20a. As a result, the lower surface of the permanent magnet 10 and the inclined portions of the upper surface portions 20a face each other in the Z direction (up and down direction), and when the position of the permanent magnet 10 shifts in the X direction or the Y direction, the magnetic flux generated in the teeth 20 tends to change. This makes it possible to increase the amount of change in inductance L of the coil 30, thereby efficiently improving the accuracy of detecting the position of the permanent magnet 10.

[0053] As described above, in the conveying device 1 according to this embodiment, the position of the permanent magnet 10 can be estimated with high precision, and the position of the conveyed object 11 when stopped can be obtained with high precision.

[0054] Furthermore, in the conveying device 1 according to this embodiment, when moving the conveyed object 11, it is possible to increase the thrust when the conveyed object 11 starts moving. In order to stably convey the conveyed object 11, it is necessary to increase the thrust when the conveyed object 11 starts moving. If the thrust reserve is small, the conveying time may become longer if the thrust decreases due to increased friction on the conveying surface 15 or external disturbances. If the thrust reserve is large, it is possible to shorten the conveying time and drive with a small current value, which has the advantage of suppressing heat generation when the conveying device 1 is driven.

[0055] In order to increase the thrust when the transported body 11 starts moving, it is possible to consider a method of increasing the volume of the permanent magnet 10 and increasing the amount of magnetic flux of the permanent magnet 10.

[0056] If the permanent magnet is cylindrical, its volume can be increased by increasing its thickness or diameter. However, in either case, as the volume of the permanent magnet increases, the magnetic flux directly above the teeth 20 increases, causing magnetic saturation and making it difficult to accurately estimate the position of the permanent magnet 10.

[0057] When the cylindrical permanent magnet is located near and directly above the tooth 20, the distance between the tooth 20 and the permanent magnet is small at the center of the tooth 20, whose upper surface portion 20a is convex. This causes significant magnetic saturation, and the inflow of magnetic flux into the coil 30 dominates over the change in inductance L. Therefore, when magnetic saturation occurs, the change in magnetic flux becomes small, and the amount of change in inductance L also becomes small, reducing the accuracy of detecting the position of the permanent magnet.

[0058] In this way, when the permanent magnet is cylindrical, if the volume of the permanent magnet 10 is increased to increase the thrust when the transported object 11 starts moving, there is a major problem in that it is difficult to accurately estimate the position of the permanent magnet 10.

[0059] Therefore, as in this embodiment, by making the permanent magnet 10 ring-shaped, increasing the outer diameter of the permanent magnet 10, and shortening the initial interval 60, the distance from the adjacent tooth 22 that generates an attractive force to the permanent magnet 10 (i.e., the distance over which the attractive force acts) can be shortened, thereby increasing the thrust when the transported object 11 starts moving. Because the ring-shaped permanent magnet 10 does not have a magnet in the hollow central portion, even if the outer diameter is increased, the thrust can be increased without significantly increasing the volume of the permanent magnet 10. The ring-shaped permanent magnet 10 has a larger outer diameter than a cylindrical permanent magnet of the same volume, and the initial interval 60, which is the distance to the adjacent tooth 22, can be shortened, making it extremely effective for increasing thrust.

[0060] The conveying device 1 of this embodiment is equipped with a ring-shaped permanent magnet 10, and the outer diameter of the permanent magnet 10 is larger than the outer diameter of a cylindrical permanent magnet of the same volume (i.e., approximately the same amount of magnetic flux), so it has the characteristic of having a large thrust force when the conveyed object 11 starts moving.

[0061] 4 is a diagram showing an example of thrust characteristics when the transported object 11 starts to move. Positions A and B shown in FIG. 4 are positions on the transport surface 15. The thrust characteristics shown in FIG. 4 show an example of the relationship between the position of the permanent magnet 10 and the thrust Fx of the transported object 11 when a current is passed through the coil 30 located at position B to move the permanent magnet 10 from position A to position B.

[0062] The initial position of the transported object 11 is position A, and it moves from position A to a target position, position B. That is, the permanent magnet 10 starts moving at position A and stops at position B. Positions A and B are located directly above the teeth 20.

[0063] By making the permanent magnet 10 ring-shaped, the outer diameter of the permanent magnet 10 is increased without significantly increasing the volume of the permanent magnet 10, and the coil 30 located at position B is more susceptible to the influence of the magnetic flux linkage caused by the permanent magnet 10. Therefore, by making the permanent magnet 10 ring-shaped, it is possible to increase the thrust Fx that moves the permanent magnet 10 from position A to position B. In other words, it is possible to increase the thrust when the transported object 11 starts to move (thrust at the initial position).

[0064] Furthermore, in the transport device 1 according to this embodiment, as described above, the upper surface portions 20a of the teeth 20 are convex and the permanent magnets 10 are ring-shaped, so that the position of the permanent magnets 10 can be estimated with high accuracy.

[0065] The conveyance device 1 according to this embodiment detects the position of the permanent magnet 10 based on a change in an electrical phenomenon caused by a change in the magnetic flux linkage of the coil 30 (i.e., a change in the inductance L of the coil 30). As described above, when magnetic saturation occurs, the change in magnetic flux becomes smaller, and the amount of change in inductance L also becomes smaller, reducing the accuracy of detecting the position of the permanent magnet. In the conveyance device 1 according to this embodiment, when the permanent magnet 10 is located directly above the tooth 20, the convex portion of the upper surface 20a of the tooth 20 (the flat portion at the center of the upper surface 20a) faces the hollow portion of the ring-shaped permanent magnet 10 where no magnet is present, thereby suppressing the occurrence of magnetic saturation and enabling the position of the permanent magnet 10 to be estimated with high accuracy.

[0066] As described above, the conveying device 1 according to this embodiment has high accuracy in estimating the position of the conveyed object 11 directly above the teeth 20, which is the position of the conveyed object 11 when it is stopped, and has a large thrust when the conveyed object 11 starts moving. [Example]

[0067] Second Embodiment A conveying device 1 according to a second embodiment of the present invention will be described.

[0068] In the first embodiment, as an example of the teeth 20, the teeth 20 have upper surface portions 20a each having a flat portion in the center and an inclined portion on the periphery, as shown in Fig. 3. The shape of the upper surface portions 20a of the teeth 20 is not limited to that shown in the first embodiment.

[0069] 5A to 5C, examples of the shape of the upper surface portion 20a of the teeth 20 will be described. The shape of the upper surface portion 20a can be determined taking into consideration, for example, the required accuracy of estimating the position of the transported object 11 and the manufacturing cost of the teeth 20.

[0070] 5A shows an example in which the upper surface portions 20a of the teeth 20 are convexly curved (dome-shaped curved) toward the permanent magnet 10. The upper surface portions 20a have a shape in which the distance D in the Z direction from the lower surface of the permanent magnet 10 located directly above the teeth 20 gradually decreases from the periphery of the upper surface portions 20a toward the center.

[0071] When the upper surface portions 20a of the teeth 20 have the shape shown in Fig. 5A, in addition to the effects described in the first embodiment, there is also the effect of reducing the pulsation of the thrust when the object to be conveyed 11 starts to move. Therefore, when the upper surface portions 20a of the teeth 20 have the shape shown in Fig. 5A, there is little fluctuation in the thrust depending on the position of the object to be conveyed 11, and the thrust can be stably controlled. For example, when the object to be conveyed 11 is a liquid, the swaying of the liquid in the object to be conveyed 11 can be suppressed.

[0072] 5B shows an example in which the upper surface portions 20a of the teeth 20 have a shape that includes a flat portion in the center and an inclined portion (tapered portion) in the peripheral portion, as shown in FIG. 3. The inclined portion is a slope located around the flat portion, and is a plane that is inclined with respect to the lower surface of the permanent magnet 10 located directly above the tooth 20 so that the distance D in the Z direction from the lower surface of the permanent magnet 10 located directly above the tooth 20 decreases from the peripheral portion of the upper surface portion 20a toward the central portion (flat portion). The flat portion is parallel to the lower surface of the permanent magnet 10 located directly above the tooth 20, and the distance D is constant regardless of the position on the flat portion.

[0073] When the upper surface portion 20a of the tooth 20 has a shape as shown in Figure 5B, as described in Example 1, by combining it with a ring-shaped permanent magnet 10 located directly above the tooth 20, the change in inductance L of the coil 30 can be increased, thereby increasing the change in the time change (di / dt) of the current i, and the accuracy of detecting the position of the permanent magnet 10 can be improved.

[0074] FIG. 5C shows an example in which the upper surface portions 20a of the teeth 20 are formed as flat surfaces parallel to the lower surfaces of the permanent magnets 10 and have a shape with a protruding portion in the center toward the permanent magnets 10. The upper surface portions 20a have a peripheral portion and a central portion, which are flat surfaces parallel to the lower surfaces of the permanent magnets 10 located directly above the teeth 20. The distance D in the Z direction between the peripheral portion and the lower surface of the permanent magnets 10 located directly above the teeth 20 (including the surface obtained by extending this lower surface into the hollow portion of the permanent magnets 10) is constant regardless of the position at the peripheral portion. The distance D in the Z direction between the central portion and the lower surface of the permanent magnets 10 located directly above the teeth 20 is also constant regardless of the position at the central portion. The distance D at the central portion is smaller than the distance D at the peripheral portion. In other words, the central portion is the portion of the upper surface portion 20a that protrudes toward the permanent magnets 10.

[0075] The central portion of the top surface 20a of the tooth 20 shown in Fig. 5C is a protruding portion with a distance D smaller than the distance D at the peripheral portion, and can be made of, for example, a cylindrical member. Therefore, the top surface 20a of the tooth 20 shown in Fig. 5C can be manufactured by placing a central portion made of a cylindrical member on a peripheral portion made of a flat surface. Furthermore, the top surface 20a of the tooth 20 shown in Fig. 5C can easily be made of different materials for the peripheral portion and the central portion, and the shape and material can easily be changed depending on the required precision, providing a high degree of manufacturing freedom.

[0076] An example of the shape of the upper surface 20a of the teeth 20 in a conventional transport device will be described.

[0077] Fig. 5D is a diagram showing an example of the shape of the upper surface 20a of the teeth 20 in a conventional conveyance device. In the conventional conveyance device, the upper surface 20a of the teeth 20 does not have a convex shape that protrudes toward the permanent magnet 10 located directly above the teeth 20, but is parallel to the lower surface of the permanent magnet 10, and is a flat surface with a constant distance D regardless of the position on the upper surface 20a. Note that Fig. 5D shows the permanent magnet 10 of this example (a ring-shaped permanent magnet 10) in order to compare the shape of the upper surface 20a of the teeth 20 with Figs. 5A to 5C.

[0078] 6 is a diagram showing an example of the relationship (current change characteristics) between the position of the permanent magnet 10 and the amount of change over time (di / dt) of the current i flowing through the coil 30. Assume that the initial position (position where the permanent magnet 10 starts moving) is position A, and that the permanent magnet 10 moves from position A to position B, which is the target position (stop position). At positions A and B, the permanent magnet 10 is located directly above the teeth 20.

[0079] The horizontal axis in Fig. 6 indicates the position of the permanent magnet 10, that is, the distance of the permanent magnet 10 from position B. Note that Fig. 6 shows, as an example, an example in which the distance between position A (the teeth 20 at the start position) and position B (the teeth 20 at the stop position) is 20 mm.

[0080] FIG. 6 shows current change characteristics obtained through an experiment for three types of teeth 20 having different shapes of the upper surface portions 20a.

[0081] The current change characteristic Cd is the current change characteristic for teeth 20 whose upper surface 20a has the shape shown in Fig. 5D, i.e., the shape of a conventional conveyance device. The upper surface 20a of these teeth 20 does not have a convex shape that protrudes toward the permanent magnet 10 located directly above the teeth 20. The shape of the upper surface 20a shown in Fig. 5D is referred to as shape D.

[0082] Current change characteristic Cb is the current change characteristic for teeth 20 whose upper surface 20a has the shape shown in FIG. 5B. The upper surface 20a of these teeth 20 has a convex shape that protrudes toward the permanent magnet 10 located directly above the teeth 20, with a flat portion in the center and an inclined portion on the periphery. The shape of the upper surface 20a shown in FIG. 5B is referred to as shape B. Note that a current change characteristic substantially identical to current change characteristic Cb was also obtained for teeth 20 whose upper surface 20a has the shape shown in FIG. 5A.

[0083] The current change characteristic Cc is the current change characteristic for the tooth 20 whose upper surface 20a has the shape shown in Fig. 5C. The upper surface 20a of this tooth 20 has a convex shape that protrudes toward the permanent magnet 10 located directly above the tooth 20, and has a protrusion in the center that protrudes toward the permanent magnet 10. The shape of the upper surface 20a shown in Fig. 5C is called shape C.

[0084] Regardless of whether the shape of the upper surface portion 20a of the tooth 20 is shape D, shape B, or shape C, the amount of change in current i when a constant voltage pulse (current command) is applied increases from approximately 0.26 A / s as the permanent magnet 10 approaches position B from position A.

[0085] When the shape of the upper surface portions 20a of the teeth 20 is shape D (FIG. 5D), i.e., the conventional shape, the amount of change in the current i does not change significantly even when the permanent magnet 10 moves from a position approximately 2 mm away from position B toward position B. In some cases, the magnetic flux of the permanent magnet 10 may become saturated, and the amount of change in the current i may decrease as the permanent magnet 10 approaches position B.

[0086] When an inflection point (inflection point of current i) occurs in the current change characteristics in this way, it becomes impossible to determine whether the permanent magnet 10 has advanced or retreated across this inflection point (i.e., whether it has approached position B or position A). In other words, if the magnetic flux of the permanent magnet 10 interlinked with the coil 30 does not reach a maximum when the permanent magnet 10 is positioned directly above the tooth 20 due to magnetic flux saturation, an inflection point may occur somewhere on the way where the permanent magnet 10 moves toward directly above the tooth 20, making it difficult to detect the position of the permanent magnet 10.

[0087] When the shape of the upper surface portion 20a of the tooth 20 is shape B (Figure 5B) or shape C (Figure 5C), i.e., the shape in this embodiment, when the permanent magnet 10 is positioned directly above the tooth 20, the magnetic flux of the permanent magnet 10 linking with the coil 30 is maximum directly above the tooth 20, the change in inductance L of the coil 30 is maximum, and in the current change characteristics, the change in the current i always has a gradient in the same direction toward directly above the tooth 20 (i.e., it increases monotonically from position A toward position B), so the direction of travel of the permanent magnet 10 within this range can be reliably detected.

[0088] 6, the current change characteristics Cb and Cc have a gradient in the same direction from position A to position B, and the amount of change in current i increases monotonically as the permanent magnet 10 moves from position A to position B. Teeth 20 with such current change characteristics have the advantage that the position of the permanent magnet 10 directly above the teeth 20 can be detected with high accuracy, and that the reversal of the positive and negative slopes of the amount of current change due to magnetic flux saturation or the like can be suppressed (i.e., the occurrence of an inflection point in the current change characteristics).

[0089] When the teeth 20 have upper surface portions 20a having the shape described in this embodiment and the permanent magnets 10 are ring-shaped, it is possible to detect the position of the object 11 directly above the teeth 20 with high accuracy, and to increase the thrust when the object 11 starts to move. Furthermore, the ring-shaped permanent magnets 10 can reduce the magnetic flux flowing into the teeth 20 from the permanent magnets 10 located directly above them, preventing the magnetic flux from saturating at the teeth 20 and preventing the slope of the current change amount from reversing between positive and negative in the current change characteristics, allowing the position of the object 11 to be detected with high accuracy. [Example]

[0090] A sample analysis system and a sample pre-treatment device according to an embodiment of the present invention will be described. The sample analysis system and the sample pre-treatment device according to this embodiment include a transport device 1 according to the first or second embodiment of the present invention.

[0091] First, the sample analysis system according to this embodiment will be described. The sample analysis system is an apparatus that dispenses a sample (a biological sample such as blood or urine) and a reagent into a reaction vessel, reacts them, and measures the reacted liquid.

[0092] 7 is a diagram showing an outline of the overall configuration of a sample analysis system 100 according to this embodiment. The sample analysis system 100 includes an input section 101, an emergency rack insertion port 113, a transport line 102, a buffer 104, an analysis section 105, a storage section 103, a display section 118, and a control section 120.

[0093] The loading section 101 is a location where a sample rack 111, which is a container carrier that holds a plurality of sample containers 122 containing biological samples (specimens) such as blood or urine, is placed.

[0094] The emergency rack insertion port 113 is a place for inserting into the device a sample rack (carrier rack) loaded with a standard solution or a sample rack 111 that stores a sample container 122 containing a sample that needs to be analyzed urgently.

[0095] The transport line 102 is a line that transports a sample rack 111 installed in the loading section 101, and can be configured with the transport device 1 according to Example 1 or Example 2 of the present invention. In this example, the object to be transported is the sample rack 111, and the permanent magnet 10 that the object to be transported has is provided on the bottom surface of the sample rack 111. The transport device 1 transports the object to be transported from the loading section 101 to the analysis section 105. The sample rack 111, which is the object to be transported, is transported on at least a portion of the transport line 102 to the analysis section 105.

[0096] The buffer 104 holds a plurality of sample racks 111 transported by the transport line 102 so that the order in which samples are dispensed in the sample racks 111 can be changed.

[0097] The analysis unit 105 analyzes samples transported by the transport line 102, which transports sample racks 111 from the loading unit 101 through the buffer 104 and via the conveyor line 106. The analysis unit 105 analyzes components contained in the biological sample (specimen) that has reacted with a reagent. The analysis unit 105 can have a configuration similar to that of an analysis unit included in an existing sample analysis system, for example. Details of the analysis unit 105 will be described later.

[0098] The storage section 103 stores a sample rack 111 that stores sample containers 122 holding samples that have been analyzed in the analysis section 105 .

[0099] Display unit 118 is a display device for displaying the results of analysis by analysis unit 105. For example, display unit 118 displays the concentration of a predetermined component contained in a sample such as blood or urine as the analysis result.

[0100] The control unit 120 is configured with a computer or the like, and controls the operation of each mechanism of the sample analysis system 100, and also performs calculations to determine the concentration of a predetermined component in a sample such as blood or urine. The transport device 1 (transport line 102) according to the embodiment of the present invention is controlled by the control unit 120.

[0101] The analysis unit 105 includes a conveyor line 106 , a reaction disk 108 , a sample dispensing nozzle 107 , a reagent disk 110 , a reagent dispensing nozzle 109 , a cleaning mechanism 112 , a reagent tray 114 , a reagent ID reader 115 , a reagent loader 116 , and a spectrophotometer 121 .

[0102] The conveyor line 106 is a line that carries the sample racks 111 in the buffer 104 into the analysis unit 105, and has the same configuration as the transport device 1 according to the first or second embodiment.

[0103] The reaction disk 108 includes a plurality of reaction vessels.

[0104] The sample dispensing nozzle 107 dispenses the sample from the sample container 122 into the reaction container on the reaction disk 108 by rotational driving and vertical driving.

[0105] The reagent disk 110 supports a plurality of reagents.

[0106] The reagent dispensing nozzle 109 dispenses reagent from a reagent bottle in the reagent disk 110 into a reaction container on the reaction disk 108 .

[0107] The cleaning mechanism 112 cleans the reaction vessels on the reaction disk 108 .

[0108] The reagent tray 114 is a member on which a reagent is placed when registering the reagent in the sample analysis system 100.

[0109] The reagent ID reader 115 is a device for reading the reagent ID (a number or symbol for identifying the reagent) attached to the reagent placed on the reagent tray 114, thereby obtaining reagent information.

[0110] The reagent loader 116 is a device that loads the reagent onto the reagent disk 110 .

[0111] The spectrophotometer 121 measures the absorbance of the reaction solution by measuring transmitted light obtained from a light source (not shown) through the reaction solution in the reaction vessel.

[0112] The above is the overall configuration of the sample analysis system 100.

[0113] The sample analysis process by the sample analysis system 100 described above is generally carried out in the following order.

[0114] First, the sample rack 111 is placed in the loading section 101 or the emergency rack insertion port 113, and is then carried by the transport line 102 into the randomly accessible buffer 104.

[0115] The sample analysis system 100 transports the sample rack 111 with the highest priority among the racks stored in the buffer 104 into the analysis section 105 via the conveyor line 106 in accordance with the priority rules.

[0116] The sample rack 111 that has arrived at the analysis unit 105 is further transported by the conveyor line 106 to a sample dispensing position near the reaction disk 108, where the sample is dispensed by the sample dispensing nozzle 107 into a reaction vessel on the reaction disk 108. The sample dispensing nozzle 107 dispenses the sample as many times as necessary depending on the analysis items requested for the sample.

[0117] The sample dispensing nozzle 107 dispenses samples from all sample containers 122 mounted on the sample rack 111. After the dispensing process for all sample containers 122 has been completed, the sample rack 111 is transferred back to the buffer 104. After all sample dispensing processes, including those for automatic retesting, have been completed, the sample rack 111 is transferred to the storage unit 103 via the conveyor line 106 and the transport line 102.

[0118] Furthermore, the reagent to be used for analysis is dispensed from the reagent bottle on the reagent disk 110 into the reaction vessel from which the specimen was previously dispensed, using the reagent dispensing nozzle 109. Next, a mixing mechanism (not shown) mixes the mixture of specimen and reagent in the reaction vessel.

[0119] Thereafter, light emitted from a light source is transmitted through a reaction vessel containing the stirred mixed liquid, and the luminous intensity of the transmitted light is measured by a spectrophotometer 121. The luminous intensity measured by the spectrophotometer 121 is transmitted to the control unit 120 via an A / D converter and an interface. The control unit 120 then performs calculations to determine the concentration of a predetermined component in a specimen, which is a liquid sample such as blood or urine, and displays the determined result on the display unit 118 or stores it in a memory unit (not shown).

[0120] The sample analysis system 100 is not limited to having the above-described configuration. For example, the sample analysis system 100 may include a pretreatment unit, or may not include some units or configurations. The analysis unit 105 is not limited to a biochemical analysis unit, but may be an immunoanalysis unit. Furthermore, the sample analysis system 100 can include not only one analysis unit 105, but two or more analysis units 105. Even if the sample analysis system 100 includes two or more analysis units 105, the analysis units 105 and the loading unit 101 are connected by a transport line 102, and sample racks 111 are transported from the loading unit 101.

[0121] Next, a sample pretreatment device according to this embodiment will be described. The sample pretreatment device is a device that performs various pretreatments on samples required for sample analysis, and can be connected to a sample analysis system.

[0122] 8 is a diagram showing an outline of the overall configuration of a sample pretreatment device 150 according to this embodiment. The sample pretreatment device 150 may have a configuration similar to that of existing sample pretreatment devices, and includes one or more pretreatment units that perform pretreatment on samples transported to a sample analysis system. For example, the sample pretreatment device 150 includes a capping unit 152, a sample storage unit 153, an empty holder stacker 154, a sample loading unit 155, a centrifugation unit 156, a liquid volume measurement unit 157, an uncapping unit 158, a secondary sample container preparation unit 159, a dispensing unit 160, and a transfer unit 161 as pretreatment units, as well as an operation unit 163 that controls the operation of these multiple units.

[0123] A sample analysis system 100 for performing qualitative and quantitative analysis of the components of the sample is connected to the sample pretreatment device 150 as a destination of the pretreated sample. The sample analysis system 100 includes an analysis unit 105 (FIG. 7) that analyzes the components contained in the biological sample (sample) that has reacted with a reagent.

[0124] The sample input unit 155 is a unit for inputting the sample container 122 containing the sample into the sample pretreatment device 150.

[0125] The centrifugal separation unit 156 is a unit for centrifuging the sample containers 122 that have been placed therein.

[0126] The liquid volume measuring unit 157 is a unit that measures the liquid volume of the specimen contained in the specimen container 122 .

[0127] The cap removal unit 158 ​​is a unit that removes the cap from the sample container 122 that has been inserted.

[0128] The secondary sample container preparation unit 159 is a unit that makes the necessary preparations for dispensing the sample contained in the loaded sample container 122 in the next dispensing unit 160.

[0129] The dispensing unit 160 is a unit that divides the centrifuged sample into small portions for analysis by the sample analysis system 100 or the like, and attaches barcodes or the like to the divided sample containers 122 and child sample containers.

[0130] The transfer unit 161 is a unit that sorts the dispensed secondary sample containers and prepares them for transfer to the sample analysis system 100.

[0131] The capping unit 152 is a unit that caps the sample container 122 and the secondary sample container.

[0132] The specimen storage unit 153 is a unit for storing the capped specimen containers 122 .

[0133] The transport device 1 according to the first or second embodiment of the present invention can connect the multiple units included in the sample pretreatment device 150, or connect the sample pretreatment device 150 to the sample analysis system 100. For example, the transport device 1 transports a sample holder or a sample rack that holds sample containers 122 to the sample analysis system 100.

[0134] The specimen pretreatment device 150 is not limited to the above-described configuration. For example, the specimen pretreatment device 150 may further include other units, or may not include some of the units or configurations.

[0135] The sample analysis system according to this embodiment may be a sample analysis system 200 as shown in Figure 8, i.e., a sample analysis system 200 including a sample pretreatment device 150 and the above-described sample analysis system 100. In this sample analysis system 200, sample containers 122 can be transported not only within each system but also between systems by connecting them using the transport device 1 according to embodiment 1 or embodiment 2 of the present invention.

[0136] The sample analysis systems 100, 200 and sample pretreatment device 150 according to this embodiment are equipped with the transport device 1 according to embodiment 1 or 2, and can transport sample containers 122 to their destinations with high efficiency, thereby shortening the time it takes to obtain analysis results. In addition, there are fewer problems that occur when transporting sample containers 122, reducing the burden on laboratory technicians.

[0137] 7, an example has been described in which the transport object 11 is a sample rack 111 that holds five sample containers 122 containing samples. The transport object 11 is not limited to this sample rack 111, and may be, for example, a sample holder that holds two sample containers 122.

[0138] The present invention is not limited to the above-described embodiments, and various modifications are possible. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to embodiments including all of the described configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment. It is also possible to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to delete part of the configuration of each embodiment, or to add or replace other configurations. [Explanation of symbols]

[0139] 1...Transportation device, 2...Magnetic circuit, 10...Permanent magnet, 11...Transported object, 15...Transportation surface, 20...Teeth, 20a...Upper surface portion, 20b...Column portion, 21...Teeth of interest, 22...Adjacent tooth, 30...Coil, 40...Bridge, 50...Current control unit, 53...Position calculation unit, 55...Current detection device, 56...Position detection unit, 60...Initial interval, 70...Electromagnet, 100...Sample analysis system, 101...Loading unit, 102...Transportation line, 103...Storage unit, 104...Buffer, 105...Analysis unit, 106...Conveyor line, 107...Sample dispensing nozzle, 108...Reaction disk, 109...Reagent dispensing nozzle, 110...Reagent disk 111...sample rack, 112...cleaning mechanism, 113...emergency rack inlet, 114...reagent tray, 115...reagent ID reader, 116...reagent loader, 118...display unit, 120...control unit, 121...spectrophotometer, 122...sample container, 150...sample pretreatment device, 152...capping unit, 153...sample storage unit, 154...empty holder stacker, 155...sample loading unit, 156...centrifugation unit, 157...liquid volume measurement unit, 158...uncapping unit, 159...subsample container preparation unit, 160...dispensing unit, 161...transfer unit, 163...operation unit, 200...sample analysis system.

Claims

1. a plurality of electromagnets, each including teeth made of a magnetic material and coils wound around the teeth; a conveyed body having a permanent magnet and disposed above the electromagnet; a position detection unit that detects the position of the permanent magnet; Equipped with the transported object is a container carrier that holds a specimen container containing a specimen, which is a biological sample, and is transported along at least a part of a transport line to an analysis unit; In the analysis unit, the biological sample reacted with the reagent is analyzed for components contained in the biological sample, the position detection unit determines the position of the permanent magnet based on a change in magnetic flux of the permanent magnet that interlinks with the coil; the permanent magnet is ring-shaped; When the center of the permanent magnet is located directly above the center of the tooth, the distance between the upper surface of the tooth and the lower surface of the permanent magnet is different between the inner peripheral portion of the permanent magnet and the outer peripheral portion of the permanent magnet. A specimen transport device characterized by:

2. When the center of the permanent magnet is located directly above the center of the tooth, the distance at the inner circumferential portion of the permanent magnet is smaller than the distance at the outer circumferential portion of the permanent magnet. The specimen transport device according to claim 1 .

3. the position detection unit includes a current detection device and a position calculation unit, a current detection device that detects a current flowing through the coil; the position calculation unit estimates the inductance of the coil using a change over time in the current detected by the current detection device, and determines the position of the permanent magnet based on the change in the estimated inductance. The specimen transport device according to claim 1 .

4. The upper surface portion of the tooth has a shape in which the distance becomes smaller from the periphery of the upper surface portion toward the center portion. The specimen transport device according to claim 1 .

5. The upper surface portion of the tooth has a central portion which is a flat surface parallel to the lower surface of the permanent magnet, and a peripheral portion which is a flat surface inclined such that the distance becomes smaller toward the central portion. The specimen transport device according to claim 4.

6. When the center of the permanent magnet is located directly above the center of the tooth, the upper surface of the tooth faces the lower surface of the permanent magnet, the peripheral edge of which is ring-shaped. The specimen transport device according to claim 5 .

7. The upper surface portion of the tooth includes a peripheral portion and a central portion that are planes parallel to the lower surface of the permanent magnet, and the distance at the central portion is shorter than the distance at the peripheral portion. The specimen transport device according to claim 1 .

8. the transported body is a container carrier that holds a specimen container containing a specimen that is a biological sample, a loading section in which the object to be transported is placed; an analysis unit that analyzes the transported sample; a specimen transport device that transports the specimen from the loading section to the analysis section; Equipped with the analysis unit analyzes components contained in the biological sample that has reacted with a reagent; The specimen transport device is a plurality of electromagnets, each including teeth made of a magnetic material and coils wound around the teeth; the transported object includes a permanent magnet and is disposed above the electromagnet; a position detection unit that detects the position of the permanent magnet; Equipped with the position detection unit determines the position of the permanent magnet based on a change in magnetic flux of the permanent magnet that interlinks with the coil; the permanent magnet is ring-shaped; When the center of the permanent magnet is located directly above the center of the tooth, the distance between the upper surface of the tooth and the lower surface of the permanent magnet is different between the inner peripheral portion of the permanent magnet and the outer peripheral portion of the permanent magnet. A sample analysis system characterized by:

9. the transported body is a container carrier that holds a specimen container containing a specimen that is a biological sample, a sample analysis system for analyzing the sample is connected to the sample; a pre-processing unit that performs pre-processing on the sample transported to the sample analysis system; a sample transport device that transports the object to the sample analysis system; Equipped with the sample analysis system includes an analysis unit that analyzes components contained in the biological sample that has reacted with a reagent; The specimen transport device is a plurality of electromagnets, each including teeth made of a magnetic material and coils wound around the teeth; the transported object includes a permanent magnet and is disposed above the electromagnet; a position detection unit that detects the position of the permanent magnet; Equipped with the position detection unit determines the position of the permanent magnet based on a change in magnetic flux of the permanent magnet that interlinks with the coil; the permanent magnet is ring-shaped; When the center of the permanent magnet is located directly above the center of the tooth, the distance between the upper surface of the tooth and the lower surface of the permanent magnet is different between the inner peripheral portion of the permanent magnet and the outer peripheral portion of the permanent magnet. A specimen pretreatment device characterized by:

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