Automatic analysis system and transportation method

Abstract

When a robot arm having at least six degrees of freedom is being introduced in order to automate introduction of a reagent or specimen into an automated analysis device, teaching work to create an operating program for the robot arm is complex and requires considerable time and effort. This automated analysis system comprises: an automated analyzing device 122 for analyzing a specimen; a conveying unit 101 for conveying a container accommodating a liquid; an introducing unit to which the container is delivered from the conveying unit, and which introduces the container into the automated analyzing device; and an adjusting unit 115 for performing positional adjustment between the conveying unit and the introducing unit to enable the conveying unit to deliver the container to the introducing unit. The adjusting unit is configured from a hole which is provided in the introducing unit to restrict rotational movement, one or more rotating shafts, an extending and retracting portion which is provided in the introducing unit and which generates a tensile force maintaining a fixed angle of rotation, and a member which is provided in the conveying unit to restrict rotational movement, wherein positional adjustment between the conveying unit and the introducing unit is performed by inserting a tip end of the member into the hole, and the container is delivered from the conveying unit to an introduction port by means of rotational movement about the rotating shaft.

Description

[Technical Field]

[0001] The present invention relates to an automatic analysis system and a transportation method. [Background technology]

[0002] Conventionally, various reagents or specimens have been transported and loaded into automated analyzers that analyze blood mainly by hand. In this case, there is a possibility that a person may come into contact with the specimen, creating a risk of infection. Furthermore, when a person touches a reagent, there is a risk that organic matter of human origin may be mixed into the reagent. Therefore, Patent Document 1 discloses a technology for transporting reagents or specimens using a self-propelled transport robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-278409 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 discloses a technology for transporting reagents or specimens using a self-propelled robot, but the introduction of a robot arm requires a great deal of time and effort due to the complicated teaching process of creating an operating program for a robot arm with six or more degrees of freedom to automate the introduction of reagents or specimens into an automatic analyzer. Furthermore, when introducing a transport robot into a facility where an automatic analyzer is already installed, the layout of the automatic analyzer may need to be reconsidered in some cases, which is a time-consuming and costly problem.

[0005] Therefore, an object of the present invention is to provide an automatic analysis system in which the vertical and horizontal dimensions relative to the running surface can be freely set without affecting the layout of the device. [Means for solving the problem]

[0006] An automatic analysis system according to one embodiment of the present invention comprises an automatic analyzer that analyzes samples, a transport unit that transports containers containing liquids, an input unit that receives the containers from the transport unit and inputs the containers into the automatic analyzer, and a correction unit that corrects the position between the transport unit and the input unit so that the transport unit can input the containers to the input unit. The correction unit comprises a hole provided in the input unit for restricting rotational motion, one or more rotation axes, an expansion / contraction unit provided in the input unit for generating tension that keeps the rotation angle constant, and a member provided in the transport unit for restricting rotational motion. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide an automatic analysis system in which the vertical or horizontal dimensions relative to the running surface can be freely set, without affecting the layout of the device. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 2 is a diagram showing an example of the configuration of a transport unit of an automatic analyzer. [Figure 2] FIG. [Figure 3] FIG. [Figure 4] FIG. [Figure 5] FIG. 10 is a diagram showing a state in which a correction unit is installed in an automatic analyzer. [Figure 6] FIG. 10 is a diagram showing the state in which a transport unit is installed on the front of the automatic analyzer. [Figure 7] FIG. [Figure 8] FIG. [Figure 9] FIG. [Figure 10] Schematic diagram of a correction unit. [Figure 11] FIG. 10 is a diagram showing the spring reaction force generated when the roll axis shaft is rotated counterclockwise. [Figure 12] Schematic diagram of the transport section. [Figure 13]FIG. 10 is a diagram showing the first stage of the liquid container loading flow. [Figure 14] FIG. 10 is a diagram showing a second stage of the liquid container loading flow. [Figure 15] FIG. 10 is a diagram showing a third stage of the liquid container loading flow. [Figure 16] FIG. 10 is a diagram showing a fourth stage of the liquid container loading flow. [Figure 17] FIG. 10 is a diagram showing a fifth stage of the liquid container loading flow. [Figure 18] FIG. 10 is a diagram showing a sixth stage of the liquid container loading flow. [Figure 19] FIG. 10 is a diagram showing the seventh stage of the liquid container loading flow. [Figure 20] FIG. 10 is a three-view diagram showing the shape of a positioning pin. [Figure 21] FIG. 2 is a diagram showing an automatic analyzer and a transport unit. [Figure 22] FIG. 1 is a diagram showing the overall configuration of an automatic analysis system. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, the embodiments will be described with reference to the drawings. In all the drawings for explaining the embodiments, the same parts are generally designated by the same reference numerals, and the repeated description thereof will be omitted. [Example]

[0010] Example 1 is an example of an automatic analysis system in which the translational drive of the X, Y, and Z axes of the robot arm and the rotational drive of the roll, pitch, and yaw axes are achieved by separate mechanisms, and each mechanism is driven based on sensor information or by physical position correction, eliminating the need for teaching.

[0011] That is, this embodiment is an example of an automatic analysis system and a transport method comprising: an automatic analyzer that analyzes samples; a transport unit that transports containers containing samples; an input unit that receives the containers from the transport unit and inputs the containers into the automatic analyzer; and a correction unit that performs positional correction between the transport unit and the input unit so that the transport unit can hand over the containers to the input unit. The correction unit is composed of a hole provided in the input unit for restraining rotational motion, one or more rotation axes, an expansion / contraction unit provided in the input unit for generating tension that keeps the rotation angle constant, and a member provided in the transport unit for restraining rotational motion. When the tip of the member is inserted into the hole, positional correction between the transport unit and the input unit is performed, and the container is handed over from the transport unit to the input port by rotational motion around the rotation axis.

[0012] Figure 1 shows the configuration of a transport unit (also called an autonomous mobile cart or robot) that transports containers containing liquid in an automatic analysis system. As shown in the figure, the transport unit 101 is composed of a vertical drive mechanism 102 and a horizontal drive mechanism 108 that drive a vertical transmission sensor 103 and a hand unit 105, a container 106 that contains liquid, and a container storage unit 107 that stores it. Reference numeral 104 denotes light transmitted through the transmission sensor.

[0013] Figure 2 shows the hand unit of the automatic analysis system. As shown in the figure, the hand unit 105 consists of a horizontal transmission sensor 109, a positioning pin 111, a gripping hand 112, a gripping hand drive mechanism 113, and a positioning pin drive mechanism 114. The transmitted light 104 from the vertical transmission sensor and the transmitted light 110 from the horizontal transmission sensor shown in Figures 1 and 2 are appropriately blocked depending on the position of the hand unit 105, and sensor information can be generated.

[0014] Fig. 3 is a diagram showing the back of correction unit 115, Fig. 4 is a diagram showing the front of correction unit 115, and Fig. 5 is a diagram showing the state in which the correction unit is installed in an automatic analysis system. Correction unit 115 shown in Figs. 3 and 4 includes an input portion 117 for container 106, a positioning pin hole 118, and a detection plate 119, and as shown in Fig. 10, is pulled by tension spring 116 and is rotatable around roll-axis rotation shaft 120 and yaw-axis rotation shaft 121. This correction unit 115 is installed in input port 123 for container 106, which serves as the input portion of automatic analysis device 122, as shown in Fig. 5.

[0015] 6 is a diagram showing the state in which the transport unit 101 is installed in front of the automatic analyzer 122. As shown in the figure, when installing the correction unit 115, the transport unit 101 transports the correction unit 115 to the liquid container insertion port of the automatic analyzer 122. Then, as shown in FIGS. 7, 8, and 9, the correction unit 115 is installed at a desired position.

[0016] Fig. 7 is a diagram showing the position of the jack when installing the correction unit 115, Fig. 8 is a diagram showing the function of the lift of the automatic analysis system, and Fig. 9 is a diagram showing the state after the handle has been removed after the correction unit 115 has been transported to the desired location. Figs. 7 and 8 show the vertical drive mechanism before and after it has been raised, respectively.

[0017] A schematic diagram of the correction unit is shown in Figure 10. As shown in (A) of the figure, correction unit 115 can rotate around rotation axis 120. However, as shown in the A-A cross section shown in (B) of the figure, tension is applied to correction unit 115 by tension spring 116 so that it is always positioned at the center. Therefore, for example, as shown in Figure 11, when it is rotated counterclockwise by an external force, the tension of tension spring 116 causes it to rotate clockwise 125 and return to its original angle.

[0018] 12 is a schematic diagram of the transport unit 101. A positioning pin 111 and a hand 112 capable of gripping a container 106 are attached to the tips of extension mechanisms 113 and 114 attached to the transport unit 101, respectively.

[0019] 13 to 19 show the first to seventh stages of the liquid container loading flow. These figures are views of the automatic analyzer 122 as seen from directly above. As shown in Fig. 13, the transport unit 101 moves linearly to the vicinity of the correction unit 115, but because the angle is different, the liquid container cannot be loaded in this state.

[0020] As shown in the figure, in the first step, a positioning pin 111 attached to an extension mechanism 114 attached to the transport unit 101 is inserted into a positioning pin hole 118 of the correction unit 115. In the automated analysis system, as shown in FIG. 14, the positioning pin 111 is inserted into the hole of the correction unit. As described above, the correction unit 115 is rotatable, and because the positioning pin 111 is wedge-shaped or cone-shaped, the correction unit 115 can be rotated to the same angle as the transport unit 101. Then, the hand 112 is extended, the container 106 is transferred to the input unit 117, and the hand is returned. In this state, the angles of the correction unit and the automated analyzer are different, making it impossible to transfer the container to the automated analyzer. Therefore, when the positioning pin is returned, the correction unit rotates to its original position due to the tension of the spring, and the input unit 117 becomes the same angle as the automated analyzer 122, allowing the container 106 to be transferred from the input unit 117 to the automated analyzer 122.

[0021] That is, because correction unit 115 is rotatable and the tip of positioning pin 111 is wedge-shaped or cone-shaped, correction unit 115 can be rotated to the same angle as transport unit 101, as shown in Fig. 14. Next, hand 112 is extended as shown in Fig. 15, and container 106 is transferred to input unit 117, and hand 112 is returned as shown in Fig. 16. In this state, the angles of correction unit 115 and automatic analyzer 122 are different, and therefore container 106 cannot be transferred to automatic analyzer 122.

[0022] However, as shown in Fig. 17, when the positioning pin 111 is returned, the tension of the tension spring 116 causes the correction part 122 to rotate so as to return to its original position, and as shown in Fig. 18, the insertion part 117 becomes at the same angle as the automatic analyzer 122. This makes it possible to transfer the container 106 from the insertion part 117 to the insertion port 123 of the automatic analyzer 122, as shown in the seventh stage of Fig. 19.

[0023] FIG. 20 is a three-view diagram showing the shape of the positioning pin 111. (A), (B), and (C) of the same figure show side, front, and top views of the pin 111. FIG. 21 is a diagram showing the automatic analyzer and the transport unit. Each component of this system can be operated under the control of a control device 126 attached to the transport unit 101 and consisting of a central processing unit (CPU) and the like. [Example]

[0024] Example 2 relates to the overall configuration of an automatic analysis system. Fig. 22 is a diagram showing the overall configuration of the automatic analysis system. The automatic analysis system includes an automatic analyzer 122 having a container storage unit (e.g., a reagent disk) 220 that stores a plurality of containers 106 (e.g., reagent containers), an external storage 221 that is provided outside the automatic analyzer 122 and stores the plurality of containers 106, a transport unit 101 that transports the containers 106 between the external storage 221 and the automatic analyzer 122, a container storage unit transport mechanism (first transport mechanism) 222 that delivers the containers 106 between the automatic analyzer 122 and the transport unit 101 via an arm 222a, an external storage unit transport mechanism (second transport mechanism) 223 that delivers the containers 106 between the external storage 221 and the transport unit 101 via an arm 223a, and a display unit 224 that displays various information to a user.

[0025] The first transport mechanism 222 is fixed to the automated analyzer 122 and is configured to precisely insert the container 106 from the arm 222a into the inlet 123 (e.g., a reagent slot) of the automated analyzer 122. This is because even slight misalignment in the insertion of the container 106 into the inlet 123 will prevent the container 106 from being properly installed in the container storage unit 220, which will adversely affect the analysis. On the other hand, because the transport unit 101 and the first transport mechanism 222 are mechanisms for replacement work, there can be a relatively large margin of error in their positional relationship. That is, there is a certain degree of margin of error when the arm 222a receives the container 106 from the transport unit 101 or when the arm 222a places the container 106 on the transport unit 101. Thus, it is important to design the positional accuracy between the first transport mechanism 222 and the automated analyzer 122 to be higher than the positional accuracy between the first transport mechanism 222 and the transport unit 101.

[0026] Similarly, it is preferable that the second transport mechanism 223 is fixed to the external storage 221. However, it may be possible to newly design the external storage 221 to match the transport unit 101. Therefore, if such a design is possible, it is not necessary to make the positional accuracy between the second transport mechanism 223 and the external storage 221 higher than the positional accuracy between the second transport mechanism 223 and the transport unit 101.

[0027] In addition, in Example 1, the correction unit 115 is shown to also have the function of transferring the container 106 between the automatic analyzer 122, but in Example 2, the correction unit 115 and the mechanism for transferring the container are separate. That is, the transport unit 101, which has moved from the external storage 221, moves to the front of the automatic analyzer 122, corrects its position relative to the automatic analyzer 122 using the correction unit 115, and transfers the container 106 between the automatic analyzer 122 and the automatic analyzer 122 using the first transport mechanism 222. Similarly, the transport unit 101, which has moved from the automatic analyzer 122, moves to the front of the external storage 221, corrects its position relative to the external storage 221 using the correction unit 115, and transfers the container 106 between the external storage 221 and the second transport mechanism 223.

[0028] The transport unit 101 may be provided with an extended storage cabinet for storing containers 106 that cannot be stored in the container storage unit 220 alone. In other words, the first transport mechanism and the transport unit 101 can operate as if they were an extended storage cabinet. For example, a storage cabinet for keeping containers 106 cool is mounted on the top of the transport unit 101, and the automated analyzer 122 preferably manages management information 225 including the containers 106 on the transport unit 101, allowing the automated analyzer 122 to operate as if it were an extended storage cabinet with an increased maximum number of containers that can be stored. This allows the transport unit 101 to always store multiple containers 106 and, as needed, also replenish the containers 106 in the container storage unit 220 from the extended storage cabinet. The physical location of the containers 106, which are physically stored outside the container storage unit 220 but appear virtually to be stored inside the extended storage cabinet, is not limited to being on the transport unit 101. For example, they may be configured to be detachable from the automatic analyzer 122, or may be arranged in appropriate locations within the automatic analysis system.

[0029] Furthermore, the user may be presented with the image of all reagent containers stored in the same virtual space. That is, the physical location and virtual location of the container 106 are associated and stored, and the display unit 224 converts the physical location into the virtual location and displays it. However, the user must determine whether the container 106 is located inside the automated analyzer 122 and available for analysis, or whether it is located outside the automated analyzer 122 and unavailable for analysis. Therefore, the display unit 224 may include information indicating whether the target container 106 is located inside or outside the automated analyzer 122.

[0030] The automatic analyzer 122 transmits and receives management information 225 between the transport unit 101 and the external storage 221 (if the extended storage is located outside the transport unit 101, it also transmits and receives information with the extended storage). The management information 225 is information for managing the container storage unit 220, the transport unit 101, the external storage 221, and / or the liquids (e.g., reagents) stored in the extended storage. By transmitting and receiving the management information 225 between the automatic analyzer 122, the external storage 221, and the transport unit 101, the containers 106 required for analysis can be transported to the appropriate position at the appropriate time.

[0031] The management information 225 may be stored in a storage device provided in the automatic analyzer 122, a storage device provided in the transport unit 101, a storage device provided in another mechanism, etc. The control unit that controls the transmission and reception of the management information 225 may also be installed anywhere. [Explanation of symbols]

[0032] 101 Conveyor 102 Vertical drive mechanism 103 Vertical transmission sensor 104 Transmitted light from a vertical transmission sensor 105 Hand section 106 Container 107 Container storage department 108 Horizontal drive mechanism 109 Horizontal transmission sensor 110 Transmitted light from horizontal transmission sensor 111 Locating pin 112 Grasping Hand 113 Grasping hand drive mechanism 114 Positioning pin drive mechanism 115 Correction unit 116 Tension Spring 117 Input section 118 Positioning pin hole 119 Detection Plate 120 Roll axis rotating shaft 121 Yaw axis rotating shaft 122 Automatic analyzer 123 Inlet 124 Roll axis rotation center 125 Spring reaction force generated around the roll axis rotation shaft 126 Control Device 220 Container storage department 221 External storage 222 Container storage unit transport mechanism 223 External storage transport mechanism 224 Display section 225 Management information

Claims

1. an automatic analyzer for analyzing the sample; a conveying unit that conveys a container that contains a liquid; an input unit that receives the container from the transport unit and inputs the container into the automatic analyzer; and a correction unit that corrects the position between the transport unit and the input unit, The correction unit is an automatic analysis system comprising: a hole provided in the input unit for restricting rotational motion; one or more rotation axes; an expansion / contraction unit provided in the input unit for generating tension that keeps the rotation angle constant; and a member provided in the transport unit for restricting rotational motion.

2. The automatic analysis system according to claim 1 , wherein the position between the transport unit and the input unit is corrected by inserting the tip of the member into the hole.

3. The automatic analysis system according to claim 2 , wherein the container is transferred from the transport unit to the input unit by a rotational movement about the rotation axis.

4. 3. The automatic analysis system according to claim 2, wherein the tip of the member is a wedge-shaped or conical member.

5. The automated analysis system according to claim 2 , wherein the expandable portion comprises a tension spring.

6. A transport method for an automatic analysis system including an automatic analyzer that analyzes samples, a transport unit that transports a container that contains a liquid, an input unit that receives the container from the transport unit and inputs the container into the automatic analyzer, and a correction unit that corrects the position between the transport unit and the input unit, the correction unit includes a hole provided in the input unit for restricting rotational movement, one or more rotational axes, an expansion / contraction unit provided in the input unit for generating tension to keep the rotation angle constant, and a member provided in the transport unit for restricting rotational movement, A conveying method comprising: a step of correcting a position between the conveying unit and the input unit; and a step of transferring the container from the conveying unit to the input unit based on the position correction.

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