Transport device and sample analysis system

Abstract

To appropriately determine the cause of a reduction in conveyance speed of a body to be conveyed.SOLUTION: A conveying device comprises: a conveyance plate that is made to be able to convey a body to be conveyed along a conveyance surface; a magnetic circuit unit that is arranged on the opposite side of the conveyance surface of the conveyance plate and has coils wound around teeth; a position detection unit that detects the position of the body to be conveyed; a current detection unit that detects current of the coils; a data storage unit that stores data indicating the relationship among a position on the conveyance surface of the conveyance plate, the current flowing in the coils, and a force applied to the body to be conveyed; and an abnormality determination unit that determines an abnormality related to the conveyance of the body to be conveyed including a deterioration of or an abnormality in the conveyance surface, based on the position detected by the position detection unit, the current detected by the current detection unit, and the data.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a sample analysis system that analyzes biological samples such as blood and urine (hereinafter referred to as "samples"), or to a transport device used in a sample pretreatment device that performs pretreatment for analysis, and to a sample analysis system equipped with such a transport device. [Background technology]

[0002] Sample analysis systems and sample pretreatment devices are provided with a transport device for transporting samples. Patent Document 1 discloses such a transport device. The transport device in Patent Document 1 includes a plurality of container carriers. Each of the container carriers includes at least one magnetically active device (preferably at least one permanent magnet) and is configured to transport a sample container containing a biological sample. The transport device includes a transport plane adapted to transport the plurality of container carriers and several electromagnetic actuators arranged below the transport plane.

[0003] The electromagnetic actuator is adapted to move the container carrier disposed on the conveying plane by applying a magnetic force to the container carrier. The electromagnetic actuator can control the movement of the container carrier on the conveying plane by driving the container carrier under the control of the control device. The control device performs the movement control so that three or more container carriers can move on the conveying plane simultaneously and independently of each other.

[0004] For rapid specimen testing, there is a demand for a transport device that can transport a large number of container carriers at high speed, minimize stoppages of the container carriers, and quickly repair errors. Conventional specimen transport devices, as described in Patent Document 1, are equipped with a function for detecting abnormalities in specimen transport.

[0005] The device of Patent Document 1 detects a gradual decrease in the transport speed due to, for example, increased friction caused by contamination of the transport plane by comparing the scheduled position of the sample container with the detected actual position of the sample container. If a gradual decrease in the transport speed is detected, the control device either controls the electromagnetic actuator to increase the magnetic force generated, or displays an error message indicating that the transport speed is below a given threshold.

[0006] However, in conventional conveying devices, even if a decrease in conveying speed is detected, it is difficult to accurately determine the cause. Specifically, it is difficult to determine whether the decrease in conveying speed is due to deterioration or abnormality (dirt, scratches, etc.) occurring in the conveying plane, or whether the decrease in thrust acting on the sample container is due to some other change in circumstances. Therefore, there is a need for a conveying device that can determine the cause of the decrease in conveying speed. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Special Publication No. 2015-502525 Summary of the Invention [Problem to be solved by the invention]

[0008] The present invention provides a transport device and a sample analysis system that can accurately determine the cause of a decrease in the transport speed of an object to be transported. [Means for solving the problem]

[0009] The conveying device of the present invention comprises a conveying plate that enables a conveyed object to be conveyed along a conveying surface, a magnetic circuit unit arranged on the opposite side of the conveying surface of the conveying plate and having a winding wound around a tooth, a position detection unit that detects the position of the conveyed object, a current detection unit that detects the current in the winding, a data memory unit that stores data indicating the relationship between the position of the conveying plate on the conveying surface, the current flowing in the winding, and the force applied to the conveyed object, and an abnormality judgment unit that judges abnormalities related to the conveyance of the conveyed object, including deterioration or abnormalities of the conveying surface, based on the position detected by the position detection unit, the current detected by the current detection unit, and the data. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a transport device and a sample analysis system that can accurately determine the cause of a decrease in the transport speed of an object to be transported. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram illustrating a sample analysis system 100 according to a first embodiment. [Figure 2] 1 is a schematic diagram illustrating a sample pretreatment device 150 and a sample analysis system 200 according to a first embodiment. [Figure 3] 1 is a perspective view showing an example of the configuration of a transport device 102 included in a sample analyzing system 100, 200 and a sample pretreatment device 150 according to a first embodiment. FIG. [Figure 4] FIG. 2 is a cross-sectional view schematically showing the cross-sectional structure of a transport device 102. [Figure 5] 10 is a schematic diagram illustrating a force that a transferred object 10 receives from teeth in a transfer device 102. FIG. [Figure 6] 10 is a schematic diagram illustrating a force that a transferred object 10 receives from teeth in a transfer device 102. FIG. [Figure 7] 10 is a graph showing an example of a change in thrust 61 depending on the position on the conveying plate 15. [Figure 8]10 is a graph showing an example of a change in normal force 62 depending on the position on the conveying plate 15. [Figure 9] 4 is a flowchart illustrating the operation of the sample analysis system 100 according to the first embodiment. [Figure 10] 10 is a graph showing the change in normal force 62 due to the change in the magnitude of the vertical distance Dg (gap Dg) between the object 10 to be transported and the transport surface of the transport plate 15 used in the sample analysis system of the second embodiment. [Figure 11] FIG. 10 is a schematic diagram illustrating a sample analysis system 100 according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, the present embodiment will be described with reference to the accompanying drawings. In the accompanying drawings, functionally identical elements may be designated by the same numerals. Note that the accompanying drawings show embodiments and implementation examples according to the principles of the present disclosure, but these are for understanding the present disclosure and are not to be used to interpret the present disclosure in a limiting manner. The descriptions in this specification are merely typical examples and are not intended to limit the scope or application of the present disclosure in any way.

[0013] Although the present embodiment has been described in sufficient detail to enable those skilled in the art to implement the present disclosure, it should be understood that other implementations and forms are possible, and that changes in configuration and structure and substitutions of various elements are possible without departing from the scope and spirit of the technical ideas of the present disclosure. Therefore, the following description should not be interpreted as being limited thereto.

[0014] [First embodiment] A sample analysis system 100 according to a first embodiment will be described with reference to Figures 1 and 2. The overall configuration of the sample analysis system 100 will be described with reference to Figure 1, and then the sample pretreatment device 150 will be described with reference to Figure 2.

[0015] As shown in Figure 1, the sample analysis system 100 is an apparatus that dispenses samples and reagents into reaction containers, causes them to react, and measures the reacted liquid, and is equipped with an input section 101, a transport device 102 (transport line), a storage section 103, a buffer 104, an analysis section 105, an emergency rack input port 113, a display section 118, an arithmetic control section 120, a database 130, and a driver 140.

[0016] The loading section 101 is a device for installing a sample rack 111, which contains a plurality of sample containers 122 containing biological samples such as blood or urine. The transport device 102 is a line for transporting the sample rack 111 installed in the loading section 101, and is configured to be able to transport sample racks 111 having permanent magnets or magnetic bodies by controlling a magnetic circuit. The configuration will be described in detail later. The emergency rack insertion port 113 is an insertion port provided in the transport device 102 for inserting sample racks 111 containing sample racks (carrier racks) containing standard solutions or sample containers 122 containing samples that require urgent analysis into the analysis section 105. The storage section 103 is a device for storing sample racks 111 containing sample containers 122 that hold samples that have been analyzed in the analysis section 105. The number of sample containers 122 that one sample rack 111 can hold is not limited to a specific number.

[0017] The buffer 104 is a device for holding a plurality of sample racks 111 transported by the transport device 102 so that the order in which samples are dispensed in the sample racks 111 can be changed. The analysis unit 105 analyzes samples contained in sample containers 122 transported from the buffer 104 via a conveyor line 106. Specifically, the analysis unit 105 is composed of, for example, the conveyor line 106, a sample dispensing nozzle 107, a reaction disk 108, 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, a spectrophotometer 121, etc.

[0018] The conveyor line 106 is a transport path for carrying the sample rack 111 in the buffer 104 into the analysis unit 105. The sample dispensing nozzle 107 is configured to be rotatable about a rotation axis and also movable in the vertical direction, and is configured to dispense the sample from the sample container 122 transported by the conveyor line 106 into a reaction container on the reaction disk 108. The reaction disk 108 is provided with a plurality of reaction containers for dispensing the sample and reagent to cause a reaction.

[0019] The reagent disk 110 is a rotatable, disk-shaped container holder for mounting a plurality of reagent containers. The reagent dispensing nozzle 109 is a nozzle for dispensing reagent from a reagent container in the reagent disk 110 to a reaction container on the reaction disk 108. The cleaning mechanism 112 cleans the reaction containers on the reaction disk 108. The spectrophotometer 121 measures the absorbance of the reaction solution in the reaction container by measuring transmitted light obtained from a light source (not shown) through the reaction solution in the reaction container.

[0020] The reagent tray 114 is a tray on which a reagent is placed when registering the reagent in the sample analysis system 100. The reagent ID reader 115 is a reading device for reading the reagent ID attached to the reagent placed in the reagent tray 114 and acquiring reagent information. The reagent loader 116 is a device for loading the reagent onto the reagent disk 110. The display unit 118 is a display device for displaying the analysis results of the concentration of a predetermined component in a liquid sample such as blood or urine. The arithmetic and control unit 120 is composed of a computer or the like, and controls the operation of each mechanism in the sample analysis system 100 via a driver 140 or the like, and performs arithmetic and control processing to determine the concentration of a predetermined component in a sample such as blood or urine. Furthermore, the arithmetic and control unit 120 detects, based on various data, an abnormality occurring on the transport surface of the transport device 102, a decrease in the transport speed of the sample rack 111 transported by the transport device 102, etc. The database 130 is a database for storing data used for such detection.

[0021] Sample analysis processing by the sample analysis system 100 is generally performed in the following order: First, a sample rack 111 is placed in the loading section 101 or the emergency rack inlet 113, and is then transported by the transport device 102 into the randomly accessible buffer 104. From the sample racks 111 stored in the buffer 104, the sample analysis system 100 transports the sample rack 111 with the highest priority according to priority rules to the analysis section 105 via the conveyor line 106.

[0022] The sample rack 111 that has reached the analysis section 105 is further transported by the conveyor line 106 to a sample collection position near the reaction disk 108. The sample in the sample container 122 stored in the sample rack 111 is aspirated by the sample dispensing nozzle 107 and dispensed into a reaction container on the reaction disk 108. The sample is aspirated and dispensed (aliquoted) by the sample dispensing nozzle 107 a required number of times depending on the analysis items requested for the sample.

[0023] When the fractionation process for all the sample containers 122 in the sample rack 111 is completed, the sample rack 111 is transported again to the buffer 104. After all sample fractionation processes, including automatic retesting, have been completed, the sample rack 111 is transported to the storage unit 103 by the conveyor line 106 and the transport device 102.

[0024] The reagents used for analysis are dispensed by the reagent dispensing nozzle 109 from reagent containers on the reagent disk 110 into the reaction containers from which the specimen was previously dispensed. When the specimen and reagent are injected into the reaction container, a mixture of the specimen and reagent in the reaction container is stirred by a stirring mechanism (not shown). Then, the stirred mixture is irradiated with measurement light from a spectrophotometer 121. The light transmitted through the mixture is received by a photoreceiver of the spectrophotometer 121, and measurement of the mixture is performed according to the output signal. The output signal of the photoreceiver is sent to the calculation and control unit 120 via an A / D converter and an interface (not shown). The calculation and control unit 120 then performs calculations to determine the concentration of a predetermined component of the specimen, and the result is displayed on a display unit 118 or the like or stored in a memory unit (not shown).

[0025] The configuration of the sample analysis system 100 in Figure 1 is an example, and the components in Figure 1 can be changed to other components as appropriate, some components can be deleted, or other components can be added. The analysis unit 105 is not limited to a biochemical analysis unit, but may be an immunoanalysis unit. The analysis unit 105 does not have to be a single unit, and two or more units can be provided. In this case, the analysis unit 105 and the loading unit 101 are connected by a transport device 102, and the sample rack 111 can be transported from the loading unit 101.

[0026] Next, the overall configuration of the specimen pretreatment device 150 will be described with reference to Fig. 2. Fig. 2 is a diagram showing the overall configuration of the specimen pretreatment device 150.

[0027] The specimen pretreatment device 150 is a device that performs various pretreatments required for analysis in the specimen analysis system 100. As an example, the specimen pretreatment device 150 includes, from left to right in FIG. 2 , multiple units as basic elements: a capping unit 152, a specimen storage unit 153, an empty holder stacker 154, a specimen introduction unit 155, a centrifugation unit 156, a liquid volume measurement unit 157, an uncapping unit 158, a secondary specimen container preparation unit 159, a dispensing unit 160, and a transfer unit 161. An operation unit PC 163 is also provided as a control unit that controls the operation of these multiple units. The specimens processed in the specimen pretreatment device 150 are transported to the specimen analysis system 100.

[0028] The specimen introduction unit 155 is a unit for introducing specimen containers 122 containing specimens into the specimen pretreatment device 150. The centrifugation unit 156 is a unit for subjecting the introduced specimen containers 122 to centrifugation processing. The liquid volume measurement unit 157 is a unit for measuring the liquid volume of the specimen contained in the specimen containers 122. The cap removal unit 158 ​​is a unit for removing the cap from the introduced specimen containers 122. The secondary specimen container preparation unit 159 is a unit for making the necessary preparations for the specimen contained in the introduced specimen containers 122 to be dispensed in the subsequent dispensing unit 160.

[0029] The dispensing unit 160 divides the centrifuged sample into smaller portions for analysis in the sample analysis system 100, and affixes barcodes or the like to the divided sample containers 122 and child sample containers. The transfer unit 161 sorts the dispensed child sample containers and prepares them for transport to the sample analysis system. The capping unit 152 caps the sample containers 122 and child sample containers. The sample storage unit 153 stores the capped sample containers 122.

[0030] A transport device 102 is provided as a mechanism for transporting sample racks 111 holding sample containers 122 between these units and between the sample pretreatment device 150 and the sample analysis system 100. The sample pretreatment device 150 does not need to have all of the above-mentioned components, and further units can be added, or some units or components can be deleted.

[0031] The sample analysis system of this embodiment may be a sample analysis system 200 composed of a sample pretreatment device 150 and a sample analysis system 100 as shown in Figure 2. The sample pretreatment device 150 alone is also part of the sample analysis system, and therefore the sample pretreatment device 150 alone also constitutes a sample analysis system, and the transport device 102 can be included inside the sample pretreatment device. In the sample analysis system 200, the transport device 102 can transport sample containers 122 not only inside the sample pretreatment device 150 and the sample analysis system 100, but also between them.

[0032] The sample analysis systems 100, 200 and sample pretreatment device 150 of this embodiment are equipped with the above-mentioned transport device 102, and thus can transport the sample containers 122 to their destinations with high efficiency, shortening the time until analysis results are obtained. In addition, there are fewer transport problems, which reduces the burden on laboratory technicians.

[0033] 3 shows an example of the configuration of the transport device 102 included in the sample analysis systems 100, 200 and sample pretreatment device 150 according to the first embodiment. The transport device 102 is mainly composed of a transport plate 15, a winding 30, and a yoke 40.

[0034] The conveying plate 15 is a flat plate whose upper surface is a smooth, planar conveying surface, and the object to be conveyed 10 (e.g., specimen container 122) containing a magnetic material or a permanent magnet can slide on the upper surface (conveying surface). The windings 30 are wound around teeth (not shown) made of a magnetic material. The teeth are magnetically coupled to a yoke 40 made of a magnetic material below the conveying plate 15 of the conveying device 102 (in the -Z direction). The windings 30 and teeth form a magnetic circuit that generates a magnetic flux for conveying the object to be conveyed 10.

[0035] The windings 30, together with the teeth, are arranged in the X and Y directions on the underside of the conveying plate 15. The windings 30 and teeth do not need to be arranged parallel to the X and Y directions. The windings 30 and teeth are arranged along the conveying direction of the conveyed object 10, and magnetic coupling with the yoke 40 arranged below allows the conveyed object 10 to slide along the upper surface of the conveying plate 15. When current is passed through the windings 30, magnetic flux generated in the teeth interacts with magnetic flux generated by the permanent magnets or magnetic material of the conveyed object 10, generating a thrust force for the conveyed object 10. The permanent magnets of the conveyed object 10 may be covered with a magnetic or non-magnetic cover, as long as a relative force can be generated between the teeth and the conveyed object 10. A drive circuit (not shown) for passing current through the windings 30 is connected to each winding 30.

[0036] Furthermore, by covering the transported object 10 with a slippery resin or the like, it is possible to reduce the frictional force between the transported object 10 and the transport plate 15. Furthermore, by reducing the area of ​​the side of the transported object 10 that comes into contact with the transport plate 15, for example by providing a recess, the frictional force can be reduced, thereby realizing stable transport and increasing the sensitivity of detecting abnormalities on the transport surface.

[0037] The conveying device 102 shown in Fig. 3 includes a position detection unit 51 and a current detection unit 52. The position detection unit 51 is a detection device that detects the position of the conveyed object 10 on the conveying plate 15. The position detection unit 51 may be configured, for example, with a Hall element that detects the movement of the conveyed object 10 based on changes in magnetism, a search coil, a length measuring device, a laser displacement meter, a camera, or the like. The position detection unit 51 is not limited to a specific type as long as it can detect the relative positional relationship between the conveyed object 10 and each winding 30 (teeth).

[0038] Current detection unit 52 is a device that detects the current flowing through winding 30 and the timing of that current flow. Current detection unit 52 may be, for example, a shunt resistor type, a CT type, or a PT type, and is not limited to a specific type.

[0039] 4 is a schematic diagram of the cross-sectional structure of the conveying device 102 shown in FIG. 3 in the XZ plane, and also illustrates the relationship between magnetic fluxes when the conveyed object 10 is conveyed in the X direction. The diagram shows magnetic flux 11 generated by the permanent magnet or magnetic material of the conveyed object 10, and magnetic flux 21 generated by the winding 30 wound around the tooth at the end of the direction of travel (X direction). The conveyed object 10 is conveyed in the X direction by the interaction of these magnetic fluxes 11 and 21. At this time, the conveyed object 10 moves due to the thrust (force in the X direction) acting on the conveyed object 10.

[0040] Here, the force that object 10 receives from the teeth in a certain section will be described with reference to Fig. 5. Fig. 5 is a schematic diagram showing object 10 being transported in the X direction in the schematic diagram of Fig. 4, and describes the force that object 10 receives while it moves from position A to position A'. When object 10 is at position A, a current is passed through winding 30 directly below position A' in the direction of travel of object 10, generating magnetic flux 21 in the tooth around which winding 30 is wound. This magnetic flux 21 in the tooth and magnetic flux 11 in object 10 interact with each other, causing object 10 to move in the direction of the tooth generating magnetic flux 21 (X direction).

[0041] As shown in FIG. 6, the force generated by the transported object 10 at this time can be divided into a thrust force 61 that moves the transported object 10 in the X direction along the surface (transport surface) of the transport plate 15, and a normal force 62 in the -Z direction. The normal force 62 is generally equal to or greater than the thrust force 61 and can be very large. The combined force of this normal force 62 and the gravity due to the weight (mass) of the transported object 10 acts on the transported object 10 in the vertical direction. As a result, when the transported object 10 attempts to move in the X direction, a force proportional to this resultant vertical force is generated as a friction force 63. The friction force 63 has a value obtained by multiplying the coefficient of friction μ between the transported object 10 and the surface of the transport plate 15 by the resultant force. In other words, the effective force that moves the transported object 10 in the X direction is the thrust force 61 minus the friction force 63.

[0042] The thrust force 61 and normal force 62 acting on the transported object 10 can be calculated by simulation using magnetic field analysis. An example of how the thrust force 61 changes with position between positions A and A' is shown in the graph of Fig. 7, and an example of how the normal force 62 changes with position is shown in the graph of Fig. 8. Here, as an example, the horizontal axis represents the section A-A', and the distance between positions A and A' is set to 20 mm. The vertical axis of Fig. 7 indicates the magnitude of the thrust force 61, and the vertical axis of Fig. 8 indicates the magnitude of the normal force 62.

[0043] 7 shows the change in thrust force 61 when a rated current (100%) is passed through winding 30 as curve 301, and the change in thrust force 61 when 80% of the rated current is passed through winding 30 as curve 302. In addition, the change in thrust force 61 when 60% of the rated current is passed through winding 30 as curve 303, the change in thrust force 61 when 40% of the rated current is passed through winding 30 as curve 304, the change in thrust force 61 when 20% of the rated current is passed through winding 30 as curve 305, the change in thrust force 61 when 5% of the rated current is passed through winding 30 as curve 306, and the change in thrust force 61 when no current (0%) is passed through winding 30 as curve 307.

[0044] Furthermore, curve 308 shows the change in thrust 61 when a current having a magnitude of 20% (-20%) of the rated current flows in the opposite direction to the rated current, curve 309 shows the change in thrust 61 when a current having a magnitude of 40% (-40%) of the rated current flows in the opposite direction to the rated current, and curve 310 shows the change in thrust 61 when a current having a magnitude of 60% (-60%) of the rated current flows in the opposite direction to the rated current. In this way, thrust 61 changes as the current flowing through winding 30 changes. Furthermore, even when the same magnitude of current flows, thrust 61 changes depending on the position on conveying plate 15.

[0045] 8 is a graph showing the change in normal force 62 depending on the position (section A-A') on the carrier plate 15. Curve 410 shows the change in normal force 62 when the rated current (100%) is passed through the winding 30. Similarly, curve 409 shows the change in normal force 62 when 80% of the rated current is passed through the winding 30, curve 408 shows the change in normal force 62 when 60% of the rated current is passed through the winding 30, curve 407 shows the change in normal force 62 when 40% of the rated current is passed through the winding 30, curve 406 shows the change in normal force 62 when 20% of the rated current is passed through the winding 30, curve 405 shows the change in normal force 62 when 5% of the rated current is passed through the winding 30, and curve 404 shows the change in normal force 62 when no current (0%) is passed through the winding 30.

[0046] 8, the magnitude of normal force 62 varies depending on the position on conveying plate 15, and also varies depending on the current flowing through winding 30, even at the same position.

[0047] Data relating to changes in the thrust force 61 and the normal force 62 due to position and current, as shown in Figures 7 and 8, is stored in the database 130. The various data may be stored in the database 130 in the form of graphs as shown in Figures 7 and 8, or in table format. The calculation control unit 120 is an abnormality determination unit that determines whether or not an abnormality has occurred in the transport device 102, based on the various data stored in the database 130 and the detection results of the position detection unit 51 and the current detection unit 52. Here, abnormalities in the transport device 102 include, for example, the following: (1) A decrease in the transport speed of the sample rack 111, etc. (2) Abnormality in the conveying surface of the conveying plate 15 of the conveying device 102 (change in the coefficient of friction) The coefficient of friction of the conveying surface of the conveying plate 15 of the conveying device 102 may increase due to scratches or foreign matter, and conversely, the coefficient of friction may decrease due to the inclusion of oil or moisture. The calculation control unit 120 of this embodiment detects changes in the coefficient of friction of the conveying surface according to the detection results of the position detection unit 51 and the current detection unit 52 and the data in the database 130, and thereby can determine whether or not an abnormality has occurred on the conveying surface.

[0048] 9, the procedure for determining an abnormality when the transported object 10 is moved between sections A-A' will be described. First, while the transported object 10 is being moved between sections A'-A, the calculation control unit 120 detects the position of the transported object 10 according to the output of the position detection unit 51 (step S11), and detects the magnitude of the current flowing through the corresponding winding 30 at predetermined time intervals according to the output of the current detection unit 52 (step S12). At this time, to perform the abnormality determination with higher accuracy, it is preferable to move the transported object 10 with a known mass between sections A-A'. It is even more preferable to use the transported object 10 with a known mass and also with a known shape of the lower surface (sliding surface) when determining an abnormality.

[0049] Next, the calculation control unit 120 determines changes in the thrust force 61 and normal force 62 applied to the transported object 10 based on data regarding changes in current detected by the current detection unit 52 during movement of the transported object 10 between section A-A' and data stored in the database 130 (step S13). Then, based on the calculation results of the changes in the thrust force 61 and normal force 62, it calculates the normal force 62 and the friction force expected under the weight of the transported object 10, as well as the average speed of the transported object 10. Then, it compares the calculated average speed with the actual average speed of the transported object 10 calculated from the detection output of the position detection unit 51 (step S14). From the calculated friction force, the coefficient of friction between the transported object 10 and the transport surface can also be estimated with high accuracy (step S15). From this friction coefficient, it is possible to detect deterioration of the transport surface or the sliding surface of the transported object 10 (step S16). In step S14, in addition to (or instead of) comparing the expected average speed with the average speed actually measured by the position detection unit 51, it is also possible to compare the expected position of the transported body 10 with the position of the transported body 10 actually measured by the position detection unit 51.

[0050] As can be seen from FIGS. 7 and 8, the thrust force 61 and the normal force 62 vary significantly depending on the amount of current flowing through each winding 30. For example, the thrust force 61 varies greatly in response to a change in current in the center (10 mm) of the section A-A', whereas the change in thrust force 61 varies less in response to a change in current near positions A and A' (see FIG. 7). Furthermore, the normal force 62 varies less in response to a change in current to the left of the center (10 mm) of the section A-A', whereas the change in normal force 62 varies more significantly to the right. Therefore, in step S14 of FIG. 9, instead of comparing the average speed or position of the transported object 10 throughout the entire section A-A', the average speed or position of the transported object 10 at the center of the section A-A' may be compared. Comparing the average speed or position at the center enables more accurate detection of deterioration of the transport surface.

[0051] As described above, according to the first embodiment, it is possible to detect a change in the friction coefficient of the conveying surface of the conveying plate 15, and thereby accurately determine whether or not an abnormality has occurred on the conveying surface.

[0052] [Second embodiment] Next, a sample analysis system 100 or 200 according to a second embodiment will be described with reference to Figure 10. The sample analysis system 100 or 200 according to the second embodiment includes a transport device 102 similar to that of the first embodiment. However, the second embodiment differs from the first embodiment in that, in addition to the data shown in Figures 7 and 8, the database 130 also stores the data shown in Figure 10, and the system is configured to perform abnormality determination for the transport device 102 according to the data shown in Figure 10.

[0053] The graph in FIG. 10 shows how the normal force 62 changes with changes in the vertical distance Dg (gap Dg) between the object 10 and the conveying surface of the conveying plate 15. In the graph in FIG. 10, the horizontal axis represents the position within the section AA, and the vertical axis represents the normal force acting on the object 10. Curves 501 to 506 are curves calculated by magnetic field analysis simulation and show how the normal force 62 changes with position when the gap Dg is set to different values ​​(all of the curves 501 to 506 assume that the current in the winding 30 is zero). Curve 501 shows how the normal force 62 changes when the gap Dg is at the normal value (100%). Curve 502 shows how the normal force 62 changes when the gap Dg is reduced to 97.3% of the normal value. Curve 503 shows how the normal force 62 changes when the gap Dg is reduced to 93.3% of the normal value. Curve 504 shows the change in normal force 62 when gap Dg is reduced to 80% of its normal value. Curve 505 shows the change in normal force 62 when gap Dg is reduced to 77.3% of its normal value. Curve 506 shows the change in normal force 62 when gap Dg is reduced to 73.3% of its normal value.

[0054] As shown by curves 501 to 506 in FIG. 10 , when the gap Dg between the object 10 and the conveying surface of the conveying plate 15 changes, the normal force 62 generated between the object 10 and the conveying plate 15 also changes. Therefore, in the second embodiment, the current flowing through the winding 30 is set to zero, and the object 10 is moved. The behavior of the object 10 at this time is compared with the curves 501 to 506 in FIG. 10 , and the calculation control unit 120 estimates the magnitude of the gap Dg generated on the conveying surface of the conveying plate 15. Then, the normal force 62 at each position is estimated taking into account the estimated gap Dg, and the friction coefficient of the conveying surface is estimated in the same manner as in the first embodiment. In the second embodiment, the normal force 62 is estimated according to the magnitude of the gap Dd in accordance with the graph in FIG. 10 , allowing the friction coefficient of the conveying surface to be estimated with higher accuracy than in the first embodiment.

[0055] 10, when the current flowing through the winding 30 is zero, the absolute value of the normal force 62 decreases near the center of the section A-A' and increases near positions A and A'. Therefore, the influence of the normal force can be taken into account by acquiring position information of the transported object 10 near the center of the section A-A', and then acquiring position information at positions A and A', and performing linear interpolation at other positions. As a result, the accuracy of detecting the state of the transport surface can be improved compared to the first embodiment.

[0056] [Third embodiment] A sample analysis system 100 and a sample pretreatment device 150 according to the third embodiment will be described with reference to Figure 11. The overall configuration of the sample analysis system 100 is the same as that of the first embodiment (Figures 1 and 2), so a duplicated description will be omitted.

[0057] The configuration of a conveying device 102 according to the third embodiment will be described with reference to Fig. 11. The same components as those in Fig. 3 are assigned the same reference numerals in Fig. 10, and therefore redundant description will be omitted. In addition to the components of the first embodiment, the conveying device 102 according to the third embodiment includes a mass detection unit 53 that detects the mass of the object 10 to be conveyed.

[0058] The mass of the transported object 10 may vary significantly depending on the type of sample. Even for the same type of sample, there may be significant variations in the contents of the sample containers, or in the number of sample containers mounted on a single sample rack 111. Even if the mass of a sample container is known, the mass may change due to sample dispensing during transport. In such cases, the mass of the transported object 10 varies, resulting in variations in the transport speed of the transported object 10. For this reason, in the third embodiment, the mass detection unit 53 detects the mass of the transported object 10, and the presence or absence of an abnormality in the transport device 102 is determined taking into account information regarding this mass. The mass detection unit 53 detects the mass of the transported object 10 using a weight sensor or the like. However, instead of detecting the mass, information regarding the mass of the transported object 10 obtained externally may be acquired. In other words, the mass detection unit 53 is one aspect of a mass information acquisition unit that acquires mass information.

[0059] According to the third embodiment, by acquiring information about the mass of the transported object 10 using the mass detection unit 53, it is possible to more accurately analyze information about the transport surface of the transport device 102. By acquiring information about the state of the bottom surface of the transported object 10 in addition to information about the mass of the transported object 10, it is possible to more accurately detect the state of the transport surface.

[0060] <Other> The present invention is not limited to the above-described embodiments and includes various other modifications. 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 those 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, or to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace part of the configuration of each embodiment with other configurations. [Explanation of symbols]

[0061] 10...Transported object 11...Magnetic flux of a permanent magnet 15...Transport plate 21...Magnetic flux of teeth due to winding 30...winding 40…York 51...Position detection unit 52...Current detection section 53...Mass detection unit 61...Thrust 62…Vertical force 63...Frictional force 100, 200...Sample analysis system 101...Loading area 102...Transportation device 103...Storage section 104...Buffer 105…Analysis Department 106...Conveyor line 107...Sample dispensing nozzle 108...Reaction disk 109...Reagent dispensing nozzle 110...Reagent disk 111...Sample rack (transported object) 112...Cleaning mechanism 113...Emergency rack entry 114...Reagent tray 115...Leader 116...Reagent loader 118...Display section 120...Calculation control unit 121...Spectrophotometer 122...Sample container, sub-sample container 150...Sample pretreatment device 152... Closing unit 153...Specimen storage unit 154...Empty holder stacker 155...Sample input unit 156...Centrifugal separation unit 157...Liquid volume measuring unit 158...Opening unit 159...Subsample container preparation unit 160...Dispensing unit 161...Transfer unit 163...Operation unit PC

Claims

1. A conveying plate that can convey an object having a magnet or a magnetic body inside along a conveying surface; a magnetic circuit portion disposed on the opposite side of the conveying surface of the conveying plate and having a winding wound around the teeth; a position detection unit that detects the position of the object to be transported; a current detection unit that detects a current in the winding; a gap estimation unit that estimates a gap, which is a distance in a vertical direction between the magnet or magnetic body and the conveying surface; a data storage unit that stores data indicating a relationship between a position of the conveying plate on the conveying surface, a current flowing through the winding, a force applied to the conveyed object, and a size of the gap; an abnormality determination unit that determines an abnormality related to the conveyance of the conveyed object, including deterioration or abnormality of the conveyance surface, based on the gap estimated by the gap estimation unit, the position detected by the position detection unit, the current detected by the current detection unit, and the data; A conveying device comprising:

2. 2. The conveying device according to claim 1, wherein the abnormality determination unit determines the thrust force that moves the conveyed object along the conveying surface and the normal force acting on the conveyed object in a direction perpendicular to the conveying surface according to the position detected by the position detection unit and the current detected by the current detection unit, and further determines the abnormality by calculating the friction coefficient of the conveying surface based on the normal force.

3. a mass information acquisition unit that acquires information about the mass of the object to be transported; 2. The conveying device according to claim 1, wherein the abnormality determination unit determines an abnormality related to the conveyance of the conveyed object, including deterioration or abnormality of the conveying surface, based on the position detected by the position detection unit, the current detected by the current detection unit, the data, and information related to the mass.

4. The conveying device according to claim 1 , wherein the abnormality determination unit determines whether or not the object has an abnormality by moving the object, whose mass is known, on the conveying surface.

5. An analysis unit that receives a sample from a transported body having a magnet or a magnetic body therein and analyzes the sample; a transport device that transports the object to the analysis unit; A sample analysis system comprising: The conveying device is a conveying plate that allows the object to be conveyed along a conveying surface; a magnetic circuit portion disposed on the opposite side of the conveying surface of the conveying plate and having a winding wound around the teeth; a position detection unit that detects the position of the object to be transported; a current detection unit that detects a current in the winding; a gap estimation unit that estimates a gap, which is a distance in a vertical direction between the magnet or magnetic body and the conveying surface; a data storage unit that stores data indicating a relationship between a position of the conveying plate on the conveying surface, a current flowing through the winding, a force applied to the conveyed object, and a size of the gap; an abnormality determination unit that determines an abnormality related to the conveyance of the conveyed object, including deterioration or abnormality of the conveyance surface, based on the gap estimated by the gap estimation unit, the position detected by the position detection unit, the current detected by the current detection unit, and the data; A sample analysis system comprising:

6. The sample analysis system of claim 5, wherein the abnormality determination unit determines the thrust force that moves the transported object along the transport surface and the normal force acting on the transported object in a direction perpendicular to the transport surface according to the position detected by the position detection unit and the current detected by the current detection unit, and further determines the abnormality by calculating the friction coefficient of the transport surface based on the normal force.

7. a mass information acquisition unit that acquires information about the mass of the object to be transported; The sample analysis system of claim 5, wherein the abnormality determination unit determines abnormalities related to the transportation of the transported object, including deterioration or abnormalities of the transport surface, based on the position detected by the position detection unit, the current detected by the current detection unit, the data, and information related to the mass.

8. The sample analysis system according to claim 5 , wherein the abnormality determination unit determines whether or not there is an abnormality by moving the object to be transported, the object having a known mass, on the transport surface.

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