Dispensing probe device and automated analyzer

Abstract

To provide a dispensing probe device and an automatic analyzer capable of suppressing reduction in the number of dispenses processed within a fixed period of time.SOLUTION: A first drive mechanism of a dispensing probe device moves a first support arm 114 in the vertical direction and rotates it in the horizontal direction. A second drive mechanism moves a second support arm 124 in the vertical direction and rotates it in the horizontal direction. A distance in the horizontal direction from the rotation center of the first support arm 114 to a second reagent probe 24A is longer than a distance in the horizontal direction from the rotation center of the second support arm 124 to a second reagent probe 24B. A sector having an arc trajectory drawn by one end of the second support arm 124, which is far from the rotation center, is enclosed within a sector having an arc trajectory of the second reagent probe 24A.SELECTED DRAWING: Figure 3

Description

Technical Field

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[0001] The present invention relates to a dispensing probe device and an automatic analyzer.

Background Art

[0002] An automatic analyzer is used for tests in various fields such as biochemical tests and blood transfusion tests, and simultaneously performs analysis processing on a large number of specimens. Further, the automatic analyzer has a dispensing probe device that sucks and discharges, that is, dispenses, liquids such as specimens and reagents.

[0003] An automatic analyzer equipped with a dispensing probe device is described in, for example, Patent Document 1. The automatic analyzer described in Patent Document 1 includes two reagent dispensing arms 5 and 6. The two reagent dispensing arms 5 and 6 rotate on the same plane around a rotation axis extending in the vertical direction.

[0004] The reagent tray 10 rotates a plurality of reagent bits 3 along the outer track 1 and the inner track 2. Further, the reaction disk 20 rotates a plurality of reaction vessels along the outer circumference 21 and the inner circumference 22. The two reagent dispensing arms 5 and 6 suck the reagent from the plurality of reagent bits 3 of the reagent tray 10 and dispense the reagent into the plurality of reaction vessels of the reaction disk 20.

[0005] When the two reagent dispensing arms 5 and 6 approach the reagent tray 10, the reagent dispensing arm 5 located on the reagent tray 10 side rotates first, and then the reagent dispensing arm 6 rotates. Then, each of the reagent dispensing arms 5 and 6 sucks the reagent from the reagent bits 3 of the outer track 1 and the inner track 2 at the suction position.

[0006] When the two reagent dispensing arms 5 and 6 approach the reaction disk 20, the reagent dispensing arm 6 located on the reaction disk 20 side rotates first, and then the reagent dispensing arm 5 rotates. Then, each of the reagent dispensing arms 5 and 6 dispenses the reagent into the reaction vessels of the outer circumference 21 and the inner circumference 22 at the dispensing position.

Prior Art Documents

Patent Documents

[0007] [Patent Document 1] Chinese Patent Application Publication No. 103376331 Specification [Overview of the Initiative] [Problems that the invention aims to solve]

[0008] However, in the automated analyzer described in Patent Document 1, since the two reagent dispensing arms 5 and 6 rotate on the same plane, the reagent dispensing arm that is in the later rotational movement cannot overtake the reagent dispensing arm that is in the earlier rotational movement.

[0009] The reagent dispensing arm may perform a washing operation in the washing tank for more than one cycle. For example, if the washing operation of reagent dispensing arm 5 is not complete, reagent dispensing arm 6 must wait for the washing operation of reagent dispensing arm 5 to be completed, even if it is capable of dispensing. Therefore, the automated analyzer described in Patent Document 1 had the problem of a decrease in the number of dispensing operations that could be processed within a certain period of time.

[0010] The object of the present invention is to provide a dispensing probe device and an automated analyzer that can suppress a decrease in the number of dispenses processed within a certain period of time, taking into consideration the above-mentioned problems. [Means for solving the problem]

[0011] To solve the above problems and achieve the objectives of the present invention, a dispensing probe device reflecting one aspect of the present invention comprises a first dispensing probe and a second dispensing probe extending in the vertical direction, a first support arm, a first drive mechanism, a second support arm, and a second drive mechanism. The first support arm supports the upper end of the first dispensing probe. The first drive mechanism moves the first support arm vertically and rotates it horizontally. The second support arm supports the upper end of the second dispensing probe. The second drive mechanism moves the second support arm vertically and rotates it horizontally. The horizontal distance from the rotation center of the first support arm to the first dispensing probe is longer than the horizontal distance from the rotation center of the second support arm to the second dispensing probe. The sector formed by the arc of the trajectory traced by the end of the second support arm furthest from the rotation center is contained within the sector formed by the arc of the trajectory of the first dispensing probe. The rotation centers of the first support arm and the second support arm are not located on the same axis. The distance between the rotation centers of the first and second support arms is set such that, at both ends of the rotation ranges of the first and second support arms, they do not overlap when viewed from above or below. The above-described dispensing probe device is one embodiment of the present invention, and an automated analyzer reflecting one aspect of the present invention is configured in the same manner as the above-described dispensing probe device. [Effects of the Invention]

[0012] According to the automated analyzer of the present invention, it is possible to suppress a decrease in the number of dispenses processed within a certain period of time. Other issues, configurations, and effects not mentioned above will be clarified by the following description of the embodiments. [Brief explanation of the drawing]

[0013] [Figure 1] This is a schematic diagram showing an automated analyzer according to the first embodiment of the present invention. [Figure 2] This is a perspective view of a dispensing probe device according to the first embodiment of the present invention. [Figure 3] This figure shows examples of the trajectories of two reagent probes according to the first embodiment of the present invention. [Figure 4] This diagram illustrates the arrangement of two reagent probes according to the first embodiment of the present invention. [Figure 5]It is a diagram showing the airspace during the rotational movement of the reagent probe and the support arm according to the first embodiment of the present invention. [Figure 6] It is a diagram showing the vertical strokes of two drive shafts according to the first embodiment of the present invention. [Figure 7] It is a diagram for explaining the origin position detection mechanism of the dispensing probe device according to the first embodiment of the present invention. [Figure 8] It is a diagram showing the sensor detection part for the rotational origin of the dispensing probe device according to the first embodiment of the present invention. [Figure 9] It is a block diagram showing a configuration example of the control system of the dispensing probe device according to the first embodiment of the present invention. [Figure 10] It is a flowchart showing a first example of the origin return process of the dispensing probe device according to the first embodiment of the present invention. [Figure 11] It is a perspective view showing a state where two support arms of the dispensing probe device according to the first embodiment intersect. [Figure 12] It is a flowchart showing a second example of the origin return process of the dispensing probe device according to the first embodiment of the present invention. [Figure 13] It is a flowchart showing a third example of the origin return process of the dispensing probe device according to the first embodiment of the present invention. [Figure 14] It is an explanatory diagram showing the origin position detection mechanism of the dispensing probe device according to the second embodiment of the present invention. [Figure 15] It is an explanatory diagram showing a state where the first drive shaft of the dispensing probe device according to the second embodiment is arranged at the upper and lower origin positions. [Figure 16] It is an explanatory diagram showing the first drive shaft when two support arms of the dispensing probe device according to the second embodiment are in a cross arrangement state. [Figure 17] It is a block diagram showing a configuration example of the control system of the dispensing probe device according to the second embodiment of the present invention. [Figure 18] It is a flowchart showing a second example of the origin return process of the dispensing probe device according to the second embodiment of the present invention. [Modes for carrying out the invention]

[0014] Hereinafter, embodiments of the dispensing probe device and automated analyzer of the present invention will be described in detail with reference to the drawings. In each figure, common components are denoted by the same reference numerals.

[0015] 1. First Embodiment <Configuration of the automated analyzer> Figure 1 is a schematic diagram showing an automated analyzer according to the first embodiment. The automated analyzer 1 shown in Figure 1 is a biochemical analyzer that automatically measures the amount of specific components contained in biological samples such as blood and urine. The automated analyzer 1 comprises a measurement unit 1a and a control unit 1b.

[0016] The measurement unit 1a includes, for example, a sample turntable 2, a dilution turntable 3, a first reagent turntable 4, a second reagent turntable 5, and a reaction turntable 6. The measurement unit 1a also includes a dilution stirring device 11, a dilution washing device 12, a first reaction stirring device 13, a second reaction stirring device 14, a multi-wavelength photometer 15, and a reaction vessel washing device 16.

[0017] Furthermore, the measurement unit 1a includes a sample dispensing unit 21, a diluted sample dispensing unit 22, a first reagent dispensing unit 23, a second reagent dispensing unit 24, and a plurality of probe washing devices. In addition, the measurement unit 1a may also include a washing container holding unit, which is not shown in the figures herein. The first reagent dispensing unit 23 and the second reagent dispensing unit 24 are specific examples of the dispensing probe device according to the present invention.

[0018] On the other hand, the control unit 1b includes a display unit 41 and, as will be described in detail below, also includes an input unit, a storage unit, and a control unit. The details of these components will be described below, in the order of the measurement unit 1a and the control unit 1b.

[0019] <Measurement section 1a> [Sample Turntable 2] The sample turntable 2 is formed in a roughly cylindrical shape. The sample turntable 2 holds multiple sample containers P2 arranged in multiple rows along the circumferential direction. The sample turntable 2 rotates circumferentially by a drive mechanism (not shown) and transports the multiple sample containers P2 it holds along the circumferential direction.

[0020] Each sample container P2 held on the sample turntable 2 contains the sample to be measured or a control sample for quality control as a dispensing solution. The sample turntable 2 transports these various samples to be measured to their designated positions.

[0021] Furthermore, the sample turntable 2 may hold, in addition to the sample container P2, a diluent container containing a diluent and a hemolytic agent container containing a hemolytic agent for hemolysis treatment. The sample turntable 2 may also have a function to cool the sample container P2 and other containers it holds.

[0022] [Dilution Turntable 3] The dilution turntable 3 is formed in a roughly cylindrical shape. The dilution turntable 3 holds multiple dilution containers P3, each containing a dispensing solution, arranged along the circumferential direction. The dilution turntable 3 rotates circumferentially by a drive mechanism (not shown) to transport the multiple dilution containers P3 it holds along the circumferential direction.

[0023] The diluted sample (hereinafter referred to as "diluted sample"), which is drawn from the sample container P2 placed on the sample turntable 2, is injected as a dispensing solution into the dilution container P3, which is held on the dilution turntable 3. Note that the automated analyzer 1 does not necessarily have to be equipped with a dilution turntable 3.

[0024] [First reagent turntable 4 and second reagent turntable 5] The first reagent turntable 4 corresponds to the storage unit and the first turntable according to the present invention. The first reagent turntable 4 is formed in a substantially cylindrical shape. The first reagent turntable 4 holds a plurality of first reagent containers P4 arranged in two rows along the circumferential direction. The inner line in which the plurality of first reagent containers P4 are arranged is called reagent line 4A, and the outer line in which the plurality of first reagent containers P4 are arranged is called reagent line 4B.

[0025] The first reagent turntable 4 rotates circumferentially by a drive mechanism (not shown) and transports the multiple first reagent containers P4 it holds along the circumferential direction. The first reagent is stored in the multiple first reagent containers P4 as a dispensing solution.

[0026] The second reagent turntable 5 corresponds to the storage unit and the first turntable according to the present invention. The second reagent turntable 5 is formed in a substantially cylindrical shape. The second reagent turntable 5 holds a plurality of second reagent containers P5 arranged in two rows along the circumferential direction. The inner line in which the plurality of second reagent containers P5 are arranged is called reagent line 5A, and the outer line in which the plurality of second reagent containers P5 are arranged is called reagent line 5B.

[0027] The second reagent turntable 5 rotates circumferentially by a drive mechanism (not shown) and transports the multiple second reagent containers P5 it holds along the circumferential direction. The second reagent is stored in the second reagent containers P5 as a dispensing solution.

[0028] [Reaction Turntable 6] The reaction turntable 6 corresponds to the second turntable according to the present invention. The reaction turntable 6 is formed in a substantially cylindrical shape. The reaction turntable 6 holds a plurality of reaction vessels P6 arranged in two rows along the circumferential direction. The inner line in which the plurality of reaction vessels P6 are arranged is called reaction line 6A, and the outer line in which the plurality of reaction vessels P6 are arranged is called reaction line 6B. The reaction turntable 6 rotates circumferentially by a drive mechanism (not shown) and conveys the plurality of held reaction vessels P6 along the circumferential direction.

[0029] In reaction vessel P6, the diluted sample taken from dilution container P3 on dilution turntable 3, and the first reagent taken from first reagent container P4 on first reagent turntable 4, or the second reagent taken from second reagent container P5 on second reagent turntable 5, are dispensed in predetermined amounts. Then, in reaction vessel P6, the diluted sample and the first or second reagent are stirred and the reaction takes place.

[0030] The reaction turntable 6 described above includes a constant temperature bath (not shown). The constant temperature bath maintains a constant temperature for the reaction vessel P6. If the automated analyzer 1 does not have a dilution turntable 3, the reaction vessel P6 held on the reaction turntable 6 is dispensed with the sample taken from the sample container P2 on the sample turntable 2.

[0031] [Dilution and stirring device 11] The dilution stirring device 11 is positioned around the dilution turntable 3. The dilution stirring device 11 has a stirring mechanism and a drive mechanism for driving the stirring mechanism. The dilution stirring device 11 inserts the stirring bar of the stirring mechanism into the dilution container P3 held on the dilution turntable 3 and stirs the sample to be measured and the diluent.

[0032] [Dilution and washing device 12] The dilution and washing device 12 is positioned around the dilution turntable 3. The dilution and washing device 12 washes the dilution container P3 after the diluted sample has been aspirated by the diluted sample dispensing unit 22, which will be described later.

[0033] [First reaction stirring device 13 and second reaction stirring device 14] The first reaction agitator 13 and the second reaction agitator 14 are positioned around the reaction turntable 6. The first reaction agitator 13 and the second reaction agitator 14 agitate the diluted sample and the first or second reagent within the reaction vessel P6 held on the reaction turntable 6.

[0034] The first reaction stirring device 13 and the second reaction stirring device 14 each have a stirring mechanism and a drive mechanism for driving the stirring mechanism. The first reaction stirring device 13 and the second reaction stirring device 14 insert the stirring bar of the stirring mechanism into the reaction vessel P6 held in a predetermined position on the reaction turntable 6, and stir the diluted sample (or sample) and the first reagent or the second reagent. This promotes the reaction between the diluted sample, the first reagent and the second reagent.

[0035] [Multi-wavelength photometer 15] The multi-wavelength photometer 15 is a specific example of the measurement unit according to the present invention. The multi-wavelength photometer 15 is positioned around the reaction turntable 6. The multi-wavelength photometer 15 performs optical measurements on the diluted sample that has reacted with the first reagent and the second reagent in the reaction vessel P6 to detect the reaction state of the diluted sample. The multi-wavelength photometer 15 outputs the amounts of various components in the sample as absorbance to the control unit 1b.

[0036] [Reaction vessel washing device 16] The reaction vessel cleaning device 16 is positioned around the reaction turntable 6. The reaction vessel cleaning device 16 cleans the inside of the reaction vessel P6 after inspection has been completed.

[0037] [Specimen dispensing unit 21] The sample dispensing unit 21 is positioned around the sample turntable 2 and the dilution turntable 3. The sample dispensing unit 21 is equipped with a tubular sample probe 21A that extends vertically. The sample dispensing unit 21 operates according to a pre-set measurement program. The sample dispensing unit 21 inserts the tip of the sample probe 21A into the sample in the sample container P2 held on the sample turntable 2 and aspirates a predetermined amount of sample.

[0038] Furthermore, the sample dispensing unit 21 supplies a predetermined amount of diluent (e.g., physiological saline, pure water) into the sample probe 21A. The sample dispensing unit 21 inserts the tip of the sample probe 21A into the dilution container P3 of the dilution turntable 3 and discharges the sample aspirated from the sample container P2 and the predetermined amount of diluent into the dilution container P3. As a result, the sample to be measured, diluted to a predetermined concentration, is injected into the dilution container P3.

[0039] If the automated analyzer 1 is not equipped with a dilution turntable 3, the sample dispensing unit 21 inserts the tip of the sample probe 21A into the reaction vessel P6 of the reaction turntable 6. Then, it dispenses either only the sample aspirated from the sample container P2, or the sample aspirated from the sample container P2 and a predetermined amount of diluent into the reaction vessel P6.

[0040] The sample probe 21A is equipped with a liquid level detection mechanism (not shown). The liquid level detection mechanism detects contact between the tip of the sample probe and the liquid surface, for example, based on the capacitance between the liquid surface and the tip of the sample probe.

[0041] [Diluted Sample Dispensing Unit 22] The diluted sample dispensing unit 22 is positioned between the dilution turntable 3 and the reaction turntable 6. The diluted sample dispensing unit 22 is equipped with diluted sample probes 22A and 22B. The diluted sample probes 22A and 22B are each formed in a tubular shape that extends in the vertical direction. The diluted sample dispensing unit 22 operates according to a pre-set measurement program. Note that an automated analyzer 1 that does not have a dilution turntable 3 does not need to be equipped with a diluted sample dispensing unit 22.

[0042] The diluted sample dispensing unit 22 inserts the tips of the diluted sample probes 22A and 22B into different dilution containers P3 on the dilution turntable 3, respectively, and aspirates a predetermined amount of diluted sample. The diluted sample dispensing unit 22 inserts the tip of the diluted sample probe 22A into a reaction container P6 located on reaction line 6A of the reaction turntable 6, and discharges the diluted sample aspirated from dilution container P3 into reaction container P6. The diluted sample dispensing unit 22 also inserts the tip of the diluted sample probe 22B into a reaction container P6 located on reaction line 6B of the reaction turntable 6, and discharges the diluted sample aspirated from dilution container P3 into reaction container P6.

[0043] [Reagent Dispensing Unit 1, 23] The first reagent dispensing unit 23 is positioned between the reaction turntable 6 and the first reagent turntable 4. The first reagent dispensing unit 23 is equipped with first reagent probes 23A and 23B (see Figure 2). First reagent probe 23A corresponds to the first dispensing probe according to the present invention. First reagent probe 23B corresponds to the second dispensing probe according to the present invention. First reagent probes 23A and 23B are each formed in a tubular shape extending in the vertical direction. The first reagent dispensing unit 23 operates according to a pre-set measurement program.

[0044] The first reagent dispensing unit 23 inserts the tip of the first reagent probe 23A into the first reagent container P4, which is located on the reagent line 4A of the first reagent turntable 4, and aspirates a predetermined amount of the first reagent. The first reagent dispensing unit 23 also inserts the tip of the first reagent probe 23A into the reaction vessel P6, which is located on the reaction line 6A of the reaction turntable 6, and discharges the first reagent aspirated from the first reagent container P4.

[0045] The first reagent dispensing unit 23 inserts the tip of the first reagent probe 23B into the first reagent container P4, which is located on the reagent line 4B of the first reagent turntable 4, and aspirates a predetermined amount of the first reagent. The first reagent dispensing unit 23 also inserts the tip of the first reagent probe 23B into the reaction vessel P6, which is located on the reaction line 6B of the reaction turntable 6, and discharges the first reagent aspirated from the first reagent container P4.

[0046] [Second reagent dispensing unit 24] The second reagent dispensing unit 24 is positioned between the reaction turntable 6 and the second reagent turntable 5. The second reagent dispensing unit 24 has the same configuration as the first reagent dispensing unit 23 and is equipped with second reagent probes 24A and 24B (see Figure 2). The second reagent probe 24A corresponds to the first dispensing probe according to the present invention. The second reagent probe 24B corresponds to the second dispensing probe according to the present invention. The second reagent dispensing unit 24 operates according to a pre-set measurement program.

[0047] The second reagent dispensing unit 24 inserts the tip of the second reagent probe 24A into the second reagent container P5, which is located on the reagent line 5A of the second reagent turntable 5, and aspirates a predetermined amount of the second reagent. The second reagent dispensing unit 24 also inserts the tip of the second reagent probe 24A into the reaction vessel P6, which is located on the reaction line 6A of the reaction turntable 6, and dispenses the second reagent aspirated from the second reagent container P5.

[0048] The second reagent dispensing unit 24 inserts the tip of the second reagent probe 24B into the second reagent container P5, which is located on the reagent line 5B of the second reagent turntable 5, and aspirates a predetermined amount of the second reagent. The second reagent dispensing unit 24 also inserts the tip of the second reagent probe 24B into the reaction vessel P6, which is located on the reaction line 6B of the reaction turntable 6, and dispenses the second reagent aspirated from the second reagent container P5.

[0049] [Probe cleaning device 31] The probe cleaning device 31 is positioned on the track of the sample probe 21A of the sample dispensing unit 21. The probe cleaning device 31 cleans the outer wall of the sample probe 21A. The probe cleaning device 31 comprises a cleaning water supply pipe and a cleaning tank. The cleaning water supply pipe supplies cleaning water in a shower-like manner to the tip of the sample probe 21A, which is positioned at the top of the cleaning tank. This cleans the outer wall of the sample probe 21A.

[0050] [Probe cleaning devices 32A, 32B] The probe washing device 32A is positioned on the track of the diluted sample probe 22A of the diluted sample dispensing unit 22. The probe washing device 32A washes the outer wall of the diluted sample probe 22A. The probe washing device 32B is positioned on the track of the diluted sample probe 22B of the diluted sample dispensing unit 22. The probe washing device 32B washes the outer wall of the diluted sample probe 22B. The probe washing devices 32A and 32B are equipped with a washing water supply pipe and a washing tank.

[0051] [Probe cleaning devices 33A, 33B] The probe cleaning device 33A is positioned on the track of the first reagent probe 23A of the first reagent dispensing unit 23. The probe cleaning device 33A cleans the outer wall of the first reagent probe 23A. The probe cleaning device 33B is positioned on the track of the first reagent probe 23B of the first reagent dispensing unit 23. The probe cleaning device 33B cleans the outer wall of the first reagent probe 23B. The probe cleaning devices 33A and 33B each include a bucket-shaped cleaning tank, a cleaning water supply pipe provided on the inner wall side of the cleaning tank, and a cleaning solution outlet provided on the inner wall side of the bottom of the cleaning tank. The cleaning water supply pipes of the probe cleaning devices 33A and 33B each supply cleaning water in a shower-like manner to the tips of the first reagent probes 23A and 23B, which are positioned at the top of the cleaning tank. Each of the probe cleaning devices 33A and 33B has a cylindrical shape, and is configured to discharge cleaning solutions such as alkaline detergents and acidic detergents from its upper end, allowing the first reagent probes 23A and 23B, positioned above the cleaning solution discharge port, to draw in the cleaning solution.

[0052] [Probe cleaning devices 34A, 34B] The probe cleaning device 34A is positioned on the track of the second reagent probe 24A of the second reagent dispensing unit 24. The probe cleaning device 34A cleans the outer wall of the second reagent probe 24A. The probe cleaning device 34B is positioned on the track of the second reagent probe 24B of the second reagent dispensing unit 24. The probe cleaning device 34B cleans the outer wall of the second reagent probe 24B. The probe cleaning devices 34A and 34B each consist of a bucket-shaped cleaning tank, a cleaning water supply pipe provided on the inner wall side of the cleaning tank, and a cleaning solution outlet provided on the inner wall side of the bottom of the cleaning tank. The cleaning water supply pipes of the probe cleaning devices 34A and 34B each supply cleaning water in a shower-like manner to the tips of the second reagent probes 24A and 24B, which are positioned at the top of the cleaning tank. Each of the probe cleaning devices 34A and 34B has a cylindrical shape, and is configured to discharge cleaning solutions such as alkaline detergents and acidic detergents from its upper end, allowing the second reagent probes 24A and 24B, positioned above the cleaning solution discharge port, to draw in the cleaning solution.

[0053] <Control Unit 1b> The control unit 1b is connected to the drive mechanisms of each component constituting the measurement unit 1a described above, the multi-wavelength photometer 15, and a sample supply device for supplying samples to the measurement unit 1a.

[0054] The sample supply device comprises a supply unit, a collection unit, a transport unit, and a barcode reader. The supply unit supplies sample racks containing multiple samples (e.g., 5 samples) to the measurement unit 1a. The collection unit collects the sample racks after the dispensing process by the sample dispensing unit 21 has been completed. The transport unit transports the sample racks from the supply unit to the collection unit. The barcode reader is positioned between the supply unit and the sample collection location.

[0055] When the operator places the sample rack into the supply unit, the transport unit transports the sample rack to the barcode reading position of the barcode reader. The barcode reader reads the barcode information attached to the sample container. Next, the transport unit transports the sample rack to the sample collection position. Once the dispensing process by the sample dispensing unit 21 is complete, the transport unit transports the sample rack to the collection unit.

[0056] <First reagent dispensing unit 23> Next, the detailed configuration of the first reagent dispensing unit 23 will be explained with reference to Figure 2. Figure 2 is a perspective view of the first reagent dispensing unit 23.

[0057] As shown in Figure 2, the first reagent dispensing unit 23 has a base 101, a first dispensing mechanism 102, and a second dispensing mechanism 103. The base 101 is formed in a roughly rectangular parallelepiped shape that is long in the vertical direction. The first dispensing mechanism 102 and the second dispensing mechanism 103 are attached to the base 101.

[0058] [First dispensing mechanism 102] The first dispensing mechanism 102 includes a first drive shaft 111, a first vertical drive unit 112, a first rotational drive unit 113, a first support arm 114, and a first reagent probe 23A. The first drive shaft 111, the first vertical drive unit 112, and the first rotational drive unit 113 correspond to the first drive mechanism according to the present invention.

[0059] The first drive shaft 111 is a round rod-shaped member that extends in the vertical direction. The first drive shaft 111 is supported on the base 101 so as to be movable in the vertical direction and rotatable in the horizontal direction.

[0060] The first vertical drive unit 112 is located at the bottom of the base 101. The first vertical drive unit 112 moves the first drive shaft 111 in the vertical direction. The first vertical drive unit 112 includes, for example, a motor and a rack and pinion. The rack and pinion converts the rotational motion of the motor's rotating shaft into linear motion along the vertical direction of the first drive shaft 111. In addition, other conversion mechanisms such as a ball screw or a belt-pulley mechanism may be used as the first vertical drive unit according to the present invention instead of a rack and pinion.

[0061] The first rotary drive unit 113 is located on the upper part of the base 101. The first rotary drive unit 113 rotates the first drive shaft 111 in a horizontal direction. The first rotary drive unit 113 includes, for example, a motor and a toothed belt. The toothed belt transmits the rotation of the motor's rotating shaft to the first drive shaft 111. In addition, other transmission mechanisms such as a gear train may be used as the first rotary drive unit according to the present invention instead of a toothed belt.

[0062] A rotary pulley (not shown) is attached to the first drive shaft 111. A toothed belt of the first rotary drive unit 113 meshes with the rotary pulley. The rotary pulley is integrally constructed with a spline nut (not shown). The spline nut guides the vertical (axial) movement of the first drive shaft 111 and transmits rotational torque to the first drive shaft 111. As a result, the first drive shaft 111 moves vertically guided by the spline nut and rotates together with the rotary pulley and spline nut.

[0063] The first support arm 114 consists of a roughly rectangular plate that is elongated horizontally. One end of the first support arm 114 in the longitudinal direction on the lower surface is fixed to the upper end of the first drive shaft 111. The first support arm 114 moves vertically together with the first drive shaft 111 and rotates horizontally together with the first drive shaft 111. That is, the first support arm 114 moves in the axial direction of the first drive shaft 111 and rotates about the axis of the first drive shaft 111.

[0064] A first reagent probe 23A is detachably attached to the other longitudinal end of the lower surface of the first support arm 114. The first reagent probe 23A is a dispensing probe that dispenses the first reagent contained in the first reagent container P4 into the reaction vessel P6.

[0065] The first reagent probe 23A is formed in the shape of a tubular structure extending vertically. One end of tube 115 is connected to the upper end of the first reagent probe 23A. Tube 115 extends along the longitudinal direction of the first support arm 114. The other end of tube 115 is connected to the first weighing pump 118 and the first washing pump 119 (see Figure 9).

[0066] When the first weighing pump 118 is activated, the first reagent in the first reagent container P4 is drawn into the first reagent probe 23A. As a result, the drawn-in first reagent is contained within the first reagent probe 23A. When the first weighing pump 118 is activated again, the first reagent contained within the first reagent probe 23A is discharged. As a result, the first reagent in the first reagent probe 23A is dispensed into the reaction vessel P6.

[0067] The first reagent probe 23A and tube 115 are filled with pure water as the system water. An air pocket is formed at the end of the first reagent probe 23A opposite to tube 115. The air pocket prevents the first reagent from mixing with the pure water when the first reagent is drawn into the first reagent probe 23A. Note that the liquid pre-filled in the first reagent probe 23A and tube 115 is not limited to non-conductive pure water; conductive physiological saline or other various liquids may also be used.

[0068] A first liquid level detection sensor 134 (see Figure 9) is connected to the first reagent probe 23A. The first liquid level detection sensor 134 detects the capacitance value of the first reagent probe 23A. The capacitance value detected by the first liquid level detection sensor 134 is output to the control unit 1b. Based on the value detected by the first liquid level detection sensor 134 (sensor output value), the control unit 1b detects contact between the first reagent probe 23A and the liquid (first reagent, washing solution).

[0069] The vertical movement range of the first drive shaft 111 is preset. The upper end of the vertical movement range of the first drive shaft 111 is set to the vertical origin position of the first drive shaft 111 (hereinafter referred to as the "vertical origin position"). The lower end of the vertical movement range of the first drive shaft 111 is set to a position where the tip of the first reagent probe 23A does not come into contact with the bottom of the first reagent container P4 of the first reagent turntable 4 and the bottom of the reaction vessel P6 of the reaction turntable 6. In this case, the lower end of the vertical movement range of the first drive shaft 111 may be set to a position several millimeters lower than the bottom surface of the reaction vessel P6.

[0070] Furthermore, the horizontal rotation range of the first drive shaft 111 is preset. When the first drive shaft 111 is positioned at one end of the rotation range, the first reagent probe 23A is positioned on the reagent line 4A of the first reagent turntable 4 (see Figure 1). Therefore, when the first drive shaft 111 is rotated to one end of the rotation range and then lowered, the first reagent probe 23A is inserted into the first reagent container P4 lined up on the reagent line 4A. In addition, one end of the rotation range of the first drive shaft 111 is set to the horizontal origin position of the first drive shaft 111 (hereinafter referred to as the "horizontal origin position").

[0071] On the other hand, when the first drive shaft 111 is positioned at the other end of its rotation range, the first reagent probe 23A is positioned on the reaction line 6A of the reaction turntable 6. Therefore, when the first drive shaft 111 is rotated to the other end of its rotation range and then lowered, the first reagent probe 23A is inserted into the reaction vessel P6 aligned with the reaction line 6A.

[0072] The first rotation direction is defined as the rotation direction of the first drive shaft 111 from one end to the other within its horizontal range of motion. The second rotation direction is defined as the rotation direction of the first drive shaft 111 from one end to the other within its horizontal range of motion. In this embodiment, the first rotation direction is counterclockwise when the automatic analyzer 1 is viewed from above, and the second rotation direction is clockwise when the automatic analyzer 1 is viewed from above.

[0073] [Second dispensing mechanism 103] The second dispensing mechanism 103 includes a second drive shaft 121, a second vertical drive unit 122, a second rotational drive unit 123, a second support arm 124, and a first reagent probe 23B. The second drive shaft 121, the second vertical drive unit 122, and the second rotational drive unit 123 correspond to the second drive mechanism according to the present invention.

[0074] The second drive shaft 121 is a round rod-shaped member that extends in the vertical direction. The second drive shaft 121 is supported on the base 101 so as to be movable in the vertical direction and rotatable in the horizontal direction.

[0075] The second vertical drive unit 122 is located at the bottom of the base 101. The second vertical drive unit 122 moves the second drive shaft 121 in the vertical direction. The second vertical drive unit 122 includes, for example, a motor and a rack and pinion. The rack and pinion converts the rotational motion of the motor's rotating shaft into linear motion along the vertical direction of the second drive shaft 121. In addition, other conversion mechanisms such as a ball screw or a belt-pulley mechanism may be used as the second vertical drive unit according to the present invention instead of a rack and pinion.

[0076] The second rotary drive unit 123 is located on the upper part of the base 101. The second rotary drive unit 123 rotates the second drive shaft 121 horizontally. The second rotary drive unit 123 includes, for example, a motor and a toothed belt. The toothed belt transmits the rotation of the motor's rotating shaft to the second drive shaft 121. In addition, other transmission mechanisms such as a gear train may be used instead of a toothed belt in the second rotary drive unit according to the present invention.

[0077] The second support arm 124 consists of a roughly rectangular plate that is elongated horizontally. The longitudinal length of the second support arm 124 is shorter than the longitudinal length of the first support arm 114. One end of the second support arm 124 in the longitudinal direction on its lower surface is fixed to the upper end of the second drive shaft 121. The second support arm 124 moves vertically together with the second drive shaft 121 and rotates horizontally together with the second drive shaft 121. That is, the second support arm 124 moves in the axial direction of the second drive shaft 121 and rotates around the axis of the second drive shaft 121.

[0078] A first reagent probe 23B is detachably attached to the other longitudinal end of the lower surface of the second support arm 124. The first reagent probe 23B is a dispensing probe that dispenses the first reagent contained in the first reagent container P4 into the reaction vessel P6.

[0079] The first reagent probe 23B is identical to the first reagent probe 23A and is formed as a thin tube extending vertically. One end of tube 125 is connected to the upper end of the first reagent probe 23B. Tube 125 extends along the longitudinal direction of the second support arm 124. The other end of tube 125 is connected to the second weighing pump 128 and the second washing pump 129 (see Figure 9).

[0080] When the second weighing pump 128 is activated, the first reagent in the first reagent container P4 is drawn into the first reagent probe 23B. As a result, the drawn-in first reagent is contained within the first reagent probe 23B. When the second weighing pump 128 is activated again, the first reagent contained within the first reagent probe 23B is discharged. As a result, the first reagent in the first reagent probe 23B is dispensed into the reaction vessel P6.

[0081] The first reagent probe 23B and tube 125 are filled with pure water as the system water. An air pocket is also formed at the end of the first reagent probe 23B opposite to tube 125. This air pocket prevents the first reagent from mixing with the pure water when the first reagent is drawn into the first reagent probe 23B.

[0082] A second liquid level detection sensor 144 (see Figure 9) is connected to the first reagent probe 23B. The second liquid level detection sensor 144 detects the capacitance value of the first reagent probe 23B. The capacitance value detected by the second liquid level detection sensor 144 is output to the control unit 1b. Based on the value detected by the second liquid level detection sensor 144 (sensor output value), the control unit 1b detects contact between the first reagent probe 23B and the liquid (first reagent, washing solution).

[0083] The second drive shaft 121 is shorter than the first drive shaft 111. Furthermore, the vertical range of motion of the first drive shaft 111 is smaller than that of the first drive shaft 111. The upper end of the vertical range of motion of the second drive shaft 121 is set lower than the upper end of the vertical range of motion of the first drive shaft 111.

[0084] The upper end of the second drive shaft 121 in its vertical movement range is set to the vertical origin position of the second drive shaft 121. The lower end of the second drive shaft 121 in its vertical movement range is set to a position where the tip of the first reagent probe 23B does not come into contact with the bottom of the first reagent container P4 of the first reagent turntable 4 and the bottom of the reaction vessel P6 of the reaction turntable 6. In this case, the lower end of the second drive shaft 121 in its vertical movement range may be set to a position several millimeters lower than the bottom surface of the reaction vessel P6.

[0085] Furthermore, the horizontal rotation range of the second drive shaft 121 is preset. When the second drive shaft 121 is positioned at one end of the rotation range, the first reagent probe 23B is positioned on the reagent line 4B of the first reagent turntable 4 (see Figure 1). Therefore, when the second drive shaft 121 is rotated to one end of the rotation range and then lowered, the first reagent probe 23B is inserted into the first reagent container P4 lined up on the reagent line 4B.

[0086] On the other hand, when the second drive shaft 121 is positioned at the other end of its rotation range, the first reagent probe 23B is positioned on the reaction line 6B of the reaction turntable 6. Therefore, when the second drive shaft 121 is rotated to the other end of its rotation range and then lowered, the first reagent probe 23B is inserted into the reaction vessel P6 aligned with the reaction line 6B. Furthermore, the other end of the rotation range of the second drive shaft 121 is set at the horizontal origin position of the second drive shaft 121.

[0087] The horizontal origin position of the second drive shaft 121 may be set to one end of the rotation range (the side where the first reagent probe 23B is located on the reagent line 4B), similar to the horizontal origin position of the first drive shaft 111. Alternatively, the horizontal origin position of the first drive shaft 111 may be set to the other end of the rotation range (the side where the first reagent probe 23A is located on the reaction line 6A). Furthermore, the horizontal origin positions of both the first drive shaft 111 and the second drive shaft 121 can be set to any position within the rotation range.

[0088] Thus, the first reagent dispensing unit 23 can independently control the operation of the first drive shaft 111 and the second drive shaft 121. Furthermore, the first reagent dispensing unit 23 can independently control the aspiration and dispensing operations of the first reagent probes 23A and 23B. As a result, the first reagent dispensing unit 23 can suppress a decrease in the number of reagents processed within a certain period of time.

[0089] The second reagent dispensing unit 24 (see Figure 1) has the same configuration as the first reagent dispensing unit 23. The dispensing probes of the second reagent dispensing unit 24 are named second reagent probes 24A and 24B. The second reagent probes 24A and 24B are the same components as the first reagent probes 23A and 23B of the first reagent dispensing unit 23.

[0090] <Orbitals of two reagent probes> Next, the orbitals of the second reagent probes 24A and 24B will be explained with reference to Figure 3. Figure 3 shows examples of the orbitals of the second reagent probes 24A and 24B.

[0091] The trajectories of the first reagent probes 23A and 23B of the first reagent dispensing unit 23 are the same as those of the second reagent probes 24A and 24B of the second reagent dispensing unit 24. Therefore, in this explanation, the trajectories of the second reagent probes 24A and 24B will be used as an example to describe the trajectories of the dispensing probes according to the present invention.

[0092] As shown in Figure 3, the longitudinal length of the first support arm 114 of the second reagent dispensing unit 24 is longer than the longitudinal length of the second support arm 124. The sector formed by the arc of the trajectory traced by one longitudinal end of the second support arm 124 is contained within the sector formed by the arc of the trajectory of the second reagent probe 24A attached to the first support arm 114. As a result, the trajectories of the second reagent probe 24A and the second reagent probe 24B do not intersect.

[0093] The first rotational height, which is the vertical position of the first support arm 114 when it is rotated horizontally, is higher than the second rotational height, which is the vertical position of the second support arm 124 when it is rotated horizontally. The first support arm 114 at the first rotational height does not come into contact with the second support arm 124 at the second rotational height. As a result, the second support arm 124 and the second reagent probe 24B do not interfere with the first support arm 114 and the second reagent probe 24A during horizontal rotation.

[0094] The longitudinal length La of the first support arm 114 is set to be greater than or equal to the length Lb of the second support arm 124 plus the diameter Dm of the second reagent probe 24A, the distance Dt between the first drive shaft 111 and the second drive shaft 121, and the safety clearance d1. That is, the length La is set to satisfy the following equation (1).

[0095] [Mathematics 1] La≧Lb+Dm+Dt+d1···(1)

[0096] Safety clearance d1 is a constant determined by the amplitude of horizontal displacement of the second reagent probe 24A due to vibration of the first support arm 114, etc., and the adjustment clearance required when manufacturing the automated analyzer 1. Safety clearance d1 is a unique value depending on the type of automated analyzer.

[0097] Note that the central angle of the sector formed by the arc of the orbital of the first reagent probe 23A does not need to be equal to the central angle of the sector formed by the arc of the orbital of the second reagent probe 24A.

[0098] <Placement of the two reagent probes> Next, the arrangement of the second reagent probes 24A and 24B will be explained with reference to Figure 4. Figure 4 illustrates the arrangement of the second reagent probes 24A and 24B.

[0099] The geometric conditions that must be met when positioning the second reagent probes 24A and 24B are explained below. As shown in Figure 4, first, draw a virtual line VL connecting the rotation center of the reaction turntable 6 and the rotation center of the second reagent turntable 5. Next, draw a perpendicular line PL that is approximately perpendicular to the virtual line VL. The rotation centers of the first support arm 114 and the second support arm 124 are positioned on the perpendicular line PL. That is, the first drive shaft 111 and the second drive shaft 121 (see Figure 2) are positioned on the perpendicular line PL.

[0100] The position where the perpendicular line PL is drawn is preferably near the midpoint between the reaction turntable 6 and the second reagent turntable 5, where the lines connecting the ends of the rotation ranges of the first support arm 114 and the second support arm 124 to their respective centers of rotation form an isosceles triangle. This makes it possible to reduce the rotation range of the first support arm 114 and the second support arm 124.

[0101] Furthermore, the distance between the rotation center of the first support arm 114 and the rotation center of the second support arm 124 is set to a length such that, at both ends of the rotation range of the first support arm 114 and the second support arm 124, they do not overlap when viewed from above. As a result, even if the first support arm 114 and the second support arm 124 move vertically at one end or the other end of the rotation range, they do not interfere with each other.

[0102] Furthermore, the lengths of the first support arm 114 and the second support arm 124 are set to satisfy equation (1) described above. As a result, the sector formed by the arc of the trajectory traced by one longitudinal end of the second support arm 124 is contained within the sector formed by the arc of the trajectory of the second reagent probe 24A attached to the first support arm 114. Consequently, if the first support arm 114 and the second support arm 124 are positioned so as not to interfere with each other in the vertical direction, the first support arm 114 (second reagent probe 24A) and the second support arm 124 (second reagent probe 24B) can perform rotational movements that overtake each other.

[0103] <Airspace during rotational movement of the reagent probe and support arm> Next, the airspace during the rotational movement of the reagent probe and support arm will be explained with reference to Figure 5. Figure 5 shows the airspace during the rotational movement of the second reagent probes 24A and 24B and the support arms 114 and 124.

[0104] As shown in Figure 5, the first drive shaft 111 and the first support arm 114 move by rotating after rising to the upper end of the vertical movement range of the first drive shaft 111 at both ends of the rotation range. Here, the area in the air occupied by the first support arm 114 during rotation is referred to as the first support arm airspace 201. Also, the area in the air occupied by the second reagent probe 24A during rotation is referred to as the probe A airspace 202.

[0105] The second drive shaft 121 and the second support arm 124 move by rotating after rising to the upper end of the vertical movement range of the second drive shaft 121 at both ends of the rotation range. Here, the area in the air occupied by the second support arm 124 during rotation is called the second support arm airspace 211. Also, the area in the air occupied by the second reagent probe 24B during rotation is called the probe B airspace 212.

[0106] The first support arm airspace 201 is set above the second support arm airspace 211. When viewed from the horizontal, the first support arm airspace 201 does not overlap with the second support arm airspace 211. Also, the probe A airspace 202 is set outside the second support arm airspace 211 and the probe B airspace 212 in the radial direction centered on the second drive shaft 121. Therefore, during rotational movement, the first support arm 114 and the second reagent probe 24A do not interfere with the second support arm 124 and the second reagent probe 24B.

[0107] <Drive shaft stroke> Next, the strokes of the first drive shaft 111 and the second drive shaft 121 will be explained with reference to Figure 6. Figure 6 shows the strokes of the first drive shaft 111 and the second drive shaft 121.

[0108] As shown in Figure 6, the second reagent probes 24A and 24B are set to the same length. The second reagent probes 24A and 24B aspirate and dispense the second reagent at the lower end (hereinafter referred to as the "lower end position") of the vertical movement range of the first drive shaft 111 (first support arm 114) and the second drive shaft 121 (second support arm 124).

[0109] The first drive shaft 111 and the second drive shaft 121 each rotate horizontally at their upper ends (hereinafter referred to as "upper end positions") within their respective vertical movement ranges. The upper end position of the first drive shaft 111 is higher than that of the second drive shaft 121. On the other hand, the stroke S1 of the first drive shaft 111 (first support arm 114) is longer than the stroke S2 ​​of the second drive shaft 121 (second support arm 124). Therefore, it is possible to make the vertical height positions of the tips of the second reagent probes 24A and 24B the same when aspirating and dispensing the second reagent.

[0110] Incidentally, when cleaning the second reagent probe 24A with the probe cleaning device 34A, first, the first drive shaft 111 is rotated horizontally at its upper end position to position the second reagent probe 24A above the cleaning tank in the probe cleaning device 34A. At this time, the cleaning water supply pipe of the probe cleaning device 34A supplies cleaning water in a shower-like manner to the tip of the second reagent probe 24A positioned above the cleaning tank. This cleans the second reagent probe 24A.

[0111] Furthermore, when cleaning the second reagent probe 24B with the probe cleaning device 34B, first, the second drive shaft 121 is rotated horizontally at its upper end position to position the second reagent probe 24B above the cleaning tank in the probe cleaning device 34B. At this time, the cleaning water supply pipe of the probe cleaning device 34B supplies cleaning water in a shower-like manner to the tip of the second reagent probe 24B positioned above the cleaning tank. This cleans the second reagent probe 24B.

[0112] The horizontal positions of the probe cleaning devices 34A and 34B are set to be on the trajectory of the second reagent probes 24A and 24B and within the rotational range of the second reagent probes 24A and 24B (drive shafts 111 and 121) (see Figure 1). Furthermore, the probe cleaning devices 34A and 34B are located close together. Therefore, when cleaning the second reagent probe 24A and the second reagent probe 24B simultaneously, a portion of the first support arm 114 and a portion of the second support arm 124 overlap when viewed from above.

[0113] On the other hand, the vertical position of the probe cleaning device 34A is higher than the vertical position of the probe cleaning device 34B. In this embodiment, the difference in the vertical positions of the probe cleaning devices 34A and 34B is equal to the vertical distance between the lower surface of the first support arm 114 at the upper end position of the first drive shaft 111 and the upper surface of the second support arm 124 at the upper end position of the second drive shaft 121. Therefore, during the cleaning of the second reagent probe 24A, the first support arm 114 is positioned at a height that does not interfere with the second support arm 124 which is cleaning the second reagent probe 24B.

[0114] During normal cleaning of each probe, including the second reagent probes 24A and 24B, it is not necessary to move the probes up and down within the cleaning tank. The second reagent probes 24A and 24B are cleaned at the upper end position within the respective vertical movement ranges of the first drive shaft 111 and the second drive shaft 121. Therefore, even when normal cleaning of the second reagent probes 24A and 24B is performed simultaneously, the first support arm 114 and the second reagent probe 24B do not interfere with each other.

[0115] On the other hand, each probe may require intensive cleaning, a powerful cleaning process, to avoid contamination between samples or reagents. In this case, the probe draws in cleaning solution from a cleaning solution outlet provided in the cleaning tank. When drawing in cleaning solution to the probe, it is necessary to move the probe downwards and then upwards (up and down movement) within the cleaning tank.

[0116] For example, while normal cleaning is being performed on the second reagent probe 24B attached to the second support arm 124, an enhanced cleaning of the second reagent probe 24A attached to the first support arm 114 may be performed. In this case, the second reagent probe 24A is moved up and down within the cleaning tank of the probe cleaning device 34A. Therefore, it is necessary to ensure that the up and down moving first support arm 114 does not interfere with the second support arm 124.

[0117] Therefore, the vertical distance between the lower surface of the first support arm 114 when the first drive shaft 111 is positioned at its upper end and the upper surface of the second support arm 124 when the second drive shaft 121 is positioned at its upper end is set as the mutual interference avoidance distance Dc. The mutual interference avoidance distance Dc is an isolation distance set to avoid interference between the support arms 114 and 124 when cleaning the second reagent probes 24A and 24B in the probe cleaning devices 34A and 34B.

[0118] The mutual interference avoidance distance Dc is set to be greater than or equal to the depth Dp of the cleaning fluid discharge port plus a safety clearance d2. That is, the mutual interference avoidance distance Dc is determined by the following equation (2).

[0119] [Math 2] Dc≧Dp+d2···(2)

[0120] The depth Dp of the cleaning solution outlet port is equal to the stroke of the second reagent probe 24A as it moves up and down to draw cleaning solution into the cleaning tank. The depth Dp of the cleaning solution outlet port is a unique value depending on the type of cleaning solution outlet port. In addition, the safety clearance d2 is a constant determined according to the height of the protrusions such as piping tubes placed on the second support arm 124 and the height of the protrusions placed on the lower surface of the first support arm 114. The safety clearance d2 is a unique value depending on the type of the first support arm 114 and the second support arm 124.

[0121] In this embodiment, the second reagent probes 24A and 24B are configured to be washed without moving up and down within the washing tank during normal washing. However, in order to improve washing efficiency, the dispensing probe device according to the present invention may be configured to wash the reagent probes by moving them up and down within the washing tank during normal washing. However, the downward distance of the reagent probes within the washing tank is set to be less than or equal to the depth Dp of the washing solution outlet port.

[0122] <Origin position detection mechanism> Next, the origin position detection mechanism for the first drive shaft 111 and the second drive shaft 121 will be described with reference to Figures 7 and 8. Figure 7 illustrates the origin position detection mechanism of the first reagent dispensing unit 23. Figure 8 shows the detection unit for the rotational origin of the first reagent dispensing unit 23.

[0123] As shown in Figure 7, the origin position detection mechanism of the first drive shaft 111 in the first reagent dispensing unit 23 consists of a first vertical origin position detection sensor 131, a first horizontal origin position detection sensor 132, a detection unit 116 for the vertical origin, and a detection unit 117 for the rotational origin.

[0124] Sensor holding plates 130 and 140 are attached to the side of the base 101 (see Figure 2) in the first reagent dispensing unit 23. Sensor holding plate 130 is positioned horizontally opposite the first drive shaft 111. Sensor holding plate 130 holds the first vertical origin position detection sensor 131 and the first horizontal origin position detection sensor 132.

[0125] The upper and lower origin detection unit 116 is attached to the first drive shaft 111 via a slider (not shown). The upper and lower origin detection unit 116 is positioned opposite the first upper and lower origin position detection sensor 131 in the vertical direction. The upper and lower origin detection unit 116 is formed in the shape of a flat plate having a plane substantially perpendicular to the horizontal direction. The rotational origin detection unit 117 is fixed to the rotational pulley (not shown) of the first drive shaft 111. The rotational origin detection unit 117 is positioned opposite the first horizontal origin position detection sensor 132 in the horizontal direction.

[0126] As shown in Figure 8, the rotational origin detection unit 117 is formed in a ring shape having a fitting hole 117a that fits onto the first drive shaft 111. The rotational origin detection unit 117 has a slit 117b for detecting the horizontal origin position of the first drive shaft 111. The slit 117b is formed in a substantially rectangular shape that extends radially from the outer circumferential surface of the rotational origin detection unit 117.

[0127] The first vertical origin position detection sensor 131 and the first horizontal origin position detection sensor 132 shown in Figure 7 are, for example, transmissive photosensors. The optical axis of the first vertical origin position detection sensor 131 extends in the horizontal direction. The first vertical origin position detection sensor 131 detects that the first drive shaft 111 is positioned at the vertical origin when its optical axis is obstructed by the vertical origin detection unit 116. The optical axis of the first horizontal origin position detection sensor 132 extends in the vertical direction. The first horizontal origin position detection sensor 132 detects that the first drive shaft 111 is positioned at the horizontal origin when its optical axis passes through the slit 117b of the rotational origin detection unit 117.

[0128] The origin position detection mechanism for the second drive shaft 121 in the first reagent dispensing unit 23 consists of a second vertical origin position detection sensor 141 (see Figure 9), a second horizontal origin position detection sensor 142 (see Figure 9), a detection unit 126 for the vertical origin (see Figure 14), and a detection unit 127 for the rotational origin (see Figure 14).

[0129] The second vertical origin position detection sensor 141 and the second horizontal origin position detection sensor 142 are the same sensors as the first vertical origin position detection sensor 131 and the first horizontal origin position detection sensor 132. The second vertical origin position detection sensor 141 and the second horizontal origin position detection sensor 142 are held in a sensor holding plate 140. The sensor holding plate 140 is positioned in the horizontal direction opposite to the second drive shaft 121.

[0130] The upper and lower origin detection unit 126 is the same as the upper and lower origin detection unit 116 described above, and the rotational origin detection unit 127 is the same as the rotational origin detection unit 117. The upper and lower origin detection unit 126 is attached to the second drive shaft 121 via a slider (not shown). The rotational origin detection unit 127 is fixed to the rotational pulley (not shown) of the second drive shaft 121.

[0131] The second vertical origin position detection sensor 141 detects that the second drive shaft 121 is positioned at the vertical origin when the optical axis is obstructed by the vertical origin detection unit 126. The second horizontal origin position detection sensor 142 detects that the second drive shaft 121 is positioned at the horizontal origin when the optical axis passes through the slit of the rotation origin detection unit 127.

[0132] Furthermore, the origin position detection mechanism of the second reagent dispensing unit 24 is the same as the origin position detection mechanism of the first reagent dispensing unit 23 described above.

[0133] <Control system for the first reagent dispensing unit 23> Next, an example of the configuration of the control system for the first reagent dispensing unit 23 will be explained with reference to Figure 9. Figure 9 is a block diagram showing an example of the configuration of the control system of the first reagent dispensing unit 23.

[0134] The control unit 1b includes, for example, a Central Processing Unit (CPU), Read Only Memory (ROM), and Random Access Memory (RAM). The CPU reads various processing programs stored in ROM and loads them into RAM. The CPU controls the operation of each drive mechanism of the measurement unit 1a according to the loaded programs.

[0135] The ROM stores various processing programs for controlling the operation of each drive mechanism in the measurement unit 1a, parameters and table data necessary for executing these programs, and various files. The RAM is composed of, for example, volatile semiconductor memory. The RAM forms a work area that temporarily stores various processing programs, input or output data, and parameters read from the ROM during various processes executed by the CPU.

[0136] The control unit 1b is electrically connected to the first vertical drive unit 112, the first rotation drive unit 113, the first weighing pump 118, the first washing pump 119, the second vertical drive unit 122, the second rotation drive unit 123, the second weighing pump 128, and the second washing pump 129 of the first reagent dispensing unit 23. Although not shown in Figure 9, the control unit 1b is also electrically connected to the drive units of the first reagent turntable 4, the second reagent turntable 5, the reaction turntable 6, the sample dispensing unit 21, the second reagent dispensing unit 24, and others.

[0137] The first vertical drive unit 112 moves the first drive shaft 111 vertically according to the drive control signal supplied from the control unit 1b. The first rotation drive unit 113 rotates the first drive shaft 111 horizontally according to the drive control signal supplied from the control unit 1b. The first weighing pump 118 draws the first reagent into the first reagent probe 23A according to the drive control signal supplied from the control unit 1b. The first weighing pump 118 also discharges the first reagent from the first reagent probe 23A according to the drive control signal supplied from the control unit 1b.

[0138] The second vertical drive unit 122 moves the second drive shaft 121 vertically according to the drive control signal supplied from the control unit 1b. The second rotation drive unit 123 rotates the second drive shaft 121 horizontally according to the drive control signal supplied from the control unit 1b. The second weighing pump 128 draws the first reagent into the first reagent probe 23B according to the drive control signal supplied from the control unit 1b. The second weighing pump 128 also discharges the first reagent from the first reagent probe 23B according to the drive control signal supplied from the control unit 1b.

[0139] The control unit 1b is electrically connected to the first vertical origin position detection sensor 131, the first horizontal origin position detection sensor 132, the first liquid level detection sensor 134, and the first probe collision detection sensor 135 of the first reagent dispensing unit 23.

[0140] The first vertical origin position detection sensor 131 detects that the first drive shaft 111 is positioned at the vertical origin position and transmits the detection result to the control unit 1b. The first horizontal origin position detection sensor 132 detects that the first drive shaft 111 is positioned at the horizontal origin position and transmits the detection result to the control unit 1b.

[0141] The first liquid level detection sensor 134 detects the capacitance value of the first reagent probe 23A and transmits the detection result to the control unit 1b. The first probe collision detection sensor 135 detects when the first reagent probe 23A comes into contact with other equipment such as the first reagent container P4 and transmits the detection result to the control unit 1b.

[0142] The control unit 1b is electrically connected to the second vertical origin position detection sensor 141, the second horizontal origin position detection sensor 142, the second liquid level detection sensor 144, and the second probe collision detection sensor 145 of the first reagent dispensing unit 23.

[0143] The second vertical origin position detection sensor 141 detects that the second drive shaft 121 is positioned at the vertical origin position and transmits the detection result to the control unit 1b. The second horizontal origin position detection sensor 142 detects that the second drive shaft 121 is positioned at the horizontal origin position and transmits the detection result to the control unit 1b.

[0144] The second liquid level detection sensor 144 detects the capacitance value of the first reagent probe 23B and transmits the detection result to the control unit 1b. The second probe collision detection sensor 145 detects when the first reagent probe 23B comes into contact with other equipment such as the first reagent container P4 and transmits the detection result to the control unit 1b.

[0145] <Return to origin position process> Before starting the analysis (measurement) operation, the automated analyzer 1 performs a return-to-origin process for the first reagent dispensing unit 23 and the second reagent dispensing unit 24. In the return-to-origin process, the drives of the first vertical drive unit 112, the second vertical drive unit 122, the first rotation drive unit 113, and the second rotation drive unit 123 are controlled to position the first drive shaft 111 (first support arm 114) and the second drive shaft 121 (second support arm 124) at their origin positions (vertical origin position and horizontal origin position).

[0146] [Example 1] Next, a first example of the origin return process for the first reagent dispensing unit 23 will be explained with reference to Figure 10. Figure 10 is a flowchart showing a first example of the origin return process for the first reagent dispensing unit 23.

[0147] When the first example of the home position return process is initiated, the control unit 1b controls the driving of the first vertical drive unit 112 and the second vertical drive unit 122 to raise the first drive shaft 111 and the second drive shaft 121 (S1). Next, after the first drive shaft 111 and the second drive shaft 121 have reached their respective vertical home positions, the control unit 1b stops the driving of the first vertical drive unit 112 and the second vertical drive unit 122 to stop the upward movement of the first drive shaft 111 and the second drive shaft 121 (S2).

[0148] Next, the control unit 1b controls the drive of the first rotation drive unit 113 to rotate the first drive shaft 111 in the first rotation direction (S3). The first rotation direction is counterclockwise in Figure 1, and is the direction in which the first drive shaft 111 moves toward the horizontal origin position. Next, after the first drive shaft 111 reaches the horizontal origin position, the control unit 1b stops the drive of the first rotation drive unit 113 and stops the rotational movement of the first drive shaft 111 (S4).

[0149] Next, the control unit 1b controls the drive of the second rotation drive unit 123 to rotate the second drive shaft 121 in the second rotation direction (S5). The second rotation direction is clockwise in Figure 1, and is the direction in which the second drive shaft 121 moves toward the horizontal origin position. Next, after the second drive shaft 121 reaches the horizontal origin position, the control unit 1b stops the drive of the second rotation drive unit 123 and stops the rotational movement of the second drive shaft 121 (S6). After the processing in step S6, the control unit 1b completes the first example of the origin return process.

[0150] Steps S5 and S6 described above may be performed before steps S3 and S4. Also, step S5 described above may be performed simultaneously with step S3. This can shorten the time required for the origin return process.

[0151] [Crossing of two dispensing probes] Next, the state in which the first support arm 114 and the second support arm 124 intersect will be explained with reference to Figure 11. Figure 11 is a perspective view showing the state in which the first support arm 114 and the second support arm 124 of the first reagent dispensing unit 23 are intersecting.

[0152] As mentioned above, the sector formed by the arc of the trajectory traced by one longitudinal end of the second support arm 124 for the first reagent probes 23A and 23B is contained within the sector formed by the arc of the trajectory of the second reagent probe 24A attached to the first support arm 114. Furthermore, when the first support arm 114 and the second support arm 124 do not come into contact in the vertical direction, they rotate horizontally. Therefore, when the first support arm 114 and the second support arm 124 are viewed from above during dispensing, the longitudinal middle portion of the first support arm 114 and the longitudinal middle portion of the second support arm 124 do not intersect.

[0153] Incidentally, during maintenance, users or maintenance workers may move the drive shafts 111, 121 and support arms 114, 124. In this case, it is conceivable that the first support arm 114 and the second support arm 124 may unintentionally end up in a cross configuration. As shown in Figure 11, when the support arms 114 and 124 are in a cross configuration, the first support arm 114 is positioned lower than the second support arm 124.

[0154] In the cross-arrangement configuration, when the first example of the origin return process described above is executed, when the first drive shaft 111 and the second drive shaft 121 are raised in step S1, the second drive shaft 121 is the first to reach the upper and lower origin position and stop. Subsequently, the first drive shaft 111 continues its upward movement, but the first support arm 114 pushes up against the second support arm 124 from below. In other words, the first support arm 114 collides with the second support arm 124. Collisions between support arms 114 and 124 can cause equipment failure and must be avoided.

[0155] [Second example] Next, a second example of the origin return process for the first reagent dispensing unit 23 will be explained with reference to Figure 12. Figure 12 is a flowchart showing a second example of the origin return process for the first reagent dispensing unit 23.

[0156] In the second example of the origin return process, it is detected whether or not the system is in a cross configuration. If the system is in a cross configuration, an error is output; otherwise, the first drive shaft 111 and the second drive shaft 121 are placed at the origin position.

[0157] When the second example of the home position return process is started, the control unit 1b turns on the excitation of the first drive shaft 111 (S11). That is, the control unit 1b turns on the excitation of the first vertical drive unit 112 and the first rotational drive unit 113. Next, the control unit 1b turns on the excitation of the second drive shaft 121 (S12). That is, the control unit 1b turns on the excitation of the second vertical drive unit 122 and the second rotational drive unit 123.

[0158] Next, the control unit 1b controls the driving of the first vertical drive unit 112 and the second vertical drive unit 122 to raise the first drive shaft 111 and the second drive shaft 121 (S13). Next, the control unit 1b determines whether the first drive shaft 111 has reached the vertical origin position first (S14).

[0159] In step S14, if it is determined that the first drive shaft 111 has reached the vertical origin position first (S14 is YES), the control unit 1b stops driving the first vertical drive unit 112 and the second vertical drive unit 122 after the first drive shaft 111 and the second drive shaft 121 have reached their respective vertical origin positions, thereby stopping the upward movement of the first drive shaft 111 and the second drive shaft 121 (S15).

[0160] If the first drive shaft 111 reaches the vertical origin position first, the first support arm 114 is positioned above the second support arm 124. Therefore, even if the second drive shaft 121 is raised after the upward movement of the first drive shaft 111 has stopped, the second support arm 124 will not collide with the first support arm 114.

[0161] Next, the control unit 1b controls the drive of the first rotary drive unit 113 to rotate the first drive shaft 111 to the horizontal origin position (S16). Next, the control unit 1b controls the drive of the second rotary drive unit 123 to rotate the second drive shaft 121 to the horizontal origin position (S17). After the processing in step S17, the control unit 1b terminates the second example of the origin return process.

[0162] In step S14, if it is determined that the first drive shaft 111 has not yet reached the vertical origin position (S14 is NO), the control unit 1b stops driving the first vertical drive unit 112 and the second vertical drive unit 122 after the second drive shaft 121 has reached the vertical origin position, thereby stopping the upward movement of the first drive shaft 111 and the second drive shaft 121 (S18).

[0163] Next, the control unit 1b turns off the excitation of the first drive shaft 111 (S19). That is, the control unit 1b turns off the excitation of the first vertical drive unit 112 and the first rotation drive unit 113. Next, the control unit 1b controls the drive of the second vertical drive unit 122 to lower the second drive shaft 121 by a certain amount from the horizontal origin position (S20).

[0164] Next, the control unit 1b turns OFF the excitation of the second drive shaft 121 (S21). That is, the control unit 1b turns OFF the excitation of the second up-and-down drive unit 122 and the second rotation drive unit 123. Next, the control unit 1b turns ON the excitation of the first drive shaft 111 (S22). Subsequently, the control unit 1b controls the drive of the first up-and-down drive unit 112 to raise the first drive shaft 111 (S23).

[0165] Next, the control unit 1b determines whether the first drive shaft 111 has reached the vertical origin position first (S24). In step S24, if it is determined that the first drive shaft 111 has reached the vertical origin position first (S24 is YES), the control unit 1b stops driving the first vertical drive unit 112 to stop the upward movement of the first drive shaft 111 and turns on the excitation of the second drive shaft 121 (S25). If the first drive shaft 111 has reached the vertical origin position first, the first support arm 114 is positioned above the second support arm 124.

[0166] Next, the control unit 1b controls the drive of the second vertical drive unit 122 to raise the second drive shaft 121 to the vertical origin position (S26). Next, the control unit 1b controls the drive of the first rotation drive unit 113 to rotate the first drive shaft 111 to the horizontal origin position (S27). Next, the control unit 1b controls the drive of the second rotation drive unit 123 to rotate the second drive shaft 121 to the horizontal origin position (S28). After the processing in step S28, the control unit 1b completes the second example of the origin return process.

[0167] In step S24, if it is determined that the first drive shaft 111 has not yet reached the vertical origin position (S24 is NO), the control unit 1b detects that the second drive shaft 121 has reached the vertical origin position (S29).

[0168] When the second drive shaft 121, with its excitation turned OFF, reaches its upper and lower origin position, it means that the second support arm 124 attached to the second drive shaft 121 has been pushed up by the first support arm 114. Therefore, the control unit 1b can detect in step S29 that the cross arrangement is in place.

[0169] The control unit 1b stops the drive of the first vertical drive unit 112, stops the upward movement of the first drive shaft 111, and outputs a cross-configuration error to the display control unit (not shown) indicating that a cross-configuration state is in place (S30). Upon receiving the cross-configuration error, the display control unit displays on the display unit 41 (see Figure 1) that a cross-configuration state is in place. Users and maintenance workers, upon seeing the display unit 41 and recognizing that a cross-configuration state is in place, manually resolve the cross-configuration state.

[0170] [Third example] Next, a third example of the origin return process for the first reagent dispensing unit 23 will be explained with reference to Figure 13. Figure 13 is a flowchart showing a third example of the origin return process for the first reagent dispensing unit 23.

[0171] In the third example of the origin return process, the cross arrangement is resolved and the first drive shaft 111 and the second drive shaft 121 are returned to their origin positions. Therefore, when executing the third example of the origin return process, at least the setting for the horizontal rotation range of the second drive shaft 121 is released. This allows the second drive shaft 121 to rotate 360°.

[0172] As explained using Figure 3, during dispensing, the second support arm 124 rotates within a sector formed by the arc of the trajectory of the second reagent probe 24A attached to the first support arm 114. However, when resolving the cross arrangement, the second support arm 124 exceptionally moves outside the sector formed by the arc of the trajectory of the second reagent probe 24A.

[0173] When the third example of the home position return process is started, the control unit 1b controls the driving of the first vertical drive unit 112 and the second vertical drive unit 122 to raise the first drive shaft 111 and the second drive shaft 121 (S41). Next, the control unit 1b determines whether the first drive shaft 111 has reached the vertical home position first (S42).

[0174] In step S42, when it is determined that the first drive shaft 111 has reached the upper and lower origin position first (S42 is YES), the control unit 1b stops driving the first up and down drive unit 112 and the second up and down drive unit 122, and stops the upward drive of the first drive shaft 111 and the second drive shaft 121 (S43).

[0175] If the first drive shaft 111 reaches the upper and lower origin position first, the first support arm 114 is positioned above the second support arm 124. Therefore, even if the first drive shaft 111 is rotated horizontally, the first support arm 114 will not collide with the second support arm 124.

[0176] Next, the control unit 1b controls the drive of the first rotation drive unit 113 to rotate the first drive shaft 111 in the first rotation direction (S44). The first rotation direction is counterclockwise in Figure 1, and is the direction in which the first drive shaft 111 moves toward the horizontal origin position. Next, after the first drive shaft 111 reaches the horizontal origin position, the control unit 1b stops the drive of the first rotation drive unit 113 and stops the rotational movement of the first drive shaft 111 (S45).

[0177] Next, the control unit 1b controls the drive of the second vertical drive unit 122 to raise the second drive shaft 121 (S46). Then, after the second drive shaft 121 reaches the vertical origin position, the control unit 1b stops the drive of the second vertical drive unit 122 and stops the upward movement of the second drive shaft 121 (S47).

[0178] Next, the control unit 1b controls the drive of the second rotation drive unit 123 to rotate the second drive shaft 121 in the second rotation direction (S48). The second rotation direction is clockwise in Figure 1, and is the direction in which the second drive shaft 121 moves toward the horizontal origin position. Next, after the second drive shaft 121 reaches the horizontal origin position, the control unit 1b stops the drive of the second rotation drive unit 123 and stops the rotational movement of the second drive shaft 121 (S49). After the processing in step S19, the control unit 1b completes the third example of the origin return process.

[0179] In step S42, if it is determined that the first drive shaft 111 has not yet reached the upper and lower origin position (S42 is NO), the control unit 1b stops driving the first up and down drive unit 112 and the second up and down drive unit 122, thereby stopping the upward drive of the first drive shaft 111 and the second drive shaft 121 (S50).

[0180] Next, the control unit 1b controls the drive of the second rotation drive unit 123 to rotate the second drive shaft 121 in a direction that moves the first reagent probe 23B of the second support arm 124 away from the first support arm 114 (S51).

[0181] In step S51, if the first reagent probe 23B of the second support arm 124 is located on one end of the rotation range relative to the first support arm 114, the control unit 1b rotates the second drive shaft 121 (second support arm 124) toward the one end of the rotation range. The control unit 1b then rotates the second drive shaft 121 until it has passed one end of the rotation range and reached the other end. As a result, the first reagent probe 23B rotates around the end of the first support arm 114 on the rotation center side, and the second support arm 124 moves away from the first support arm 114. Consequently, the cross arrangement is resolved.

[0182] In step S51, if the first reagent probe 23B of the second support arm 124 is located on the other end of the rotation range than the first support arm 114, the control unit 1b rotates the second drive shaft 121 (second support arm 124) toward the other end of the rotation range. The control unit 1b then rotates the second drive shaft 121 until it reaches one end of the rotation range, beyond the other end. As a result, the first reagent probe 23B rotates around the end of the first support arm 114 on the rotation center side, and the second support arm 124 moves away from the first support arm 114. Consequently, the cross arrangement is resolved.

[0183] Next, after the second drive shaft 121 reaches one end or the other end of the rotation range, the control unit 1b stops driving the second rotation drive unit 123, thereby stopping the rotational movement of the second drive shaft 121 (S52). Next, the control unit 1b controls the driving of the first vertical drive unit 112 to raise the first drive shaft 111 (S53). Next, after the first drive shaft 111 reaches the vertical origin position, the control unit 1b stops driving the first vertical drive unit 112, thereby stopping the upward movement of the first drive shaft 111 (S54).

[0184] Next, the control unit 1b controls the drive of the first rotation drive unit 113 to rotate the first drive shaft 111 in the first rotation direction (S55). Next, after the first drive shaft 111 reaches the horizontal origin position, the control unit 1b stops the drive of the first rotation drive unit 113 and stops the rotational movement of the first drive shaft 111 (S56). After the processing in step S56, the control unit 1b proceeds to the processing in step S48.

[0185] Cables and tubes pass through the drive shafts 111 and 121. Therefore, after eliminating the cross arrangement, it is preferable to eliminate the twisting of the cables inside the second drive shaft 121. Accordingly, after performing the third example of the home position return process, the second drive shaft 121 is rotated one more time in the opposite direction to eliminate the twisting of the cables.

[0186] In the second example of the origin return process described above (see Figure 12), a cross-positioning error was output to an unshown display control unit in step S30. However, after the processing in step S29, steps S51 to 58, S48, and S49 of the third example of the origin return process may be executed. This allows the first reagent dispensing unit 23 to resolve the cross-positioning state and return the first drive shaft 111 and the second drive shaft 121 to their origin positions.

[0187] 2. Second Embodiment <Configuration of the automated analyzer> The difference between the configuration of the automatic analyzer according to the second embodiment and the configuration of the automatic analyzer according to the first embodiment lies in the origin position detection mechanism. Therefore, the origin position detection mechanism according to the second embodiment will be described here with reference to Figures 14 to 16, and the description of the configuration that overlaps with the first embodiment will be omitted.

[0188] <Origin position detection mechanism> Figure 14 is a diagram illustrating the origin position detection mechanism of the first reagent dispensing unit 23. Figure 15 is an explanatory diagram showing the state in which the second drive shaft 121 is positioned at the upper and lower origin positions. Figure 16 is an explanatory diagram showing the second drive shaft 121 when the support arms 114 and 124 are in a cross arrangement.

[0189] The origin position detection mechanism for the first drive shaft 111 according to the second embodiment is the same as the origin position detection mechanism for the first drive shaft 111 according to the first embodiment. That is, the origin position detection mechanism for the first drive shaft 111 according to the second embodiment consists of a first vertical origin position detection sensor 131, a first horizontal origin position detection sensor 132, a detection unit 116 for the vertical origin, and a detection unit 117 for the rotational origin (see Figure 7).

[0190] As shown in Figure 14, the origin position detection mechanism of the second drive shaft 121 according to the second embodiment consists of a second vertical origin position detection sensor 141, a second horizontal origin position detection sensor 142, a cross-check sensor 143, an upper and lower origin detection unit 126, and a rotational origin detection unit 127. The second vertical origin position detection sensor 141, the second horizontal origin position detection sensor 142, the upper and lower origin detection unit 126, and the rotational origin detection unit 127 are the same as in the first embodiment.

[0191] As shown in Figure 15, the second vertical origin position detection sensor 141 detects that the second drive shaft 121 is positioned at the vertical origin when the optical axis is obstructed by the vertical origin detection unit 126. The second horizontal origin position detection sensor 142 detects that the second drive shaft 121 is positioned at the horizontal origin when the optical axis passes through the slit in the rotational origin detection unit 127.

[0192] The cross-check sensor 143 is held together with the second vertical origin position detection sensor 141 and the second horizontal origin position detection sensor 142 in the sensor holding plate 140 (see Figure 2). The vertical origin detection unit 126 is positioned in the vertical direction opposite to the first vertical origin position detection sensor 141 and the cross-check sensor 143.

[0193] The cross-check sensor 143 is, for example, a transmissive photosensor. The optical axis of the cross-check sensor 143 extends horizontally. As shown in Figure 16, the cross-check sensor 143 detects that the second drive shaft 121 is positioned at the cross-check position when its optical axis is obstructed by the upper and lower origin detection unit 126. The cross-check position is set above the upper and lower origin position. The second drive shaft 121 is positioned at the cross-check position when the second support arm 124 is pushed up by the first support arm 114.

[0194] <Control system for the first reagent dispensing unit 23> Next, an example of the configuration of the control system of the first reagent dispensing unit 23 according to the second embodiment will be described with reference to Figure 17. Figure 17 is a block diagram showing an example of the configuration of the control system of the first reagent dispensing unit 23 according to the second embodiment.

[0195] The control system configuration of the first reagent dispensing unit 23 according to the second embodiment is the same as the control system configuration of the first reagent dispensing unit 23 according to the first embodiment, with the addition of a cross-check sensor 143. The cross-check sensor 143 detects when the second drive shaft 121 is positioned at the cross-check position and transmits the detection result to the control unit 1b.

[0196] <Return to origin position process> Next, the origin return process of the first reagent dispensing unit 23 according to the second embodiment will be described with reference to Figure 18. Figure 18 is a flowchart showing an example of the origin return process of the first reagent dispensing unit 23 according to the second embodiment.

[0197] In the origin return process of the first reagent dispensing unit 23 according to the second embodiment, it is detected whether or not the units are in a cross configuration, and if they are in a cross configuration, an error is output. If they are not in a cross configuration, the first drive shaft 111 and the second drive shaft 121 are placed at the origin position.

[0198] When the home position return process according to the second embodiment is started, the control unit 1b turns ON the excitation of the first drive shaft 111 (S61). That is, the control unit 1b turns ON the excitation of the first vertical drive unit 112 and the first rotational drive unit 113. Next, the control unit 1b turns ON the excitation of the second drive shaft 121 (S62). That is, the control unit 1b turns ON the excitation of the second vertical drive unit 122 and the second rotational drive unit 123.

[0199] Next, the control unit 1b controls the driving of the first vertical drive unit 112 and the second vertical drive unit 122 to raise the first drive shaft 111 and the second drive shaft 121 (S63). Next, the control unit 1b determines whether the first drive shaft 111 has reached the vertical origin position first (S64).

[0200] In step S64, if it is determined that the first drive shaft 111 has reached the vertical origin position first (S64 is YES), the control unit 1b stops driving the first vertical drive unit 112 and the second vertical drive unit 122 after the first drive shaft 111 and the second drive shaft 121 have reached their respective vertical origin positions, thereby stopping the upward movement of the first drive shaft 111 and the second drive shaft 121 (S65).

[0201] Next, the control unit 1b controls the drive of the first rotary drive unit 113 to rotate the first drive shaft 111 to the horizontal origin position (S66). Next, the control unit 1b controls the drive of the second rotary drive unit 123 to rotate the second drive shaft 121 to the horizontal origin position (S67). After the processing in step S67, the control unit 1b terminates the origin return process according to the second embodiment.

[0202] In step S64, if it is determined that the first drive shaft 111 has not yet reached the vertical origin position (S64 is NO), the control unit 1b stops driving the first vertical drive unit 112 and the second vertical drive unit 122 after the second drive shaft 121 has reached the vertical origin position, thereby stopping the upward movement of the first drive shaft 111 and the second drive shaft 121 (S68).

[0203] Next, the control unit 1b turns off the excitation of the second drive shaft 121 (S69). That is, the control unit 1b turns off the excitation of the second up-and-down drive unit 122 and the second rotation drive unit 123. Next, the control unit 1b controls the drive of the first up-and-down drive unit 112 to raise the first drive shaft 111 (S70).

[0204] Next, the control unit 1b determines whether the first drive shaft 111 has reached the vertical origin position first (S71). In step S71, if it is determined that the first drive shaft 111 has reached the vertical origin position first (S71 is YES), the control unit 1b stops driving the first vertical drive unit 112 to stop the upward movement of the first drive shaft 111 and turns on the excitation of the second drive shaft 121 (S72). If the first drive shaft 111 has reached the vertical origin position first, the first support arm 114 is positioned above the second support arm 124.

[0205] Next, the control unit 1b controls the drive of the second vertical drive unit 122 to raise the second drive shaft 121 to the vertical origin position (S73). Next, the control unit 1b controls the drive of the first rotation drive unit 113 to rotate the first drive shaft 111 to the horizontal origin position (S74). Next, the control unit 1b controls the drive of the second rotation drive unit 123 to rotate the second drive shaft 121 to the horizontal origin position (S75). After the processing in step S75, the control unit 1b terminates the origin return process according to the second embodiment.

[0206] In step S71, if it is determined that the first drive shaft 111 has not yet reached the upper and lower origin position (S71 is NO), the control unit 1b detects that the second drive shaft 121 has reached the cross-check position (S76).

[0207] When the second drive shaft 121, with its excitation turned OFF, reaches the cross-check position, it means that the second support arm 124 attached to the second drive shaft 121 has been pushed up by the first support arm 114. Therefore, the control unit 1b can detect in step S76 that the cross-arrangement state is in place.

[0208] The control unit 1b stops the drive of the first vertical drive unit 112, stops the upward movement of the first drive shaft 111, and outputs a cross-configuration error to the display control unit (not shown) indicating that a cross-configuration state is in place (S77). Upon receiving the cross-configuration error, the display control unit displays on the display unit 41 (see Figure 1) that a cross-configuration state is in place. Users and maintenance workers, upon seeing the display unit 41 and recognizing that a cross-configuration state is in place, manually resolve the cross-configuration state.

[0209] In the origin return process according to the second embodiment described above, a cross-positioning error was output to an unillustrated display control unit in step S77. However, after the processing in step S76, steps S51 to 58, S48, and S49 of the third example of the origin return process according to the first embodiment may be executed. This allows the first reagent dispensing unit 23 to resolve the cross-positioning state and return the first drive shaft 111 and the second drive shaft 121 to their origin positions.

[0210] Embodiments of the present invention have been described above. However, the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the gist of the invention as described in the claims. For example, the embodiments described above are intended to explain the present invention in an easy-to-understand and detailed manner, and the present invention is not necessarily limited to having all the configurations described. Furthermore, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. In addition, it is possible to add, delete, or replace parts of the configuration of each embodiment with other configurations.

[0211] In the first and second embodiments described above, the horizontal positions of the probe cleaning devices 34A and 34B were set on the trajectory of the second reagent probes 24A and 24B and within the rotational range of the second reagent probes 24A and 24B (drive shafts 111 and 121). However, the probe cleaning device for cleaning the probes of the dispensing probe device according to the present invention may be set outside the rotational range related to the dispensing operation of the probe, as long as it is on the trajectory of the probe. [Explanation of symbols]

[0212] 1...Automatic analyzer, 1a...Measurement unit, 1b...Control unit, 2...Sample turntable, 3...Dilution turntable, 4...First reagent turntable, 5...Second reagent turntable, 6...Reaction turntable, 11...Dilution stirring device, 12...Dilution washing device, 13...First reaction stirring device, 14...Second reaction stirring device, 15...Multi-wavelength photometer, 16...Reaction vessel washing device, 21...Sample dispensing unit, 22...Diluted sample dispensing unit, 23...First reagent dispensing unit, 23A...First reagent probe, 23B...First reagent probe, 24...Second reagent dispensing unit, 24A...Second reagent probe, 24B...Second reagent probe 31,32A,32B,33A,33B,34A,34B...Probe cleaning device, 101...Base, 102...First dispensing mechanism, 103...Second dispensing mechanism, 111...First drive shaft, 112...First vertical drive unit, 113...First rotation drive unit, 114...First support arm, 116...Detected part, 116a...Matching hole, 116b...Notch, 118...First weighing pump, 119...First washing pump, 121...Second drive shaft, 122...Second vertical drive unit, 123...Second rotation drive unit, 124...Second support arm, 128...Second weighing pump, 129...First washing pump, 131...First vertical origin position detection sensor, 132...First horizontal origin position detection sensor, 134...First liquid level detection sensor, 135...First probe collision detection sensor, 141...Second vertical origin position detection sensor, 142...Second horizontal origin position detection sensor, 143...Cross-check sensor, 144...Second liquid level detection sensor, 145...Second probe collision detection sensor, 201...First support arm airspace, 202...Probe A airspace, 211...Second support arm airspace, 212...Probe B airspace

Claims

1. A first dispensing probe and a second dispensing probe extending in the vertical direction, A first support arm that supports the upper end of the first dispensing probe, A first drive mechanism moves the first support arm vertically and rotates it horizontally, A second support arm that supports the upper end of the second dispensing probe, The device comprises a second drive mechanism that moves the second support arm vertically and rotates it horizontally, The horizontal distance from the rotation center of the first support arm to the first dispensing probe is longer than the horizontal distance from the rotation center of the second support arm to the second dispensing probe. The sector formed by the arc of the trajectory traced by the end of the second support arm furthest from the center of rotation is contained within the sector formed by the arc of the trajectory of the first dispensing probe. The rotation centers of the first support arm and the rotation centers of the second support arm are not located on the same axis. The distance between the rotation center of the first support arm and the rotation center of the second support arm is set such that, at both ends of the rotation range of the first and second support arms, they do not overlap when viewed from above or below. Dispensing probe device.

2. The first rotational height, which is the vertical position of the first support arm when the first support arm is rotated horizontally, is higher than the second rotational height, which is the vertical position of the second support arm when the second support arm is rotated horizontally. The first support arm, positioned at the first rotational height, does not come into contact with the second support arm, positioned at the second rotational height. The dispensing probe device according to claim 1.

3. The first dispensing probe is cleaned by moving it up and down in the cleaning tank of the first probe cleaning device, which is positioned on the track. The second dispensing probe is cleaned by moving it up and down in the cleaning tank of the second probe cleaning device, which is positioned on the track. The vertical distance between the first support arm at the first rotational height and the second support arm at the second rotational height is set such that the first support arm does not interfere with each other when cleaning the first dispensing probe and the second support arm does not interfere with each other when cleaning the second dispensing probe. The dispensing probe device according to claim 2.

4. The difference in vertical position between the first probe cleaning device and the second probe cleaning device is equal to the vertical distance between the first support arm located at the first rotational height and the second support arm located at the second rotational height. The dispensing probe device according to claim 3.

5. The first dispensing probe and the second dispensing probe draw liquid from a plurality of first containers held on a first turntable that rotates horizontally, and discharge it into a plurality of second containers held on a second turntable that rotates horizontally. The rotation centers of the first support arm and the second support arm are positioned on perpendicular lines perpendicular to the imaginary line connecting the rotation centers of the first turntable and the rotation centers of the second turntable. The dispensing probe device according to claim 1.

6. The perpendicular line is positioned so that the lines connecting the ends of the rotation ranges of the first and second support arms and their respective centers of rotation form an isosceles triangle. The dispensing probe device according to claim 5.

7. The first support arm airspace, which is the area in the air occupied by the first support arm when it rotates, It is set above the second support arm airspace, which is the area of ​​air occupied by the second support arm when it rotates. The dispensing probe device according to claim 1.

8. A storage unit having multiple containers containing liquid, A dispensing probe device for dispensing the aforementioned liquid, The device comprises a measuring unit for measuring the liquid dispensed by the aforementioned dispensing probe device, The aforementioned dispensing probe device is A first dispensing probe and a second dispensing probe extending in the vertical direction, A first support arm that supports the upper end of the first dispensing probe, A first drive mechanism moves the first support arm vertically and rotates it horizontally, A second support arm that supports the upper end of the second dispensing probe, The device comprises a second drive mechanism that moves the second support arm vertically and rotates it horizontally, The horizontal distance from the rotation center of the first support arm to the first dispensing probe is longer than the horizontal distance from the rotation center of the second support arm to the second dispensing probe. The sector formed by the arc of the trajectory traced by the end of the second support arm furthest from the center of rotation is contained within the sector formed by the arc of the trajectory of the first dispensing probe. The rotation centers of the first support arm and the rotation centers of the second support arm are not located on the same axis. The distance between the rotation center of the first support arm and the rotation center of the second support arm is set such that, at both ends of the rotation range of the first and second support arms, they do not overlap when viewed from above or below. Automatic analyzer.

9. The system further comprises a control unit that controls the driving of the first drive mechanism and the second drive mechanism, The control unit performs a return-to-origin process to position the first support arm and the second support arm at their respective origin positions. The vertical origin of the first support arm is higher than the vertical origin of the second support arm. The automated analyzer according to claim 8.

10. In the aforementioned origin return process, the first support arm is positioned at the vertical origin position, then at the horizontal origin position, and the second support arm is positioned at the vertical origin position, then at the horizontal origin position. The automated analyzer according to claim 9.

11. The dispensing probe device has a cross-check sensor that detects a cross-configuration state in which the first support arm is positioned below the second support arm and the first and second support arms intersect when viewed from above. The automated analyzer according to claim 10.

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