Analysis System
The analysis system optimizes sample transport by controlling rotational angle deviations based on door states, enhancing precision and reducing unnecessary resets, thus improving efficiency and component durability.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- SHIMADZU SEISAKUSHO LTD
- Filing Date
- 2023-10-23
- Publication Date
- 2026-07-22
AI Technical Summary
Existing analysis systems face challenges in accurately transporting sample containers from rotating shelves due to unintentional rotation caused by user interaction, leading to inefficiencies in resetting the rotational angle position, which affects the precision of the transport process.
The system includes a control device that determines the amount of deviation in the rotation angle of the rotating body and conveyor based on door opening and closing, performing return controls only when the deviation exceeds a threshold, thereby reducing the frequency of resetting the rotational angle position.
This approach enhances the precision of sample container transport by minimizing unnecessary resets, improving operational efficiency and reducing wear on mechanical components.
Smart Images
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Abstract
Description
Technical Field
[0001] The present disclosure relates to an analysis system.
Background Art
[0002] Conventionally, an analysis system including a pretreatment device has been known. The pretreatment device performs pretreatment on a sample such as a culture solution. The pretreatment includes various processes such as centrifugation, liquid removal, reagent supply, stirring, and extraction. The pretreated sample is supplied to an analyzer included in the analysis system.
[0003] Japanese Patent Application Laid-Open No. 2022-94535 (Patent Document 1) describes an analysis system including a container storage unit that stores a large number of sample containers, a dispensing work unit that performs a series of pretreatment, and a container transport unit that transports the sample containers between the container storage unit and the dispensing work unit. A user places a large number of sample containers on the shelves of the container storage unit. The container transport unit moves the sample containers from the container storage unit to the dispensing work unit based on the user's instructions.
Prior Art Documents
Patent Documents
[0004]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0005] In order to be able to place a large number of sample containers on the analysis system, it is conceivable to configure the container storage unit with a rotating body provided with a large number of shelves. By rotating the rotating body, the user can place the sample containers on an empty shelf among the plurality of shelves provided on the rotating body. It is desirable to provide the analysis system with a function of a transport process that automatically transports the sample containers placed on the shelves of the rotating body by a transport body.
[0006] For sample containers placed on rotating shelves to be automatically transported by a transporter, the position of the shelf on which the sample containers are placed must be accurately identified by the analysis system. Therefore, the analysis system needs to know the rotational angle position of the rotating body based on information such as the drive status of the motors that drive the rotating body.
[0007] However, even with this configuration, if the rotating body rotates unintentionally due to a user's hand touching the shelf, the analysis system may lose track of the rotating body's rotational angle. In this case, the conveyor may not be able to accurately approach the target shelf.
[0008] Therefore, one might consider resetting the rotational angle position of the rotating body to a reference angle position, such as the origin of the rotation direction, before performing the transport process based on that reference angle position. However, resetting the rotational angle position of the rotating body to the reference angle position after each transport process is not efficient.
[0009] This disclosure was made to solve the above-mentioned problems, and its purpose is to provide an analytical system that can approach the sample container to be transported while reducing the frequency of returning the rotational angle position of the rotating body on which the sample container is placed to the reference angle position. [Means for solving the problem]
[0010] The analytical system of this disclosure is an analytical system including a preprocessing apparatus for performing preprocessing, comprising a storage apparatus for housing a sample container containing a sample to be preprocessed, and a control device, wherein the storage apparatus comprises a rotating body, a first mounting section provided on the rotating body, a transport body, a cover body having a first opening formed for placing a sample container onto the first mounting section from outside the storage apparatus and covering the rotating body, a door covering the first opening, and a door sensor for detecting the opening and closing of the door, the control device executes a transport process to transport the sample container placed on the first mounting section to the outside of the storage apparatus by the transport body, the control device determines whether the amount of deviation in the rotation angle of the rotating body between the time when the door is detected to be open and the time when the door is detected to be closed exceeds a first threshold, if the amount of deviation in the rotation angle exceeds the first threshold, the rotation angle position of the rotating body is returned to the reference angle position and then the transport process is executed, if the amount of deviation in the rotation angle does not exceed the first threshold, the transport process is executed without returning the rotation angle position of the rotating body to the reference angle position. [Effects of the Invention]
[0011] According to this disclosure, it is possible to provide an analytical system that can approach the sample container to be transported while reducing the frequency with which the rotational angle position of the rotating body on which the sample container is placed is returned to the reference angle position. [Brief explanation of the drawing]
[0012] [Figure 1] This is a block diagram showing the system configuration of the analysis system. [Figure 2] This is a perspective view showing the general configuration of the preprocessor. [Figure 3] This is a perspective view showing the general configuration of the stacker. [Figure 4] This is a conceptual diagram illustrating how the transporter approaches the sample container in a rack. [Figure 5] This is a conceptual diagram illustrating the movement of conveyors in a stacker. [Figure 6]This is a block diagram showing the configuration of the analysis system. [Figure 7] This is a flowchart illustrating the procedure by which the control device controls the rotating body and the conveying body. [Figure 8] This is a flowchart showing the update process. [Figure 9] This is a flowchart showing the procedure for transporting materials. [Modes for carrying out the invention]
[0013] The embodiments of this disclosure will be described in detail below with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and their descriptions will not be repeated.
[0014] <System configuration of analysis system 100> Figure 1 shows the system configuration of the analysis system 100. The analysis system 100 is a system for automatically performing pretreatment and analysis of the analyte. In this embodiment, the sample to be analyzed is, for example, plasma collected from a test subject. The analysis system 100 can be applied, for example, to a pretreatment device (automatic pretreatment dispensing device) for analyzing amyloid-beta, which is considered a biomarker for Alzheimer's disease, using MS with the MALDI (Matrix Assisted Laser Desorption / Ionization) method.
[0015] As shown in Figure 1, the analysis system 100 includes a sample preparation device 1, an analyzer 2, and a personal computer 3. The sample preparation device 1 comprises a sample preparation unit 20 that performs pretreatment on the sample and a stacker 30 that accommodates the sample containers. The personal computer 3 is communicated with the sample preparation device 1 and the analyzer 2.
[0016] The pretreatment unit 20 includes various pretreatment mechanisms such as a centrifugal separation mechanism, a liquid removal mechanism, a reagent supply mechanism, a stirring mechanism, and an extraction mechanism. The pretreatment unit 20 operates these mechanisms to perform pretreatment on the sample. The analyzer 2 is composed of a mass spectrometer or the like. The personal computer 3 transmits commands related to pretreatment or analysis to the pretreatment device 1 and the analyzer 2. The personal computer 3 receives information related to pretreatment or analysis from each of the pretreatment device 1 and the analyzer 2.
[0017] <Schematic Configuration of Pretreatment Device 1> FIG. 2 is a perspective view showing the schematic configuration of the pretreatment device 1. FIG. 3 is a perspective view of the stacker 30. FIG. 4 is a conceptual diagram for explaining the state in which the carrier 50 approaches the sample container 80 in the rack 42. FIG. 5 is a conceptual diagram for explaining the movement of the carrier 50 in the stacker 30.
[0018] In the present embodiment, three axes of X, Y, and Z that are orthogonal to each other are defined as shown in FIG. 2. The X-Y plane formed by the X-axis and the Y-axis is a plane parallel to the installation surface of the pretreatment device 1.
[0019] In FIG. 2, as an example of the pretreatment mechanism included in the pretreatment unit 20, a dispensing device 21 is shown. The pretreatment unit 20 includes, in addition to the dispensing device 21, a plurality of modules 23, a mounting table 24, and a table 22 on which the plurality of modules 23 and the mounting table 24 are mounted.
[0020] The dispensing device 21 has a function of moving within the housing of the pretreatment unit 20 and discharging a liquid such as a reagent into the sample container 80. The dispensing device 21 is provided with an arm 210 for transporting the sample container 80 while gripping it.
[0021] As shown in FIG. 2, there is a wall surface 251 between the pretreatment unit 20 and the stacker 30. The wall surface 251 partitions between the stacker 30 and the mounting table 24. An opening 25 is formed in the wall surface 251. The sample container 80 is transported from the stacker 30 to the mounting table 24 of the pretreatment unit 20 through the opening 25.
[0022] As shown in Figure 3, the stacker 30 is equipped with a rotating body 40 capable of holding a large number of sample containers 80. The rotating body 40 is covered by a transparent cover 31. The cover 31 has an opening 35 for the user to access the rotating body 40. The stacker 30 is equipped with a door 32 for opening and closing the opening 35.
[0023] The rotating body 40 rotates about a rotation axis 47 that is aligned with the Z-axis direction. The rotating body 40 includes a plurality of racks 42 (see Figure 4) arranged in the circumferential direction of the rotation axis 47. As shown in Figure 4, the racks 42 are provided with a number of shelves 43 arranged in the Z-axis direction. The user opens the door 32 of the stacker 30 and places the sample container 80 on the shelf 43 through the opening 35 from outside the stacker 30.
[0024] As shown in Figures 2 and 3, the stacker 30 is equipped with user-operable rotary switches 33 and 34. When rotary switch 33 is pressed, the rotating body 40 rotates counterclockwise by a certain angle and then stops. When rotary switch 34 is pressed, the rotating body 40 rotates clockwise by a certain angle and then stops. The stacker 30 may also rotate the rotating body 40 when it receives a command from the personal computer 3 that corresponds to the operation of the rotary switches 33 and 34.
[0025] If there is no available space on the rack 42 of the rotating body 40 facing the opening 35 for placing the sample container 80, the user closes the door 32 and then presses the rotation switch 33 or rotation switch 34. This causes the rotating body 40 to rotate, changing the position of the rack 42 facing the opening 35 from its position before the rotation of the rotating body 40. The user can then open the door 32 and place the sample container 80 on one of the many shelves 43 of the rack 42 where the sample container 80 is not currently placed.
[0026] As shown in Figures 4 and 5, the stacker 30 includes a transporter 50 for transporting the sample containers 80. The transporter 50 moves in a first direction (Z-axis direction) along the rotation axis 47, and also moves in a retractable manner in a second direction (X-axis direction) perpendicular to the first direction and along a straight line passing through the rotation axis 47 and the mounting table 24.
[0027] When viewed from above in the X-axis direction, the shelf plate 43 has a mounting surface 431 on which the sample container 80 is placed, and a recess 432 that is recessed in the negative Z-axis direction from the mounting surface 431 (see Figure 4). The size of the recess 432 in the Z-axis direction is larger than the thickness of the transporter 50 in the Z-axis direction. Therefore, the transporter 50 can enter the recess 432 of the shelf plate 43 on which the sample container 80 is placed.
[0028] <Operation of the transporter 50> Here, the operation of the transporter 50 will be explained using Figures 4 and 5. As already explained, an opening 25 is formed in the wall surface 251 between the pre-processing unit 20 and the stacker 30. The transporter 50 transports the sample containers 80 that are placed on the racks 42 of the rotating body 40 that face the opening 25. The stacker 30 can change the rack 42 that faces the opening 25 by rotating the rotating body 40. As a result, the stacker 30 can transport any sample container 80 that is placed on any of the racks 42 of the rotating body 40.
[0029] The preprocessing device 1 receives, for example, a command from the personal computer 3 to transport the sample container 80 in the stacker 30 to the preprocessing unit 20. When such a command is received, the transporter 50 transports the sample container 80 to be transported from the stacker 30 to the mounting stage 24 of the preprocessing unit 20 in the manner described below.
[0030] First, the transporter 50 moves to the sample container 80 to be transported from among the sample containers 80 placed on the rack 42 facing the opening 25 (movement in the Z-axis direction). Next, the transporter 50 moves in the Z-axis direction to match the height of the mounting table 24, and then extends toward the mounting table 24 with the sample container 80 to be transported on it, and places the sample container 80 on the mounting table 24 (movement in the X-axis direction). Figure 4 shows the operation of the transporter 50 moving to the sample container 80 to be transported. Figure 5 shows the operation of the transporter 50 extending toward the mounting table 24 and placing the sample container 80 on the mounting table 24.
[0031] Here, the rack 42 shown in Figure 4 is assumed to be facing the opening 25. Furthermore, with the rack 42 shown in Figure 4 as the reference, the rotation axis 47 of the rotating body 40 and the conveying body 50 are located in the negative direction of the X-axis, and the opening 25 is located in the positive direction of the X-axis.
[0032] As shown in Figure 4, the transporter 50 moves in the Z-axis direction and approaches the recess 432 of the shelf 43 on which the sample container 80 to be transported is placed. Subsequently, the transporter 50 moves in the positive X-axis direction to enter between the sample container 80 and the recess 432. Furthermore, the transporter 50 moves in the positive Z-axis direction to place the sample container 80, which was on the shelf 43, onto the transporter 50.
[0033] Next, the transporter 50 extends in the positive direction of the X-axis with the sample container 80 on it. As a result, as shown in Figure 5, the sample container 80 is transported from the stacker 30 to the mounting stage 24 of the pre-processing unit 20 through the opening 25. The rotating body 40 is provided with multiple racks 42 (see Figure 4) arranged in the circumferential direction of the rotation axis 47, but there are rows of racks 42 that are not provided at the height of the opening 25 so that the transporter 50 can pass through the opening 25. For example, the dispensing device 21 transports the sample container 80 located on the mounting stage 24 to the target module 23.
[0034] As described above, the transporter 50 transports the sample containers 80 placed on the rack 42 facing the opening 25 to the mounting table 24. The transporter 50 can also move the sample containers 80 placed on any shelf 43 of the rack 42 facing the opening 25 to another shelf 43. The preprocessing device 1 according to this embodiment is provided with an opening 25 for automatic transport by the transporter 50 and an opening 35 for manual operation by the user with respect to the sample containers 80.
[0035] <Block diagram of analysis system 100> Figure 6 is a block diagram showing the configuration of the analysis system 100. As shown in Figure 6, the analysis system 100 includes a preprocessing device 1, an analyzer 2, and a personal computer 3. The preprocessing device 1 includes a control device 10, a preprocessing unit 20 including a dispensing device 21, and a stacker 30.
[0036] The control device 10 includes a processor 11, a storage device 12, and a communication interface 13. The control device 10 communicates with the personal computer 3, the preprocessing unit 20, and the stacker 30 via the communication interface 13.
[0037] The processor 11 is typically composed of a CPU (Central Processing Unit) or an MPU (Multi-Processing Unit). The processor 11 reads and executes programs stored in the memory device 12, thereby realizing various processes related to the preprocessing unit 20 and the stacker 30. The processor 11 is an example of an arithmetic unit. The processor 11 is also an example of a processing circuit.
[0038] The storage device 12 includes a volatile storage area (e.g., a working area) for temporarily storing program code, work memory, etc., when the processor 11 executes an arbitrary program. For example, the storage device 12 may include volatile memory such as DRAM (dynamic random access memory) and SRAM (static random access memory), or non-volatile memory such as ROM (read-only memory) and flash memory. Furthermore, the storage device 12 may be an SSD (solid state drive) or an HDD (hard disk drive).
[0039] The stacker 30 comprises a rotating body 40, a conveying body 50, a door sensor 320, and rotation operation sensors 330 and 340. The door sensor 320 detects when the door 32 provided on the stacker 30 is opened and closed. The rotation operation sensor 330 detects when the rotation switch 33 is operated. The rotation operation sensor 340 detects when the rotation switch 34 is operated.
[0040] The stacker 30 further comprises a drive mechanism 41 for rotating the rotating body 40, a drive mechanism 51 for driving the conveyor body 50 in the Z-axis direction, a drive mechanism 61 for extending and retracting the conveyor body 50 in the X-axis direction, an origin sensor 45 for detecting that the rotational angular position of the rotating body 40 is at the origin position (reference angular position), an origin sensor 55 for detecting that the position of the conveyor body 50 in the Z-axis direction is at the origin position (reference position), and an origin sensor 65 for detecting that the tip position of the conveyor body 50 in the X-axis direction is at the origin position (reference position).
[0041] The drive mechanism 41 comprises a motor 411, a driver 412, and a rotary encoder 413. The drive mechanism 51 comprises a motor 511, a driver 512, and a linear encoder 513. The drive mechanism 61 comprises a motor 611 and a driver 612. The motors 411, 511, and 611 are, for example, stepping motors. The drivers 412, 512, and 612 output excitation signals to the corresponding motors 411, 511, and 611, respectively, based on commands from the control device 10.
[0042] The rotary encoder 413 detects the rotational angle position of the rotating body 40 and transmits the detected rotational angle position to the control device 10 via the driver 412. The linear encoder 513 detects the position of the transport body 50 in the Z-axis direction and transmits the detected position in the Z-axis direction to the control device 10 via the driver 512. The control device 10 constantly checks for positional misalignment of the rotating body 40 and the transport body 50 based on the output values of the rotary encoder 413 and the linear encoder 513.
[0043] When the control device 10 receives a detection signal from the rotation operation sensor 330, it rotates the rotating body 40 counterclockwise by a certain angle. At this time, the driver 412 controls the motor 411 with a number of drive steps corresponding to that certain angle. Subsequently, when the control device 10 receives another detection signal from the rotation operation sensor 330, it rotates the rotating body 40 counterclockwise by a certain angle. At this time, the driver 412 controls the motor 411 again with a number of drive steps corresponding to that certain angle.
[0044] As a result, each time the control device 10 acquires a detection signal from the rotation operation sensor 330, it can repeatedly position the rotating body 40 at predetermined angular positions such as 0 degrees, 120 degrees, 180 degrees, 360 degrees (0 degrees), 120 degrees, etc., from the origin angular position. Similarly, when the control device 10 acquires a detection signal from the rotation operation sensor 340, it rotates the rotating body 40 clockwise.
[0045] In this way, the control device 10 controls the rotational angle position of the rotating body 40 based on the number of drive steps that drive the motor 411. When the transporter 50 transports the sample container 80, the control device 10 also rotates the rotating body 40 according to the position of the rack 42 on which the sample container 80 to be transported is placed. As a result, the control device 10 positions the rack 42 on which the sample container 80 to be transported is placed facing the opening 25. At this time as well, the control device 10 controls the rotational angle position of the rotating body 40 based on the number of drive steps of the motor 411.
[0046] Similarly, the control device 10 controls the position of the conveyor 50 in the Z-axis direction and the tip position of the conveyor 50 in the X-axis direction based on the number of steps for driving the motors 511 and 611.
[0047] <Regarding the distinctive structure> Here, a characteristic configuration of the analysis system 100 related to this embodiment will be described. When the rotation of the rotating body 40 is stopped at a target angular position and then the rotating body 40 is rotated again, the number of drive steps of the motor 411 required to rotate the rotating body 40 to the next target angular position is calculated based on the stopping position. Similarly, when the conveying body 50 is stopped at a target position and then the conveying body 50 is moved again, the number of drive steps of the motor 511 required to move the conveying body 50 to the next target position is calculated based on the stopping position.
[0048] In order to stop the rotation of the rotating body 40, then start it again and stop it precisely at the next target angular position, it is necessary to prevent any displacement in the rotational angular position of the rotating body 40 while its rotation is being controlled to stop. Similarly, in order to accurately move the conveying body 50 to the next target position, it is necessary to prevent any displacement in the position of the conveying body 50 while its rotation is being controlled to stop.
[0049] In particular, when the door 32 is open, the rotational angle position of the rotating body 40 may be shifted if the user touches the rotating body 40, or the position of the conveying body 50 may be shifted if the user touches the conveying body 50.
[0050] To prevent such discrepancies from occurring, it is conceivable to continuously supply an excitation signal to motor 411 to maintain the state of the rotating body 40 while the rotation of the rotating body 40 is being controlled to stop, and to continuously supply an excitation signal to motors 511 and 611 to maintain the state of the conveying body 50 while the conveying body 50 is being controlled to stop.
[0051] However, if the excitation signal continues to be supplied while the door 32 is open, it is not entirely possible to completely rule out the possibility that the rotating body 40 or the conveying body 50 may start moving automatically due to some kind of malfunction in the device. If such a malfunction occurs, there is a risk that the rotating body 40 or the conveying body 50 may collide with the user's hand.
[0052] The control device 10 locks the door 32 while the rotating body 40 is rotating and while the conveying body 50 is operating. Furthermore, when the door 32 is open, the control device 10 does not accept operation of the rotation switches 33 and 34, nor does it accept commands to operate the conveying body 50. For this reason, the rotating body 40 does not normally rotate and the conveying body 50 does not operate when the user has access to the rotating body 40.
[0053] However, it is preferable to implement an interlock mechanism in the analysis system 100 to account for the possibility of trouble occurring. Therefore, when the door sensor 320 detects that the door 32 is open, a switch located on the power supply line connecting the power supply (motor power supply) and the motors 411 and 511 is mechanically switched from ON to OFF in conjunction with the detection by the door sensor 320. In this way, the stacker 30 stops supplying power to the motors 411 and 511 while the door sensor 320 detects that the door 32 is open.
[0054] This prevents the rotating body 40 from automatically rotating due to some malfunction in the device when the door 32 is opened. It also prevents the conveying body 50 from automatically moving in the Z-axis direction due to some malfunction in the device when the door 32 is opened.
[0055] In this embodiment, even if the door sensor 320 detects that the door 32 has opened, the power supply from the power source to the motor 611 is not cut off. This is because, even if the transporter 50 extends in the X-axis direction due to some device malfunction while the door 32 is open, the tip of the transporter 50 cannot collide with the user. As shown in Figure 5, the direction of movement of the transporter 50 in the X-axis direction is towards the pre-processing unit 20, and not towards the opening 35 that the user is facing. Also, the user cannot touch the shelf 43 located in the direction of movement of the transporter 50 in the X-axis direction. For this reason, even if the door sensor 320 detects that the door 32 has opened, an excitation signal is supplied to the motor 611. As a result, the tip position of the transporter 50 in the X-axis direction is maintained by the excitation signal while the door 32 is open.
[0056] By implementing an interlock mechanism, when the door 32 of the stacker 30 is open, the rotational angle position of the rotating body 40 changes when the user touches the rotating body 40. Similarly, when the door 32 of the stacker 30 is open, the position of the conveyor 50 in the Z-axis direction changes when the user touches the conveyor 50.
[0057] If the rotational angle position of the rotating body 40 changes due to the user touching it, and the motor 411 is driven with a predetermined number of drive steps, it is not possible to control the rotational angle position of the rotating body 40 to a predetermined angle position. Similarly, if the position of the conveying body 50 in the Z-axis direction changes due to the user touching it, and the motor 511 is driven with a predetermined number of drive steps, it is not possible to move the conveying body 50 to the intended position.
[0058] To solve this problem, it is conceivable that, after detection of door 32 being open, and then detection of door 32 being closed, the rotational angle position of the rotating body 40 be returned to the origin position (reference angle position), and the position of the conveying body 50 in the Z-axis direction be returned to the origin position (reference position). Hereinafter, the control that returns the rotational angle position of the rotating body 40 to the origin position (reference angle position), and the control that returns the position of the conveying body 50 in the Z-axis direction to the origin position (reference position) will be referred to as "return control". Also, hereafter, "detection of door 32 being open followed by detection of door 32 being closed" may be referred to as "detection of door 32 opening or closing".
[0059] By performing the return control described above, when operation of the rotary switch 33 or rotary switch 34 is detected, the control device 10 drives the motor 411 based on the number of steps calculated with respect to the origin position (reference angular position) and rotates the rotating body 40 to the correct rotation angular position. Similarly, when the control device 10 receives a command to transport the sample container 80, it can rotate the rotating body 40 so that the rack 42 on which the sample container 80 to be transported is placed faces the opening 25. Furthermore, the control device 10 drives the motor 511 based on the number of steps calculated with respect to the origin position (reference position) and moves the transport body 50 to the position of the sample container 80 to be transported.
[0060] However, it is inefficient to perform the reset control described above every time the opening or closing of the door 32 is detected. Every time the opening or closing of the door 32 is detected, the user has to wait for the reset control to finish, which increases the working time. The reset control is also performed even if the user who opened the door 32 finishes the work without touching the rotating body 40 or the conveying body 50. In this case, there is a possibility that the user may complain to the system manufacturer about the reset control being performed simply by opening or closing the door 32. Furthermore, the fact that the reset control is performed every time the opening or closing of the door 32 is detected may cause the durability of the drive units of the rotating body 40 and the conveying body 50 to deteriorate prematurely.
[0061] Therefore, in this embodiment, the control device 10 checks the amount of displacement in the rotational angular position of the rotating body 40 between when the door 32 is open and when the door 32 is closed. Furthermore, the control device 10 checks the amount of displacement in the Z-axis direction of the conveying body 50 between when the door 32 is open and when the door 32 is closed.
[0062] Even if an excitation signal is not supplied to the motors 411 and 511 when the door 32 is opened, the rotary encoder 413 and the linear encoder 513 are still functioning. Therefore, the control device 10 determines the amount of rotational angular position deviation based on the number of drive steps of the motor 411 before the door 32 is opened and the detected value of the rotary encoder 413 after the door is opened and closed. The control device 10 also determines the amount of position deviation in the Z-axis direction based on the number of drive steps of the motor 511 before the door 32 is opened and the detected value of the linear encoder 513 after the door is opened and closed.
[0063] If the amount of deviation in the rotational angle position of the rotating body 40 between when the door 32 is open and when the door 32 is closed exceeds a threshold, the control device 10 performs the above-described return control and rotates the rotating body 40 to the desired rotational angle position. If the amount of deviation in the rotational angle position of the rotating body 40 between when the door 32 is open and when the door 32 is closed does not exceed a threshold, the control device 10 rotates the rotating body 40 to the desired rotational angle position without performing the return control.
[0064] If the amount of displacement of the transporter 50 in the Z-axis direction between when the door 32 is open and when the door 32 is closed exceeds a threshold, the control device 10 performs the above-described return control and moves the transporter 50 to the target position. If the amount of displacement of the transporter 50 in the Z-axis direction between when the door 32 is open and when the door 32 is closed does not exceed a threshold, the control device 10 moves the transporter 50 to the target position without performing the return control.
[0065] The control device 10 does not perform return control if the amount of rotational angular displacement of the rotating body 40 does not affect the accuracy of the position of the rotating body 40, and if the amount of positional displacement of the conveying body 50 in the Z-axis direction does not affect the accuracy of the position of the conveying body 50. As a result, according to this embodiment, it is possible to reduce both the frequency of returning the rotational angular position of the rotating body 40 to the reference angular position and the frequency of returning the conveying body 50 to the reference position, while allowing the conveying body 50 to approach the sample container 80 to be conveyed.
[0066] <Explanation of processing steps based on a flowchart> Next, the characteristic configurations related to this embodiment will be explained using a flowchart.
[0067] Figure 7 is a flowchart illustrating the procedure by which the control device 10 controls the rotating body 40 and the conveying body 50. Figure 8 is a flowchart illustrating the procedure for the update process. Figure 9 is a flowchart illustrating the procedure for the conveying process. The update process and the conveying process are subroutines in the flowchart shown in Figure 7.
[0068] First, the control device 10 detects that the door 32 has opened based on the detection output of the door sensor 320 (step S1). Next, the control device 10 stores the current angular position Pa1 of the rotating body 40 in the storage device 12 based on the number of steps of the motor 411 (step S2). Next, the control device 10 stores the current position Pz1 of the conveying body 50 in the storage device 12 based on the number of steps of the motor 511 (step S3). Next, the power supply to motors 411 and 511 is stopped (step S4). More specifically, based on detection by the door sensor 320, a switch on the power supply line connecting the power supply and motors 411 and 511 is mechanically switched from ON to OFF. In step S4, the power supply to motor 611 may also be stopped. While the door 32 is open, the user places the sample container 80 on one of the shelves 43 of the rack 42 facing the opening 35.
[0069] When the user finishes their work, they close the door 32. The control device 10 detects that the door is closed based on the change in the detection output of the door sensor 320 from on to off (step S5). Next, power is supplied to the motors 411 and 511 (step S6). More specifically, based on the detection by the door sensor 320, a switch located on the power supply line connecting the power supply and the motors 411 and 511 is mechanically switched from OFF to ON.
[0070] Next, the control device 10 determines the current angular position Pa2 based on the output value of the rotary encoder 413 (step S7). Then, the control device 10 determines the current position Pz2 in the Z-axis direction based on the output value of the linear encoder 513 (step S8).
[0071] Next, the control device 10 determines whether or not operation of the rotary switch 33 or rotary switch 34 has been detected (step S9). If operation of the rotary switch 33 or rotary switch 34 is detected, the control device 10 performs an update process (step S10) and completes the process based on this flowchart. The update process will be explained using Figure 8.
[0072] If no operation of the rotary switch 33 or rotary switch 34 is detected, the control device 10 determines whether or not it has received a command to move the transport body 50 (step S11). The command to move the transport body 50 is transmitted to the control device 10 from, for example, the personal computer 3. If the control device 10 has received a command to move the transport body 50, it executes the transport process (step S12) and completes the process based on this flowchart. The transport process will be explained using Figure 9. If the control device 10 has not received a command to move the transport body 50, it completes the process based on this flowchart.
[0073] Next, the update process will be explained using Figure 8. First, the control device 10 determines whether the absolute value of "angular position Pa1 - angular position Pa2" is less than the threshold α (step S21). That is, the control device 10 determines whether the amount of deviation in the rotational angular position of the rotating body 40 between when the door 32 is open and when the door 32 is closed is less than the threshold α. Threshold α is an example of a first threshold.
[0074] If the control device 10 determines NO in step S21, it returns the rotating body 40 to the origin angular position (step S24). Then, the control device 10 rotates the rotating body 40 to the next rack 42 with respect to the origin angular position (step S25). At this time, the control device 10 rotates the rotating body 40 counterclockwise or clockwise depending on the type of rotation switch (rotation switch 33, rotation switch 34) that was detected to have been operated.
[0075] As a result, the rack 42 facing the opening 35 is changed to a different rack 42 than the one that was facing the opening 35 before the rotation of the rotating body 40 began. In other words, the rack 42 of the rotating body 40 facing the opening 35 is changed to the next rack 42 that should face the opening 35. As a result, when a certain rack 42 of the rotating body 40 is facing the opening 35, the rotating body 40 rotates based on the operation of the rotation switch, and when another rack 42 faces the opening 35, the rotation of the rotating body 40 stops. As a result, the shelf 43 facing the opening 35 is changed from the shelf 43 (first mounting section) to another shelf 43 (second mounting section).
[0076] If the control device 10 determines YES in step S21, it does not return the rotating body 40 to the origin angular position. This is because the amount of deviation in the rotational angular position of the rotating body 40 between when the door 32 is open and when the door 32 is closed is small enough not to affect the accuracy of the rotational angular position. In this case, the control device 10 calculates the number of drive steps for the motor 411 required to rotate the rotating body 40 to the next rack 42 based on the angular position Pa1 stored when the door 32 was opened (step S22). Next, the control device 10 rotates the rotating body 40 to the next rack 42 based on the calculated number of drive steps (step S23), and completes the process according to this flowchart.
[0077] Next, the transport process will be explained using Figure 9. Steps S31 to S35 of the transport process correspond to steps S21 to S25 of the update process. Steps S31 to S35 of the transport process are the process of rotating the rotating body 40, similar to steps S21 to S25 of the update process.
[0078] Steps S21 to S25 of the update process indicate the process of rotating the rotating body 40 to the next rack 42 in response to the operation of the rotary switch 33 or rotary switch 34. Steps S31 to S35 of the transport process indicate the process of rotating the rotating body 40 in response to a command to move the transport body 50 so that the rack 42 on which the sample containers 80 to be transported are placed faces the opening 35.
[0079] In the transport process, the control device 10 determines whether the absolute value of "angular position Pa1 - angular position Pa2" is less than the threshold α (step S31). If the control device 10 determines NO in step S31, it returns the rotating body 40 to the origin angular position (step S34). Then, the control device 10 rotates the rotating body 40 to the target position with respect to the origin angular position (step S35). Here, "target position" refers to the position where the rack 42 on which the sample container 80 to be transported is placed faces the opening 25. Therefore, in step S35, the rack 42 on which the sample container 80 to be transported is placed faces the opening 25.
[0080] If the control device 10 determines YES in step S31, it does not return the rotating body 40 to the origin angular position. As described above, the amount of deviation in the rotational angular position of the rotating body 40 between when the door 32 is open and when the door 32 is closed is small enough that it does not affect the accuracy of the rotational angular position. In this case, the control device 10 calculates the number of drive steps for the motor 411 required to rotate the rotating body 40 to the "target position" described above, based on the angular position Pa1 that was stored when the door 32 was opened (step S32). Next, the control device 10 rotates the rotating body 40 to the target position based on the calculated number of drive steps (step S33).
[0081] After step S33 or step S35, the control device 10 moves the transport body 50 in the procedure described below. First, the control device 10 determines whether the absolute value of "position Pz1 in the Z-axis direction - position Pz2 in the Z-axis direction" is less than the threshold β (step S41). That is, the control device 10 determines whether the amount of displacement of the transport body 50 in the Z-axis direction between when the door 32 is open and when the door 32 is closed is less than the threshold β. Threshold β is an example of a second threshold.
[0082] If the control device 10 determines NO in step S41, it returns the transporter 50 to the origin position (reference position) in the Z-axis direction (step S46). Then, using the origin position as a reference, the control device 10 moves the transporter 50 to the target position in the Z-axis direction (step S47). Here, "the target position in the Z-axis direction" refers to the position of the shelf 43 on which the sample container 80 to be transported is placed, among the multiple shelves 43 of the rack 42 facing the opening 35.
[0083] Next, the control device 10 controls the transporter 50 and places the sample container 80 to be transported onto the transporter 50 (step S44). As a result, as explained with reference to Figure 4, the sample container 80 to be transported is moved from the shelf 43 to the transporter 50. Next, the control device 10 moves the transporter 50 in the Z-axis direction so that its position in the Z-axis direction matches the height of the mounting table 24, and then extends the transporter 50 in the X-axis direction to transport the sample container 80 to the mounting table 24 in the pre-processing unit 20 (step S45).
[0084] If the control device 10 determines YES in step S41, it does not return the transport body 50 to the origin position. This is because the amount of displacement of the transport body 50 in the Z-axis direction between when the door 32 is open and when the door 32 is closed is small enough not to affect the accuracy of its position. In this case, the control device 10 calculates the number of drive steps for the motor 511 required to move the transport body 50 to the "target position in the Z-axis direction" based on the Z-axis direction position Pz1 that was stored when the door 32 was opened (step S42).
[0085] Next, the control device 10 moves the transport body 50 to the target position in the Z-axis direction based on the calculated number of drive steps (step S43). Subsequently, the control device 10 transports the sample container 80 to the mounting table 24 in the pre-processing unit 20 by executing the processes of steps S44 and S45 which have already been described. After that, the control device 10 completes the process according to this flowchart.
[0086] In the embodiments described above, the stacker 30 is an example of a storage device for accommodating sample containers containing samples to be pretreated. The shelf 43 is an example of a first and second mounting section. The motor 411 is an example of a first motor. The motor 511 is an example of a second motor. The rotary encoder 413 is an example of a first encoder. The linear encoder 513 is an example of a second encoder.
[0087] <Variation> Next, we will list some modified examples of this embodiment.
[0088] (1) In this embodiment, when the door 32 of the stacker 30 is open, no power is supplied to the motors 411 and 511. However, the stacker 30 may be configured such that no power is supplied to the motor 411 when the door 32 is open, while power continues to be supplied to the motor 511 to maintain the position of the conveyor 50. When adopting such a modified configuration, the stacker 30 may be configured such that the arrangement of the multiple racks 42 surrounding the conveyor 50 around the rotating shaft 47 prevents the user from accessing the conveyor 50.
[0089] (2) After the door sensor 320 detects the opening and closing of the door 32, the control device 10 determines whether the amount of deviation in the rotation angle of the rotating body 40 before and after the opening and closing of the door 32 exceeds a first threshold (threshold α). Here, the timing of such determination may be immediately after the door sensor 320 detects the opening and closing of the door 32, or it may be after the door sensor 320 detects the opening and closing of the door 32 and some predetermined condition is met. Such predetermined condition is, for example, as shown in Figure 7, "a command to move the transport body 50 has been obtained (step S11)". Alternatively, the predetermined condition may be that a certain amount of time has elapsed.
[0090] (3) Stepping motors may be used as motors 411, 511, and 611, or DC motors or AC motors may be used.
[0091] (4) The control device that controls the pre-processing unit 20 and the control device that controls the stacker 30 may be different.
[0092] (5) The number of shelves 43 mounted on one rack 42 may be one or multiple. Also, the number of shelves 43 mounted on multiple racks 42 may be the same or different.
[0093] (6) In this embodiment, the example of transporting the sample container 80 to a mounting table 24 included in the pre-processing unit 20 was described as a "transportation process in which the sample container is transported to the outside of the storage device by a transporter." However, the example of a "transportation process in which the sample container is transported to the outside of the storage device by a transporter" is not limited to this. For example, the transporter 50 may transport the sample container 80 to a mounting table provided outside the pre-processing device 1. Alternatively, the transporter 50 may transport the sample container 80 to a module 23 inside the pre-processing unit 20.
[0094] (7) If the door sensor 320 detects that the door 32 has opened, the stacker 30 may also stop supplying power to the motor 611. In this case, the control device 10 performs the above-mentioned return control and the like with respect to the X-axis direction of the transport body 50. Furthermore, in the flowchart shown in Figure 7, the control device 10 performs control based on the "current X-axis position" in addition to the "current Z-axis position". When adopting such a modified configuration, the drive mechanism 61 is provided with the necessary encoders and sensors so that the X-axis position can be identified.
[0095] (8) Figure 6 shows a rotary encoder 413 and a linear encoder 513. However, these are merely examples of encoders, and both encoders may be made of the same type of encoder.
[0096] (9) The size of the opening 25 in the Z-axis direction is not limited to the size shown in Figure 2, but is sufficient as long as it is large enough for the transporter 50 to transport the sample container 80 to the mounting table 24. Therefore, the size of the opening 25 in the Z-axis direction may be smaller than that shown in Figure 2.
[0097] [Aspect] Those skilled in the art will understand that the embodiments and their modifications described above are specific examples of the following embodiments.
[0098] (Section 1) An analysis system according to one embodiment is an analysis system including a preprocessing apparatus for performing preprocessing, comprising a storage device for storing a sample container containing a sample to be preprocessed, and a control device, wherein the storage device comprises a rotating body, a first mounting section provided on the rotating body, a transport body, a cover body having a first opening formed for placing a sample container onto the first mounting section from outside the storage device and covering the rotating body, a door covering the first opening, and a door sensor for detecting the opening and closing of the door, the control device executes a transport process to transport the sample container placed on the first mounting section to the outside of the storage device by the transport body, the control device determines whether the amount of deviation in the rotation angle of the rotating body between the time when the door is detected to be open and the time when the door is detected to be closed exceeds a first threshold, if the amount of deviation in the rotation angle exceeds the first threshold, the rotation angle position of the rotating body is returned to the reference angle position and then the transport process is executed, if the amount of deviation in the rotation angle does not exceed the first threshold, the transport process is executed without returning the rotation angle position of the rotating body to the reference angle position.
[0099] According to the analysis system described in paragraph 1, it is possible to provide an analysis system that can approach the sample container to be transported while reducing the frequency of returning the rotational angle position of the rotating body on which the sample container is placed to the reference angle position.
[0100] (Section 2) In the analysis system described in Section 1, the control device, after detecting that the door has been closed by the door sensor and receiving a command to execute the transport process, determines whether the amount of deviation in the rotation angle exceeds a first threshold.
[0101] According to the analysis system described in paragraph 2, it is possible to determine whether or not it is necessary to return the rotational angular position of the rotating body to the reference angular position before the transport process is performed.
[0102] (3) In the analysis system described in paragraph 1 or 2, the housing device includes a first motor for rotating a rotating body, and the housing device stops supplying power to the first motor while the door sensor detects that the door is open.
[0103] According to the analysis system described in Section 3, it is possible to prevent the rotating body from rotating due to a malfunction or other issue while the door is open, and thus prevent the rotating body from colliding with the user.
[0104] (Section 4) In the analysis system described in Section 3, the housing device further comprises a first position sensor for detecting that the rotating body is located at a reference angular position, and a first encoder for detecting the rotation angle of the rotating body. The control device returns the rotation angular position of the rotating body to the reference angular position based on the detection by the first position sensor, and the control device determines whether the amount of deviation in the rotation angle exceeds a first threshold based on the number of drive steps of the first motor when the door is open and the value detected by the first encoder when the door is closed.
[0105] According to the analysis system described in Section 4, the rotational angular position of the rotating body can be precisely controlled based on the detection output of the first position sensor and the first encoder.
[0106] (Item 5) In the analysis system described in any one of Items 1 to 4, the system further comprises a mounting platform provided outside the containment device on which a sample container is placed, the control device transports the sample container to the mounting platform by a transporter, the control device is capable of performing control to drive the transporter in a first direction along the rotation axis and control to drive the transporter in a second direction perpendicular to the first direction and along a straight line passing through the rotation axis and the mounting platform, the control device determines whether the amount of displacement of the transporter in the first direction between the time when the door is detected to be open and the time when the door is detected to be closed exceeds a second threshold, if the amount of displacement in the first direction exceeds the second threshold, the transporter is returned to the reference position in the first direction and then the transport process is performed, if the amount of displacement in the first direction does not exceed the second threshold, the transport process is performed without returning the transporter to the reference position in the first direction.
[0107] According to the analysis system described in Section 5, the frequency of returning the transporter to its reference position can be reduced while allowing the transporter to approach the sample container being transported.
[0108] (Clause 6) In the analysis system described in Clause 5, the containment device includes a second motor that drives the transport body in a first direction, and the containment device stops supplying power to the second motor while the door sensor detects that the door is open.
[0109] According to the analysis system described in Section 6, it is possible to prevent the transporter from moving due to a malfunction or other issue while the door is open, and thus preventing the transporter from colliding with the user.
[0110] (Section 7) In the analysis system described in Section 6, the storage device further comprises a second motor for driving the transport body in a first direction, a second position sensor for detecting when the transport body is in a reference position, and a second encoder for detecting the position of the transport body in a second direction. The control device returns the transport body to the reference position based on the detection by the second position sensor, and the control device determines whether the amount of deviation in the first direction exceeds a second threshold based on the number of drive steps of the second motor when the door is open and the detected value of the second encoder when the door is closed.
[0111] According to the analysis system described in Section 7, the position of the transporter can be precisely controlled based on the detection output of the second position sensor and the second encoder.
[0112] (Clause 8) In the analysis system described in any one of paragraphs 1 to 7, the containment device further comprises a second mounting section on which a sample container is placed, and a rotary switch that accepts an operation to rotate a rotating body, wherein the first mounting section and the second mounting section are provided in the circumferential direction of the rotation axis, and the control device rotates the rotating body based on the operation of the rotary switch when the first mounting section is facing the first opening, and stops the rotation of the rotating body when the second mounting section is facing the first opening.
[0113] According to the analysis system described in Section 8, the mounting section for the rotating body facing the first opening can be automatically updated from the first mounting section to the second mounting section.
[0114] (Section 9) In the analysis system described in Section 8, the control device, after detecting that the door has been closed by the door sensor, and after detecting that the rotary switch has been operated, determines whether the amount of deviation in the rotation angle exceeds a first threshold. If the amount of deviation in the rotation angle exceeds the first threshold, the control device returns the rotation angle position of the rotating body to the reference angle position and then rotates the rotating body so that the second mounting part faces the first opening. If the amount of deviation in the rotation angle does not exceed the first threshold, the control device rotates the rotating body so that the second mounting part faces the first opening without returning the rotation angle position of the rotating body to the reference angle position.
[0115] According to the analysis system described in Section 9, the frequency of returning the rotational angle position of the rotating body to the reference angle position can be reduced, while automatically updating the mounting portion of the rotating body facing the first opening from the first mounting portion to the second mounting portion.
[0116] (Item 10) In the analysis system described in any one of items 5 to 7, the containment device has a wall separating the containment device from the mounting stage, and a second opening is formed in the wall between the containment device and the mounting stage through which the transporter passes when transporting the sample container to the mounting stage.
[0117] According to the analysis system described in Section 10, the transporter can transport the sample container to the mounting stage through the second opening.
[0118] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the description of the embodiments above, and all modifications within the meaning and scope of the claims are intended to be included. [Explanation of symbols]
[0119] 1 Sample preparation device, 2 Analytical device, 3 Personal computer, 10 Control device, 11 Processor, 12 Storage device, 13 Communication interface, 20 Sample preparation unit, 21 Dispensing device, 22 Table, 23 Module, 24 Mounting platform, 25, 35 Opening, 30 Stacker (Storage device), 31 Cover body, 32 Door, 33, 34 Rotary switch, 40 Rotating body, 41 Drive mechanism, 42 Rack, 43 Shelf, 45 Origin sensor, 47 Rotary shaft, 50 Transport body, 51, 61 Drive mechanism, 55, 65 Origin sensor, 80 Sample container (labware), 100 Analysis system, 210 Arm, 251 Wall, 320 Door sensor, 330, 340 Rotary operation sensor, 411, 511, 611 Motor, 412, 512, 612 Driver, 413 Rotary encoder, 431 mounting surface, 432 recess, 513 linear encoder.
Claims
1. An analytical system including a preprocessing device for performing preprocessing, A storage device for housing a sample container containing a sample to be subjected to the aforementioned pretreatment, Equipped with a control device, The aforementioned housing device is A solid of revolution that rotates around an axis of rotation, The first mounting portion provided on the rotating body, The transporter and A first opening is formed outside the housing device for placing the sample container onto the first mounting section, and a cover body covers the rotating body, A door covering the first opening, The system includes a door sensor that detects the opening and closing of the aforementioned door, The control device performs a transport process to transport the sample container placed on the first placement section to the outside of the storage device by the transport body. The control device is When the door sensor detects that the door has opened and then detects that the door has closed, it is determined whether the amount of deviation in the rotation angle of the rotating body between the time the door was detected as open and the time the door was detected as closed exceeds a first threshold. If the amount of deviation in the rotation angle exceeds the first threshold, the rotation angle position of the rotating body is returned to the reference angle position, and then the transport process is executed. An analysis system that, if the amount of deviation in the rotation angle does not exceed the first threshold, performs the transport process without returning the rotation angle position of the rotating body to the reference angle position.
2. The analysis system according to claim 1, wherein the control device determines whether the amount of deviation in the rotation angle exceeds the first threshold when it receives a command to execute the transport process after the door sensor has detected that the door has been closed.
3. The housing device includes a first motor for rotating the rotating body, The analysis system according to claim 1 or 2, wherein the housing device stops supplying power to the first motor while the door sensor detects that the door is open.
4. The aforementioned housing device is A first position sensor detects that the rotating body is located at the reference angular position, The system further comprises a first encoder for detecting the rotation angle of the rotating body, The control device is Based on the detection by the first position sensor, the rotational angle position of the rotating body is returned to the reference angle position. The analysis system according to claim 3, wherein the control device determines whether the amount of deviation in the rotation angle exceeds the first threshold based on the number of drive steps of the first motor when the door is open and the detected value of the first encoder when the door is closed.
5. The storage device further comprises a mounting platform provided outside the storage device on which the sample container is placed, The control device transports the sample container to the stand described above by the transporter, The control device is capable of performing control to drive the transport body in a first direction along the rotation axis, and control to drive the transport body in a second direction perpendicular to the first direction and along a straight line passing through the rotation axis and the aforementioned base. The control device is When the door sensor detects that the door has opened and then the door sensor detects that the door has closed, it is determined whether the amount of displacement of the conveyor in the first direction between the time the door was detected as open and the time the door was detected as closed exceeds a second threshold. If the amount of deviation in the first direction exceeds the second threshold, the transport body is returned to its reference position in the first direction, and then the transport process is executed. The analysis system according to claim 1 or 2, wherein if the amount of deviation in the first direction does not exceed the second threshold, the transport process is performed without returning the transport body to the reference position in the first direction.
6. The storage device includes a second motor that drives the transport body in the first direction. The analysis system according to claim 5, wherein the housing device stops supplying power to the second motor while the door sensor detects that the door is open.
7. The aforementioned housing device is A second position sensor detects that the transporter is located at the reference position, The system further comprises a second encoder for detecting the position of the transport body in the second direction, The control device is Based on the detection by the second position sensor, the transport body is returned to the reference position. The analysis system according to claim 6, wherein the control device determines whether the amount of deviation in the first direction exceeds the second threshold based on the number of drive steps of the second motor when the door is open and the detected value of the second encoder when the door is closed.
8. The aforementioned housing device is The second mounting section on which the sample container is placed, The system further comprises a rotary switch that receives an operation to rotate the aforementioned rotating body, The first mounting portion and the second mounting portion are provided in the circumferential direction of the rotation axis, The analysis system according to claim 1 or 2, wherein the control device rotates the rotating body based on the operation of the rotation switch when the first mounting portion faces the first opening, and stops the rotation of the rotating body when the second mounting portion faces the first opening.
9. The control device is After the door sensor detects that the door has been closed, if the operation of the rotary switch is detected, it is determined whether the amount of deviation in the rotation angle exceeds the first threshold. If the amount of deviation in the rotation angle exceeds the first threshold, the rotation angle position of the rotating body is returned to the reference angle position, and then the rotating body is rotated so that the second mounting portion faces the first opening. The analysis system according to claim 8, wherein, if the amount of deviation in the rotation angle does not exceed the first threshold, the rotating body is rotated so that the second mounting portion faces the first opening without returning the rotation angle position of the rotating body to the reference angle position.
10. The storage device has a wall that separates the storage device from the stand described above. The analysis system according to claim 5, wherein a second opening is formed in the wall surface through which the transporter passes when transporting the sample container to the stand described above.