Conveyance device, specimen analysis system including same, and abnormality detection method in conveyance device

Abstract

The present invention provides a conveyance device that is highly reliable and detects the state of a conveyance surface with high accuracy, a specimen analysis system including the conveyance device, and an abnormality detection method in the conveyance device. For example, the conveyance device includes: one or more magnetic circuits having teeth made of a magnetic material and coils wound around an outer periphery of the teeth; a current detection unit for detecting the value of a current flowing through the coils; and a conveyance surface provided between the teeth and an object to be conveyed and on which the object to be conveyed slides. The conveyance device detects a maximum value or a local maximum value of an amount of change in the current detected by the current detection unit, and estimates the thickness of the conveyance surface from the detected maximum value or local maximum value.

Description

Transport device, sample analysis system including same, and method for detecting abnormalities in the transport device

[0001] The present invention relates to a transport device suitable for a sample analysis system that analyzes biological samples (hereinafter referred to as samples) such as blood or urine, and a sample pretreatment device that performs pretreatment required for analysis, a sample analysis system equipped with the same, and a method for detecting abnormalities in the transport device.

[0002] As an example of a transport device that is very flexible and provides high transport performance, and an analysis system equipped with the same, Patent Document 1 discloses a specimen transport device that includes a transport container that has a magnet or magnetic material and contains a specimen, a transport unit that has multiple magnetic poles each having a core and a coil and moves the transport container on a transport plane, and a control unit that controls the voltage applied to the multiple magnetic poles to detect the position of the transport container on the transport plane and control the movement of the transport container, wherein the control unit detects the amplitude of the current flowing in each coil of the multiple magnetic poles when the transport container approaches each of the multiple magnetic poles and determines deterioration of the transport plane based on the detected current amplitude.

[0003] International Publication No. 2023 / 026622

[0004] 2. Description of the Related Art In a sample analysis system for clinical testing, specified analysis items are tested on samples such as blood, plasma, serum, urine, and other body fluids.

[0005] This sample analysis system connects devices with multiple functions and can process each process automatically. In other words, in order to streamline laboratory operations, analysis sections for multiple analytical fields such as biochemistry and immunology, and pre-processing sections that perform the pre-processing required for analysis, are connected by a conveying line and operated as a single system.

[0006] With the spread of advanced medical care and the aging society, the importance of sample analysis has increased, and there is a growing demand for improved system processing capabilities, leading to an increased need for equipment capable of transporting large volumes of samples, at high speeds, and simultaneously. Therefore, in order to improve the analytical processing capabilities of sample analysis systems, there is a demand for high-speed transport of samples, simultaneous transport of large volumes of samples, and transport in multiple directions. Patent Document 1 describes one example of a technology that achieves such transport.

[0007] However, in the above-mentioned Patent Document 1, the amplitude of the current flowing through each coil of the multiple magnetic poles is detected when the transport container approaches each of the multiple magnetic poles, and the distance between the magnetic pole or coil and the permanent magnet is detected based on the detected current amplitude.

[0008] This posed a problem in that it was difficult to determine whether the permanent magnet had moved in a direction approaching the magnetic pole or coil on the conveying surface, or whether the gap had narrowed for some reason and moved closer to the vertical direction relative to the conveying direction.

[0009] In this case, it is possible to calculate the speed of the permanent magnet from the change in the detected distance over time, and based on that calculated value, to determine whether the distance is in the opposing direction or the distance the gap in the vertical direction of the conveying surface has narrowed. However, when the permanent magnet, i.e., the conveyed object, stops, the speed is low, making it difficult to determine whether the distance is in the conveying direction or the distance due to gap fluctuations.

[0010] The present invention provides a transport device that is highly accurate and reliable in detecting the state of the transport surface, a sample analysis system including the same, and a method for detecting abnormalities in the transport device.

[0011] The present invention includes multiple means for solving the above-mentioned problems, and one example is a conveying device that has one or more permanent magnets and conveys a transported object that holds a transport target, and is equipped with one or more magnetic circuit units having teeth made of a magnetic material and windings wound around the outer periphery of the teeth, a current detection unit that detects the value of the current flowing through the windings, a conveying surface that is provided between the teeth and the transported object and on which the transported object slides, and a calculation unit that detects the maximum or maximal value of the change in current detected by the current detection unit and estimates the thickness of the conveying surface from the detected maximum or maximal value.

[0012] According to the present invention, it is possible to provide a transport device that is highly accurate and reliable in detecting the state of the transport surface, and a sample analysis system equipped with the same. Problems, configurations, and effects other than those described above will become clear from the description of the following embodiments.

[0013] 5 is a plan view showing the overall configuration of a sample analysis system including a transport device according to Example 1 of the present invention. FIG. 6 is a diagram showing a schematic configuration of the transport device according to Example 1 of the present invention. FIG. 7 is a diagram showing a schematic configuration of a magnetic circuit of the transport device according to Example 1 of the present invention. FIG. 8 is a schematic diagram showing two magnetic poles extracted from the magnetic circuit of the transport device according to Example 1 of the present invention. FIG. 9 is a schematic cross-sectional view of the transport device according to Example 1 of the present invention. FIG. 10 is a diagram showing the detected value of current change when current is passed through the teeth at position B in FIG. 5. FIG. 11 is a diagram showing the relationship between the amount of change in current detected by the current detection unit and the distance from the coil that detects the current change when the dimension in the thickness direction of the transport surface changes. FIG. 12 is a diagram showing differences in distribution of current change values ​​due to differences in the vertical spacing between the teeth and the transported object. FIG. 13 is a diagram showing an example of distribution of current change values ​​with respect to the state of the transport surface. FIG. 14 is a diagram showing an example of distribution of current change values ​​with respect to the state of the transport surface. FIG. 15 is a diagram showing an example of distribution of current change values ​​with respect to the state of the transport surface. FIG. 16 is a diagram showing an example of distribution of current change values ​​with respect to the state of the transport surface. FIG. 1 is a diagram showing a schematic configuration of a state detecting holder in a conveying device according to a third embodiment of the present invention. FIG. 2 is a diagram showing a schematic configuration of a state detecting magnet arrangement plate in a conveying device according to a third embodiment of the present invention. FIG. 3 is a diagram showing a schematic cross section of a section of three teeth in a conveying device according to a fourth embodiment of the present invention. FIG. 4 is a diagram showing a schematic cross section of a section of three teeth in a conveying device according to a fourth embodiment of the present invention. FIG. 5 is a diagram showing a schematic cross section of a section of three teeth in a conveying device according to a fourth embodiment of the present invention.

[0014] The following describes embodiments of a transport device, a sample analysis system including the transport device, and a method for detecting an abnormality in the transport device, to which the present invention is applied, with reference to the drawings. In the drawings used in this specification, identical or corresponding components are designated by identical or similar reference numerals, and repeated explanations of these components may be omitted.

[0015] First Embodiment A first embodiment of a transport device to which the present invention is applied, a sample analyzing system including the transport device, and a method for detecting an abnormality in the transport device will be described with reference to FIGS. 1 to 7. FIG.

[0016] First, the overall configuration of a sample analysis system equipped with a transport device will be described with reference to Fig. 1. Fig. 1 is a plan view showing the overall configuration of a sample analysis system equipped with a transport device according to this embodiment.

[0017] The sample analysis system 100 of this embodiment shown in FIG. 1 is a system equipped with an analyzer for automatically analyzing components of samples such as blood and urine.

[0018] The main components of the sample analysis system 100 are a plurality of transport devices 1 (12 in Figure 1) that transport holders carrying sample containers containing samples or empty holders with no sample containers to a predetermined destination, one pre-processing device 70, a plurality of analysis devices 80 (three in Figure 1), and a control computer 90 that provides integrated management of the sample analysis system 100.

[0019] The pre-processing device 70 is a device that performs pre-processing required before the analysis of a sample in the analyzer 80. The pre-processing device 70 can also perform post-processing in addition to pre-processing, or perform post-processing instead of pre-processing. The detailed configuration of the pre-processing device 70 is not particularly limited, and the configuration of a known pre-processing device can be adopted.

[0020] The analyzer 80 is a unit that performs qualitative and quantitative analysis of the components of the specimen transported by the transport device 1. The analysis items in this unit are not particularly limited, and the configuration of a known automatic analyzer that analyzes biochemical items or immunological items can be adopted. Furthermore, when multiple analyzers are provided, they may be of the same or different specifications and are not particularly limited.

[0021] Each transport device 1 transports a specimen container containing a specimen mounted on a holder to a destination (such as a pretreatment device 70 or an analysis device 80) by sliding the specimen container along a transport path due to the interaction between a coil 30 (see FIG. 2, etc.) and a permanent magnet 10 (see FIG. 2, etc.) provided on the holder. Details will be described in detail using FIG. 2 and subsequent figures.

[0022] The control computer 90 controls the operation of the entire system, including the transport device 1 and the analysis device 80, and is composed of a computer having a display device such as a liquid crystal display, an input device, a storage device, a CPU, a memory, etc. The control computer 90 controls the operation of each device based on various programs recorded in the storage device.

[0023] The control processes for the operations executed by the control computer 90 may be integrated into one program, or may be divided into multiple programs, or may be a combination of these. Furthermore, some or all of the programs may be realized by dedicated hardware, or may be modularized.

[0024] 1, the case where three analyzers 80 and one pre-processing device 70 are provided is described, but the number of analyzers 80 and pre-processing devices 70 is not particularly limited and may be one or more. Similarly, the number of transport devices 1 is not particularly limited and may be one or more.

[0025] Furthermore, when specializing in pretreatment, the system can be configured with a pretreatment device 70 and a transport device 1, and when specializing in analysis, the system can be configured with an analysis device 80 and a transport device 1.

[0026] Next, the schematic configuration of the transport device of this embodiment will be described with reference to FIGS. 2 to 4. FIG.

[0027] 2, the conveying device 1 is composed of a magnetic circuit 2, a current detection unit 55, a conveying surface 15, etc., and a conveyed object 11 placed on the upper surface of the conveying surface 15, which is installed above the magnetic circuit 2 (in the Z direction), moves on the conveying surface (on the XY plane). One or more permanent magnets 10 are embedded in the conveyed object 11, which holds the object to be conveyed, and the object moves on the conveying surface 15 due to the interaction between the magnetic flux generated by the magnetic circuit 2 and the magnetic flux of the permanent magnets 10.

[0028] For example, the magnetic circuit 2 has magnetic poles formed by teeth 20 made of cylindrical magnetic material and coils 30 wound around the outer periphery of the teeth 20, and each magnetic pole is connected at its bottom (-Z direction) by a bridge 40 made of magnetic material.

[0029] The conveying surface 15 is a plate-shaped member provided between the teeth 20 and the conveyed object 11, on which the conveyed object 11 slides.

[0030] Fig. 3 shows the detailed configuration of the magnetic circuit 2. Fig. 3 shows the magnetic circuit 2 of the conveyance device 1 having three rows of conveyance lines in the X direction and three rows in the Y direction. The number of lines and the number of magnetic poles (the teeth 20 themselves and the windings that make up the coil 30) are not limited to this configuration.

[0031] In the magnetic circuit 2, as shown in FIG. 3, the transported object 11 having the permanent magnet 10 embedded therein moves in the X or Y direction along each line on the transport surface 15 installed on the magnetic circuit 2 shown in the figure.

[0032] 4 shows a diagram for explaining a method for driving the conveying device 1. In FIG. 4, two magnetic poles in the magnetic circuit 2 are extracted and shown.

[0033] As shown in FIG. 4, a driving device 50 is connected to each of the coils 30 arranged around the teeth 20 to apply a voltage and cause a current to flow.

[0034] The motor also includes a current detection unit 55 that detects the value of the current that flows through the coil 30 when a voltage is applied. The current detection unit 55 detects the current using, for example, a current sensor, a shunt resistor, a current detection device provided in the drive device, or a current command value, but any method can be used as long as it can obtain the value of the current flowing through the coil.

[0035] Furthermore, the control device 50 has a calculation unit 53 that detects the current value detected by the current detection unit 55, the value of the current that actually flows in response to the voltage command value and the current command value, and the current value in response to each command value and its change over time, and estimates the state of the conveying surface using the detected information. This calculation unit 53 may be, for example, a part of the control computer 90 described above, or may have a separate configuration.

[0036] In the conveying device 1 of this embodiment, the calculation unit 53 detects the maximum or local maximum value of the amount of change in current detected by the current detection unit 55, and estimates the thickness of the conveying surface 15 from the detected maximum or local maximum value. The calculation unit 53 also compares the amount of change in current detected by the current detection unit 55 with a current command value to calculate the ratio of the amount of change to the command value, and is able to estimate the thickness of the conveying surface 15 from the maximum or local maximum value for each ratio.

[0037] Next, a method for estimating the thickness of the conveying surface 15 and the distance from the top surface of the teeth 20 to the permanent magnet 10 of the conveyed body 11 will be described with reference to FIGS. 5 to 7. FIG.

[0038] 5 is a diagram illustrating a method for estimating the thickness of the conveying surface 15 and the distance from the top surface of the tooth 20 to the permanent magnet 10, and is a horizontal cross-sectional view of the conveying device 1. In FIG. 5, for example, a case where the conveying path is tooth 20a ⇒ tooth 20b ⇒ tooth 20c is described.

[0039] 5, the transported object 11 equipped with the permanent magnet 10 is transported in the X direction along the transport path A⇒B⇒C in that order. At this time, the value of the current flowing through the coil 30 wound around the tooth 20b at the central position B in the X direction is detected. The current to be flowed varies depending on the speed or speed fluctuation to be controlled, and a constant current is passed or the current is varied depending on the required operation.

[0040] First, the current change values ​​detected in the teeth 20b at a constant current or voltage are shown in Figure 6. The distance between X-direction position B and X-direction position C (the pitch between the teeth 20) is standardized to 20 (pu). Figure 6 shows the detected current change values ​​when a current is passed through the teeth 20b at position B.

[0041] 6 indicates the ratio of the current or voltage flowing through the coil wound around tooth 20b. For example, a wire with a ratio of 0.2 indicates a case where the maximum current or voltage is 1.0 (100%) and a current of 20% of that voltage flows steadily between positions B and C.

[0042] At this time, the inductance of the magnetic circuit 2 changes depending on the distance between the permanent magnet 10 and the tooth 20, and the detected value of the current change changes. In other words, the distance between the permanent magnet 10 and the tooth 20 can be estimated from the detected value of the current change. At this time, it is unclear whether the distance between the permanent magnet 10 and the tooth 20 is in the X direction, which is the conveying direction, or in the thickness direction of the conveying surface 15, which is the vertical gap between the permanent magnet 10 and the tooth 20. In other words, the distance between the permanent magnet 10 and the tooth 20 in the Z direction cannot be estimated from this value alone.

[0043] Therefore, by using the maximum value or the local maximum value when the transported object 11 passes directly above the teeth 20b at position B, it is possible to estimate the distance in the Z direction.

[0044] The waveform in Figure 6 shows the case of positive x-axis values, but because the detected current change value also changes depending on the distance in the negative direction, the graph in Figure 6 shows changes that are symmetrical with respect to the Y-axis. For this reason, a peak value is shown at position B. By using this value, it is possible to estimate the distance between the permanent magnet 10 and the teeth 20 in the Z-direction, which is necessary for estimating the thickness of the conveying surface 15, without taking into account the distance in the X-direction.

[0045] Next, a case where the current and voltage change when the sheet is conveyed in the X direction and passes the teeth 20 at position B will be described.

[0046] Since the transported object 11 repeatedly undergoes speed control and acceleration / stop, the required thrust may change depending on the required operation, and the current and voltage may change depending on the position in the transport direction (X direction or Y direction). In Figure 6, if the required thrust changes when passing through the teeth 20b at position B, and the current and voltage change, the detected value of the current change also changes.

[0047] In FIG. 6, the maximum voltage of the current or voltage is set to 1.0 (100%), and the detected value of the current change when the current or voltage changes from 0.2 (20%) to 0.6 (60%) of that is also shown.

[0048] That is, when the current required for driving varies, it is very convenient to use the current value or voltage value required for that driving in order to estimate the distance between the permanent magnet 10 and the teeth 20 in the Z direction required at position B. Using this current value or voltage value, the detected value of the current change can be corrected, and the distance in the Z direction required at position B can be estimated with high accuracy.

[0049] For example, the amount of change in current detected by the current detection unit 55 is compared with the current command value, the ratio of the amount of change in current to the current command value (or voltage value, etc.) is calculated, the maximum value or maximal value of the ratio is detected, and the thickness of the conveying surface is estimated from the maximum value or maximal value of the detected ratio.

[0050] When the current required for driving changes, the correction based on the current or voltage value required for driving can be determined by creating a map and comparing it with that map, or by creating a function and comparing it with that function.

[0051] That is, it is desirable to perform correction using the current value or voltage value required for driving in order to estimate the distance in the Z direction, the thickness of the conveying surface 15, and the vertical distance between the teeth 20 and the permanent magnets 10 of the conveyed body 11. This improves the accuracy of estimating the distance in the Z direction, the thickness of the conveying surface 15, and the vertical distance between the teeth 20 and the permanent magnets 10 of the conveyed body 11.

[0052] The current and voltage generated in the coil 30 of the conveying device 1 shown in Figure 2 are generally an RL equivalent circuit, and the amount of change in current di / dt is determined by the applied voltage E, the current i steadily flowing through the coil 30, the resistance R of the coil 30, and the inductance L which changes depending on the distance between the permanent magnet 10 of the conveyed object 11 and the tooth 20 on which the coil 30 is arranged, and is therefore expressed by the following equation (1).

[0053]

[0054] In the target conveying device 1, when the object to be detected passes directly above the teeth 20, the distance in the thickness of the conveying surface 15, i.e., the distance between the teeth 20 and the permanent magnet 10 at that time, is shortest.Therefore, by using the maximum value of the detected value of the current change near the teeth 20, corrected using the driving voltage and current, the distance between the teeth 20 and the permanent magnet 10 at that time, which is equivalent to the distance in the thickness of the conveying surface 15, can be accurately estimated.

[0055] Fig. 7 shows an example of the detected value of the current change when estimating the thickness of the conveying surface 15 in Example 1 of the present invention. Fig. 7 shows the relationship between the amount of change in current detected by the current detection unit 55 and the distance from the coil 30 that detects the current change when the vertical distance between the tooth 20 and the permanent magnet 10 of the conveyed object 11, i.e., the dimension in the thickness direction (Z direction) of the conveying surface 15, changes.

[0056] The dotted line graph with the legend ● in Figure 7 shows an example of the detected current change when there is no change (±0.0 mm) from the reference gap at the time of design. Also shown in Figure 7 is a line (solid line with legend ■) that assumes a case where the conveying surface is 0.5 mm thinner than the reference gap, and a line (solid line with legend ▲) that assumes a case where the conveying surface has risen 1.0 mm (the conveying surface has become 1.0 mm thicker) due to improper installation of the conveying surface, etc.

[0057] 7, when moving away from the detection position, in this case in a direction farther than 10 p.u., the change in distance in the direction of travel (X direction) is large compared to the change in the thickness direction of the conveying surface 15, making it difficult to detect changes in the thickness of the conveying surface 15 or in the gap direction (Z direction).

[0058] In contrast, at the 0 mm position, the distance in the X direction is theoretically 0 mm, and the value of the current change relative to the distance only in the thickness direction of the conveying surface and the gap direction (Z direction) can be detected.

[0059] In other words, by using the maximum value of the waveform of this current change, even if the position in the X direction is unknown or regardless of the value of the conveying speed, it is possible to accurately detect the distance in the Z direction when passing through the point closest to the thickness of the conveying surface 15 or the gap direction (Z direction). In particular, it is possible to clearly detect when the conveying surface 15 has been worn down by 0.5 mm or when it has lifted up by 1.0 mm.

[0060] In this way, it is desirable to estimate the amount or degree of wear of the conveying surface 15 from the maximum or local maximum value. Alternatively, the maximum or local maximum value may be used, or, for example, the difference between the minimum value of the current change (the value when the permanent magnet 10 of the conveyed body 11 is at an infinite distance) and the maximum value of the current change, or the difference from a certain reference point (the magnitude of the change), can be used for the determination.

[0061] Furthermore, if the limit values ​​of the maximum and minimum values ​​within the normal range are determined in advance according to the damage state of the actual machine, an alarm can be issued or a notification can be sent when the limit values ​​are reached.

[0062] In this way, it is desirable to detect the state of the conveying surface 15 from the maximum or local maximum value, and to issue an abnormality alarm when wear exceeds a threshold value.

[0063] Furthermore, by detecting the change in the value over time and the change in the number of transports, it becomes possible to predict the timing when the value will deviate from the normal range and to identify areas where deterioration is likely to progress locally, thereby enabling transport to be carried out while avoiding locally deteriorated areas, thereby extending the life of the transport equipment and extending maintenance intervals.

[0064] As described above, according to this embodiment, the wear state of each detected path of the conveying surface 15 is detected, and the conveying path can be determined based on the wear state. Furthermore, according to this embodiment, the thickness of the conveying surface 15 at each position on the conveying surface 15 can be estimated from the maximum or local maximum value, and the current command supplied to the coil 30 can be changed based on the estimated value. Furthermore, the conveying path of the conveyed object 11 can be changed based on the thickness of the conveying surface 15 at each position on the conveying surface 15.

[0065] Furthermore, the conveying device 1 of this embodiment is designed to convey the object 11 by the force caused by the change in magnetic flux generated in the magnetic circuit 2 and the permanent magnet 10 of the object 11, and at this time, two components are generated: a force in the conveying direction (thrust force) and a force in the gap direction (force pressing against the conveying surface 15).

[0066] The values ​​of these two components change greatly with changes in the gap, and in order to ensure stable transport, the current value is controlled according to the estimated gap, and the thrust and the force pressing against the transport surface 15 are adjusted. This has the advantage of suppressing vibration during transport, optimizing the transport time, controlling wear by adjusting the force pressing against the transport surface 15, and precisely adjusting the braking force of the transported object 11 due to frictional force, thereby enabling the construction of a highly reliable, high-performance transport device 1.

[0067] Furthermore, when the maximum or maximal value of the ratio derived from the ratio of the amount of change in current detected by the current detection unit 55 or the amount of change in current to the current command value obtained by comparing the amount of change in current with the current command value is detected at the same location for transported objects 11 equipped with permanent magnets 10 having the same performance, such as changes in magnetic properties due to magnetic force and temperature changes, the detected maximum or maximal value of the ratio is basically the same, but if a difference occurs in a specific transported object 11, an abnormality in that transported object 11 can be inferred.

[0068] For example, if the detection value detected at the same location is different for only one of multiple transported bodies 11, it is possible that there is an abnormality in the specific transported body 11. If the magnetic force of the permanent magnet 10 of a specific transported body 11 weakens for some reason, in the case of a weak magnet, the amount of magnetic flux affecting the coil 30 decreases, and a change in current is detected that indicates a distant position.

[0069] Since it is basically impossible for the gap at the same location or the thickness of the conveying surface 15 to differ for each conveyed object 11, if a wide gap is detected only on a specific conveyed object 11, it is possible to suspect an abnormality in that conveyed object 11.

[0070] Furthermore, if a narrow gap or a thin value for the thickness of the conveying surface 15 is detected only for a specific conveyed body 11, it can be inferred that an abnormality has occurred, such as the position of the permanent magnet 10 installed in the conveyed body 11 being shifted downward, or wear occurring due to scraping of the underside of the conveyed body 11.

[0071] In this way, by comparing the maximum or local maximum values ​​for each of the multiple transported bodies 11, if the detected values ​​differ for each of the transported bodies 11, it is possible to infer an abnormality such as deterioration of the transported bodies 11, including the permanent magnets 10.

[0072] Next, the effects of this embodiment will be described.

[0073] The conveying device 1 of the above-mentioned embodiment 1 of the present invention comprises one or more magnetic circuits 2 having teeth 20 made of a magnetic material and coils 30 wound around the outer periphery of the teeth 20, a current detection unit 55 that detects the value of the current flowing through the coils 30, a conveying surface 15 provided between the teeth 20 and the conveyed object 11 and along which the conveyed object 11 slides, and a calculation unit 53 that detects the maximum or maximal value of the change in current detected by the current detection unit 55 and estimates the thickness of the conveying surface 15 from the detected maximum or maximal value.

[0074] As a result, this embodiment can improve the accuracy of estimating the thickness of the conveying surface 15 and the detection accuracy of the state thereof compared to the prior art.

[0075] In addition, this embodiment compares the amount of change in current detected by the current detection unit 55 with the current command value to calculate the ratio of the amount of change to the command value, and estimates the thickness of the conveying surface 15 from the maximum value or local maximum value for each ratio, thereby enabling the thickness of the conveying surface 15 to be estimated with higher accuracy.

[0076] Furthermore, in this embodiment, the state of the transport surface 15 can be grasped more accurately by estimating the amount or degree of wear of the transport surface 15 from the maximum or local maximum value.

[0077] In addition, this embodiment estimates the thickness of the conveying surface 15 at each position on the conveying surface 15 from the maximum or local maximum value, changes the current command supplied to the coil 30 based on the estimated value, changes the conveying path of the conveyed object 11 based on the thickness of the conveying surface 15 at each position on the conveying surface 15, detects the wear state of each detected path of the conveying surface 15, and determines the conveying path according to the wear state, thereby realizing conveying control according to the state of the conveying surface 15.

[0078] Furthermore, in this embodiment, the condition of the conveying surface 15 is detected from the maximum or local maximum value, and an abnormality alarm is issued when wear exceeds a threshold value, thereby enabling appropriate maintenance measures such as replacing the conveying surface 15 to be taken, thereby further improving the stability of the conveyance of the conveyed object 11.

[0079] In addition, this embodiment compares the maximum or local maximum values ​​for each of the multiple transported objects 11 to estimate the deterioration of the transported objects 11, including the permanent magnets 10.In particular, by using information on the distance from the teeth 20 to the permanent magnets 10 at the positions of two or more teeth 20, abnormalities in the transported objects 11, including deterioration of the permanent magnets 10, it becomes possible to take appropriate measures, such as replacing the transported objects 11 in addition to the transport surface 15, thereby achieving even more stable transport of the transported objects 11.

[0080] A transport device according to a second embodiment of the present invention, a sample analysis system including the transport device, and an abnormality detection method in the transport device will be described with reference to Figures 8 to 13. Note that the configuration of the transport device other than the processing in the calculation unit 53 is the same as in the first embodiment, and therefore detailed description of this embodiment will be omitted.

[0081] First, using Figure 8, we will explain the distribution of current change values ​​when a constant current value is passed through the coil 30 of the corresponding tooth 20 when a transported object 11 equipped with a permanent magnet 10 passes through the transport surface 15 above the tooth 20.

[0082] Here, an appropriate gap is defined as a case where at least the thickness of the conveying surface 15 is within a normal range or the vertical distance between the teeth 20 and the conveyed object 11 is within a normal range. In this case, the distribution of current change values ​​in the case of an appropriate gap is a normal distribution 60 with a convex change having a certain peak value as shown by the dotted line in Figure 8.

[0083] On the other hand, if the gap narrows relative to the appropriate gap for some reason, the magnetic flux of the permanent magnets 10 attached to the object to be transported 11 acts more strongly on the teeth 20. Normally, during transport, the magnetic flux of the permanent magnets 10 and the magnetic flux generated in the teeth 20 are controlled to be of the same polarity, and the object to be transported is transported by the attractive force. This promotes saturation of the teeth 20 due to the magnetic flux, reducing the inductance of the coils 30 wound around the teeth 20, resulting in a larger change in current. The distribution of the current change at this time, as shown by the thick solid line in Figure 8, has a waveform similar to abnormal distribution 61, in which the general shape of the convex distribution does not change relative to the current change at the appropriate gap, but the peak becomes larger.

[0084] On the other hand, if the gap widens relative to the appropriate gap for some reason, the peak will tend to become smaller, and the distribution of the current change values ​​at this time will have a waveform similar to abnormal distribution 62, as shown by the thin solid line in Figure 8, in which the general shape of the convex distribution does not change but the peak becomes smaller.

[0085] These characteristics can be used to detect various states of the conveying surface 15. For example, the tilt or lift of the conveying surface 15 can be estimated from the maximum or local maximum value. In this case, it is preferable to detect the tilt of the conveying surface 15 or the installation state of the conveying surface 15 using information on the distance from the teeth 20 to the permanent magnet 10 at the positions of two or more teeth 20.

[0086] 9 to 13, examples of detecting the state of the conveying surface 15 will be described below. As examples, five states of the conveying surface 15 are shown in FIGS.

[0087] FIG. 9 shows a method for detecting whether the installation condition and degree of deterioration of the conveying surface 15 are within a normal range, that is, whether the conveyed object 11 can be conveyed normally according to specifications.

[0088] Physical conditions such as the accuracy of the thickness direction of the conveying surface 15, installation tolerances, and dimensional allowances, as well as the appropriate spacing between the permanent magnets 10 and the teeth 20, can be detected. In other words, it can be detected whether they are within a range that allows stable control. Upper and lower limits for normal operation can be set in consideration of these physical phenomena and control capabilities, and abnormalities can be detected and maintenance can be initiated based on whether or not these limits are exceeded.

[0089] Furthermore, by logging these maximum values, local maximum values, and the difference between the maximum and minimum values, and monitoring their trends over time and for each number of transports, it becomes possible to predict deterioration and estimate the appropriate timing for maintenance. In other words, the lifespan can be extended by minimizing the frequency of use of specific deteriorated parts and prioritizing the use of other routes.

[0090] Furthermore, since the conveying force of the conveyed object 11 (the force acting on the conveyed object 11) changes depending on the distance between the permanent magnet 10 and the teeth 20, by detecting this distance and feeding back the distance information to the force control system, it is possible to optimize the conveying force, thereby achieving more stable conveyance.

[0091] FIG. 10 shows a case where, when the permanent magnet 10 passes over the three teeth 20, the detected values ​​of the current changes are equally small in the three coils 30 wound around the three teeth 20, respectively.

[0092] In this case, it can be detected that the conveying surface 15 is thinning evenly at each point on the three teeth 20. In other words, since the conveying surface 15 is thinning almost evenly at multiple points, it can be estimated that this is due to wear caused by the conveyed object 11 passing through that path. Therefore, it is possible to predict the timing of maintenance such as replacing the conveying surface 15 from the timing when the conveying surface 15 began to be used and the estimated timing, and take measures such as issuing an alert.

[0093] FIG. 11 shows a case where, when the permanent magnet 10 passes over the conveying surface 15 above the three teeth 20, the detected values ​​of the current changes are equally large in the three coils 30 wound around each of the three teeth 20.

[0094] In this case, if the conveying surface 15 is raised due to some influence or if a plate-shaped object is incorrectly installed uniformly underneath the conveying surface 15 at each point of the three teeth 20, it can be detected that the distance between the permanent magnet 10 and the teeth 20 is uniformly widening, and it is therefore desirable to issue a notification such as a request to reconfirm the installation status of the conveying surface 15.

[0095] Figure 12 shows a case where, when a permanent magnet 10 passes over three teeth 20, the spacing between the permanent magnet 10 and the teeth 20 on the conveying surface 15 above the central tooth 20 is normal, but shows different trends before and after the tooth 20.

[0096] A detection result is obtained that the gap between the permanent magnet 10 and the tooth 20 is wider on the conveying surface 15 above the tooth 20 on the left side of the tooth 20 shown in the center of Fig. 12. Also, a detection result is obtained that the gap between the permanent magnet 10 and the tooth 20 is narrower on the conveying surface 15 above the tooth 20 on the right side of the tooth 20 shown in the center of Fig. 12. In such a case, since it can be detected that the conveying surface 15 is installed at an angle, it is desirable to issue a notification such as reconfirming the installation state of the conveying surface 15.

[0097] FIG. 13 shows a case where, when the permanent magnet 10 passes over three teeth 20, the detected value of the current change in the central tooth 20 is large, and the values ​​before and after that are within the normal range.

[0098] In this case, local wear or abrasion near the central tooth 20 or wear on a line perpendicular to the direction of continuous passage of the three teeth 20 is considered, and it is possible to judge this in conjunction with the detected value of the current change on the line perpendicular to the central tooth 20. Therefore, it is possible to predict the timing of maintenance such as replacing the conveying surface 15 from the timing when the conveying surface 15 began to be used and the estimated timing, and to take measures such as issuing an alert.

[0099] The other configurations and operations are substantially the same as those of the transport device, the sample analysis system including the same, and the method for detecting abnormalities in the transport device of the first embodiment, and therefore detailed description thereof will be omitted.

[0100] The transport device, the sample analyzing system including the transport device, and the method for detecting an abnormality in the transport device according to the second embodiment of the present invention also provide substantially the same effects as those of the first embodiment described above.

[0101] In addition, this embodiment not only estimates the inclination or lift of the conveying surface 15 from the maximum or local maximum value, but also detects the inclination of the conveying surface 15 or the installation state of the conveying surface 15 using information on the distance from the teeth 20 to the permanent magnet 10, particularly at the positions of two or more teeth 20, thereby enabling measures to be taken to avoid problems caused by abnormal installation states, thereby further stabilizing the conveying.

[0102] Third Embodiment A transport device, a sample analyzing system including the transport device, and a method of detecting an abnormality in the transport device according to a third embodiment of the present invention will be described with reference to FIGS. 14 to 16. FIG.

[0103] Regarding the detection of the distance between the permanent magnet 10 and the teeth 20 using the magnetic flux of the permanent magnet 10 provided on the transported object 11, by estimating the thickness of the transport surface 15 each time a normal transported object 11 passes over the top of the teeth 20, it becomes possible to detect sudden changes in the distance, such as when a person or object bumps into the object and the distance changes, and this has the advantage of being able to avoid damage caused by a sudden change in the distance and the impact on subsequent transported objects 11.

[0104] If data is acquired for each tooth 20 for each transfer, the amount of data increases and the load of data transmission and reception, such as communication, increases.

[0105] On the other hand, by acquiring data discretely at specified intervals or for a set number of conveyances, for example, at the start or end of a day or a week, or by estimating the thickness of the conveying surface 15 when the conveyed object 11 has been conveyed a specified number of times, it is possible to effectively acquire, with a small amount of data, information on relatively gradual changes over time and deterioration and wear due to wear.

[0106] Here, if it is not possible to detect the gap using the permanent magnets 10 provided on the individual transported bodies 11, the sensitivity and range of detection can be increased by using a dedicated member at a specific timing. Examples of the dedicated member will be described with reference to Figs. 14 to 16.

[0107] 14 is a schematic diagram of a transport holder 16 that transports a test tube 18 containing a sample individually. The transport holder 16 must minimize pulsations and sudden changes in speed to prevent the test solution or sample from scattering during transport. Therefore, it is designed so that the magnetic flux acting on the magnetic circuit of the permanent magnet 10 during transport is smooth relative to the movement of the position. For this reason, there are cases where restrictions are imposed on the shape and strength of the permanent magnet 10.

[0108] When detecting the distance between the permanent magnet 10 and the teeth 20 using the permanent magnet 10 provided in the transport holder 16, there is an advantage in that the distance between the permanent magnet 10 and the teeth 20 can be detected at all times during transport, but due to restrictions on the shape and strength of the permanent magnet 10, the detection range may be narrow and the detection sensitivity may be low.

[0109] Therefore, a thickness detecting magnet 12 can be provided to detect the gap between the stone not used to transport the specimen or test tube 18 and the teeth 20. Figure 15 shows the rear cross section of a gap detecting holder 17 equipped with a thickness detecting magnet 12. By scanning the transport surface 15 using the gap detecting holder 17, it becomes possible to detect the gap between the thickness detecting magnet 12 and the teeth 20 over a wide range with high sensitivity.

[0110] 15 is configured to be at least larger or thicker than the permanent magnet 10, thereby strengthening the magnetic flux of the permanent magnet 10 and increasing the range of inductance change due to magnetic saturation. Also, the current and voltage values ​​during detection can be set independently of the transport speed and force, making it possible to perform detection under appropriate conditions that prioritize detection performance.

[0111] When detecting the gap between the thickness detecting magnet 12 and the teeth 20, it is not necessary to perform the detection while moving, as with the conveyed object 11. For example, when installing or performing maintenance on the device, it is desirable to be able to check whether the magnetic circuit and conveying surface 15 are in an appropriate state, and whether a gap and thickness that allows normal conveyance are maintained.

[0112] Here, in the conveying device 1, the conveying surface 15 is installed on the magnetic circuit 2, so it is difficult to measure the distance and positional relationship between the conveying surface 15 and the magnetic circuit 2 after the conveying surface 15 is installed.

[0113] Therefore, a description will be given of an embodiment using a conveying surface condition detecting member 13 that can be placed on the conveying surface 15. An example of the conveying surface condition detecting member 13 is shown in FIG.

[0114] 16 is a member having a size equal to or smaller than that of the conveying surface 15, and is provided with thickness detection magnets 12 at the positions of the teeth 20 of the conveying surface 15 or at the positions of the teeth 20 where it is desired to detect the state of the conveying surface 15, such as the thickness. The thickness detection magnets 12 do not have to be located above all the teeth 20.

[0115] When it is desired to detect the overall tilt of the size of the range to be detected, the thickness detecting magnet 12 may be positioned, for example, above the teeth 20 at the four corners. The thickness detecting magnet 12 of the conveying surface condition detecting member 13 can perform measurements at the position where it is positioned on the conveying surface condition detecting member 13, allowing for highly accurate positional measurements.

[0116] In detection using the permanent magnet 10 of the transported object 11, there are cases where the detected value varies due to positional deviation during movement and fluctuations over time. For this reason, by using the transport surface condition detection member 13 equipped with the thickness detection magnet 12 to obtain the range and sensitivity required for detection, it is possible to accurately detect the thickness of the transport surface at the desired detection location and the distance between the permanent magnet 10 and the teeth 20 when the transported object 11 passes over the transported surface.

[0117] The thickness detecting magnets 12 provided on the conveying surface condition detecting member 13 do not have to be provided above all of the teeth 20. The thickness detecting magnets 12 may be installed in the necessary locations to detect tilt, wear, etc. of the conveying surface in the necessary areas.

[0118] The other configurations and operations are substantially the same as those of the first embodiment, and detailed description thereof will be omitted.

[0119] The transport device, the sample analyzing system including the transport device, and the method for detecting an abnormality in the transport device according to the third embodiment of the present invention also provide substantially the same effects as those of the first embodiment described above.

[0120] Furthermore, according to Example 3, by estimating the thickness of the conveying surface 15 each time the conveyed object 11 passes over the top of the teeth 20, the condition of the conveying surface 15 can be constantly grasped, and extremely stable conveying control that does not overlook even the slightest abnormality can be realized.

[0121] Furthermore, according to Example 3, by estimating the thickness of the conveying surface 15 at specified time intervals or at specified number of conveying times, it is no longer necessary to constantly estimate the thickness of the conveying surface 15, and the calculation load on the calculation unit 53 can be reduced.

[0122] Furthermore, according to Example 3, by further providing a gap detection holder 17 for the conveying surface 15 or a conveying surface state detection member 13, and using a jig specialized in estimating the state of the conveying surface 15 based on the detection value when the gap detection holder 17 is conveyed on the conveying surface 15 or the detection value when the conveying surface state detection member 13 is placed on it, it becomes possible to estimate the thickness of the conveying surface 15 and various states of the conveying surface 15 based on that thickness with higher accuracy.

[0123] Furthermore, according to Example 3, by detecting the installation state of the conveying surface 15 using a conveying surface state detection member 13 equipped with thickness detection magnets 12 at multiple tooth 20 positions of the conveying unit, the thickness of many locations can be evaluated at once, and the state of the conveying surface 15 can be grasped in a shorter time.

[0124] Fourth Embodiment A transport device, a sample analysis system including the transport device, and a method for detecting an abnormality in the transport device according to a fourth embodiment of the present invention will be described with reference to Figures 17 to 20. Figures 17 and 21 are cross-sectional views schematically illustrating a section of three teeth of the transport device shown in Figure 2.

[0125] The conveying device 1 shown in this embodiment realizes conveyance by the change in magnetic flux generated between the permanent magnet 10 provided on the conveyed object 11 and the teeth 20 arranged discretely in the magnetic circuit.

[0126] At this time, a thrust force in the X or Y direction in the figure, which is the propulsive force required for conveyance, is generated, and at the same time, a normal force is generated that affects the frictional force between conveyance surface 15 and conveyed object 11. Generally, in linearly driven equipment, the force between permanent magnet 10 and a magnetic body is such that the normal force that affects the frictional force between conveyance surface 15 and conveyed object 11 is greater than the thrust force in the X or Y direction. In other words, the wear and deterioration of conveyance surface 15 due to the frictional force between conveyance surface 15 and conveyed object 11 becomes significant.

[0127] 17 and 18 show the force F acting between the permanent magnet 10 and the attracting tooth 20b when the object 11 to be transferred moves from position A to position B in the X direction.

[0128] Figure 17 shows the timing when the transported object 11, i.e., the permanent magnet 10, is positioned at a position far from the target position B. At this time, the force F acting between the permanent magnet 10 and the attracting tooth 20b is a relatively small vertical force acting in the Z direction.

[0129] In contrast, Figure 18 shows the timing when the permanent magnet 10 is positioned at a position close to the target position B, and at this time, the normal force acting in the Z direction of the force F acting between the permanent magnet 10 and the attracting tooth 20b is larger than in Figure 17.

[0130] In this way, the normal force directly above the attracted teeth 20 is large, and a frictional force is generated that is equal to the product of the normal force due to the magnetic force plus the force of the teeth's own weight and the coefficient of friction. In other words, the frictional force directly above the teeth 20 is large, and significant wear occurs at that point.

[0131] Therefore, by detecting the maximum or local maximum value of the amount of change in current detected by the current detection unit 55 and estimating the thickness of the conveying surface 15 from the detected maximum or local maximum value, it is possible to detect the state of the conveying surface 15 directly above the tooth 20 where the permanent magnet 10 is closest to the tooth 20 showing the maximum or local maximum value. This detection method has many advantages for the configuration of the conveying device 1 of the present invention.

[0132] 19 and 20 show the force F acting between the permanent magnet 10 and the attracting tooth 20b when the object to be conveyed 11 moves in the X direction from position C to position B. As shown in Figures 19 and 20, regardless of the direction from which the object to be conveyed 11 approaches the target position, the normal force acting between the permanent magnet 10 and the attracting tooth 20b tends to increase as the object to be conveyed 11 approaches the target tooth 20.

[0133] Therefore, when utilizing magnetic attraction force on the target teeth 20, wear is noticeable in the vicinity of the area directly above, and it is very important to detect wear directly above. Therefore, by applying this embodiment, a highly reliable transport device 1 can be provided.

[0134] The other configurations and operations are substantially the same as those of the first embodiment, and the details are omitted here.

[0135] The transport device of the fourth embodiment to which the present invention is applied, the sample analyzing system including the transport device, and the method for detecting abnormalities in the transport device also provide substantially the same effects as those of the first embodiment described above.

[0136] <Others> The present invention is not limited to the above-described examples, and includes various modifications. The above-described examples have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those having all of the described configurations.

[0137] It is also possible to replace part of the configuration of one embodiment with the configuration of another embodiment, or to add the configuration of one embodiment to the configuration of another embodiment.It is also possible to add, delete, or replace part of the configuration of each embodiment with the configuration of another embodiment.

[0138] For example, in Examples 1 to 4, the case where the transported object 11 transported by the transport device is a sample rack or a sample holder has been described, but the transported object is not limited to racks, holders, etc. that hold sample containers, and various objects that are larger in size and require the transport of heavier weights can be transported.

[0139] DESCRIPTION OF SYMBOLS 1...Transportation device 2...Magnetic circuit (magnetic circuit section) 10...Permanent magnet 11...Transported object 12...Thickness detection magnet (detection permanent magnet) 13...Transportation surface state detection member (state detection magnet arrangement plate, state detection panel) 15...Transportation surface 17...Gap detection holder (state detection holder) 18...Test tube 20, 20a, 20b, 20c...Teeth (magnetic pole) 30...Coil (winding) 40...Bridge 50...Driver 53...Calculation unit 55...Current detection unit 60...Normal distribution 61, 62...Abnormal distribution 70...Pretreatment device 80...Analysis device 90...Control computer 100...Sample analysis system

Claims

1. A conveying device having one or more permanent magnets and for conveying an object to be conveyed, comprising: one or more magnetic circuit units having teeth made of a magnetic material and windings wound around the outer periphery of the teeth; a current detection unit that detects the value of the current flowing through the windings; a conveying surface provided between the teeth and the object to be conveyed, along which the object to be conveyed slides; and a calculation unit that detects the maximum or maximal value of the amount of change in current detected by the current detection unit, and estimates the thickness of the conveying surface from the detected maximum or maximal value.

2. A conveying device according to claim 1, wherein the calculation unit compares the amount of change in current detected by the current detection unit with a current command value to calculate the ratio of the amount of change to the command value, and estimates the thickness of the conveying surface from the maximum value or the local maximum value for each ratio.

3. A conveying device according to claim 1 or 2, wherein the calculation unit estimates the amount or degree of wear of the conveying surface from the maximum value or the local maximum value.

4. A conveying device according to claim 1 or 2, wherein the calculation unit estimates the tilt or lift of the conveying surface from the maximum value or the local maximum value.

5. A conveying device according to claim 1 or 2, wherein the calculation unit estimates the thickness of the conveying surface at each position on the conveying surface from the maximum value or the local maximum value, and changes the current command to be supplied to the winding based on the estimated value.

6. A conveying device according to claim 1 or 2, wherein the calculation unit changes the conveying path of the object to be conveyed based on the thickness of the conveying surface at each position on the conveying surface.

7. A conveying device according to claim 1 or 2, wherein the calculation unit compares the maximum value or the local maximum value for each of a plurality of conveyed objects to estimate deterioration of the conveyed objects, including the permanent magnet.

8. A conveying device according to claim 1 or 2, wherein the calculation unit detects the state of the conveying surface from the maximum value or the local maximum value, and issues an abnormality alarm when wear equal to or exceeds a threshold value occurs.

9. A conveying device according to claim 1 or 2, wherein the calculation unit detects the wear state of the detected conveying surface for each path, and determines the conveying path in accordance with the wear state.

10. A conveying device as claimed in claim 1 or 2, further comprising a holder for detecting the state of the conveying surface or a state-detecting magnet arrangement plate, wherein the calculation unit estimates the state of the conveying surface based on the detection value when the state-detecting holder is conveyed along the conveying surface or the detection value when the state-detecting magnet arrangement plate is placed on it.

11. A conveying device according to claim 1 or 2, wherein the calculation unit estimates the thickness of the conveying surface each time the conveyed object passes above the teeth.

12. A conveying device according to claim 1 or 2, wherein the calculation unit estimates the thickness of the conveying surface at regular intervals or for a predetermined number of conveyances.

13. A conveying device as claimed in claim 1 or 2, wherein the calculation unit detects the inclination of the conveying surface or the installation state of the conveying surface using information on the distance from the teeth to the permanent magnet at the positions of two or more of the teeth.

14. A conveying device according to claim 1 or 2, further comprising a state detection panel equipped with permanent magnets for detection at multiple tooth positions of the conveying unit, wherein the calculation unit detects the installation state of the conveying surface.

15. A conveying device as claimed in claim 1 or 2, wherein the calculation unit detects abnormalities in the conveyed object, including deterioration of the permanent magnet, using information on the distance from the teeth to the permanent magnet at the positions of two or more of the teeth.

16. A sample analysis system comprising at least one transport device having one or more permanent magnets and transporting a transported object that holds a transport target, the transport device comprising: one or more magnetic circuit units having teeth made of a magnetic material and windings wound around the outer periphery of the teeth; a current detection unit that detects the value of the current flowing through the windings; a transport surface provided between the teeth and the transported object and on which the transported object slides; and a calculation unit that detects the maximum or maximal value of the amount of change in current detected by the current detection unit and estimates the thickness of the transport surface from the detected maximum or maximal value.

17. A method for detecting abnormalities in a conveying surface in a conveying device comprising: a conveyed object having one or more permanent magnets and holding an object to be conveyed; one or more magnetic circuit units having teeth made of a magnetic material and windings wound around the outer periphery of the teeth; a current detection unit that detects the value of current flowing through the windings; a conveying surface provided between the teeth and the conveyed object and along which the conveyed object slides; and a calculation unit, wherein the calculation unit: detects the maximum or maximum value of the amount of change in current detected by the current detection unit, and estimates the thickness of the conveying surface from the detected maximum or maximum value; and detects an abnormality in the conveying surface based on the estimated thickness of the conveying surface.

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