JP7304219B2 - 搬送装置 - Google Patents
搬送装置 Download PDFInfo
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- JP7304219B2 JP7304219B2 JP2019123605A JP2019123605A JP7304219B2 JP 7304219 B2 JP7304219 B2 JP 7304219B2 JP 2019123605 A JP2019123605 A JP 2019123605A JP 2019123605 A JP2019123605 A JP 2019123605A JP 7304219 B2 JP7304219 B2 JP 7304219B2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G54/00—Non-mechanical conveyors not otherwise provided for
- B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
- H02P25/064—Linear motors of the synchronous type
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/0474—Details of actuating means for conveyors or pipettes
- G01N2035/0477—Magnetic
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/0474—Details of actuating means for conveyors or pipettes
- G01N2035/0489—Self-propelled units
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/0474—Details of actuating means for conveyors or pipettes
- G01N2035/0491—Position sensing, encoding; closed-loop control
- G01N2035/0493—Locating samples; identifying different tube sizes
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/18—Machines moving with multiple degrees of freedom
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Non-Mechanical Conveyors (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
- Control Of Linear Motors (AREA)
- Linear Motors (AREA)
- Control Of Conveyors (AREA)
Description
一定電流によって搬送容器を搬送する場合、搬送容器の搬送速度viは、それぞれの磁極の位置Xiおいて、相違することがわかる。つまり、永久磁石10が、或る磁極25の位置から次の磁極25(必ずしも隣接する磁極25である必要はない)の位置まで移動する場合には、加速領域及び減速領域を繰り返し、磁極の位置Xiでは加速度aiを有して、搬送容器が搬送されることがわかる。
Claims (13)
- 磁性体を具備する搬送容器をその上方で搬送する搬送平面と、前記搬送容器の搬送平面上の位置を検出する位置検出部と、前記搬送平面の下方に配置され、コアとコイルとを具備する磁極と、前記磁極に電圧を印加する駆動部と、前記駆動部を制御する演算部と、を有し、
前記演算部は、前記搬送容器の搬送平面上の位置と前記位置を通過する時刻とに基づいて、前記搬送容器が加速する加速領域における磁極間に要する時間とこの磁極間の距離とを使用し、前記搬送容器の搬送速度を演算し、演算される前記搬送容器の搬送速度と基準となる搬送容器の搬送速度とを比較し、前記搬送平面の表面状態を検出することを特徴とする搬送装置。 - 前記位置検出部は、磁極毎に配置され、前記磁性体が前記磁極を通過又は到達する時刻を、前記演算部に伝えることを特徴とする請求項1に記載の搬送装置。
- 前記演算部は、前記磁極の位置と前記時刻とを記録し、前記位置と前記時刻とに基づいて、前記搬送容器の搬送速度を演算することを特徴とする請求項2に記載の搬送装置。
- 前記演算部は、所定区間における平均加速度を演算し、前記平均加速度に基づいて、前記搬送平面の表面状態を検出することを特徴とする請求項1に記載の搬送装置。
- 搬送平面の表面状態の検出は、一定の質量、同一の形状、基準となる磁性体の磁力、基準となる搬送面の状態の搬送容器を使用して実行することを特徴とする請求項1に記載の搬送装置。
- 搬送平面の表面状態の変化を表示する監視システムを有することを特徴とする請求項1に記載の搬送装置。
- 前記演算部は、異なる搬送容器の所定区間における平均加速度に基づいて、異なる搬送容器の質量を推定することを特徴とする請求項4に記載の搬送装置。
- 磁性体を具備する搬送容器をその上方で搬送する搬送平面と、前記搬送平面の下方に配置され、コアとコイルとを具備する磁極と、前記磁極に電圧を印加する駆動部と、前記駆動部を制御する演算部と、を有し、
前記駆動部は、前記磁極に流れる電流を検出し、
前記演算部は、検出される電流に基づいて、前記搬送容器の搬送平面上の位置を検出し、前記搬送容器の搬送平面上の位置と前記位置を通過する時刻とに基づいて、前記搬送容器が加速する加速領域における磁極間に要する時間とこの磁極間の距離とを使用し、前記搬送容器の搬送速度を演算し、演算される前記搬送容器の搬送速度と基準となる搬送容器の搬送速度とを比較し、前記搬送平面の表面状態を検出することを特徴とする搬送装置。 - 前記駆動部は、前記コイルに接続される抵抗に流れる電流を検出することを特徴とする請求項8に記載の搬送装置。
- 前記駆動部が前記磁極に印加する電圧は、電圧パルスであり、前記駆動部が検出する電流は、電流波形であることを特徴とする請求項8に記載の搬送装置。
- 搬送平面の表面状態の検出は、検査用の搬送容器を使用して実行することを特徴とする請求項8に記載の搬送装置。
- 前記磁極に流れる電流、前記磁極に印加する電圧、前記搬送容器の搬送平面上の位置、前記位置を通過する時刻、前記搬送容器の搬送速度、及び、搬送平面の表面状態を格納するデータベースを有することを特徴とする請求項8に記載の搬送装置。
- 前記磁極に流れる電流、前記磁極に印加する電圧、前記搬送容器の搬送平面上の位置、前記位置を通過する時刻、前記搬送容器の搬送速度、及び、搬送平面の表面状態を、前記データベースに、通信機能を有する通信装置にて送信することを特徴とする請求項12に記載の搬送装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019123605A JP7304219B2 (ja) | 2019-07-02 | 2019-07-02 | 搬送装置 |
EP20828949.6A EP3996272A4 (en) | 2019-07-02 | 2020-04-14 | TRANSPORT DEVICE |
CN202080041673.5A CN113939997B (zh) | 2019-07-02 | 2020-04-14 | 输送装置 |
US17/616,355 US20220252628A1 (en) | 2019-07-02 | 2020-04-14 | Transport apparatus |
PCT/JP2020/016424 WO2021002080A1 (ja) | 2019-07-02 | 2020-04-14 | 搬送装置 |
Applications Claiming Priority (1)
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JP2019123605A JP7304219B2 (ja) | 2019-07-02 | 2019-07-02 | 搬送装置 |
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JP2021010254A JP2021010254A (ja) | 2021-01-28 |
JP7304219B2 true JP7304219B2 (ja) | 2023-07-06 |
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US (1) | US20220252628A1 (ja) |
EP (1) | EP3996272A4 (ja) |
JP (1) | JP7304219B2 (ja) |
CN (1) | CN113939997B (ja) |
WO (1) | WO2021002080A1 (ja) |
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EP4317036A1 (en) * | 2021-03-29 | 2024-02-07 | Hitachi High-Tech Corporation | Specimen inspection system, and conveyance method |
JP2022162252A (ja) * | 2021-04-12 | 2022-10-24 | 株式会社日立ハイテク | 搬送装置、及び検体分析システム |
JPWO2023026622A1 (ja) * | 2021-08-24 | 2023-03-02 | ||
JP2023058284A (ja) * | 2021-10-13 | 2023-04-25 | 株式会社日立ハイテク | 搬送装置 |
JP2023070515A (ja) * | 2021-11-09 | 2023-05-19 | 株式会社日立ハイテク | 搬送装置 |
WO2023145174A1 (ja) * | 2022-01-26 | 2023-08-03 | 株式会社日立ハイテク | 搬送装置、および搬送方法 |
WO2023162340A1 (ja) * | 2022-02-25 | 2023-08-31 | 株式会社日立ハイテク | 搬送装置、および搬送方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JP3210153B2 (ja) | 1993-08-26 | 2001-09-17 | キヤノン株式会社 | ステージ制御装置 |
JP2004054838A (ja) | 2002-07-24 | 2004-02-19 | Brother Ind Ltd | ワーク質量推定装置 |
JP2008521379A (ja) | 2004-11-19 | 2008-06-19 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | 電動モータを制御する方法、制御ユニット及び電動モータ |
JP2015502525A (ja) | 2011-11-04 | 2015-01-22 | エフ.ホフマン−ラ ロシュ アーゲーF. Hoffmann−La Roche Aktiengesellschaft | 研究室試料配送システムおよび対応する動作方法 |
US20170309139A1 (en) | 2016-04-22 | 2017-10-26 | Siemens Aktiengesellschaft | Segment, Linear Drive and Method for Operating a Linear Drive |
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JPS57135364A (en) * | 1981-02-16 | 1982-08-20 | Japanese National Railways<Jnr> | Speed operating device of moving body |
DE102007014876B4 (de) * | 2007-03-26 | 2010-04-08 | Kba-Metronic Aktiengesellschaft | Transportsystem |
CN103608272B (zh) * | 2011-06-15 | 2016-04-13 | 株式会社安川电机 | 输送*** |
EP2589967A1 (en) * | 2011-11-04 | 2013-05-08 | Roche Diagnostics GmbH | Laboratory sample distribution system and corresponding method of operation |
US9315334B2 (en) * | 2012-02-03 | 2016-04-19 | Siemens Healthcare Diagnostics Inc. | Intelligent bidirectional multifunctional carrier and integrated automation system for material distribution and transportation |
EP2977766A1 (en) * | 2014-07-24 | 2016-01-27 | Roche Diagniostics GmbH | Laboratory sample distribution system and laboratory automation system |
EP2995960B1 (en) * | 2014-09-09 | 2020-07-15 | Roche Diagniostics GmbH | Laboratory sample distribution system and method for calibrating magnetic sensors |
EP2995958A1 (en) * | 2014-09-15 | 2016-03-16 | Roche Diagniostics GmbH | Method of operating a laboratory sample distribution system, laboratory sample distribution system and laboratory automation system |
DE102016203854A1 (de) * | 2016-03-09 | 2017-09-14 | Festo Ag & Co. Kg | Fördereinrichtung |
JP7300281B2 (ja) * | 2019-03-08 | 2023-06-29 | 株式会社日立ハイテク | 搬送装置、およびそれを備えた検体分析システム、検体前処理装置、ならびに被搬送体の搬送方法 |
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- 2019-07-02 JP JP2019123605A patent/JP7304219B2/ja active Active
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2020
- 2020-04-14 EP EP20828949.6A patent/EP3996272A4/en active Pending
- 2020-04-14 US US17/616,355 patent/US20220252628A1/en active Pending
- 2020-04-14 CN CN202080041673.5A patent/CN113939997B/zh active Active
- 2020-04-14 WO PCT/JP2020/016424 patent/WO2021002080A1/ja unknown
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3210153B2 (ja) | 1993-08-26 | 2001-09-17 | キヤノン株式会社 | ステージ制御装置 |
JP2004054838A (ja) | 2002-07-24 | 2004-02-19 | Brother Ind Ltd | ワーク質量推定装置 |
JP2008521379A (ja) | 2004-11-19 | 2008-06-19 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | 電動モータを制御する方法、制御ユニット及び電動モータ |
JP2015502525A (ja) | 2011-11-04 | 2015-01-22 | エフ.ホフマン−ラ ロシュ アーゲーF. Hoffmann−La Roche Aktiengesellschaft | 研究室試料配送システムおよび対応する動作方法 |
US20170309139A1 (en) | 2016-04-22 | 2017-10-26 | Siemens Aktiengesellschaft | Segment, Linear Drive and Method for Operating a Linear Drive |
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Publication number | Publication date |
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US20220252628A1 (en) | 2022-08-11 |
EP3996272A4 (en) | 2023-07-19 |
JP2021010254A (ja) | 2021-01-28 |
CN113939997A (zh) | 2022-01-14 |
WO2021002080A1 (ja) | 2021-01-07 |
CN113939997B (zh) | 2023-11-03 |
EP3996272A1 (en) | 2022-05-11 |
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