Transport device, sample measurement system, and transport method
A transport device transports a container used in a sample measurement device or a rack housing the container. The transport device may include: a robotic arm configured to transport the container or the rack between a first sample measurement device and each of other sample measurement devices different from the first sample measurement device; and a controller that controls operation of the robotic arm.
1. A transport device that transports a container used in a sample measurement device or a rack housing the container, the sample measurement device comprising at least first sample measurement devices and other sample measurement devices different from the first sample measurement devices, the first sample measurement devices arrayed along a transport conveyer that extends in a first direction and is configured to convey the container or the rack along the first direction, the transport device comprising:
a robotic arm configured to transport the container or the rack in a horizontal direction and a vertical direction between an accumulation unit provided at an end of the transport conveyer and each of the other sample measurement devices; and
a controller comprising a processor configured with a program to perform operations comprising:
controlling the robotic arm to transport the container or the rack from the accumulation unit to one or more of the other sample measurement devices and return the container or the rack to the transport conveyer after measurement by the one or more of the other sample measurement devices.
2. The transport device according to claim 1 , wherein the processor of the controller is configured with the program to perform operations such that controlling the robotic arm to transport the container or the rack comprises:
controlling the robotic arm based on position information of a transport source and a transport destination of the container or the rack.
3. The transport device according to claim 1 , wherein the processor of the controller is configured with the program to perform operations further comprising:
receiving signals from the other sample measurement devices to control the robotic arm based on the received signals.
4. The transport device according to claim 1 , wherein the processor of the controller is configured with the program to perform operations further comprising:
receiving a signal from an external control system to control the robotic arm based on the signal received from the external control system.
5. The transport device according to claim 4 , wherein the processor of the controller is configured with the program to perform operations such that controlling the robotic arm to transport the container or the rack to the one or more of the other sample measurement devices comprises:
controlling the robotic arm to transport the container or the rack to the one or more of the other sample measurement devices based on transport destination information included in the signal received from the external control system.
6. The transport device according to claim 4 , wherein the external control system controls the transport conveyer that transports the container or the rack to the first sample measurement devices.
7. The transport device according to claim 1 , wherein the processor of the controller is configured with the program to perform operations further comprising:
determining, as a transport destination to which the container or the rack is to be transported, one of the other sample measurement devices, based on at least one of:
the number of times that each of the other sample measurement devices has been the transport destination; and
a priority level of each of the other sample measurement devices.
8. The transport device according to claim 7 , wherein
in response to determining one sample measurement device having the smallest number of times of having been the transport destination among the other sample measurement devices, the processor of the controller is configured with the program to perform operations comprising: determining, as the transport destination to which the container or the rack is to be transported, the determined one sample measurement device, and
in response to determining two or more of the other sample measurement devices having the same smallest number of times of having been the transport destination among the other sample measurement devices, the processor of the controller is configured with the program to perform operations comprising: determining, as the transport destination to which the container or the rack is to be transported, one of the two or more of the other sample measurement devices having a top priority among the two or more of the other sample measurement devices.
9. The transport device according to claim 7 , wherein in response to transporting the container or the rack to the other sample measurement device determined to be the transport destination, the processor of the controller is configured with the program to perform operations further comprising: lowering the priority level of the other sample measurement device determined to be the transport destination.
10. The transport device according to claim 1 , wherein
the other sample measurement devices comprise at least a second sample measurement device and a third sample measurement device, and
the robotic arm is further configured to transport the container or the rack between the second sample measurement device and the third sample measurement device.
11. The transport device according to claim 1 , wherein the other sample measurement devices perform measurement different from measurement performed by the first sample measurement devices.
12. The transport device according to claim 1 , wherein the other sample measurement devices are arranged circumferentially around a base supporting the robotic arm.
13. The transport device according to claim 12 , wherein each of the other sample measurement devices comprises a supply unit that faces the base and that supplies the container or the rack to each of the other sample measurement devices.
14. The transport device according to claim 1 , wherein a base supporting the robotic arm is movable relative to an installation surface on which the first sample measurement devices and the other sample measurement devices are installed.
15. The transport device according to claim 14 , wherein
the base comprises:
a caster that causes the base to be movable relative to the installation surface; and
an expandable and contractable fixation leg, and
the base is fixed to the installation surface in response to expanding the fixation leg so that the caster does not contact the installation surface.
16. The transport device according to claim 1 , wherein
the robotic arm comprises drive units, and
the processor of the controller is configured with the program to perform operations further comprising controlling drive of the drive units to transport the container or the rack based on position information of a transport source and a transport destination of the container or the rack.
17. The transport device according to claim 1 , wherein
the robotic arm comprises a hand in a replaceable manner, the hand being configured to grasp the container or the rack.
18. The transport device according to claim 1 , wherein
the robotic arm comprises:
a first hand configured to grasp the container or the rack from above; and
a second hand configured to grasp the container or the rack from side, and
the first hand and the second hand are selectively used.
19. A sample measurement system comprising:
first sample measurement devices arrayed along a transport conveyer extending in a first direction, wherein the transport conveyer is configured to convey a container or a rack housing the container along the first direction;
other sample measurement devices different from the first sample measurement devices; and
a transport device comprising:
a robotic arm configured to transport the container or the rack in a horizontal direction and a vertical direction between an accumulation unit provided at an end of the transport conveyer and each of the other sample measurement devices; and
a controller comprising a processor configured with a program to perform operations comprising controlling the robotic arm to transport the container or the rack from the accumulation unit to one or more of the other sample measurement devices and return the container or the rack to the transport conveyer after measurement by the one or more of the other sample measurement devices.
20. A transport method of transporting a container or a rack housing the container used in first sample measurement devices arrayed along a transport conveyer extending in a first direction and configured to convey the container or the rack along the first direction, the method comprising:
positioning a robotic arm and other sample measurement devices different from the first sample measurement devices in the vicinity of an accumulation unit provided at an end of the transport conveyer,
causing the robotic arm that is configured to grasp and transport the container or the rack in a horizontal direction and a vertical direction between the accumulation unit at the end of the transport conveyer and each of the other sample measurement devices, to transport the container or the rack from the accumulation unit at the end of the transport conveyer to one or more of the other sample measurement devices and return the container or the rack to the transport conveyer after measurement by the one or more of the other sample measurement devices.