Abstract:
Disclosed is a sample processing apparatus that comprises a rack with positions to hold sample tubes, the rack including a rack identification suited to a kind of sample tube, a rack set unit that accepts the rack in a detachable manner, a tube transfer unit with mechanical movement to grab and take out each sample tube from a rack held in the rack set unit, a rack detector comprising a sensor to detect the rack identification of the rack held in the rack set unit, and a controller that controls movement of the tube transfer unit based on a detection result of the rack detector.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application claims priority from prior Japanese Patent Applications No. 2013-272556, filed on Dec. 27, 2013, entitled “SAMPLE PROCESSING APPARATUS AND RACK”, the entire contents of which are incorporated herein by reference. 
     FIELD OF THE INVENTION 
     The invention relates to a sample processing apparatus and a rack, which is used for the sample processing apparatus. 
     BACKGROUND 
     There is known a sample analyzer in which a sample tube supply unit transfers one of multiple sample tubes held in a rack to a sample rack set unit and sets the sample tube in the sample rack set unit, a sample in the set sample tube is aspirated, and a measurement unit measures the aspirated sample (see Japanese Patent Application Publication No. 2007-139462). 
     Various kinds of sample tubes are used in a sample processing apparatus. Every time a sample tube is changed, an operator has to correctly change conditions for transferring the sample tube according to the type of sample tube. 
     For example, in some cases, the sample processing apparatus uses various sample tubes having different lengths. In such a case, an operator has to change conditions for transferring sample tubes so that a grip position of the sample tube can be changed according to the length of the sample tube. There is also another situation where the sample processing apparatus uses a sample tube holding a priority sample, for example. In this case, an operator has to change the conditions for transferring the sample tube so that the sample tube holding the priority sample can be transferred preferentially to the other sample tubes. 
     SUMMARY OF THE INVENTION 
     The scope of the invention is defined by the appended claims, and not by any statements within this summary. 
     An embodiment is a sample processing apparatus. The sample processing apparatus includes a rack configured to hold sample tubes and includes a rack identification portion suited to sample tube type, a rack set unit where the rack is set in a detachably-attached manner, a tube transfer unit configured to take out and transfer each of the sample tubes from the rack set in the rack set unit, a rack detector configured to detect the rack identification portion in the rack set in the rack set unit, and a controller configured to control an operation of the tube transfer unit based on a detection result of the rack detector. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a schematic diagram illustrating an outside appearance of a sample analyzer according to an embodiment; 
         FIG. 2  is a schematic diagram illustrating a case where an inside of a case according to the embodiment is seen from above; 
         FIG. 3A  is a perspective view illustrating a case where a rack according to the embodiment is seen from above; 
         FIG. 3B  is a diagram illustrating an outside appearance of a sample tube according to the embodiment; 
         FIGS. 3C and 3E  are cross-sectional diagrams of the sample tube according to the embodiment; 
         FIGS. 4A to 4F  are perspective diagrams, each illustrating a case where the rack according to the embodiment is seen from below; 
         FIG. 5A  is a schematic diagram illustrating forward and backward movements of a drawer according to the embodiment; 
         FIG. 5B  is a diagram illustrating a configuration of the drawer according to the embodiment; 
         FIG. 5C  is a diagram illustrating a case where a cut-apart rack set unit is seen from the front thereof; 
         FIGS. 6A and 6B  are schematic diagrams, each illustrating a case where a vertical movement unit, holder, and stirrer mechanism are seen in the X-axis negative direction; 
         FIG. 7A  is a diagram illustrating stirring processing by the stirrer mechanism according to the embodiment; 
         FIGS. 7B to 7D  are diagrams, each illustrating aspiration processing by an aspiration unit according to the embodiment; 
         FIG. 7E  is a conceptual diagram illustrating a configuration of a setting table stored in a hard disk according to the embodiment; 
         FIG. 8  is a block diagram illustrating a configuration of the sample analyzer according to the embodiment; 
         FIGS. 9A and 9B  are flowchart respectively illustrating processing of starting and suspending sampler processing and processing of starting manual processing according to the embodiment; 
         FIG. 10  is a flowchart illustrating monitoring processing according to the embodiment; 
         FIG. 11  is a flowchart illustrating registering processing according to the embodiment; 
         FIG. 12A  is a flowchart illustrating processing on the rack according to the embodiment; 
         FIG. 12B  is a flowchart illustrating measuring processing according to the embodiment; 
         FIG. 13A  is a diagram illustrating a configuration of a drawer according to the embodiment; 
         FIG. 13B  is a diagram illustrating a modified embodiment of the configuration of the drawer according to the embodiment; 
         FIG. 14A  is a schematic diagram illustrating that the rack according to the modified embodiment is directly set in a case; 
         FIG. 14B  is a diagram illustrating a grip position at which the sample tube according to the embodiment is held; and 
         FIG. 14C  is a diagram illustrating a grip position at which the sample tube according to the modified embodiment is held. 
     
    
    
     DETAILED DESCRIPTION 
     An embodiment is a sample analyzer configured to examine and analyze blood. Hereinafter, a sample analyzer according to the embodiment is described by referring to drawings. 
       FIG. 1  is a diagram illustrating an outside appearance of sample analyzer  1  according to embodiments. 
     Sample analyzer  1  includes main body  2  and display input unit  3 , which is a touch panel display. Main body  2  is covered with case  2   a  and is provided with power button  11  configured to operate a power source of sample analyzer  1 , start button  12 , stop button  13 , two panels  21 , and two lamps  22  on the front side of case  2   a . Drawers  30  (see,  FIG. 2 ) are provided respectively on the back sides of two panels  21 . Two lamps  22  indicate states of corresponding drawers  30 . Openable/closable door  23  is provided on the front side of the right side surface of case  2   a.    
     When processing multiple samples (hereinafter, referred to as “sampler processing”), an operator pulls drawer  30  by pulling panel  21 , sets a rack holding sample tubes into drawer  30 , and then pushes start button  12 . In addition, when preferentially processing one sample (hereinafter referred to as “manual processing”), the operator opens door  23  and sets sample tubes into the tube set unit  71  (see,  FIG. 2 ) inside case  2   a  and pushes start button  83  (see,  FIG. 2 ) inside case  2   a.    
       FIG. 2  is a schematic diagram illustrating an embodiment where the inside of case  2   a  is seen from above. 
     Main body  2  includes two drawers  30  configured to set racks R 1  to R 6  (see,  FIG. 3A ), transmission sensors  41  configured to respectively detect two drawers  30  being set in case  2   a  in a closed state, holes  42  configured to respectively fix two drawers  30 , tube transfer unit  50  configured to transfer sample tubes T 1  to T 3  (see,  FIG. 3B ), stirrer mechanism  60  configured to stir a sample by turning sample tubes T 1  to T 3  down, back-and-forth conveyance unit  70  configured to move sample tubes T 1  to T 3  in back and forth directions, transmission sensor  81  configured to detect whether or not a sample tube exists in back-and-forth conveyance unit  70 , barcode reader  82 , start button  83 , sample aspiration unit  210  configured to aspirate samples in sample tubes T 1  to T 3 , sample preparation unit  220 , detector  230 , and measurement samples. 
     Referring to  FIGS. 3A to 5C , racks R 1  to R 6 , sample tubes T 1  to T 3 , and drawers  30  are described. 
       FIG. 3A  is a perspective diagram illustrating a case where racks R 1  to R 6  are seen from above. It is to be noted that in  FIG. 3A , coordinate axes illustrated in  FIG. 2 , which is used when racks R 1  to R 6  are set in drawers  30  are also illustrated. 
     In the embodiment, as described later, six kinds of racks R 1  to R 6  are used according to kinds of sample tubes. As illustrated in  FIG. 3A , shapes of racks R 1  to R 6  are exactly same with one another when seen from above but shapes thereof which are seen from bottom are different from one another. The shapes of racks R 1  to R 6  are described by referring to  FIGS. 4A to 4F  later. 
     To allow 10 sample tubes T 1  to T 3  to be held vertically, 10 holders Ra are formed in racks R 1  to R 6 , and 10 holders Ra are formed so that each 5 holders Ra are arrayed in a double row in front and rear sides. As illustrated in  FIG. 3A , positions of 10 holders Ra are referred to as holding position n 1  to n 10  for convenience. Also, the top surface of racks R 1  to R 6  are parallel with the X-Y plane, and intermediate portion Rb is formed between the row of holding positions n 1  to n 5  and the row of holding positions n 6  to n 10 . In addition, dent portion Rc, which dents inside the periphery thereof is formed on the rear side (the Y-axis positive side) of the lower end of rack R 1  to R 6 . 
       FIG. 3B  is a diagram illustrating an outer appearance of sample tubes T 1  to T 3 . 
     Sample tubes T 1  to T 3  include body portion Ta, lid portion Tb, and barcode label Tc. Body portion Ta is a tubular container configured of translucent glass or synthetic resin and has an opening formed on an upper end thereof. Body portion Ta holds a sample and the opening in the upper end is tightly sealed with lid portion Tb. Lid portion Tb is configured to allow piercer  211  (see  FIG. 2 ) to pass therethrough. Barcode label Tc includes a barcode including sample ID printed thereon. Barcode label Tc is adhered to the side surface of body portion ta. 
     Each of  FIGS. 3C and 3E  is a cross-sectional diagram of sample tubes T 1  to T 3 . For example, sample tubes T 1  to T 3  are used as blood-collecting vessels. 
     Bottom surface Td is formed on a lower end of an inner side of body portion Ta, and the positions of bottom surfaces Td of sample tubes T 1  to T 3  become higher in the order of sample tubes T 1  to T 3 . Accordingly, volumes of samples containable in sample tubes T 1  to T 3  become smaller in the order of sample tubes T 1  to T 3 . 
     Each of  FIGS. 4A to 4F  is a perspective diagram illustrating a case where racks R 1  to R 6  are seen from bottom (Z-axis negative side). 
     On the lower end of racks R 1  to R 6 , in addition to recessed portion Rc illustrated in  FIG. 3A , projection portion Rd which outwardly projects from the periphery thereof is formed on the opposite side of recessed portion Rc (the Y-axis negative side of the lower end of racks R 1  to R 6 ). 
     Also, on the lower surface of racks R 1  to R 6 , projection portion Re is formed. A lower end of projection portion Re is positioned higher than the lower end of racks R 1  to R 6 . There are three portions where projection portion Re is to be formed, and projection portion Re is formed in at least one position among these positions. Specifically, projection portion Re is formed in each of the three positions in rack R 1 , and projection portions Re are formed in the center and a position on the X-axis positive side in rack R 2 , projection portions Re are formed in positions on the X-axis positive side and the X-axis negative side in rack R 3 . In addition, projection portions Re are formed in the center and a position on the X-axis negative side in rack R 4 , and projection portion Re is formed in the center in rack R 5 , and projection portion Re is formed in a position on the X-axis negative side. 
     Here, samples according to the embodiment include regular samples whose analysis is not particularly in a hurry (hereinafter, referred to as “regular sample”) and samples whose analysis has to be performed preferentially to the regular samples (hereinafter, referred to as “priority sample”). Also, three kinds of above-described sample tubes T 1  to T 3  are used as sample tubes. Anyone of the regular samples and the priority samples is held in each of the sample tubes T 1  to T 3 . Accordingly, in the present embodiment, sample tubes T 1  to T 3  hold the regular samples, and sample tubes T 1  to T 3  hold the priority samples. As a result, there are six kinds of sample tubes in combination. 
     Also, in the embodiment, a rack to be used is determined for each of the six kinds of the sample tubes. Sample tubes T 1  to T 3  holding regular samples are set only in racks R 1  to R 3 , respectively, and sample tubes T 1  to T 3  holding priority samples are set only in racks R 4  to R 6 , respectively. Hereinafter, racks R 1  to R 3  are collectively referred to as a “regular rack” and racks R 4  to R 6  are collectively referred to as a “priority rack.” In this manner, racks R 1  to R 6  in which sample tubes T 1  to T 3  are set according to the above rules are set in drawer  30  which is pulled out forwardly by an operator. 
       FIG. 5A  is a schematic diagram illustrating the back and forth movements of drawer  30 . 
     Panel  21  is connected with a front end (end portion on the Y-axis negative side) of drawer  30 , which is moved back and forth along the panel  21  when an operator moves panel  21  back and forth. Also, rack set unit  300  is formed in drawer  30  for installing racks R 1  to R 6 . When drawer  30  is moved back and forth, rack set unit  300  is also moved between a loaded position in which the rack is loaded in case  2   a  and a drawn position in which the rack is drawn out from case  2   a.    
     When drawer  30  is drawn out and rack set unit  300  is positioned in the drawn position, the operator may set the rack in rack set unit  300  and may also take out the rack set in rack set unit  300 . Also, when rack set unit  300  is positioned in the loaded position, processing is performed with mechanisms inside case  2   a  on the sample tubes held in the rack set in rack set unit  300 . 
       FIG. 5B  is a diagram illustrating the configuration of drawer  30 . Here, for convenience&#39;s sake,  FIG. 5B  omits illustration of flange portion  31  and bar member  32  (see  FIG. 2 ), which are to be described later. 
     Rack set unit  300  is formed in a position near the center of drawer  30 , and the bottom surface of rack set unit  300  is formed so as to be lower by one step than the upper surface of drawer  30 . In the front end and rear end of rack set unit  300 , dent portion  310  and projection portion  320  are formed so as to respectively engage with projection portion Rd and dent portion Rc of the rack set in rack set unit  300 . The upper surfaces of projection portions  311  to the right and left of dent portion  310  are lower than the upper surface of drawer  30 , and the upper surface of projection portion  320  is higher than the upper surface of drawer  30 . Also, projection portion  330  is formed in the center of rack set unit  300 . Gaps  331  to  333  corresponding to three projection portions Re of the rack set in rack set unit  300  are formed in projection portion  330 . 
       FIG. 5C  is a diagram illustrating the case where rack set unit  300  taken out by C 1 -C 2  in  FIG. 5B  is seen from front thereof (in the Y-axis positive direction). 
     In projection portion  330 , transmission sensors  341  to  343  are provided to sandwich gaps  331  to  333  therebetween. For example, when rack R 1  is set in rack set unit  300 , three projection portions Re formed in rack R 1  are positioned in gaps  331  to  333 . Accordingly, when it is detected by detection signals of sensors  341  to  343  that projection portion Re is positioned in at least one of gaps  331  to  333 , it is recognized that the rack is set in rack set unit  300 . Also, hard disk  270  (see,  FIG. 8 ) in main body  2  stores the configuration of projection portion Re of racks R 1  to R 6  illustrated in  FIGS. 4A to 4F . With this, the rack set in rack set unit  300  may be identified as one of racks R 1  to R 6 . 
     Also, when the rack is placed in rack set unit  300  so as to reverse the back and forth directions, the bottom surface of the rack including projection portion Rd and dent portion Rc comes in contact with projection portions  311 ,  320 , which causes the rack to tilt in the back and forth directions. Accordingly, the operator may realize that the placement direction of the rack is wrong. It is to be noted in the embodiment that even when the rack is placed so as to reverse the back and forth directions, projection portion Re and rack set unit  300  are configured so as not to bring projection portion Re into contact with projection portion  330 . 
     Return to  FIG. 2 . When the rack is set in drawer  30  and drawer is pushed backwardly, flange portion  31  provided behind drawer  30  is positioned in a gap between transmission sensors  41  provided in case  2   a . Accordingly, it is recognized with detection signals of sensors  41  that drawer  30  is pulled out or that drawer  30  is pushed and closed. After that, bar member  32  provided in drawer  30  is driven in the Y-axis direction by an unillustrated driver and is inserted into holes  42  provided in case  2   a  to be locked, so that drawer  30  is prevented from being wrongly drawn. Also, bar member  32  is driven in a direction opposite to the lock direction, so that the lock of drawer  30  is released. 
     When processing is started on the sample tubes held in the rack, the sample tubes in holding positions n 1  to n 10  are sequentially taken out by tube transfer unit  50  from the rack and are transferred. Tube transfer unit  50  includes motors  51 ,  52 , belts  53 ,  54 , and movement body  500 . 
     Movement body  500  includes right-left movement unit  510 , front-back movement unit  520 , up-down movement unit  530 , and holder  540 . Right-left movement unit  510  is movable in the right and left directions while being supported by a guide (unillustrated), which is provided in case  2   a  and extends in the right and left directions. Front-back movement unit  520  is movable in the back and forth directions while being supported by a guide (unillustrated) which is provided in right-left movement unit  510  and extends in the back and forth directions. Up-down movement unit  530  is moved relative to front-back movement unit  520  in the up and down directions by a cylinder (unillustrated) provided in front-back movement unit  520 . Holders  540  are configured to be capable of holding sample tubes T 1  to T 3  between the back and forth directions, and are supported by up-down movement unit  530  to be rotatable about the Y-axis as a rotation axis. 
     Motor  51  drives belt  53  installed around pulleys provided on the right and left sides of case  2   a  in the right and left directions. Attachment stay  511  of right-left movement unit  510  is fixed in the belt  53 . Accordingly, the right-left movement unit  510  becomes movable in the right and left directions along with the belt  53 . Motor  52  drives belt  54  installed in pulleys provided on the right and left sides of case  2   a  in the right and left directions. One portion of belt  54  is forwardly folded by pulleys  512  provided in right-left movement unit  510  and is installed on the pulleys  513  provided in the front side of right-left movement unit  510 . Attachment stay  521  of front-back movement unit  520  is fixed in belt  54  between pulleys  512 ,  513 . Accordingly, front-back movement unit  520  becomes movable in the back and forth directions along with belt  54 . Thus, holders  540  become freely movable in the X, Y, and Z directions in case  2   a.    
     Stirrer mechanism  60  includes motor  61 , shaft  62  which is connected with motor  61  and extends in the Y-axis direction, and abutting member  63  fixed in shaft  62 . The sample tube which is held by grippers  541 ,  542  and is positioned in position P 1  is pushed by abutting member  63  and is turned down, so that a sample inside the sample tube is stirred. 
       FIGS. 6A and 6B  schematic diagrams, each illustrating the case where up-down movement unit  530 , holder  540 , and stirrer mechanism  60  are seen in the X-axis direction. 
     Up-down movement unit  530  includes base board  531 , shaft  532  fixed to base board  531 , cylinder  533  fixed to base board  531 , plate member  534  provided in an end portion on the Y-axis negative side of rod  533   a  of cylinder  533 , flange portion  534   a  provided in an upper end of plate member  534 , and transmission sensors  535  provided in base board  531  on the Y-axis positive side of flange portion  534   a.    
     Holder  540  includes grippers  541 ,  542  provided in shaft  532  to be rotatable about shaft  532  as a rotation axis, and spring  543  provided between grippers  541 ,  542 . Gripper  541  is provided in shaft  532  so as not to move in the Y-axis direction, and the upper end of gripper  542  is positioned on the Y-axis negative side of plate member  534 . 
     When force is not added to rod  533   a  in the Y-axis negative direction, gripper  542  is pulled in the Y-axis positive direction with contractile force of spring  543  and the lower ends of grippers  541 ,  542  come in contact with each other. At this time, plate member  534  is pushed in the Y-axis positive direction by the upper end of gripper  542  and flange portion  534   a  is positioned in the gap between sensors  535 . Accordingly, it is detected that the lower ends of grippers  541 ,  542  come in contact with each other, that is, the sample tube is not gripped by holder  540 . 
     When cylinder  533  pushes rod  533   a  in the Y-axis negative direction, as illustrated in  FIG. 6A , plate member  534  moves in the Y-axis negative direction. At this time, plate member  534  pushes the upper end of gripper  542  in the Y-axis negative direction with contractile force of spring  543 , and flange portion  534   a  moves in the Y-axis negative direction of sensor  535 . 
     In order for grippers  541 ,  542  to grip sample tubes T 1  to T 3 , grippers  541 ,  542  are firstly moved to the position of the sample tube (rack holding position) to be gripped in a state where grippers  541 ,  542  are opened, and lowered to a position at a predetermined height as illustrated in  FIG. 6A . Then, when the force of cylinder  533  to push rod  533   a  is weakened, gripper  542  moves in the Y-axis positive direction, and body portion Ta of the sample tube is gripped by grippers  541 ,  542  with the contractile force of spring  543  as illustrated in  FIG. 6B . Since the sample tube is between grippers  541 ,  542  at that time, gripper  542  stops at a predetermined position and flange portion  534   a  is not positioned in the gap between sensors  535 . Accordingly, it is detected that the holder  540  grips the sample tube. 
     When the sample tube is transferred by tube transfer unit  50  to position P 1  illustrated in  FIG. 2 , the sample tube is turned down by stirrer mechanism  60  in this position. Specifically, when motor  61  rotates shaft  62 , the front end of abutting member  63  moves in the X-Z plane along an arch having shaft  62  at the center. Accordingly, body portion Ta of the sample tube is pushed from the X-axis negative side by abutting member  63 . When the sample tube is returned to the vertical state, motor  61  rotates shaft  62  in the reverse direction and abutting member  63  is separated from the sample tube. Accordingly, grippers  541 ,  542  gripping the sample tube are returned to the vertical state with the weights thereof. 
     Return to  FIG. 2 . When stirring processing by stirrer mechanism  60  is terminated in position P 1 , this sample tube is set by tube transfer unit  50  in tube set unit  71  of back-and-forth conveyance unit  70  positioned in position P 2 . Back-and-forth conveyance unit  70  includes tube set unit  71  which is capable of holding the sample tube and motor  72  to move tube set unit  71  in the back and forth directions. 
     The sample tube set in tube set unit  71  in position P 2  is conveyed to position P 3  by tube set unit  71 . When the sample tube is positioned in position P 3 , barcode reader  82  provided near position P 3  reads sample ID from barcode label Tc adhered to the sample tube. Then, the sample tube is conveyed to position P 4  by tube set unit  71 . When the sample tube is positioned in position P 4 , a predetermined amount of sample is aspirated by sample aspiration unit  210  from the sample tube via piercer  211 . Sample aspiration unit  210  includes piercer  211  to aspiration the sample in the sample tube and motor  212  with a stepping motor to drive piercer  211  in the up and down directions. 
     When aspiration of the sample is terminated, this sample tube is conveyed to the front of tube set unit  71  and is positioned in position P 2 . Then, this sample tube is returned to the original rack holding position by tube transfer unit  50 . In this manner, the sample tubes held in the rack are sequentially taken out and sample aspiration unit  210  aspirations the sample. 
     The sample aspirated through piercer  211  is discharged to sample preparation unit  220 . Sample preparation unit  220  mixes the sample with a reagent and the mixed solution is heated to prepare a measurement sample. The prepared measurement sample is supplied to detector  230 . Detector  230  acquires various kinds of signals by emitting laser beams to the measurement sample. The acquired measurement result is analyzed by CPU  201  (see,  FIG. 8 ) and the analysis result is displayed in display input unit  3 . 
     When the analysis of one sample is preferentially performed (in the case of the manual processing), the operator stirs the sample in the sample tube in advance. The operator opens door  23  and sets this sample tube in tube set unit  71  positioned in position P 5  (see,  FIG. 2 ), and then pushes start button  83 . This sample tube is conveyed to the back of tube set unit  71 . Then, barcode reader  82  reads sample ID, and the sample is aspirated. After that, this sample tube is positioned by tube set unit  71  in position P 5 , and the operator opens door  23  to take out the sample tube from case  2   a.    
       FIG. 7A  is a diagram illustrating stirring processing by stirrer mechanism  60 .  FIGS. 7B to 7D  are diagram, each illustrating the aspiration processing by sample aspiration unit  210 .  FIG. 7E  is a conceptual diagram illustrating a setting table configuration stored in hard disk  270  (see,  FIG. 8 ) in main body  2 . 
     Refer to  FIG. 7A . When a turned-down operation in which a sample tube is returned from the vertical state to the vertical state after the turned-down state is counted as one, the numbers of turning down the sample tubes T 1  to T 3  are respectively set to fn 1 , fn 1 , and fn 2  as indicated in the setting table in  FIG. 7E . Here, fn 1 &lt;fn 2 . Accordingly, the sample in sample tube T 3  whose capacity is smaller than those of sample tubes T 1  and T 2  can be sufficiently stirred. 
     Now refer to  FIGS. 7B to 7D . In order to lower piercer  211  to the sample tube, the lower end of piercer  211  is aligned with the initial position, and then motor  212  is given a predetermined number of pulses and accordingly lowers piercer  211 . In this process, the number of pulses given to motor  212  is set to pn 1 , pn 2 , and pn 3  for sample tubes T 1  to T 3 , respectively, as indicated in the setting table in  FIG. 7E  so that a lowering amount becomes suitable. Here, pn 1 &gt;pn 2 &gt;pn 3 . Accordingly, piercer  211  can be properly lowered according to the height of bottom surfaces Td of sample tubes T 1  to T 3 . 
       FIG. 8  is a block diagram illustrating the configuration of sample analyzer  1 . 
     Main body  2  includes substrate  200 , mechanism unit  240 , sensor unit  250 , lamp unit  260 , hard disk  270 , and read device  280  in addition to above-described tube transfer unit  50 , barcode reader  82 , sample aspiration unit  210 , sample preparation unit  220 , and detector  230 . Substrate  200  includes CPU  201 , memory  202 , and interface  203 . 
     CPU  201  executes computer programs stored in memory  202  and computer programs loaded in memory  202 . CPU  201  controls the units of main body  2  and display input unit  3  and receives signals from the units of main body  2  and display input unit  3 , through interface  203 . 
     Mechanism unit  240  includes a mechanism to drive the units of main body  2 . Sensor unit  250  includes a sensor to detect that door  23  is closed and a sensor to detect that power button  11 , start buttons  12 ,  83 , or stop button  13  is pressed, in addition to above-described two sensors  41 ,  81  and  341  to  343 ,  535 . Lamp unit  260  includes two lamps  22 . 
     Hard disk  270  stores an operating system, computer programs which are executed by CPU  201 , the configuration of projection portions Re of racks R 1  to R 6 , the setting table in  FIG. 7E , and management information to be described later. Read device  280  includes a CD drive, DVD drive, or the like, and can read out computer programs and data, which are stored in the recording medium. 
       FIG. 9A  is a flowchart illustrating processing of starting and suspending sampler processing which is performed by CPU  201 . 
     When an operator presses power button  11  to turn on sample analyzer  1 , CPU  201  determines whether or not start button  12  is pressed (S 101 ) and positions tube set unit  71  in position P 5 . When start button  12  is pressed (S 101 : YES), CPU  201  determines whether or not the manual processing (S 112  to S 115  in  FIG. 9B ) is performed (S 102 ). When the manual processing is performed (S 102 : YES), CPU  201  displays an error message indicating that sampler processing is not possible on display input unit  3  (S 103 ), the process is returned to S 101 . On the other hand, when the manual processing is not performed (S 102 : NO), CPU  201  performs processing on the rack. 
     Here, hard disk  270  stores management information indicating status of the units of sample analyzer  1  and the like. The management information includes information indicating that processing is firstly performed on a rack, among the racks set in two drawers  30 , the kinds of the set racks, and processing statuses of the set racks. The management information is registered at S 206  in  FIG. 10 . The management information registering processing is described later by referring to  FIG. 11 . 
     Referring to the management information, CPU  201  determines whether or not the rack with the highest processing priority (priority 1) is in the standby or suspended status (S 104 ). When the rack with priority 1 is in the standby or suspended status (S 104 : YES), CPU  201  starts or restarts the processing on the rack with priority 1 and changes the processing status of this rack to ongoing (S 105 ). Here, the suspended processing of the rack is restarted from the suspended state. 
     The rack with priority 1 is in the standby or suspended status, and but in the ongoing status (S 104 : NO, S 106 : YES), S 105  is skipped. On the other hand, when the rack with priority 1 is out of the standby, suspended and ongoing statuses (S 104 : NO, S 106 : NO), there is no rack to be processed, and the process is returned to S 101 . 
     After that, CPU  201  determines whether or not stop button  13  is pressed (S 107 ). When stop button  13  is not pressed (S 107 : NO), the process is returned to S 104 . On the other hand, when stop button  13  is pressed (S 107 : YES), CPU  201  suspends the ongoing processing on the rack and changes the processing status of this rack to suspended (S 108 ). Then, CPU  201  returns the process to S 101 . 
       FIG. 9B  is a flowchart illustrating processing of starting the manual processing by CPU  201 . This processing is performed in parallel with processing in  FIG. 9A . 
     When the operator presses power button  11  and power of sample analyzer  1  is turned on, CPU  201  determines whether or not start button  83  is pressed (S 111 ). When start button  83  is pressed (S 111 : YES), CPU  201  determines whether or not sampler processing (S 102  to S 108  in  FIG. 9A ) is performed (S 112 ). When the sampler processing is performed (S 112 : YES), CPU  201  displays an error message indicating that the manual processing is not possible (S 113 ), on display input unit  3 , and returns the process to S 111 . It is to be noted that instead of displaying the error message on display input unit  3 , an alarm sound may be outputted from a speaker (unillustrated) in main body  2 . On the other hand, when the sampler processing is not performed (S 112 : NO), CPU  201  moves tube set unit  71  to the position of sensor  81  (see  FIG. 2 ), and determines based on the detection signals of sensor  81  whether or not the sample tube is set in tube set unit  71  (S 114 ). 
     When the operator desires to preferentially perform measurement on one sample tube, the operator inputs the kind of this sample tube, in other words, sample tube T 1 , T 2 , or T 3  in display input unit  3  in advance. After that, the operator sets the sample tube in tube set unit  71  and presses start button  83 . In this manner, when the sample tube is set in tube set unit  71  by the operator (S 114 : YES), CPU  201  performs measurement according the kind of the sample tube, which is inputted in advance (S 115 ). On the other hand, when no sample tube is set in tube set unit  71  (S 114 : NO), CPU  201  returns the process to S 111 . It is to be noted that when an error message is displayed at S 113 , the operator presses stop button  13  to suspend the sampler processing and presses again start button  83  to continue the manual processing. 
       FIG. 10  is a flowchart illustrating monitoring processing by CPU  201 . This processing is performed in parallel with processing in  FIG. 9A . 
     When the operator presses power button  11  and sample analyzer  1  is powered on, CPU  201  lights two lamps  22  in green (S 201 ), and sets drawer  30  on the left side of two drawers  30  as a reference target (S 202 ). Then, CPU  201  determines based on detection signal of sensor  41  whether drawer  30  is closed or opened (S 203 , S 207 ). 
     When reference target drawer  30  is closed (S 203 : YES), CPU  201  determines based on detection signals of sensors  341  to  343  whether or not the rack is in this drawer  30  (S 204 ). When the rack is in this drawer  30  (S 204 : YES), CPU  201  acquires the kind of this rack, in other words, that this rack is which one of racks R 1  to R 6 , from the configuration of projection portions Re (S 205 ). After that, CPU  201  performs “registering processing” (S 206 ). The registering processing is described later by referring to  FIG. 11 . When the rack is not in this drawer  30  (S 204 : NO), the process proceeds to S 210 . 
     When reference target drawer  30  is opened (S 203 : NO, S 207 : YES), CPU  201  deletes the information on the rack, which is stored in the management information, in reference target drawer  30  (s 208 ). In other words, when this drawer  30  is opened before the processing on the rack in drawer  30  starts, the information on the rack is deleted from the management information. It is to be noted that in a case where this rack is registered as a rack with priority 1 and there is another rack whose priority of processing is registered as the second (hereinafter, referred to as “priority 2”), the rack with priority 2 is raised up to the rack with priority 1. 
     Then, CPU  201  lights lamp  22  above this drawer  30  in green (S 209 ). In other words, when the processing on the rack in drawer  30  is completed, lamp  22  is not lit as described later. At S 209 , lamp  22  that is not lit is lit in green. 
     On the other hand, when reference target drawer  30  is not opened or closed (S 203 : NO, S 207 : NO), the process proceeds to S 210 . 
     Next, CPU  201  returns process to S 203  by using drawer  30  on the opposite side of reference target drawer  30  as a reference target (S 210 ). In this manner, processes at S 203  to S 210  are repeatedly performed at a predetermined time interval. 
       FIG. 11  is a flowchart illustrating the registering processing. 
     CPU  201  registers the kind of the rack acquired at S 205  in the management information (S 301 ). Subsequently, CPU  201  refers to the management information and then determines whether or not there is already another rack with priority 1 (S 301 ). When there is no rack with priority 1 (S 302 : YES), CPU  201  registers a regular rack in reference target drawer  30  as a rack with priority 1 (S 303 ). On the other hand, when there is a rack with priority 1 (S 302 : NO), CPU  201  determines whether or not a regular the rack set in reference target drawer  30  is a regular rack (S 304 ). 
     When the rack in reference target drawer  30  is a regular rack (S 304 : YES), CPU  201  registers this regular rack as a rack whose priority of processing is the second in the management information (S 305 ). On the other hand, when the rack in reference target drawer  30  is not a regular rack, in other words, a priority rack (S 304 : NO), CPU  201  determines whether or not the rack with priority 1 is a regular rack (S 306 ). 
     When the rack with priority 1 is not a regular rack, in other words, a priority rack (S 306 : NO), CPU  201  registers the priority rack in reference target drawer  30  as a rack with priority 2 in the management information (S 305 ). On the other hand, when the rack with priority 1 is a regular rack (S 306 : YES), CPU  201  inserts the priority rack in reference target drawer  30  to interrupt the regular rack with priority 1 and registers the priority rack as priority 1 in the management information (S 307 ). Accordingly, the regular rack with priority 1 is moved to priority 2. When the regular rack is in the ongoing status, CPU  201  suspends the processing on the regular rack, and changes the processing status of the regular rack to suspended (S 308 ). 
     Next, CPU  201  registers the processing status of the rack in reference target drawer  30  in the management information as suspended (S 309 ). Then, the registering processing is terminated. It is to be noted that processing on the rack whose priority is determined at S 304 , S 306  as 1 is started at S 105  in  FIG. 9A . Also, the rack whose priority is determined at S 305  as 2 is waited until the rack with priority 1 is deleted from the management information. 
       FIG. 12A  is a flowchart illustrating processing which is performed by CPU  201  on a rack. This processing is started at S 105  in  FIG. 9A  and independently performed on each rack. 
     CPU  201  lights lamp  22  in green above drawer  30  in which a processing target rack is set and locks this drawer  30  (S 401 ). Subsequently, CPU  201  performs “measuring processing” (S 402 ). 
       FIG. 12B  is a flowchart illustrating the measuring processing. 
     CPU  201  moves grippers  541 ,  542  above the holding position to be a transfer target (S 501 ). It is to be noted that the holding position to be a transfer target is set in any of rack holding positions n 1  to n 10 . The first transfer target is holding position n 1 , and every time the measuring processing is performed on this rack, the holding position sequentially moves from holding position n 2  to n 10 . 
     Subsequently, CPU  201  causes tube transfer unit  50  to perform an operation to grip the sample tube described by referring to  FIGS. 6A and 6B  and determines whether or not the sample tube is in this holding position (S 502 ). When the sample tube is not in this holding position (S 502 : NO), the measuring processing is terminated. When the sample tube is in this holding position (S 502 : YES), CPU  201  causes tube transfer unit  50  to transfer the sample tube to position P 1  (S 503 ). 
     Next, by referring to the setting table in  FIG. 7E , CPU  201  drives stirrer mechanism  60  to perform stirring processing on the sample tube positioned in position P 1  according to the kind of a rack to be a processing target (S 504 ). Then, CPU  201  causes tube transfer unit  50  to transfer the sample tube from position P 1  to position P 2  and sets the sample tube in tube set unit  71  positioned in position P 2  (S 505 ). After that, CPU  201  conveys the sample tube to position P 3  and reads sample ID with barcode reader  82  (S 506 ), and further conveys the sample tube to position P 4 . Then, by referring to the setting table, CPU  201  drives sample aspiration unit  210  to perform aspiration processing on the sample tube positioned in position P 4  according to the kind of the processing target rack (S 507 ). 
     Subsequently, CPU  201  starts measurement on the aspirated sample (S 508 ). Accordingly, a measurement sample is prepared from the aspirated sample, which is measured by detector  230 . After that, CPU  201  determines based on the obtained measurement result whether or not the sample held in the sample tube requires to be reexamined. It is to be noted that measurement started at S 508  and determination whether or not reexamination is needed are performed in parallel with other processing. 
     Next, CPU  201  conveys the sample tube to position P 2  (S 509 ), and the sample tube positioned by tube transfer unit  50  in position P 2  is returned to the original holding position of the original rack (S 510 ). In this manner, the measuring processing is terminated. 
     It is to be noted that when tube transfer unit  50  transfers sample tubes in holding positions in the front row (holding positions n 1  to n 5 ), a space formed by center portion Rb of the rack is used for transfer. Accordingly, compactly-configured tube transfer unit  50  can smoothly transfer sample tubes. Also, tube transfer unit  50  transfers the sample tube so that the sample tube does not pass through the front side of rack set unit  300  of drawer  30 . This allows the operator to draw out drawer  30  on the opposite side of the drawer  30  in which the processing target rack is set. 
     Return to  FIG. 12A . When the measuring processing is terminated, CPU  201  determines whether or not the processing target rack includes a sample, which needs to be reexamined (S 403 ). When there is a sample which needs to be reexamined (S 403 : YES), the process returns to S 402  and the measuring processing is performed again on the sample which is determined that reexamination is needed. 
     When there is no sample, which is needed to be reexamined (S 403 : NO), CPU  201  determines whether or not first examination is terminated on all the samples (S 404 ). When the first examination is not terminated on all the samples (S 404 : NO), the process is returned to S 402  and the measuring processing on the next sample tube is performed. On the other hand, when the first examination is terminated on all the samples (S 404 : YES), CPU  201  determines whether or not reexamination determination on all the samples and all the necessary reexaminations are terminated (S 405 ). In a case where all the reexamination determinations and reexaminations are not terminated (S 405 : NO), CPU  201 , when there is a sample which needs to be reexamined (S 406 : YES), the measuring processing is performed on this sample as similar to S 402  (S 407 ). When all the reexamination determinations and the necessary reexaminations are terminated (S 405 : YES), the process is continued to S 408 . 
     Next, CPU  201  deletes the information on the processing target rack from the management information (S 408 ). When there is a rack with priority 2 at this time, CPU  201  raises up the priority of this rack to priority 1. Subsequently, CPU  201  lights off lamp  22  above drawer  30  in which the processing target rack is set and release the lock of drawer  30 . In this manner, the processing on the rack is terminated. 
     If the processing on the rack being performed is suspended at S 108  in  FIG. 9A , the processing is suspended at the measuring processing at S 402 , S 407 . Specifically, in the measuring processing in  FIG. 12B , the transfer target sample tube is returned to the original holding position of the original rack if the processing on the rack is suspended before the aspiration processing at S 507  is started, the measuring processing is returned to S 501  and suspended. If the processing on the rack is suspended after the aspiration processing at S 507  is started, the measuring processing already started is continued until end, and the measuring processing is suspended just before the measuring processing is performed on the next sample tube. 
     As described above, according to the embodiment, the kind of a rack is detected when the rack is set in rack set unit  300  in drawer  30 . Then, operations of tube transfer unit  50  and the like are controlled according to the detected kind of the rack. For this reason, a complex input operation to input the information on which one of the six kinds of sample tubes is set for each sample tube through display input unit  3  can be omitted. Accordingly, a complex input operation by an operator can be simplified. 
     Also, according to the embodiment, the rack has projection portions Re formed therein according to the kinds of the sample tubes held in the rack. Then, when the rack is set in rack set unit  300 , the kind of the rack is detected based on the projection portion Re. In this manner, the kind of the rack is detected based on the shape of the rack. Accordingly, for example, providing a large detection mechanism such as a barcode reader is not needed. Thus, the complex input operation by an operator can be simplified and the cost of sample analyzer  1  can be lowered. 
     In the embodiment, a barcode label or a RFID tag including the information on the kind of the rack may be adhered to the rack in place of the projection portions Re. In this case, a barcode reader to read barcode information or an antenna to read the RFID is provided inside case  2   a . In addition, in place of projection portions Re, colors may be set for racks according to kinds of the racks. In this case, a color sensor to read the colors of the racks is provided inside case  2   a . Also in this case, as long as an operation of tube transfer unit  50  is controlled based on the acquired kinds of the racks, even in the case where projection portions Re are used, the complex input operation by an operator may be simplified. However, for example, when a barcode label is adhered to the rack, it is possibly caused that the rack is not identified because a barcode is broken or becomes dirty or a maintenance work to change an aging barcode label becomes necessary. Also, in these cases, a barcode reader, an antenna, or a color sensor have to be provided additionally. Accordingly, the cost of sample analyzer  1  may increase. Thus, it is preferable that the kinds of the racks be detected according the shapes (projection portions Re) of the racks as described in the embodiment. 
     Also, according to the embodiment, projection portions Re are formed on the lower surface side of the rack to face rack set unit  300 . Accordingly, sensors  341  to  343  of rack set unit  300  can detect a kind of a rack in response to operation work of setting the rack into rack set unit  300 . 
     Also, according to the embodiment, when a rack is set in rack set unit  300 , projection portions Re of the rack are positioned in gaps  331  to  333 . At this time, the translucent state and light-shielding state of sensors  341  to  343  change depending on whether or not there are projection portions Re, and thus it can be identified based on the detection signals of sensors  341  to  343  that the set rack is which one of racks R 1  to R 6 . In this manner, the kind of the rack can be specified with a simple configuration by only providing projection portions Re, so that the rack can be formed with a simple structure. 
     Also, according to the embodiment, there are three positions where projection portions Re are to be formed, and projection portion Re is formed in at least one of the three positions to make it possible to determine whether or not the rack is set. Thus, there are seven different combinations of arrangement of projection portions Re. Also, projection portions Re are detected by sensors  341  to  343 . In this manner, since the kind of the rack is identified based on the combinations of arrangement of projection portions Re detected by sensors, the number of projection portions Re and sensors to detect projection portions Re can be curbed. Thus, the configuration of the rack and the sensor can be simplified. 
     Also, according to the embodiment, drawer  30  moves back and forth as illustrated in  FIG. 5A , so that rack set unit  300  moves between a loaded position inside case  2   a  and a drawn position outside case  2   a . Thereby, the rack is set smoothly in a detachably-attached manner in rack set unit  300 . 
     Also, in the embodiment, sensors  341  to  343  are provided in projection portion  330 . In this manner, when sensors  341  to  343  are integrally provided with drawers  30 , the kind of the rack can be identified even in the state where drawer  30  is drawn out to the outside from case  2   a.    
     In addition, according to the embodiment, the rack is provided with recessed portions Rc and projection portions Rd and rack set unit  300  is provided with dent portions  310  and projection portions  320 . Then, when the rack is set in rack set unit  300 , recessed portions Rc and projection portions  320  are engaged with each other and projection portions Rd and dent portions  310  are engaged with each other. Accordingly, the rack can be set in rack set unit  300  in a proper posture and projection portions Re can be properly detected by sensors  341  to  343 . 
     In addition, according to the embodiment, as illustrated in  FIG. 13  again, the upper surface of projection portion  311  is lower than the upper surface of drawer  30  and the upper surface of projection portion  320  is higher than the upper surface of drawer  30 . Accordingly, when the rack is placed in rack set unit  300  reversely in the back and front, the rack tilts, so that it can be noticed that the placement direction of the rack is wrong. It is to be noted that as illustrated in  FIG. 13B  that the upper surface of projection portion  320  may be positioned in the same height as that of the upper surface of projection portion  311 . In this case, when the rack is placed in rack set unit  300  reversely in the back and front, although the rack is not properly mounted in rack set unit  300 , a lower portion of the rack is shallowly engaged with rack set unit  300  and the rack does not tilt in this state. For this reason, it becomes difficult for an operator to notice that the placement direction of the rack is wrong. Accordingly, it is preferable that the upper surface of projection portion  320  be higher than the upper surface of rack set unit  300  as illustrated in  FIG. 13A . 
     As described above, since the lower portion of the rack has asymmetric contour in the plan view, this power portion is engaged with rack set unit  300  from above, so that the rack can be properly set in rack set unit  300  in a proper posture. Accordingly, projection portions Re can be properly detected by sensors  341  to  343 . 
     Also, according to the embodiment, two drawers  30  are provided so as to be side by side and sensors  341  to  343  are respectively provided in two drawers  30 . Accordingly, different kinds of racks can be respectively set in two rack set units  300 , so that convenience can be improved. Also, even when sensors  341  to  343  configured to detect projection portions Re are respectively provided in two rack set units  300 , as compared with the case where a barcode reader is provided to acquire the kind of the rack by the barcode reader, the configuration can be simplified and the cost can be reduced. 
     Also, according to the embodiment, when the processing on the rack is ongoing and suspended, lamp  22  for this drawer  30  is lit in green, and drawer  30  is locked. Also, when the processing on the rack is terminated, lamp  22  for this drawer  30  is lit out and the lock of drawer  30  is released. Also, when the processing on the rack is not started or when the rack is not set in drawer  30 , lamp  22  for this drawer  30  is lit in green and the lock of the rack is released. Accordingly, the rack can be set in corresponding drawer  30  when lamp  22  is lit in green and when lamp  22  is lit off. Also, since it can be seen by checking the state of lamp  22  that the rack can be set in corresponding drawer  30 , the rack can be smoothly set or exchanged. 
     Also, according to the embodiment, when a priority rack is set in drawer  30  and the priority of a regular rack set in drawer  30  on the opposite side is 1, the priority rack is regarded as having priority 1 and the processing on the regular rack is suspended (S 306  in  FIG. 11 ). Accordingly, a priority sample can be processed preferentially over a regular sample. Also, since the rack can hold multiple sample tubes, even when there are multiple priority samples, these priority samples are held by one rack to be set in drawer  30 , so that multiple priority samples can be processed all together. 
     Also, according to the embodiment, by detecting the kind of the rack, it is possible to detect which of sample tubes T 1  to T 3  is held in the rack. Then, since the stirring processing suitable for the detected one of sample tubes T 1  to  13  is executed based on the setting table, the sample in the sample tube can be surely stirred. In addition, the aspiration processing suitable for the detected one of sample tubes T 1  to T 3  is executed based on the setting table, so that the sample in the sample tube can be smoothly aspirated. 
     Also, according to the embodiment, the lower end of projection portion Re is positioned above the lower ends of racks R 1  to R 6 . Accordingly, the racks can be stably placed on a workbench or the like. 
     Embodiments are described above. However, the invention is not limited to the embodiments, and further various modifications are possible as will be appreciated by a skilled artisan reader. 
     For example, in the above embodiment, a device to which the invention is applied is assumed to be sample analyzer  1  to analyze blood. However, it is not limited to this. The invention may be applied to a sample processing apparatus to perform processing on a sample, such as an immunity analyzer, gene amplification measurement device, biochemical analyzer, urine qualitative analyzer, in-urine physical component analyzer, or blood smear creation device. 
     Also, in the above embodiment, the rack is set in rack set unit  300  and drawer  30  is closed, so that the rack is accommodated in case  2   a . However, it is not limited to this. A rack is directly set in case  2   a , so that the rack is accommodated inside case  2   a.    
       FIG. 14A  is a schematic diagram illustrating that the rack is directly set in case  2   a.    
     Panel  21  is configured to be closably openable by being upwardly pulled. Projection portion  610  is provided behind (the Y-axis positive direction) panel  21  incase  2   a . As similar to projection portion  330  in the above-described embodiment, projection portion  610  has gaps  611  to  613  arranged in the vertical direction and is provided with transmission sensors (unillustrated) arranged to sandwich gaps  611  to  613  therebetween. Also, in this case, projection portions Re are provided on the rear side in the rack as in the above-described embodiment. Accordingly, like the above-described embodiment, the rack can be accommodated in case  2   a  and the kind of the rack can be identified based on detection signals of the sensors provided in projection portion  610 . 
     Also, in the above-described embodiment, to identify kinds of racks set in rack set unit  300 , projection portions Re to identify kinds of racks are provided in the rack. However, it is not limited to this. Other configuration to identify kinds may be provided in the rack. For example, in place of projection portions Re, cutouts are provided in the rack, and a limit switch corresponding to the cutout may be provided in projection portions  330 . With this configuration, it is detected based on detection signals of the limit switch whether or not there is a cutout provided in the rack. Accordingly, as similar to the above-described embodiment, the kind of the rack can be identified. 
     Also, in the above-described embodiment, the state of drawer  30  is displayed by display of lamp  22 . However, it may be always displayed by display input unit  3 . 
     Also, in the above-described embodiment, the heights of sample tubes T 1  to T 3  are same and thus the height of gripping the sample tube by grippers  541 ,  542  is assumed to be same in any sample tube. However, when sample tubes with different heights are used, the height of gripping the sample tube may differ depending on the sample tubes. In this case, it is preferable that the position where grippers  541 ,  542  grip the sample tube be changed according to the length of the sample tube. 
       FIG. 14B  is a drawing illustrating a grip position at which sample tubes T 1  to T 3  according to the above-described embodiment are gripped. In the above-described embodiment, sample tubes T 1  to T 3  are all gripped in a predetermined height position (for example, H 1 ) by grippers  541 ,  542 . On the other hand,  FIG. 14C  is a diagram illustrating the grip position at which sample tube T 4  longer than sample tubes T 1  to T 3  is gripped. In this case, sample tube T 4  is held by rack R 7  with the configuration of projection portion Re different from those of racks R 1  to R 6 , and is gripped by grippers  541 ,  542  at height position H 2  above height position H 1 . Also, the setting table stores height position H 1  for gripping sample tubes T 1  to T 3  and height position H 2  for gripping sample tube T 4 . 
     With this configuration, even when sample tubes with different lengths are used, the sample tube can be used in an optimum grip position, so that a gripping state can be stabilized for each sample tube. Also, similarly, even when sample tubes with barrels Ta having different shapes are used, the gripping state can be stabilized for each sample tube. Also, in this case, there is no need to provide room in the length of grippers  541 ,  542  and the position of spring  543  so as not to bring spring  543  into contact with lid portion Tb. Thereby, tube transfer unit  50  can be made compact. 
     As described above, embodiments provide a sample processing apparatus and a rack that are capable of simplifying a complex input operation of an operator.