Patent Publication Number: US-2022238267-A1

Title: Transport device and transport method

Description:
TECHNICAL FIELD 
     This invention relates to a transport device. 
     BACKGROUND ART 
     In a specimen analysis system, devices with plural functions are connected with respect to specimens (samples) such as blood, blood plasma, blood serum, urine, and other body fluids in order to inspect instructed analysis items and each process is automatically processed. Namely, in the specimen analysis system, analysis sections in a plurality of analysis fields such as biochemistry and immunity are connected by a transport line and the specimen analysis system is operated as a single device. 
     A transport device for a specimen in this specimen analysis system generally generates an electromagnetic attraction force between it and a permanent magnet provided at a holder holding the specimen, or the like by supplying current to a winding of an electromagnetic circuit and this electromagnetic attraction force is used as a thrust. However, since this electromagnetic attraction force may also generate a frictional force with a transport surface, an electromagnetic repulsive force is generated with the permanent magnet and to use this electromagnetic repulsive force as a thrust is being also undertaken. 
     For example, Patent Literature 1 describes that “a second electromagnetic actuator is actuated in such a manner that a pulling force with respect to a second permanent magnet having an annular shape is generated as a result and a third electromagnetic actuator is actuated in such a manner that a pushing force with respect to the second permanent magnet is generated as a result” (paragraph [0111]). 
     CITATION LIST 
     Patent Literature 
     Patent Literature 1: Japanese Unexamined Patent Application Publication No. 2017-227648 
     SUMMARY OF INVENTION 
     Technical Problem 
     However, the transport device described in the patent literature 1 actuates, in a case where a permanent magnet is located on a middle electromagnetic actuator among three adjacent electromagnetic actuators, an electromagnetic actuator on one end to use the electromagnetic repulsive force as a thrust and actuates an electromagnetic actuator on the other end to also use the electromagnetic repulsive force as a thrust. Namely, since the electromagnetic actuators located at a position far from the permanent magnet is actuated, the electromagnetic repulsive force is small, and a useless current loss is produced. 
     An object of this invention is to provide a transport device and transport method which efficiently increase a thrust and suppress power consumption. 
     Solution to Problem 
     A transport device according to this invention comprises a plurality of means solving the above-mentioned problem but is characterized, as one example, by comprising a first magnetic body provided on a side of a to-be-transported object, a magnetic circuit comprising a core consisting of a second magnetic body, and a winding around an outside of the core, and a drive circuit supplying a current to the winding of the magnetic circuit; the magnetic circuit comprising a first magnetic circuit, and a second magnetic circuit adjacent the first magnetic circuit and located on a side to which the to-be-transported object is transported, wherein in a case where it is assumed that a predetermined current with the same absolute value is applied to the first magnetic circuit and the second magnetic circuit, when the first magnetic body is located between from the first magnetic circuit to a first predetermined position, an absolute value of an electromagnetic attraction force to the first magnetic body which is produced by the second magnetic circuit becomes larger than an absolute value of an electromagnetic repulsive force with respect to the first magnetic body which is produced by the first magnetic circuit, when the first magnetic body is located at the first predetermined position, an absolute value of an electromagnetic attraction force to the first magnetic body which is produced by the second magnetic circuit becomes equal to an absolute value of an electromagnetic repulsive force with respect to the first magnetic body which is produced by the first magnetic circuit, and when the first magnetic body is located between from the first predetermined position to the second magnetic circuit, an absolute value of an electromagnetic attraction force to the first magnetic body which is produced by the second magnetic circuit becomes smaller than an absolute value of an electromagnetic repulsive force with respect to the first magnetic body which is produced by the first magnetic circuit, and wherein in a case where the first magnetic body is located on a side of the first magnetic circuit relative to the first predetermined position, the drive circuit mainly supplies a current to a winding of the second magnetic circuit in such a manner that an electromagnetic attraction force which is produced between the first magnetic body and the second magnetic circuit becomes a main thrust, in a case where the first magnetic body is located on a side of the second magnetic circuit relative to the first predetermined position, the drive circuit mainly supplies a current to a winding of the first magnetic circuit in such a manner that an electromagnetic repulsive force which is produced between the first magnetic body and the first magnetic circuit becomes a main thrust, and at the time of starting the first magnetic body, the drive circuit supplies a current to the winding of the second magnetic circuit in such a manner that an electromagnetic attraction force is first applied between the first magnetic body and the second magnetic circuit. 
     Advantageous Effect of Invention 
     In accordance with this invention, there is provided a transport device and transport method which efficiently increase a thrust and suppress power consumption. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a view showing an outline of a transport device of an embodiment 1 of the present invention. 
         FIG. 2  is a schematic diagram of the transport device of the embodiment 1 of the present invention. 
         FIG. 3  is a view illustrating characteristics of an electromagnetic attraction force and an electromagnetic repulsive force with respect to a position in the embodiment 1 of the present invention. 
         FIG. 4  is a view illustrating a current pattern in the embodiment 1 of the present invention 
         FIG. 5  is a view illustrating characteristics of an electromagnetic attraction force and an electromagnetic repulsive force with respect to a position in an embodiment 2 of the present invention. 
         FIG. 6  is a view illustrating a current pattern in the embodiment 2 of the present invention. 
         FIG. 7  is a view illustrating characteristics of a thrust with respect to a position and a current pattern in an embodiment 3 of the present invention 
         FIG. 8  is a view showing one example of a specimen analysis device of an embodiment 4 of the present invention. 
         FIG. 9  is a view showing one example of a specimen pretreatment device of the embodiment 4 of the present invention. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     With reference to  FIGS. 1 to 9 , embodiments according to this invention will be explained. 
     Embodiment 1 
     With reference to  FIGS. 1 to 4 , an embodiment 1 of a transport device according to this invention will be explained. Referring to  FIG. 1 , a schematic configuration of the transport device according to this invention will be first explained.  FIG. 1  is a view schematically showing an outline of the transport device wherein two magnetic poles  25  and a permanent magnet  10  relatively operate. 
     As shown in  FIG. 1 , the transport device  1  of this embodiment comprises a permanent magnet (a first magnetic body)  10 , magnetic poles  25 , drive circuits  50 , a current detection section  30 , an arithmetic section  40 , and a power source  55 . The permanent magnet  10  is provided on a side of a to-be-transported object and preferably neodymium, ferrite or the like is used. However, in lieu of the permanent magnet  10 , other magnets and a soft magnetic body may be employed. 
     An example of the to-be-transported object at which the permanent magnet  10  is provided is a specimen holder holding specimen containers one by one, and a specimen rack holding a plurality of specimen containers. The permanent magnet  10  is incorporated into such a specimen holder or a specimen rack so as to be integral with them and the permanent magnet  10  is transported, whereby the specimen container and the holder or the rack are transported to a predetermined position. 
     As shown in  FIG. 1 , at least two or more magnetic poles  25  are provided at the transport device  1 . Each magnetic pole  25  has a core  22  consisting of a magnetic body (a second magnetic body), and a winding  21  wound around an outer circumference of the core  22 . The columnar core  22  of the magnetic pole is arranged so as to be opposed to the permanent magnet  10 . 
     The drive circuit  50  are connected to the windings  21  of the magnetic poles  25  and the current detection section  30  detecting a value of a current flowing through the windings  21  is provided. Incidentally, while the current detection section  30  is considered to be one, configured by a serial resistor or a current transformer, one employing a Hall current sensor, etc., the current detection section is not limited to them. The drive circuits  50  are connected to the power source  55  such as an AD power source or a DC power source such as a battery. The drive circuits  50  receives a current from this power source  55  and supply the current to the windings  21  of the magnetic poles  25 . 
     The arithmetic section  40  calculates a relative position relationship between the cores  22  and the permanent magnet  10 , based on a current value detected by the current detection section  30 , and calculates a position of the permanent magnet  10  in the transport device  1 . Moreover, the arithmetic section  40  determines a timing for supplying a current required for drive of the permanent magnet  10  from the drive circuit  50 , using calculated position information of the permanent magnet  10 , and supplies the current to the suitable windings  21 . 
     Next, referring to  FIGS. 2 to 4 , a method of effectively using an electromagnetic repulsive force will be explained. This embodiment shows a case where a ratio among a diameter of the permanent magnet  10 , pitches of the magnetic pole  25   a  and the magnetic pole  25   b,  and a gap length are 5:4:1. 
       FIG. 2  is a schematic diagram showing an outline of the permanent magnet  10  and the two magnetic pole  25   a  and magnetic pole  25   b,  provided that x=0 expresses directly above the magnetic pole  25   a,  x=A expresses directly above the magnetic pole  25   b,  and the permanent magnet  10  moves toward an X-axis forward direction in  FIG. 2 . In the transport device  1 , the current is applied to the windings  21 , whereby an electromagnetic force is applied to and moves the permanent magnet  10  between the magnetic poles  25 . In order to efficiently utilize the electromagnetic force and move in a predetermined direction, the relative position information of the permanent magnet  10  and the magnetic poles  25  is required. 
     For example, in a case where the permanent magnet  10  is located directly above the magnetic pole  25   a,  even if a current is applied to a winding  21   a  of the magnetic pole  25   a  just below it in such a manner to produce a magnetic flux  80   a  in a direction reverse to a magnetic flux  90  of the permanent magnet, a force in a transport direction is not produced. Contrarily, a current is applied to a winding  21   b  of the magnetic pole  25   b,  directly above which the permanent magnet  10  is located, in a manner to produce a magnetic flux  80   b  in the same direction as the magnetic flux  90  of the permanent magnet  10 , whereby an electromagnetic attraction force that pulls the permanent magnet  10  toward the magnetic pole  25   b  can be produced. 
     Moreover, when the permanent magnet  10  moves from directly above the magnetic pole  25   a,  a current is applied to the winding  21   a  of the magnetic pole  25   a  in a manner to produce the magnetic flux  80   a  in a direction reverse to the permanent magnet  10 , whereby an electromagnetic repulsive force that pushes the permanent magnet  10  to the magnetic pole  25   b  can be produced. Namely, the electromagnetic force can be efficiently utilized and, moreover, the electromagnetic force can be controlled in a predetermined direction. 
       FIG. 3  shows a thrust by the electromagnetic repulsive force (a) at the time of applying −1.0 p.u. to the winding  21   a,  and a thrust by the electromagnetic attraction force (b) at the time of applying +1.0 p.u. to the winding  21   b.  Incidentally, the thrust in  FIG. 3  are those at the time when the permanent magnet  10  exists in a section from x=0 to x=A. Also, x=p is a position where an absolute value of the electromagnetic repulsive force (a) generating at the time of applying a predetermined current to the winding  21   a  and an absolute value of the electromagnetic attraction force (b) generating at the time of flowing a predetermined current to the winding  21   b  become equal, provided that this position x=p varies depending upon a configuration of the magnetic circuit and a configuration of the permanent magnet. 
     Between x=0 and x=p, the electromagnetic attraction force (b) at the time of applying 1.0 p.u. to the winding  21   b  is large compared to the electromagnetic repulsive force (a) at the time of flowing −1.0 p.u. On the other hand, between from x=p to x=A, the electromagnetic attraction force (b) at the time of applying 1.0 p.u. to the winding  21   b  is small compared to the electromagnetic repulsive force (a) at the time of applying −1.0 p.u. to the winding  21   a.  Therefore, between from x=p to x=A, −1.0 p.u. is applied to the winding  21   a  and the electromagnetic repulsive force (a) is utilized as a main thrust, whereby it is possible to efficiently increase the thrust while suppressing power consumption. 
       FIG. 4  shows current waveforms of the winding  21   a  and winding  21   b  relative to the position of the permanent magnet  10 . In this embodiment, magnitudes of the electromagnetic attraction force (b) and electromagnetic repulsive force (a) are replaced at x=p. Therefore, as shown in  FIG. 4 , at from x=0 to x=p, a current that produces the electromagnetic attraction force (b) attracting the permanent magnet  10  is applied to the winding  21   b  and, at from x=p to x=A, a current that produces the electromagnetic repulsive force (a) pushing the permanent magnet  10  is applied to the winding  21   a.  In this manner, by using the electromagnetic attraction force and the electromagnetic repulsive force separately depending upon the position of the permanent magnet, it is possible to suppress a useless current loss and efficiently obtain the thrust. 
     Here, a section where a current is applied to the winding  21   a  and a section where a current is applied to the winding  21   b  may be overlapped. In that case, in a section where the winding  21   a  and the winding  21   b  are energized at the same time, it is possible to obtain a larger electromagnetic force. Moreover, between the section where a current is applied to the winding  21   a  and the section where a current is applied to the winding  21   b,  a section where a current is not applied to every winding may exist. In that case, in the section where the current is not applied to every winding, the permanent magnet moves by inertia, and it is possible to reduce power consumption. 
     Moreover, in a case where the permanent magnet is actuated when locating at the position of x=0, at a first section from x=0 to x=p, the electromagnetic attraction force is first applied to determine a direction of transport, and then the electromagnetic repulsive force is also used as a thrust, so that it is possible to positively move the permanent magnet  10  in the predetermined direction. Furthermore, at the time of giving a thrust to the permanent magnet  10 , the two magnetic poles adjacent to each other; the magnetic pole nearest to the permanent magnet  10  and the next nearest magnetic pole are used, so that it is possible to produce a large electromagnetic attraction force and electromagnetic repulsive force. 
     Embodiment 2 
     Referring  FIGS. 5 and 6 , an embodiment 2 of this invention will be explained. A magnitude relation of the electromagnetic attraction force and electromagnetic repulsive force varies depending upon a diameter of the permanent magnet  10 , pitches of the magnetic pole  25   a  and magnetic pole  25   b,  and a gap length. For that reason, according to the configuration of the transport device  1 , there is a case where two or more points at which the magnitude relationship of the electromagnetic attraction force and electromagnetic repulsive force is switched. This embodiment shows a case where a ratio among the diameter of the permanent magnet  10 , the pitches of the magnetic pole  25   a  and magnetic pole  25   b,  and the gap length is 1:2:1. 
       FIG. 5  shows a thrust by the electromagnetic repulsive force (a) at the time when −1.0 p.u. is applied to the winding  21   a,  and a thrust by the electromagnetic attraction force (b) at the time when +1.0 p.u. is applied to the winding  21   b.  Incidentally, the thrust of  FIG. 5  are those at the time when the permanent magnet  10  exists in the section from x=0 to x=A. Further, x=p and x=p′ are positions at which an absolute value of the electromagnetic repulsive force (a) generating when a predetermined current is applied to the winding  21   a  and an absolute value of the electromagnetic attraction force (b) generating when the predetermined current is applied to the winding  21   b  become equal. 
     Between x=0 and x=p, the permanent magnet  10  exists nearly directly above the magnetic pole  25   a,  so that the electromagnetic attraction force (b) at the time when 1.0 p.u. is applied to the winding  21   b  is large compared to the electromagnetic repulsive force (a) at the time when −1.0 p.u. is applied to the winding  21   a.  Next, between from x=p to x=p′, the electromagnetic attraction force (b) at the time when 1.0 p.u. is applied to the winding  21   b  is small compared to the electromagnetic repulsive force (a) at the time when −1.0 p.u. is applied to the winding  21   a.  And, between from x=p′ to x=A, the electromagnetic attraction force (b) at the time when 1.0 p.u. is applied to the winding  21   b  is large compared to the electromagnetic repulsive force (a) at the time when −1.0 p.u. is applied to the winding  21   a.  Therefore, between from x=0 to x=p and between x=p′ and x=A, it is desirable that current is applied to the winding  21   b  mainly and a main thrust is obtained by the electromagnetic attraction force (b). On the other hand, between x=p and x=p′, it is desirable that a current is applied to the winding  21   a  mainly and the main thrust is obtained by the electromagnetic repulsive force (a). 
       FIG. 6  shows current waveforms of the winding  21   a  and winding  21   b  relative to the position of the permanent magnet  10 . In this embodiment, the magnitudes of the electromagnet attraction force (b) and electromagnetic repulsive force (a) are replaced at x=p and x=p′. Therefore, as shown in  FIG. 6 , at from x=0 to x=p and from x=p′ to x=A, a current is applied to the winding  21   b  in order to produce the electromagnetic attraction force (b) and at from x=p to x=p′, a current is applied to the winding  21   a  in order to produce the electromagnetic repulsive force (a). In this way, by using the electromagnetic attraction force and the electromagnetic repulsive separately depending upon the position of the permanent magnet, it is possible to suppress a useless current lo efficiently obtain a thrust. 
     Embodiment 3 
     Referring to  FIG. 7 , an embodiment 3 of this invention will be explained.  FIG. 7  shows a thrust by the electromagnetic repulsive force (a), a thrust (b) by the electromagnetic attraction force (b) and a thrust (c) by composition of the electromagnetic repulsive force (a) and electromagnetic attraction force (b) in a case where the number of turns on the winding  21  is half that of the embodiment 1. Here, the electromagnetic repulsive force (a) is one produced by applying −1.0 p.u. to the winding  21   a  and the electromagnetic attraction force (b) is one produced by applying +1.0 p.u. to the winding  21   b.  Incidentally, (b)′ indicates the thrust (b)′ by the electromagnetic attraction in the embodiment 1 for comparison. 
     Generally, when the number of turns is reduced, a magnetomotive force produced by the same current is reduced and the thrust produced by the winding  21  is reduced. Therefore, in this embodiment, in the section from x=0 to x=A, simultaneously with −1.0 p.u. being applied to the winding  21   a  to produce the electromagnetic repulsive force (a), 1.0 p.u. is applied to produce the electromagnetic attraction force (b). Thereby, a thrust (c) with characteristics nearly equal to those of the thrust (b)′ by the electromagnetic attraction force in the embodiment 1 is obtained. Namely, according to this embodiment, even if the number of turns is reduced, a magnetomotive force equivalent to one before the number of turns is halved is obtained by using the electromagnetic attraction force (b) and the electromagnetic repulsive force (a) together. Therefore, it is possible to realize a small-size and lightweight transport device without reducing the thrust and by reducing the winding to shorten the magnetic circuit. 
     Incidentally, unlike the electromagnetic attraction force, the thrust obtained by the electromagnetic repulsive force is not determined in a specific direction, so that when the thrust is obtained by the electromagnetic repulsive force only, there is a possibility that the specimen meanders and the specimen departs from a transport path. For the reason, when the electromagnetic repulsive force is utilized, it is desirable that the electromagnetic attraction force is always utilized and that the thrust by the electromagnetic attraction force is controlled so as to always become larger than the thrust by the electromagnetic repulsive force. 
     Embodiment 4 
     This embodiment is one wherein the transport devices described in the above-mentioned embodiments 1 to 3 are applied to a specimen analysis device  100  and a specimen pretreatment device  150 . Referring to  FIG. 8 , an entire configuration of the specimen analysis device  100  will be first explained.  FIG. 8  is a view schematically showing the entire configuration of the specimen analysis device  100 . 
     In  FIG. 8 , the specimen analysis device  100  is a device dispensing a specimen and a reagent into a reaction container, respectively, to make them react and measuring the reacted liquid and is provided with a carry-in section  101 , an emergency rack input entrance  113 , a first transport line  102 , a buffer  104 , an analysis section  105 , a storage part  103 , a display section  118 , a control section  120 , etc. 
     The carry-in section  101  is a place wherein a specimen rack  111  in which a plurality of specimen containers  122  storing biological specimens such as blood, urine, and the like is stored is installed. The emergency rack input entrance  113  is a place for inputting a specimen rack (calibration specimen rack) carrying a standard solution, or the specimen rack  111  storing the specimen containers  122  in which specimens required to be urgently analyzed are accommodated, into the device. The buffer  104  holds a plurality of specimen racks  111  transported by the first transport line  102 , in such a manner that the order of dispensing the specimens in the specimen racks  111  can be changed. The analysis section  105  is one analyzing the specimens transported from the buffer  104  via a second transport line  106  and details will be described hereinafter. 
     The storage part  103  stores the specimen rack  111  in which the specimen container  122  holding the specimen having been subjected to analysis in the analysis section  105  is accommodated. The display section  118  is display equipment for displaying an analysis result of the concentration of a predetermined component in the liquid specimen such as blood and urine. The control section  120  is constituted of a computer or the like and performs arithmetic processing finding the concentration of the predetermined component in the liquid specimen such as blood and urine, while controlling each mechanism in the specimen analysis device  100 . 
     Here, the first transport line  102  is a line transporting the specimen rack  111  which is installed in the carry-in section  101 , and is equivalent in configuration to any of the transport devices in the above-mentioned embodiments 1 to 3. In this embodiment, a magnetic body, preferably a permanent magnet is provided on a back surface of the specimen rack  111  which is a to-be-transported object. 
     Moreover, the analysis section  105  is constituted of a second transport line  106 , a reaction disk  108 , a specimen dispensing nozzle  107 , a reagent disk  110 , a reagent dispensing nozzle  109 , a cleaning mechanism  112 , a reagent tray  114 , a reagent ID reader  115 , a reagent loader  116 , a spectrophotometer  121 , etc. 
     Here, the second transport line  106  is a line carrying the specimen rack  111  in the buffer  104  into the analysis section  105  and equivalent in configuration to any of the transport devices described in the above-mentioned embodiments 1 to 3. 
     Moreover, the reaction disk  108  is provided with a plurality of reaction containers. The specimen dispensing nozzle  107  dispenses specimens into the reaction containers of the reaction disk  108  from the specimen container  122  by rotary drive or vertical drive. The reagent disk  110  carries a plurality of reagents. The reagent dispensing nozzle  109  dispenses reagents into the reaction containers of the reaction disk  108  from a reagent bottle in the reagent disk  110 . 
     The cleaning mechanism  112  cleans the reaction containers of the reaction disk  108 . The spectrophotometer  112  measures transmitted light obtained from a light source (illustration of which is omitted) via reaction liquid of the reaction container, to thereby measure absorbance of the reaction liquid. The reagent tray  114  is a member installing a reagent in a case of performing reagent registration to the specimen analysis device  100 . The reagent ID reader  115  is equipment for reading a reagent ID attached to the reagent installed in the reagent tray  114 , to thereby obtain reagent information. The reagent loader  116  is equipment carrying the reagent into the reagent disk  110 . 
     An analytical treatment of the specimen by the specimen analysis device  100  as described above is performed according to the following order. 
     First, the specimen racks  111  are installed in the carry-in section  101  or the emergency rack input entrance  113  and carried in the randomly accessible buffer  104  by the first transport line  102 . 
     The specimen analysis device  100  carries a specimen rack  111  of the highest priority order among the racks stored in the buffer  104  into the analysis section  105  by the second transport line  106 , according to a rule of the priority order. 
     The specimen rack  111  that arrives at the analysis section  105  is further transferred to a specimen portioning position near the reaction disk  108  by the second transport line  106  and the specimen is portioned into the reaction container of the reaction disk  108  by the specimen dispensing nozzle  107 . By the specimen dispensing nozzle  107 , portioning of the specimen is performed by necessary times depending upon analysis items requested for the specimen. 
     By the specimen dispensing nozzle  107 , portioning of specimens is performed with respect to all specimen containers  122  installed in the specimen rack  111 . The specimen rack  111  in which portioning treatment with respect to all the specimen containers  122  is completed is again transferred to the buffer  104 . The specimen rack  111  in which all specimen portioning treatments including automatic re-inspection is completed is transferred to the storage part  103  by the second transport line  106  and the first transport line  102 . 
     Moreover, the reagent used for analysis is portioned into the reaction container into which the specimen is previously portioned from the reagent bottle on the reagent disk  110  by the reagent dispensing nozzle  109 . Subsequently, mixing of mixture liquid of the specimen and reagent in the reaction container is performed by a stirring mechanism (illustration of which is omitted). 
     Thereafter, the light produced from the light source is transmitted through the reaction container containing the mixture liquid after stirring and light intensity of the transmitted light is measured by the spectrophotometer  121 . The light intensity measured by the spectrophotometer  121  is transmitted to the control section  120  via an A/D converter and an interface. Then, an arithmetic operation is performed by the control section  120 , the concentration of the predetermined component in the liquid reagent such as blood or urine is found, and a result is displayed by the display section  118 , etc. and memorized in a memory section (illustration of which is omitted). 
     Incidentally, the specimen analysis device  100  is not necessarily provided with all the configurations described above, a unit for pretreatment may be appropriately added and a partial unit or a partial configuration may be eliminated. Even in this case, the analysis section  105  and the carry-in section  101  are connected by the first transport line  102  and the specimen rack  111  is transported from the carry-in section  101 . 
     Next, referring to  FIG. 9 , an entire configuration of the specimen pretreatment device  150  will be explained.  FIG. 9  is a view schematically showing the entire configuration of the specimen pretreatment device  150 . 
     In  FIG. 9 , the specimen pretreatment device  150  is a device performing various pretreatments required for analysis of the specimen. From the left to right in  FIG. 9 , the specimen pretreatment device  150  comprises a plugging unit  152 , a specimen storage unit  153 , an empty holder stacker  154 , a specimen input unit  155 , a centrifugal separation unit  156 , a liquid quantity measurement unit  157 , an unplugging unit  158 , a child specimen container preparation unit  159 , a dispensing unit  165 , a plurality of units employing a transfer unit  161  as a basic element, and an operation section PC  163  controlling operation of the plurality of units. Moreover, as a transfer destination of the specimen treated in the specimen pretreatment device  150 , the specimen analysis device  100  for performing qualitative/quantitative analysis of the component of the specimen is connected. 
     The specimen input unit  155  is a unit for inputting the specimen container  122  containing the specimen into the specimen pretreatment device  150 . The centrifugal separation unit  156  is a unit for performing centrifugal separation with respect to the inputted specimen container  122 . The liquid quantity measurement unit  157  is a unit performing liquid quantity measurement of the specimen stored in the specimen container  122 . The unplugging unit  158  is a unit unplugging a plug of the inputted specimen container  122 . The child specimen container preparation unit  159  is a unit making preparations required for dispensing the specimen stored in the inputted specimen container  122  in the next dispensing unit  165 . The dispensing unit  165  is a unit portioning the centrifugally separated specimen for analysis in the specimen analysis system, etc., and affixing a bar cord, etc. to a portioned specimen container (child specimen container)  122 . The transfer unit  161  is a unit performing classification of the child specimen container  122  having been subjected to dispensing, and making preparations for transferring to the specimen analysis system. The plugging unit  152  is a unit plugging a plug into the specimen container  122  or the child specimen container  122 . The specimen storage unit  153  is a unit storing the plugged specimen container  122 . 
     Here, in the specimen pretreatment device  150 , a specimen holder (not shown) holding the specimen containers  122  one by one is transported among the respective units by a third transport line (not shown). And, in the transfer unit  161 , transferring of the specimen containers  122  is performed between the specimen holder, used for transport of the specimen containers  122  by the third transport line in the specimen pretreatment device  150 , and the specimen rack  111  (carrying five specimen containers  122 ) used for transport of the specimen containers  122  by the first transport line  102  in the specimen analysis device  100 . Namely, the specimen container  122  having been subjected to pretreatment in the specimen pretreatment device  150  is carried out to the first transport line  102  in the specimen analysis device  100  via the transfer unit  161 . 
     Incidentally, the specimen pretreatment device  150  is not necessarily provided with all the configurations described above, a unit may be further added and a partial unit or a partial configuration may be eliminated. Moreover, as shown in  FIG. 9 , a specimen analysis system  200  in which the specimen pretreatment device  150  and the specimen analysis device  100  are combined may be employed. In this case, not only in the respective devices but also between the devices and the devices, connection is made by the transport devices described in the above-mentioned embodiment 1 to embodiment 3 and the specimen container  122  can be transported. 
     In the specimen analysis device  100  and specimen pretreatment device  150  of this embodiment and further the system in which they are combined, such transport devices as described in the embodiment 1 to the embodiment 3 are provided, so that it is possible to suppress a useless current loss to efficiently transport the specimen rack  111  or the specimen holder. 
     Others 
     Incidentally, the present invention is not limited to the above-mentioned embodiments but includes various modifications. The above-mentioned embodiments are explained in detail to explain the invention in an easy-to-understand manner and are not necessarily limited to those having all the described configurations. Further, a part of a configuration of one embodiment can be replaced with a configuration of another embodiment, and further, the configuration of another embodiment can be added to the configuration of one embodiment. Further, it is also possible to add, delete, and replace other configurations with respect to a part of the configuration of each embodiment. 
     For example, while the case where the to-be-transported object transported by the transport device is the specimen rack  111  or the specimen holder is explained in the embodiment 1 to the embodiment 4, the to-be-transported object is not limited to the rack and the holder that hold the specimen container  122 , and it is possible to select various objects, for which large scale transport is required, as transport targets. 
     REFERENCE SIGNS LIST 
       1 : Transport device 
       10 : Permanent magnet (First magnetic body) 
       11 : Transport surface 
       21 ,  21   a,    21   b:  Winding 
       22 ,  22   a,    22   b:  Core (Second magnetic body) 
       25 ,  25   a,    25   b:  Magnetic pole (Magnetic circuit) 
       30 : Current detection section 
       40 : Arithmetic section 
       50 : Drive circuit 
       55 : Power source 
       80 : Direction of magnetic flux produced by current 
       90 : Direction of magnetic flux of permanent magnet 
       100 : Specimen analysis device 
       101 : Carry-in section 
       102 : First transport line 
       103 : Storage part 
       104 : Buffer 
       105 : Analysis section 
       106 : Second transport line 
       107 : Specimen dispensing nozzle 
       108 : Reaction disk 
       109 : Reagent dispensing nozzle 
       110 : Reagent disk 
       111 : Specimen rack (To-be-transported object) 
       112 : Cleaning mechanism 
       113 : Emergency rack input entrance 
       114 : Reagent tray 
       115 : Reagent ID reader 
       116 : Reagent loader 
       118 : Display section 
       120 : Control section 
       121 : Spectrophotometer 
       122 : Specimen container, Child specimen container 
       150 : Specimen pretreatment device 
       152 : Plugging unit 
       153 : Specimen storage unit 
       154 : Holder stacker 
       155 : Specimen input unit 
       156 : Centrifugal separation unit 
       157 : Liquid quantity measurement unit 
       158 : Unplugging unit 
       159 : Child specimen container preparation unit 
       161 : Transfer unit 
       163 : Operation section PC 
       165 : Dispensing unit 
       200 : Specimen analysis system