Patent Publication Number: US-2023138212-A1

Title: Transport Device and Specimen Analysis System Including Transport Device

Description:
TECHNICAL FIELD 
     The present invention relates to a transport device and a specimen analysis system including the transport device. 
     BACKGROUND ART 
     A specimen analysis system for clinical examination is a system that examines instructed analysis items for samples (hereinafter referred to as “specimen”) such as blood, plasma, serum, urine, and other body fluids. 
     The specimen analysis system connects a plurality of devices having a predetermined function, and each device examines each analysis item. Then, in order to streamline the work of an examination room, the specimen analysis system is used as one system by connecting a specimen analysis device that executes a plurality of analyses of biochemistry, immunity, blood, bacteria, and the like and a specimen pre-treatment device that executes the pre-treatment required for the analysis with a transport device. 
     On the other hand, with the advancement of medical care, the importance of specimen analysis is increasing. Further, in order to improve an analysis processing capacity of the specimen analysis system, high-speed transport, simultaneous mass transport, and transport in a plurality of directions of specimens are required. 
     As a background art in this technical field, there is disclosed in JP-A-2017-77971 (PTL 1). PTL 1 describes a laboratory sample delivery system including several container carriers each of which includes at least one magnetically active device, preferably at least one permanent magnet, and is adapted to transport a sample container, a transport plane adapted to transport the container carriers, and several electromagnetic actuators statically disposed below the transport plane and adapted to move the container carriers on the transport plane by applying a magnetic force to the container carriers (see Summary). 
     CITATION LIST 
     Patent Literature 
     PTL 1: JP-A-2017-77971 
     SUMMARY OF INVENTION 
     Technical Problem 
     PTL 1 describes a laboratory sample delivery system (specimen analysis system) including a container carrier, a transport plane, and a magnetic actuator. 
     However, PTL 1 does not describe a problem that when the container carrier is moved on the transport plane, pulsation is generated in a thrust for moving the container carrier (hereinafter referred to as an “object to be transported”). 
     Accordingly, the present invention provides a transport device that reduces the pulsation of the thrust that moves the object to be transported, reduces the vibration of the object to be transported during transport, and realizes stable transport, and a specimen analysis system including the transport device. 
     Solution to Problem 
     In order to solve the problems described above, the transport device of the present invention includes a first electromagnet unit including a first tooth made of a magnetic body, a first core connected to the first tooth and made of a magnetic body, and a first winding formed around the first core, a second electromagnet unit including a second tooth installed adjacent to the first electromagnet unit and made of a magnetic body, a second core connected to the second tooth and made of a magnetic body, and a second winding formed around the second core, and a magnetic coupling unit made of a magnetic body between the first tooth of the first electromagnet unit and the second tooth of the second electromagnet unit. 
     Advantageous Effects of Invention 
     According to the present invention, it is possible to provide a transport device that reduces the pulsation of the thrust that moves an object to be transported, reduces the vibration of the object to be transported during transport, and realizes stable transport, and a specimen analysis system including the transport device. 
     The problems, configurations and effects other than those described above will be clarified by the description of the following examples. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG.  1    is a perspective view schematically showing a schematic configuration of a transport device  1  described in Example 1. 
         FIG.  2    is a sectional view schematically showing a schematic configuration of the transport device  1  described in Example 1. 
         FIG.  3    is an explanatory diagram showing a thrust and a detent between an electromagnet unit A and an electromagnet unit B. 
         FIG.  4    is an explanatory diagram showing a change in thrust characteristics when a magnetic coupling unit  23  is installed between a tooth  20 A and a tooth  20 B. 
         FIG.  5    is a perspective view schematically showing a configuration of a transport device  1  described in Example 2. 
         FIG.  6    is a sectional view schematically showing the configuration of the transport device  1  described in Example 2. 
         FIG.  7    is an exploded perspective view schematically showing the transport device  1  described in Example 2. 
         FIG.  8    is a sectional view schematically showing a configuration of a transport device  1  described in Example 3. 
         FIG.  9    is a sectional view schematically showing a configuration of a transport device  1  described in Example 4. 
         FIG.  10 A  is a perspective view schematically showing a configuration of a transport device  1  described in Example 5. 
         FIG.  10 B  is a top view schematically showing the configuration of the transport device  1  described in Example 5. 
         FIG.  11    is an explanatory diagram schematically showing a configuration of a transport device  1  described in Example 6. 
         FIG.  12    is a top view schematically showing a configuration of a transport device  1  described in Example 8. 
         FIG.  13    is a top view schematically showing a configuration of a transport device  1  described in Example 9. 
         FIG.  14    is a top view schematically showing a configuration of a transport device  1  described in Example 10. 
         FIG.  15    is a top view schematically showing a configuration of a transport device  1  described in Example 11. 
         FIG.  16 A  is a perspective view schematically showing a configuration of a transport device  1  described in Example 12. 
         FIG.  16 B  is a top view schematically showing the configuration of the transport device  1  described in Example 12. 
         FIG.  17    is an explanatory diagram schematically showing a configuration of the transport device  1  described in Example 6, in which a transport plane  50  is added. 
         FIG.  18    is a block diagram schematically showing a schematic configuration of a specimen analysis system including the transport device  1  described in Example 1. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Hereinafter, examples of the present invention will be described with reference to the drawings. In addition, substantially the same or similar configurations are designated by the same reference numerals, and if the descriptions are duplicated, the description thereof may be omitted. 
     Example 1 
     First, a schematic configuration of a transport device  1  described in Example 1 will be schematically described. 
       FIG.  1    is a perspective view schematically showing a schematic configuration of the transport device  1  described in Example 1. 
       FIG.  2    is a sectional (XZ cross section) view schematically showing a schematic configuration of the transport device  1  described in Example 1. 
     The transport device  1  is a device for moving an object to be transported (not shown for convenience of description) including a permanent magnet  10  on a transport plane (not shown for convenience of description), and is a device for generating thrust for moving the object to be transported. A sample container into which a specimen is injected is installed on the object to be transported. 
     The transport device  1  includes a plurality of electromagnet units. The electromagnet units are installed (fixed) in a line on an electromagnet fixing base  30  made of a magnetic body. 
     A first electromagnet unit (electromagnet unit A) includes a first tooth (tooth  20 A) made of a magnetic body, a first core (core  22 A) connected to the tooth  20 A and made of a magnetic body (ferromagnetic body), a first winding (winding  21 A) formed around (outer circumference side) the core  22 A, and a first joint unit (joint unit  24 A) that is connected to the core  22 A, is made of a magnetic body, and is joined to the electromagnet fixing base  30 . 
     The tooth  20 A is connected to an upper part of the core  22 A, and the joint unit  24 A is connected to a lower part of the core  22 A. That is, the lower part (including joint unit  24 A) of the core  22 A is connected to the electromagnet fixing base  30 . 
     A second electromagnet unit (electromagnet unit B) installed adjacent to the electromagnet unit A includes a second tooth (tooth  20 B) made of a magnetic body, a second core (core  22 B) connected to the tooth  20 B and made of a magnetic body (ferromagnetic body), a second winding (winding  21 B) formed around (outer circumference side) the core  22 B, and a second joint unit (joint unit  24 B) that is connected to the core  22 B, is made of a magnetic body, and is joined to the electromagnet fixing base  30 . 
     The tooth  20 B is connected to an upper part of the core  22 B, and the joint unit  24 B is connected to a lower part of the core  22 B. That is, the lower part (including the joint unit  24 B) of the core  22 B is connected to the electromagnet fixing base  30 . 
     Here, “adjacent” may mean, for example, adjacent to each other in a traveling direction of the object to be transported including the permanent magnet  10 . 
     The core  22  and the tooth  20  may be formed integrally or separately, but it is preferable that the core  22  and the tooth  20  are formed separately. Further, it is preferable that the core  22  and the joint unit  24  are formed integrally. It is preferable that the joint unit  24  is installed on the electromagnet fixing base  30  by screw fixing (cutting and screwing in) or press fitting. Further, the electromagnet fixing base  30 , the joint unit  24 , and the core  22  may be formed integrally. Further, a method of installing the joint unit  24  on the electromagnet fixing base  30  is not limited to screw fixing or press-fitting, and may be another installation method. 
     Further, the winding  21  may be wound directly around the core  22 , or the winding  21  may be wound around a bobbin or the like, and the bobbin or the like around which the winding  21  is wound may be inserted into the core  22 . 
     Further, a diameter (cross section area of tooth  20 : area of XY cross section) of the tooth  20  is preferably larger than the diameter (cross section area of core  22 : area of XY cross section) of the core  22 . The diameter of the tooth  20  is preferably smaller than an outer diameter of the winding  21  and larger than an inner diameter of the winding  21 . Further, the diameter of the core  22  is preferably larger than the diameter of the joint unit  24 . 
     In the electromagnet unit, a magnetic force is generated by making a current flow through the winding  21  and exciting the electromagnet unit. Then, when the object to be transported (hereafter, abbreviated as permanent magnet  10 ) including the permanent magnet  10  is moved from an electromagnet unit A (position  0  (p.u.)) to an electromagnet unit B (position  20  (p.u.)) (in the X direction), the electromagnet unit B is excited to generate a thrust from the electromagnet unit A to the electromagnet unit B. With this configuration, the permanent magnet  10  moves from the electromagnet unit A to the electromagnet unit B. 
     That is, in order to move the permanent magnet  10  in the X direction, a current is made to flow through the winding  21 B to generate the thrust in the X direction. By making the current to flow through the winding  21 B, the permanent magnet  10  is attracted to the tooth  20 B and moves to the position  20  (p.u.). 
     On the contrary, when the permanent magnet  20  is moved from the position  20  (p.u.) to the position  0  (p.u.) (in the −X direction), by making a current to flow through the winding  21 A, the thrust is generated in the −X direction and the permanent magnet  10  is attracted to the tooth  20 A and moves to the position  0  (p.u.). 
     That is, the permanent magnet  10  can be moved according to a transport path by sequentially exciting the electromagnet units positioned in the transport path according to the transport path of the permanent magnet  10 . 
     Further, the transport device  1  includes a magnetic coupling unit  23  made of a magnetic body between the tooth  20 A and the tooth  20 B. 
     As described above, the electromagnet unit A and the electromagnet unit B are magnetically connected by the magnetic coupling unit  23  at the upper part (+Z direction) and magnetically connected by the electromagnet fixing base  30  at the lower part (−Z direction). 
     A transport plane made of a non-magnetic body is installed between the permanent magnet  10  and the tooth  20  facing the permanent magnet  10 . That is, the transport plane is installed above the electromagnet unit, and the permanent magnet  10  moves on the transport plane. Then, by installing a plurality of electromagnet units in a line on the electromagnet fixing base  30 , the permanent magnet  10  can be moved in a wide range in the X direction and/or the Y direction. 
     In Example 1, a permanent magnet such as a rare earth magnet or a ferrite magnet is used as the permanent magnet  10 . However, the present invention is not limited to the permanent magnet, and a soft magnetic body may be used, or a combination of the permanent magnet and the soft magnetic body may be used. 
     Next, the thrust and the detent between the electromagnet unit A and the electromagnet unit B will be described. 
       FIG.  3    is an explanatory diagram showing the thrust and the detent between the electromagnet unit A and the electromagnet unit B. 
       FIG.  3    shows a relationship between thrust characteristics in the X direction (current exists) generated when a current is flown through the winding  21 B so as to generate the thrust in the X direction and thrust characteristics in the X direction (current not exist) generated even when no current is flown through the winding  21 B, when the magnetic coupling unit  23  is not installed. The thrust characteristic in the X direction, which is generated even when no current is flown through the winding  21 B, is hereinafter referred to as “detent”. 
     As shown in  FIG.  3   , between the position (position  0  (p.u.)) where the permanent magnet  10  and the tooth  20 A face each other and the position where the permanent magnet  10  and the tooth  20 B face each other (position  20  (p.u.)), and between the position where the permanent magnet  10  and the tooth  20 A do not face each other and the position where the permanent magnet  10  and the tooth  20 B do not face each other, pulsation is generated in the thrust and the detent by the attractive force generated between the permanent magnet  10  and the tooth  20 A and the attractive force generated between the permanent magnet  10  and the tooth  20 B. 
     That is, permeance of a magnetic circuit of the electromagnet unit changes depending on the position of the permanent magnet  10 , and pulsation is generated in the thrust. 
     When a soft magnetic body is used for the permanent magnet  10 , pulsation is not generated in the detent. However, when a current is flown through the winding  21 B, the permeance of the magnetic circuit of the electromagnet unit changes depending on a position of the soft magnetic body, and the pulsation is generated in the thrust. 
     When the permanent magnet  10  is moved, that is, when the specimen is transported, the specimen may be transported in an open state. In this case, if the pulsation is generated in the thrust, there is a possibility of scattering of the specimen. Therefore, the transport device  1  needs to reduce the pulsation of the thrust as much as possible. 
     Therefore, in order to reduce the pulsation of the thrust, the magnetic coupling unit  23  is installed between the tooth  20 A and the tooth  20 B. The tooth  20 A and the tooth  20 B and the magnetic coupling unit  23  are magnetically connected to each other. In Example 1, the tooth  20 A and the tooth  20 B and the magnetic coupling unit  23  are formed separately in structure. The tooth  20 A and the tooth  20 B and the magnetic coupling unit  23  may be formed integrally. 
     The electromagnet unit A and the electromagnet unit B are magnetically connected to each other by the magnetic coupling unit  23  at the upper part (a side facing the permanent magnet  10 ) and magnetically connected to each other by the electromagnet fixing base  30  at the lower part (a side opposite to the side facing the permanent magnet  10 ). 
     Next, a change in thrust characteristics when the magnetic coupling unit  23  is installed between the tooth  20 A and the tooth  20 B will be described. 
       FIG.  4    is an explanatory diagram showing a change in thrust characteristics when the magnetic coupling unit  23  is installed between the tooth  20 A and the tooth  20 B. 
     In  FIG.  4   , 
     (1) the case where the magnetic coupling unit  23  does not exist is an experimental result when the tooth  20  with a diameter (8 mm: smaller than the inner diameter of winding  21 ) is used and the magnetic coupling unit  23  is not installed between the tooth  20 A and the tooth  20 B (comparative example), 
     (2) the case (A) where the magnetic coupling unit  23  exists is an experimental result when the tooth  20  with the diameter (8 mm: smaller than the inner diameter of winding  21 ) is used and the magnetic coupling unit  23  with a thickness of 1.0 mm (dimension in the Z direction) and a width of 1.0 mm (dimension in the Y direction) is installed between the tooth  20 A and the tooth  20 B, 
     (3) the case (B) where the magnetic coupling unit  23  exists is an experimental result when the tooth  20  with a diameter (14 mm: larger than the inner diameter of winding  21  (see  FIG.  2   )) is used and the magnetic coupling unit  23  with a thickness of 0.5 mm (dimension in the Z direction) and a width of 1.0 mm (dimension in the Y direction) is installed between the tooth  20 A and the tooth  20 B, and 
     (4) the case (C) where the magnetic coupling unit  23  exists is an experimental result when the tooth  20  with a diameter (14 mm: larger than the inner diameter of winding  21  (see  FIG.  2   )) is used and the magnetic coupling unit  23  with a thickness of 1.0 mm (dimension in the Z direction) and a width of 1.0 mm (dimension in the Y direction) is installed between the tooth  20 A and the tooth  20 B. 
     As shown in  FIG.  4   , when the permanent magnet  1  is moved, in (2), although the thrust is reduced as compared with that of the comparative example, the change in the permeance of the magnetic circuit of the electromagnet unit is small, and the pulsation of the thrust can be reduced. 
     Furthermore, in (3), the thrust is maintained almost the same as in the comparative example, the change in the permeance of the magnetic circuit of the electromagnet unit is small, and the pulsation of the thrust can be reduced. 
     Furthermore, in (4), although the thrust is slightly reduced as compared with the comparative example, the change in the permeance of the magnetic circuit of the electromagnet unit is small, and the pulsation of the thrust can be greatly reduced. 
     It can be seen that when a cross section area of the magnetic coupling unit  23  (area of YZ cross section) becomes large (comparison between (3) and (4)), the magnetic flux acting on the permanent magnet  10  decreases and the thrust decreases. Therefore, the cross section area of the magnetic coupling unit  23  is preferably 0.5 mm 2  or more and 1.0 mm 2  or less. With this configuration, the pulsation of the thrust can be reduced without significantly lowering the thrust. 
     When the thickness of the tooth  20  and the thickness of the magnetic coupling unit  23  are the same, the width of the magnetic coupling unit  23  is preferably 1/10 to 1/15 of the diameter of the tooth  20 . With this configuration, the pulsation of the thrust can be reduced while suppressing the lowering of the thrust. 
     Further, by increasing the diameter of the tooth  20 , the lowering of the thrust can be suppressed. Then, by installing the magnetic coupling unit  23  on the upper part (the side facing the permanent magnet  10 ) of the electromagnet unit, the diameter of the tooth  20  can be increased. With this configuration, the thrust can be increased and the pulsation of the thrust can be reduced. 
     Furthermore, by connecting the electromagnet fixing base  30  to the lower part (the side opposite to the side facing the permanent magnet  10 ) of the electromagnet unit, a magnetic circuit (closed magnetic path) of the tooth  20 A, the magnetic coupling unit  23 , the tooth  20 B, the core  22 B, the joint unit  24 B, the electromagnet fixing base  30 , the joint unit  24 A, the core  22 A, and the tooth  20 A can be configured together with the magnetic coupling unit  23 . 
     As described above, according to Example 1, when the permanent magnet  10  is moved, the pulsation of the thrust can be reduced (makes the change in thrust at each position small), and an occurrence of scattering of the specimen and the like can be reduced. Accordingly, the permanent magnet  10  can be stably moved with a large thrust in the direction in which the permanent magnet  10  is desired to be moved. 
     Further, according to Example 1, it is not necessary to increase the cross section area (area of XY cross section) of the core  22  in order to increase the thrust, and the space for the winding  21  is not reduced. Accordingly, the workability of installing the winding  21  does not deteriorate when the winding  21  is wound around the core  22  or when a bobbin or the like around which the winding  21  is wound is inserted into the core  22 . 
     The transport device described in Example 1 includes the electromagnet unit A (first electromagnet unit) including the tooth  20 A (first tooth) made of a magnetic body, the core  22 A (first core) connected to the tooth  20 A and made of a magnetic body, and the winding  21 A (first winding) formed around the core  22 A, the electromagnet unit B (second electromagnet unit) installed adjacent to the electromagnet unit A and including the tooth  20 B (second tooth) made of a magnetic body, the core  22 B (second core) connected to the tooth  20 B and made of a magnetic body, and the winding  21 B (second winding) formed around the core  22 B, and the magnetic coupling unit  23  made of a magnetic body between the tooth  20 A of the electromagnet unit A and the tooth  20 B of the electromagnet unit B. 
     As described above, in the transport device  1  described in Example 1, the electromagnet fixing base  30  of which bottom part has a grid shape is installed, and the first electromagnet unit (including the core  22 , winding  21 , and tooth  20  integrally formed with the joint unit  24 ) and the second electromagnet unit (including the core  22 , winding  21 , and tooth  20  integrally formed with the joint unit  24 ) are installed on the electromagnet fixing base  30 . 
     Then, the magnetic coupling unit  23  is installed between the tooth  20  of the first electromagnet unit and the tooth  20  of the second electromagnet unit, and the transport plane is installed above a member forming the tooth  20  and the magnetic coupling unit  23 . The permanent magnet  10  moves on a transport plane  50 . 
     With this configuration, according to Example 1, the pulsation of the thrust for moving the permanent magnet  10  can be reduced, the vibration of the permanent magnet  10  during the movement of the permanent magnet  10  can be reduced, and stable movement can be realized. 
     Next, a schematic configuration of the specimen analysis system including the transport device  1  described in Example 1 will be schematically described. 
       FIG.  18    is a block diagram schematically showing a schematic configuration of the specimen analysis system including the transport device  1  described in Example 1. 
     A specimen analysis system  100  includes a specimen pre-treatment device  200  that performs the pre-treatment required for analysis, a specimen analysis device  300  that performs a plurality of analyses, and the transport device  1  installed between the specimen pre-treatment device  200  and the specimen analysis device  300 . 
     With this configuration, when the specimen is transported from the specimen pre-treatment device  200  to the specimen analysis device  300 , especially when the permanent magnet  10  is moved in the transport device  1 , the pulsation of the thrust can be reduced. 
     Example 2 
     Next, the configuration of the transport device  1  described in Example 2 will be schematically described. 
       FIG.  5    is a perspective view schematically showing a configuration of the transport device  1  described in Example 2. 
     In the transport device  1  described in Example 2, 25 electromagnet units of 5 rows (X direction)×5 rows (Y direction) are installed in a line. That is, the permanent magnet  10  can move within a range of 5 teeth in the X direction and 5 teeth in the Y direction. The principle of a moving operation of the permanent magnet  10  and a basic configuration of the transport device  1  are the same as those in Example 1. 
     Further, the transport device  1  includes a magnetic coupling unit  23 A between the tooth  20 A having a circular shape and the tooth  20 B having a circular shape in the X direction, and includes a magnetic coupling unit  23 B between the tooth  20 B having a circular shape and a tooth  20 C having a circular shape in the Y direction. The transport device  1  moves the permanent magnet  10  in either direction in the X direction or the Y direction. 
     That is, in the transport device  1 , a plurality of electromagnet units are installed in a line, and the transport device  1  includes the magnetic coupling unit  23 A installed between the teeth  20  adjacent in the X direction and the magnetic coupling unit  23 B installed between the teeth  20  adjacent in the Y direction. 
     The 25 electromagnet units are installed in a line on the electromagnet fixing base  30  formed in a grid pattern at the lower parts of the respective electromagnet units. 
     By installing the magnetic coupling unit  23 A and the magnetic coupling unit  23 B in this way, the pulsation of the thrust can be reduced regardless of whether the permanent magnet  10  is moved in the X direction or the Y direction. Furthermore, since the respective teeth are connected to each other by the magnetic coupling unit  23  in the X direction and the Y direction, the rigidity of the magnetic circuit of the electromagnet unit is improved, and the pulsation of the thrust can be reduced in the X direction and the Y direction. Further, vibration, noise, or the like of the permanent magnet  10  caused by pulsation generated by the change of the current flowing through the winding  21  can be reduced. 
       FIG.  6    is a sectional (XZ cross section) view schematically showing the configuration of the transport device  1  described in Example 2.  FIG.  6    shows a cross section (XZ cross section) of the magnetic circuit cut out along a dotted line E shown in  FIG.  5   . 
     In Example 2, the magnetic coupling unit  23 A installed between the tooth  20 A and the tooth  20 B is integrally formed with the tooth  20 A and the tooth  20 B, and the magnetic coupling unit  23 B installed between the tooth  20 B and the tooth  20 C is integrally formed with the tooth  20 B and the tooth  20 C. As described above, in Example 2, the tooth  20  and the magnetic coupling unit  23  are formed integrally. 
     Further, in Example 2, the core  22  and the tooth  20  are formed separately, and the core  22  and the joint unit  24  are formed integrally. Then, the joint unit  24  is installed on the electromagnet fixing base  30  by press fitting. 
     By forming the core  22  and the tooth  20  separately in this way, the winding  21  can be easily assembled. 
     Next, the transport device  1  described in Example 2 will be schematically disassembled and described. 
       FIG.  7    is an exploded perspective view schematically showing the transport device  1  described in Example 2. 
     The transport device  1  is manufactured by the following manufacturing process. 
     (1) The electromagnet fixing base  30  formed in a grid pattern is installed. 
     (2) The joint unit  24  and the core  22  formed integrally are installed in a pin holder shape (aligned upright in a line) on the electromagnet fixing base  30 . In Example 2, the joint unit  24  is installed on the electromagnet fixing base  30  by press fitting. 
     (3) The winding  21  is installed on the core  22  installed in the pin holder shape. In Example 2, the winding  21  is wound around a bobbin or the like, and the bobbin or the like around which the winding  21  is wound is inserted into the core  22 . 
     (4) The tooth  20  and the magnetic coupling unit  23  formed integrally are installed on the core  22 , in which the winding  21  is installed, so as to cover the core  22 . 
     For example, when the tooth  20  and the core  22  are formed integrally, the tooth  20  and the core  22  have a T-shape in an XZ cross section. When the winding  21  is installed on the core  22  having a T-shape, the workability of installing the winding  21  may deteriorate. 
     Therefore, the core  22  and the tooth  20  are formed separately, and the tooth  20  and the magnetic coupling unit  23  formed integrally are installed so as to cover the core  22 . With this configuration, the workability of installing the winding  21  does not deteriorate. 
     With this configuration, the transport device  1  can be manufactured by a series of manufacturing processes in which the joint unit  24  and the core  22  formed integrally are installed on the electromagnet fixing base  30 , the winding  21  is installed on the core  22 , and the teeth  20  and the magnetic coupling unit  23  formed integrally are installed on the core  22 . 
     Further, by forming the core  22  and the tooth  20  separately, the diameter of the tooth  20  can be easily made larger than the diameter of the core  22 . That is, the thrust can be increased by making the diameter of the tooth  20  larger than the diameter of the core  22 . 
     As described above, according to Example 2, the pulsation of the thrust is reduced by installing the magnetic coupling unit  23 . Then, by forming the core  22  and the tooth  20  separately, the diameter of the tooth  20  can be made larger than the diameter of the core  22  to increase the thrust, and the lowering of the thrust due to the installation of the magnetic coupling unit  23  can be suppressed. Further, the workability of installing the winding  21  is not deteriorated. Furthermore, by forming the tooth  20  and the magnetic coupling unit  23  integrally, the rigidity of a member forming the tooth  20  and the magnetic coupling unit  23  can be improved. 
     Further, by forming the core  22  and the tooth  20  separately, for example, if the manufacturing accuracy of the tooth  20  and the magnetic coupling unit  23 , which have a large influence on the thrust characteristics, can be ensured, even if there are some variations in a processing accuracy and an assembly accuracy of the core  22  and the electromagnet fixing base  30 , the influence on the thrust characteristics can be reduced. 
     Further, by forming the core  22  and the tooth  20  separately, for example, if a positional accuracy between the tooth  20  and the magnetic coupling unit  23  can be ensured, the processing accuracy and the assembly accuracy of the core  22  and the electromagnet fixing base  30 , which have little influence on the thrust characteristics, can be relaxed. 
     Example  3   
     Next, the configuration of the transport device  1  described in Example 3 will be schematically described. 
       FIG.  8    is a sectional (XZ cross section) view schematically showing a configuration of the transport device  1  described in Example 3. The principle of the moving operation of the permanent magnet  10  and the basic configuration of the transport device  1  are the same as those in Example 1. 
     In the transport device  1  described in Example 3, the core  22  and the tooth  20  are formed separately, and the core  22  and the joint unit  24  are formed integrally. Then, the joint unit  24  is installed on the electromagnet fixing base  30  by press fitting. Then, the winding  21  is inserted into the core  22 . 
     The tooth  20 A is installed on the upper part of the core  22 A, the tooth  20 B is installed on the upper part of the core  22 B, and the magnetic coupling unit  23  is installed between the tooth  20 A and the tooth  20 B. In Example 3, the tooth  20 A, the tooth  20 B, and the magnetic coupling unit  23  are formed separately. However, the tooth  20 A, the tooth  20 B, and the magnetic coupling unit  23  may be formed integrally. Further, it is preferable that the tooth  20 A, the tooth  20 B, and the magnetic coupling unit  23  have the same thickness. 
     Then, in Example 3, the tooth  20 A, the tooth  20 B, and the magnetic coupling unit  23  are embedded in the transport plane  50  on which the permanent magnet  10  moves. The transport plane  50  is formed of a non-magnetic body (for example, resin or the like). 
     For example, when the tooth  20 A, the tooth  20 B, and the magnetic coupling unit  23  are individually manufactured and the transport plane  50  is formed by injection molding or the like, the tooth  20 A, the tooth  20 B, and the magnetic coupling unit  23  are embedded and formed in the transport plane  50 . 
     With this configuration, in Example 3, the thrust characteristics can be easily changed by changing the transport plane  50  in which the tooth  20 A, the tooth  20 B, and the magnetic coupling unit  23  are embedded. 
     Example  4   
     Next, the configuration of the transport device  1  described in Example 4 will be schematically described. 
       FIG.  9    is a sectional (XZ cross section) view schematically showing a configuration of the transport device  1  described in Example 4. The principle of the moving operation of the permanent magnet  10  and the basic configuration of the transport device  1  are the same as those in Example 1. 
     In the transport device  1  described in Example  4 , the core  22  and the tooth  20  are formed separately, and the core  22  and the joint unit  24  are formed integrally. Then, the joint unit  24  is installed on the electromagnet fixing base  30  by press fitting. Then, the winding  21  is inserted into the core  22 . 
     The tooth  20 A is installed on the upper part of the core  22 A, the tooth  20 B is installed on the upper part of the core  22 B, and the magnetic coupling unit  23  is installed between the tooth  20 A and the tooth  20 B. In Example 4, the tooth  20 A, the tooth  20 B, and the magnetic coupling unit  23  are formed integrally. However, the tooth  20 A, the tooth  20 B, and the magnetic coupling unit  23  may be formed separately. Further, it is preferable that the tooth  20 A, the tooth  20 B, and the magnetic coupling unit  23  have the same thickness. 
     Then, in Example 4, the tooth  20 A, the tooth  20 B, and the magnetic coupling unit  23  are installed between the transport plane  50  on which the permanent magnet  10  moves and the core  22 A and the core  22 B. That is, the transport plane  50  is installed above the tooth  20 A, the tooth  20 B, and the magnetic coupling unit  23 . The transport plane  50  is formed of a non-magnetic body (for example, resin or the like). 
     In particular, in Example 4, the tooth  20 A, the tooth  20 B, and the magnetic coupling unit  23  are formed integrally in a plate shape. 
     With this configuration, the tooth  20 A, the tooth  20 B, and the magnetic coupling unit  23  can be easily formed by pressing or the like. Further, the rigidity of the plate-shaped member forming the tooth  20 A, the tooth  20 B, and the magnetic coupling unit  23  can be improved, the deformation of the member during work is prevented, and the handling of the member is facilitated. 
     Further, the plate-shaped member forming the tooth  20 A, the tooth  20 B, and the magnetic coupling unit  23  is made of, for example, an electromagnetic steel plate, and a plurality of sheets of the plates can be stacked in the Z direction to obtain the required thrust characteristics. Further, the thrust characteristics can be changed by changing the number of sheets to be stacked in the Z direction. 
     Further, according to Example 4, even when the transport plane  50  is worn, the transport plane  50  can be easily replaced. 
     Example 5 
     Next, the configuration of the transport device  1  described in Example 5 will be schematically described. 
       FIG.  10 A  is a perspective view schematically showing a configuration of the transport device  1  described in Example 5. 
       FIG.  10 B  is a top view schematically showing the configuration of the transport device  1  described in Example 5. 
     The transport device  1  described in Example 5 is different from the transport device  1  described in Example 2 in that there are a plurality of types (two types in Example 5) of diameters of the tooth  20  installed on the upper part of the core  22  and there are a plurality of types (two types in Example 5) of widths of the magnetic coupling unit  23  installed between the tooth  20  and the tooth  20 . 
     The dotted line A, the dotted line B, the dotted line C, the dotted line D, and the dotted line E shown in  FIG.  10 A  are transport paths (transport lines) on which the permanent magnet  10  moves. 
     The diameter of a tooth  20 E installed on the transport path A and the transport path B is larger than the diameter of a tooth  20 F installed on the transport path C, the transport path D, and the transport path E. 
     Further, the width of a magnetic coupling unit  23 E installed on the transport path A and the transport path B is narrower than the width of a magnetic coupling unit  23 F installed on the transport path C, the transport path D, and the transport path E. 
     In this way, in one transport device  1 , the diameter of the tooth  20  and the width of the magnetic coupling unit  23  are changed according to the characteristics of the transport path. 
     The thrust characteristics of the transport device  1  vary depending on the diameter (shape) of the tooth  20  and the width (shape) of the magnetic coupling unit  23 . That is, even if the winding  21 , core  22 , joint unit  24 , and electromagnet fixing base  30  are the same, by changing the diameter of the tooth  20  and the width of the magnetic coupling unit  23 , the effect of reducing the pulsation of the thrust and the effect of suppressing the lowering of the thrust (promoting effect of thrust) can be changed. Further, the degree of freedom in designing the winding  21 , the core  22 , the joint unit  24 , and the electromagnet fixing base  30  is also increased. 
     For example, a transport path having a large effect of reducing the pulsation of the thrust and a transport path having a small effect of reducing the pulsation of the thrust can be installed, and a transport path having a large effect of promoting the thrust and a transport path having a small effect of promoting the thrust can be installed. 
     In Example 5, the transport paths (characteristics of transport path (a)) having a large effect of reducing the pulsation of the thrust and having a small effect of promoting the thrust are the transport path C, the transport path D, and the transport path E, and the transport paths (characteristics of transport path (b)) having a small effect of reducing the pulsation of the thrust and having a large effect of promoting the thrust are the transport path A and the transport path B. 
     That is, in the transport device  1 , a plurality of electromagnet units are installed in a line and a plurality of transport paths are installed, and the shape of the tooth  20  and/or the shape of the magnetic coupling unit  23  can be changed according to the characteristics of the transport path. 
     As described above, according to Example 5, the transport device  1  having transport paths having different characteristics of the transport path can be provided in one transport device  1 . For example, in the transport path having the characteristic (a) of the transport path, the specimen is transported at a low speed in an open state, and in the transport path having characteristic (b) of the transport path, the specimen is transported at high speed in a closed state. 
     Example 6 
     Next, the configuration of the transport device  1  described in Example 6 will be schematically described. 
       FIG.  11    is an explanatory diagram schematically showing a configuration of the transport device  1  described in Example 6. 
       FIG.  11 ( a )  is a perspective view schematically showing the configuration of the transport device  1  described in Example 6,  FIG.  11 ( b )  is a top view schematically showing the configuration of the transport device  1  described in Example 6, and  FIG.  11 ( c )  is an exploded perspective view schematically showing the transport device  1  described in Example 6. 
     The transport device  1  described in Example 4 is different from the transport device  1  described in Example 2 in the following points. 
     (1) The diameter of the tooth  20  and the diameter of the core  22  are the same. 
     (2) The transport path is provided with nine electromagnet units in the X direction and Y direction, and five electromagnet units are provided in the X direction and the Y direction between the transport path and the transport path. 
     (3) The electromagnet units installed between the transport path and the transport path are alternately installed. 
     According to (1), the state of the winding  21  can be easily surveyed from above. That is, when a defect such as an insulation failure occurs in the winding  21 , the defect can be visually confirmed, and the winding  21  in which the defect has occurred can be easily determined. 
     Since the tooth  20  and the magnetic coupling unit  23  are formed integrally, the tooth  20  and the magnetic coupling unit  23  can be easily removed, and the winding  21  in which a defect has occurred can be easily replaced. 
     According to (2) and (3), for example, when there are two permanent magnets  10  that move in adjacent transport paths at the same time, each permanent magnet  10  can be moved so as not to interfere with each other between the two permanent magnets  10 . This is particularly effective when one transport device  1  has transport paths having different characteristics of the transport path. 
       FIG.  17    is an explanatory diagram schematically showing a configuration of the transport device  1  described in Example 6, in which the transport plane  50  is added. 
       FIG.  17 ( a )  is a perspective view schematically showing a configuration with the transport plane  50  of the transport device  1  described in Example 6 added, and  FIG.  17 ( b )  is an exploded perspective view schematically showing the transport device  1  described in Example 6. 
     As shown in  FIG.  17   , the transport plane  50  is installed above the member forming the tooth  20  and the magnetic coupling unit  23 . Then, the permanent magnet  10  moves on the transport plane  50 . 
     Example 7 
     The transport device  1  described in Example 7 is different from the transport device  1  described in Example 6 in that the diameter of the tooth  20  is larger than the diameter of the core  22 . 
     The transport device  1  described in Example 7, similarly to the transport device  1  described in Example 6, has 5×5 transport paths (5 transport paths in the X direction and 5 transport paths in the Y direction) on which the electromagnet units are installed in a grid pattern. 
     Further, in the transport device  1  described in Example 7, similar to the transport device  1  described in Example 6, the electromagnet unit installed between the transport path and the transport path also includes the tooth  20 , the core  22  connected to the tooth  20 , the winding  21  formed around the core  22 , and the joint unit  24  connected to the core  22  and joined to the electromagnet fixing base  30 . 
     With this configuration, for example, when there are two permanent magnets  10  that move in adjacent transport paths at the same time, each permanent magnet  10  can be moved so as not to interfere with each other between the two permanent magnets  10 . This is particularly effective when one transport device  1  has transport paths having different characteristics of the transport path. Furthermore, the thrust can be increased. 
     The transport device  1  can move the permanent magnet  10  in the X direction, the Y direction, and the XY direction. 
     Example 8 
     Next, the configuration of the transport device  1  described in Example 8 will be schematically described. 
       FIG.  12    is a top view schematically showing a configuration of the transport device  1  described in Example 8. 
     The transport device  1  described in Example 8 is different from the transport device  1  described in Example 7 in the shape of the tooth  20  and the shape of the magnetic coupling unit  23 . 
     That is, in Example 7, the tooth  20  has a circular shape and the magnetic coupling unit  23  has a linear shape. In Example 8, the tooth  20  has an approximately circular shape, but the magnetic coupling unit  23  has a curved shape. 
     By forming the magnetic coupling unit  23  into a curved shape, the change in the permeance of the magnetic circuit of the electromagnet unit when the permanent magnet  10  moves can be made smooth, and the pulsation of the thrust can be reduced. By changing the shape of the magnetic coupling unit  23  in this way, the change in the permeance of the magnetic circuit of the electromagnet unit can be adjusted, and the pulsation of the thrust can be reduced. 
     In particular, in Example 8, it is preferable that the core  22  and the tooth  20  are formed separately. 
     Example 9 
     The configuration of the transport device  1  described in Example 9 will be schematically described. 
       FIG.  13    is a top view schematically showing a configuration of the transport device  1  described in Example 9. 
     The transport device  1  described in Example 9 is different from the transport device  1  described in Example 7 in the shape of the tooth  20 . 
     That is, in Example 7, the tooth  20  has a circular shape, but in the Example 9, the tooth  20  has a rectangular shape (square shape in Example 9). Then, the tooth  20  is connected to the magnetic coupling unit  23  at the corner portion of the rectangular shape. 
     By forming the tooth  20  into a rectangular shape and connecting the tooth  20  to the magnetic coupling unit  23  at the corner of the rectangular shape, when the permanent magnet  10  has a circular shape, the amount of change in a facing surface between the circular permanent magnet  10  and the rectangular tooth  20  can be made constant (smooth). With this configuration, the change in the permeance of the magnetic circuit of the electromagnet unit can be made constant (smooth), and the pulsation of the thrust can be reduced. 
     In Example 9, the shape of the tooth  20  is formed into a rectangular shape, but the shape is not limited thereto, and a polygonal shape may be used. 
     Further, in particular, in Example 9, it is preferable that the core  22  and the tooth  20  are formed separately. 
     Example 10 
     Next, the configuration of the transport device  1  described in Example 10 will be schematically described. 
       FIG.  14    is a top view schematically showing a configuration of the transport device  1  described in Example 10. 
     The transport device  1  described in Example 10 is different from the transport device  1  described in Example 7 in the shape of the tooth  20  and the shape of the magnetic coupling unit  23 . 
     That is, in Example 7, the tooth  20  has a circular shape and the magnetic coupling unit  23  has a linear shape, but in Example 10, the tooth  20  has an approximately rectangular shape (approximately square shape in Example 10) and the magnetic coupling unit  23  has a curved shape. Then, the tooth  20  is connected to the magnetic coupling unit  23  at the side portion of the rectangular shape. 
     By forming the tooth  20  into a rectangular shape and connecting it to the magnetic coupling unit  23  at the side portion of the rectangular shape, in addition to when the permanent magnet  10  moves in the X direction and when the permanent magnet  10  moves in the Y direction, even when the permanent magnet  10  moves in the XY direction, the pulsation of the thrust can be reduced. 
     When the permanent magnet  10  moves in the X direction and when the permanent magnet  10  moves in the Y direction, since the magnetic coupling unit  23  is installed between the tooth  20  and the tooth  20 , the pulsation of the thrust can be reduced. 
     On the other hand, when the permanent magnet  10  moves in the XY direction (for example, when the permanent magnet  10  moves from a tooth  20 G to a tooth  20 H), a moving distance of the permanent magnet  10  is approximately doubled as compared to when the permanent magnet  10  moves in the X direction or the Y direction (for example, when the permanent magnet  10  moves from the tooth  20 G to a tooth  20 I, or when the permanent magnet  10  moves from the tooth  20 I to the tooth  20 H). That is, when the permanent magnet  10  moves in the XY direction, the moving distance of the permanent magnet  10  becomes large and a large thrust is required compared to when the permanent magnet  10  moves in the X direction or the Y direction. 
     Therefore, in Example 10, the tooth  20  are formed into a rectangular shape, and the tooth  20  are installed so that the corner of the rectangular shape is on a diagonal line of the rectangular shape. 
     Even when the permanent magnet  10  moves in the XY direction by moving on the diagonal line of the rectangular shape, an area where the permanent magnet  10  and the tooth  20  face each other can be increased, and the pulsation of the thrust can be reduced. 
     In Example 10, the shape of the tooth  20  is formed into a rectangular shape, but the shape is not limited thereto and may be formed into a polygonal shape. 
     Further, in particular, in Example 10, it is preferable that the core  22  and the tooth  20  are formed separately. 
     Example 11 
     Next, the configuration of the transport device  1  described in Example 11 will be schematically described. 
       FIG.  15    is a top view schematically showing a configuration of the transport device  1  described in Example 11. 
     The transport device  1  described in Example 11 is different from the transport device  1  described in Example 7 in the shape of the tooth  20 . 
     That is, in Example 7, the shape of the tooth  20  is not changed at an installation position of the electromagnet unit, but in Example 11, the shape of the tooth  20  is changed at the installation position of the electromagnet unit. 
     In Example 11, the tooth  20  has the following six types of shapes. For example, (1) a shape of tooth  20  connected to the magnetic coupling unit  23  at two points in the X direction and the Y direction, (2) a shape of tooth  20  connected to the magnetic coupling unit  23  at two points in the X direction, (3) a shape of tooth  20  connected to the magnetic coupling unit  23  at two points in the Y direction, (4) a shape of tooth  20  connected to the magnetic coupling unit  23  at two points in the X direction and one point in the Y direction, (5) a shape of tooth  20  connected to the magnetic coupling unit  23  at one point in the X direction and two points in the Y direction, and (6) a shape of tooth  20  connected to the magnetic coupling unit  23  at two points in the X direction and two points in the Y direction. 
     The (2) and (3) are the positions where the teeth  20  are installed on a straight line, the (4) and (5) are the positions where the teeth  20  are installed in a T shape, and the (6) is the position where the teeth  20  are installed in a cross shape. 
     In this way, the shape of the tooth  20  can be changed depending on the installation position of the electromagnet unit. With this configuration, the thrust characteristics can be changed depending on the installation position of the electromagnet unit. 
     Further, in particular, in Example 11, it is preferable that the core  22  and the tooth  20  are formed separately. 
     Example 12 
     Next, the configuration of the transport device  1  described in Example 12 will be schematically described. 
       FIG.  16 A  is a perspective view schematically showing a configuration of the transport device  1  described in Example 12. 
       FIG.  16 B  is a top view schematically showing the configuration of the transport device  1  described in Example 12. 
     The transport device  1  described in Example 12 is different from the transport device  1  described in Example 7 in the installation position of the magnetic coupling unit  23 . 
     That is, in Example 7, the magnetic coupling unit  23  is installed between the tooth  20  and the tooth  20  in the X direction and the Y direction. In Example 12, the magnetic coupling unit  23  is also installed in the XY direction. As described above, the transport device  1  includes the magnetic coupling unit  23 A in the X direction, the magnetic coupling unit  23 B in the Y direction, and a magnetic coupling unit  23 C in the XY direction. 
     That is, in the transport device  1 , a plurality of electromagnet units are installed in a line, and the transport device  1  includes the magnetic coupling unit  23 A installed between the teeth  20  adjacent to each other in the X direction, the magnetic coupling unit  23 B installed between the teeth  20  adjacent to each other in the Y direction, and the magnetic coupling unit  23 C installed between the teeth  20  adjacent to each other in the XY direction. 
     By installing the magnetic coupling unit  23 C in the XY direction, the pulsation of the thrust when the permanent magnet  10  moves in the XY direction can be reduced. 
     Furthermore, with this configuration, the rigidity of the member forming the tooth  20  and the magnetic coupling unit  23  can be improved. That is, this is because the tooth  20  and the magnetic coupling unit  23  can be connected in a mesh pattern by the magnetic coupling unit  23 A in the X direction, the magnetic coupling unit  23 B in the Y direction, and the magnetic coupling unit  23 C in the XY direction. 
     The present invention is not limited to the examples described above, and includes various modifications. For example, the examples described above are specifically described in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the described configurations. 
     A part of the configuration of one example can be replaced with a part of the configuration of another example. The configuration of another example can be added to the configuration of one example. A part of the configuration of each example can be deleted, a part of the other configuration thereof can be added thereto, and can be replaced with a part of the other configuration thereof. 
     REFERENCE SIGNS LIST 
       1 : transport device 
       10 : permanent magnet 
       20 : tooth 
       21 : winding 
       22 : core 
       23 : magnetic coupling unit 
       24 : joint unit 
       30 : electromagnet fixing base 
       50 : transport plane 
       100 : specimen analysis system 
       200 : specimen pre-treatment device 
       300 : specimen analysis device