JPH09304241A - Auto sampler - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow each sample to be reliably supplied to a processor by obtaining a position coordinate of a part of samples regularly placed by teaching operation and obtaining a position coordinate of other samples based on it by calculation. SOLUTION: Orthogonal coordinates of a sample position of three sample housings is obtained by a teaching means 4 and stored in a storage 3. Then based on the three stored orthogonal coordinates, an orthogonal coordinate of a sample position of each of other sample housings is calculated by a coordinate calculating means 6. Each orthogonal coordinate is stored in the storage 3 together with the three orthogonal obtained by the teaching means 4 coordinates. When this processing is completed, since respective orthogonal coordinates are stored in the storage 3 for all sample housings, in subsequently supplying samples to a thermal analyzer, a sample holder driving means 2 can correctly take out a sample of interest from any sample housing based on these orthogonal coordinates.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to an autosampler for supplying a sample to a thermal analyzer or the like.

[0002]

2. Description of the Related Art An autosampler is a sample supply device in which a plurality of samples are mounted on a tray / cassette or the like, and the samples are taken out one by one by a sample holding part and sequentially supplied to a thermal analyzer or the like. The tray / cassette 11 is, for example, as shown in FIG. 9, a sample mounting tool in which 10 × 10 locations of 10 × 10 column-shaped sample accommodating portions 12 are formed on a surface of a rectangular metal plate or the like. And each of these sample storage parts 12
Samples, such as pellets, are stored in each. When the auto sampler is provided with the sample gripper 1 that performs the three-axis operation of the Cartesian coordinate system in the xyz directions as shown in FIG. 9, the sample gripper 1 is used in the x-axis direction, the y-axis direction and the z-axis direction. The sample in the target sample container 12 by holding the sample.
The operation of transporting the sample to the thermal analysis device or the like and returning the sample for which analysis has been completed to the original sample container 12 is sequentially repeated.

[0003]

The tray cassette 11 is fixedly or detachably installed on the main body of the autosampler. Here, since each sample storage portion 12 of the tray / cassette 11 is processed by a precise machine tool, it is formed so that the intervals in the row direction and the intervals in the column direction are exactly equal to each other. And the right angle accuracy in the column direction is also sufficiently high. However, when the tray / cassette 11 is installed in the main body of the autosampler, processing errors of the parts of the installation unit accumulate and errors occur during assembly and mounting, so the installation is not performed properly. It is often done. Therefore, as shown in FIG. 10, the conventional autosampler uses x for moving the sample holding unit 1.
Since a deviation occurs between the orthogonal coordinate system of the yz3 axes and the matrix direction of the tray cassette 11, the target sample container 12 may not be present at a predetermined coordinate position in the orthogonal coordinate system of the sample gripper 1. There has been a problem that the sample in the sample container 12 cannot be properly grasped and carried. In addition, in order to eliminate such problems,
Although efforts have been made in the past to improve the processing accuracy of each part of the installation part of the tray / cassette 11 and to reduce the assembly error as much as possible, the equipment and labor required for these are limited. , But it is not always possible to obtain sufficient accuracy.

Further, in order to solve such a problem, it is conceivable to store the position coordinates of each sample accommodating portion 12 by executing a teaching operation, as in the case of a general industrial robot. However, performing the teaching operation for all of a large number (100 in the above example) of the sample storage portions 12 is an extremely troublesome work, and it cannot bear the trouble at all, and cannot necessarily be a practical solution.

The present invention has been made in view of such circumstances, and requires only the trouble of acquiring the coordinates of the sample positions of about 2 to 3 places by executing the teaching operation.
It is an object of the present invention to provide an autosampler that can accurately determine all other sample positions.

[0006]

In order to solve the above-mentioned problems, an autosampler according to a first aspect of the present invention uses a part of a plurality of samples arranged regularly on a sample mounting tool by executing a teaching operation. The coordinates of the sample positions at about 3 positions are acquired, and the coordinates of the other sample positions are calculated by the calculation based on these coordinates according to the arrangement rule of the sample. Further, the autosampler according to claim 2 acquires orthogonal coordinates of sample positions at three corners of a plurality of samples arranged in a matrix on the sample mounting tool by performing a teaching operation, and the sample positions at these three corners are acquired. Calculation is performed so that each of the other sample positions is arranged at equal positions in the three-axis directions between, and the orthogonal coordinates are obtained.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 4 show a first embodiment of the present invention, FIG. 1 is a block diagram showing a configuration of an autosampler, FIG. 2 is a flowchart showing an operation of the autosampler, and FIG. FIG. 4 is a plan view showing the arrangement of the sample storage section of FIG. 4, and FIG. 4 is a view for explaining the contents of calculation for calculating the Cartesian coordinates. 9 and FIG.
Components having the same functions as those shown in 0 are designated by the same reference numerals.

In the present embodiment, an autosampler for supplying a sample to a thermal analysis apparatus, which is equipped with a sample holding section 1 for performing three-axis Cartesian coordinate system operation as shown in FIG. 9, will be described. Further, as the sample mounting tool, as shown in FIG. 9, the tray cassette 11 in which the sample storage portions 12 are formed in a matrix of 10 rows × 10 columns is used. As shown in FIG. 1, the autosampler of the present embodiment has a sample gripper driving means 2 for moving the sample gripper 1 in the x-axis direction, the y-axis direction and the z-axis direction which are the three axes of the orthogonal coordinate system. are doing.
When the sample is supplied to the thermal analysis device, the sample gripper driving means 2 drives and controls the sample gripper 1 based on the orthogonal coordinates of each sample position stored in the storage device 3. The target sample can be taken out or the sample can be returned to its original position.

This automatic sampler is provided with teaching means 4. The teaching means 4 acquires the orthogonal coordinates of the sample positions of the three sample storage portions 12 on the tray cassette 11 and stores them in the storage device 3 by the same teaching function as in the case of a general industrial robot. Is. The teaching function performs a teaching operation in which the sample gripper driving unit 2 drives and controls the sample gripper 1 to move it to an arbitrary position in accordance with the operation of the operation input unit 5. The orthogonal coordinates of the sample gripper 1 at this time are displayed. It is a function to acquire. Further, this autosampler is provided with a coordinate calculation means 6. The coordinate calculation means 6 calculates the orthogonal coordinates of the sample positions of the other sample storage portions 12 based on the orthogonal coordinates of the sample positions of the sample storage portions 12 stored in the storage device 3 by the teaching means 4. It is stored in the storage device 3. Then, the sample gripper driving means 2 can supply the sample to the thermal analyzer based on the orthogonal coordinates of the sample position of each sample storage unit 12 stored in the storage device 3 in this way. The storage device 3, teaching means 4, operation input means 5, and coordinate calculation means 6 may be configured by individual circuit devices, or by a computer program, hardware for executing the program, and peripheral devices. You can also

When the tray cassette 11 is installed, the autosampler having the above-described structure operates to calculate the orthogonal coordinates of the sample positions in each sample container 12. The operation of calculating the orthogonal coordinates by this autosampler will be described with reference to the flowchart of FIG. First, in a first step (hereinafter referred to as “S”) 1, a teaching operation is performed to allow the teaching means 4 to perform three operations on the sample storage portions 1 at three locations.
The orthogonal coordinates of the sample position 2 are acquired and stored in the storage device 3. Here, in the tray cassette 11, as shown in FIG. 3, the sample positions of the samples stored in the sample storage sections 12 formed in a matrix are represented by P [i, j]. At this time, “i” indicates which column the sample storage unit 12 is from the leftmost column in the drawing (i = 0 to 9), and “j” indicates what the sample storage unit 12 is from the lowermost line in the drawing. Indicates whether it is on the line (j = 0 to 9). In the teaching operation,
Three sample storage parts 12 in the lower left corner, lower right corner, and upper left corner in the figure
Cartesian coordinates of the sample position are sequentially acquired by the teaching operation. Therefore, the teaching means 4
Is, as shown in Equation 2,

[Equation 2] Cartesian coordinates (x ₀ , y ₀ , z ₀ ) of the sample position (reference sample position) P [0, 0] of the sample container 12 in the lower left corner of the figure,
The Cartesian coordinates (x ₁ , y ₁ , z ₁ ) of the sample position P [9, 0] of the sample container 12 in the lower right corner of the figure and the sample position P [0, 9] of the sample container 12 of the upper left corner of the figure. Cartesian coordinates (x ₂ , y
₂ , z ₂ ) is acquired and stored in the storage device 3.

Next, based on the Cartesian coordinates of the sample positions at the three locations stored in the storage device 3, the coordinate calculating means 6 causes the Cartesian coordinates of the sample positions P [i, j] of the other sample storage units 12 to be obtained. (X _CAL , y _CAL , z _CAL ) are calculated (S2). That is, the x-axis component x _CAL , the y-axis component y _CAL, and the z-axis component z _CAL in the Cartesian coordinates of the sample position P [i, j].
Is calculated by Equation 3.

(Equation 3) For example, in FIG. 4 in which the sample position of each sample storage portion 12 of the tray cassette 11 is projected on the xy plane, “(x
The term “ _1- x ₀ ) / 9” is the displacement of the sample position P [0,0] and the sample position P [9,0] on the x-axis by “9”, which is the number of intervals between columns. It is a division and represents the displacement on the x-axis between adjacent columns. In addition, "(x ₂ -x ₀₎ /
The term “9” indicates that the sample position P [0,0] and the sample position P [0,
9], which is the displacement on the x-axis divided by "9", which is the number of intervals between rows, and represents the displacement on the x-axis between adjacent rows. Therefore, the multiplication result of the displacement between each column and “i” is added to the x-axis component x ₀ of the Cartesian coordinate of the sample position P [0,0], and the displacement between each row and “j” are added. If the multiplication result of is added, an arbitrary sample position P [i, j]
The x-axis component x _CAL of can be obtained. Then, the y-axis component y _CAL and the z-axis component z _CAL are similarly obtained. However, in the present embodiment, it is necessary that the sample storage portions 12 are formed in the row direction at predetermined equal intervals, and also in the column direction at predetermined equal intervals.

The orthogonal coordinates of the sample positions of the other sample storage sections 12 calculated by the coordinate calculation means 6 are stored in the storage device 3 together with the orthogonal coordinates of the sample positions of the three sample storage sections 12 acquired by the teaching means 4. It is stored and the process ends. Therefore, when this process is completed, the Cartesian coordinates of the sample positions of all of the 10 × 10 sample storage portions 12 in the installed tray cassette 11 are stored in the storage device 3, so that the subsequent thermal analysis device can be used. At the time of the sample supply operation to the sample, the target sample can be accurately taken out from the arbitrary sample container 12 based on these orthogonal coordinates.

As described above, according to the auto sampler of the present embodiment, the teaching operation is performed to perform 3
The coordinate calculating means 6 can calculate the orthogonal coordinates of the sample positions of all the remaining 97 sample accommodating sections 12 only by the trouble of acquiring the orthogonal coordinates of the sample positions of the sample accommodating sections 12 at the points. Moreover, since the coordinate calculating means 6 calculates the orthogonal coordinates of the sample positions in accordance with the arrangement rules of the respective sample accommodating portions 12, since these sample accommodating portions 12 are formed with high processing accuracy, the accurate orthogonal coordinates are obtained. Can be obtained. Therefore, even if the installation position of the tray cassette 11 is deviated, the sample in each sample container 12 can be normally supplied to the thermal analysis device.

FIGS. 5 and 6 show a second embodiment of the present invention. FIG. 5 is a perspective view showing a sample holding part which performs three-axis operation of a cylindrical coordinate system, and FIG. 6 shows an operation of an autosampler. It is a flowchart shown. The constituent members having the same functions as those of the first embodiment shown in FIGS. 1 to 4 are designated by the same reference numerals and the description thereof will be omitted. In the present embodiment, an autosampler including a sample holding unit 1 that performs three-axis operation in a cylindrical coordinate system as shown in FIG. 5 will be described. The cylindrical coordinate system has a z-axis component along the central axis in polar coordinates composed of a radius vector r indicating the distance from the central axis (pole) and a deviation angle θ indicating the rotation angle around the central axis. Is added. It should be noted that this autosampler supplies a sample to the thermal analysis device, as in the first embodiment, and uses the tray cassette 11 in which the sample storage portions 12 are formed in a matrix of 10 rows × 10 columns. To do.

The autosampler of this embodiment also has the same structure as that shown in FIG. However, the sample gripper driving means 2 is configured to drive and control the sample gripper 1 based on the cylindrical coordinates (r, θ, z). Further, the coordinate calculation means 6 is adapted to calculate the orthogonal coordinates of the sample position of each sample container 12 as in the first embodiment, and also perform the coordinate conversion between the cylindrical coordinates and the orthogonal coordinates. .

The autosampler performs an operation of calculating the cylindrical coordinates of the sample position of each sample container 12 when the tray cassette 11 is installed. The operation of calculating the cylindrical coordinates by this autosampler will be described with reference to the flowchart of FIG. First, by performing the teaching operation, the teaching means 4 is used to provide the sample container 1 at three locations.
The cylindrical coordinates of the sample position 2 are acquired and stored in the storage device 3 (S11). The sample positions of the sample container 12 at the three positions are the same as the sample positions P [0,0],
Let P [9,0] and P [0,9]. Then, as shown in Equation 4,

(Equation 4) Cylindrical coordinates (r ₀ , θ ₀ , z of the reference sample position P [0, 0]
₀ ) and the cylindrical coordinates (r ₁ ,
θ ₁ , z ₁ ) and the cylindrical coordinates (r
₂ , θ ₂ , z ₂ ) are acquired and stored in the storage device 3.
Next, the coordinate calculation means 6 calculates the cylindrical coordinates (r, θ, z) of the three sample positions stored in the storage device 3 as follows.
As shown in Expression 5, the coordinates are converted into Cartesian coordinates (x, y, z) (S12).

(Equation 5) This coordinate conversion can be performed by converting the radius vector r and the deflection angle θ of the cylindrical coordinate into the x-axis component and the y-axis component of the Cartesian coordinate according to the equation (6).

(Equation 6)

Further, when the orthogonal coordinates of the sample positions of the three sample storage portions 12 are calculated by this coordinate conversion, the calculation of the above equation 3 is performed on the basis of these orthogonal coordinates, and each other sample is calculated. The Cartesian coordinates (x _CAL , y _CAL , z _CAL ) of the sample position P [i, j] in the container 12 are calculated (S13). Then, each sample position P calculated here
The Cartesian coordinates (x _CAL , y _CAL , z _CAL ) of [i, j] are converted into cylindrical coordinates (r _CAL , θ _CAL , z _CAL ) again (S).
14). This coordinate conversion can be performed by converting the x-axis component and the y-axis component of the Cartesian coordinate into the radius vector r and the deflection angle θ of the cylindrical coordinate according to the equation (7).

(Equation 7) When the deviation angle θ of the cylindrical coordinates exceeds the range of −π / 2 <θ <π / 2, which is the main value of the arc tangent, x
Π may be added or subtracted depending on whether the axis component and the y-axis component are positive or negative.

Cylinder coordinates (r _CAL , θ) of each sample position P [i, j] are converted by the coordinate conversion from the rectangular coordinates to the cylindrical coordinates.
_CAL , z _CAL ) is calculated, it is stored in the storage device 3 together with the cylindrical coordinates of the three sample positions acquired by the teaching means 4, and the processing is ended. Therefore, when this process is completed, the cylindrical coordinates of the sample positions of all of the 10 × 10 sample storage portions 12 in the installed tray / cassette 11 are stored in the storage device 3. At the time of supplying the sample to the sample, the target sample can be accurately taken out from the arbitrary sample container 12 based on these cylindrical coordinates.

As described above, according to the autosampler of the present embodiment, even in the case of the autosampler having the sample gripper 1 for performing the triaxial operation of the cylindrical coordinate system, the coordinate conversion is performed to make the first sample. As in the case of the embodiment, the sample in each sample container 12 can be normally supplied to the thermal analysis device.

FIGS. 7 and 8 show a third embodiment of the present invention. FIG. 7 shows a cylindrical coordinate system 3 having a deviation in the origin.
FIG. 8 is a perspective view showing a sample gripping section that performs an axial operation, and FIG. FIG.
-Structural members having the same functions as those of the first and second embodiments shown in Fig. 6 are designated by the same reference numerals, and the description thereof will be omitted.

In this embodiment, an autosampler equipped with a sample holding unit 1 that performs three-axis operation in a cylindrical coordinate system as shown in FIG. 7 will be described. In this case, the radius r of the cylindrical coordinate is
Due to the installation position of the sensor that detects the reference position, r =
The origin that becomes 0 is displaced from the central axis (z axis) by the displacement rDEV. Therefore, unlike the case of the second embodiment, the cylindrical coordinates of the present embodiment cannot be directly converted into rectangular coordinates. As in the first and second embodiments, this autosampler supplies the sample to the thermal analysis device, and the tray cassette 11 in which the sample storage portions 12 are formed in a matrix of 10 rows × 10 columns is used. Shall be used.

The autosampler of this embodiment also has the same structure as that shown in FIG. However, the sample gripper driving means 2 has the same cylindrical coordinates (r, θ,
The sample gripper 1 is driven and controlled based on z). Further, the coordinate calculation means 6 calculates the orthogonal coordinates of the sample position of each sample storage unit 12 and performs the coordinate conversion between the cylindrical coordinates and the orthogonal coordinates, as in the second embodiment, and also calculates the cylindrical coordinates. The radius r is also corrected.

The above-mentioned auto sampler also performs an operation of calculating the cylindrical coordinates of the sample position of each sample container 12 when the tray cassette 11 is installed. The operation of calculating the cylindrical coordinates by this autosampler will be described with reference to the flowchart of FIG. First, by performing the teaching operation, the teaching means 4 is used to provide the sample container 1 at three locations.
The cylindrical coordinates of the sample position 2 are acquired and stored in the storage device 3 (S21). The sample positions of the sample storage portion 12 at three locations are the same as the sample positions P in the first and second embodiments.
Let [0,0], P [9,0], P [0,9]. Then, as shown in Equation 8,

(Equation 8) Cylindrical coordinates (r _m0 , θ ₀ , z of the reference sample position P [0, 0]
₀ ) and the cylindrical coordinates (r _m1 ,
θ ₁ , z ₁ ) and the cylindrical coordinates (r
_m2 , θ ₂ , z ₂ ) is acquired and stored in the storage device 3.
Next, for example, the actual distance r _M from the central axis of the reference sample position P [0,0] is measured, and the coordinate calculation means 6 calculates
By performing the calculation of

[Equation 9] The displacement rDEV from this central axis to the position where r = 0 is calculated (S22). The measured distance r _M may be input from the operation input means 5 and stored in the storage device 3 in advance. When the displacement r _DEV is calculated in this way, the radii r _m0 , r _m1 , and r _m2 in the cylindrical coordinates of the three sample positions stored in the storage device 3 are corrected by _Equation 10 (S2).
3).

(Equation 10) By this correction, the radius vector r indicates the distance from the central axis as in the case of the second embodiment, and the conversion into the Cartesian coordinates by the above equation 6 becomes possible. Note that the actual distance r
_M is not limited to the central axis to the reference sample position P [0,0], and may be another sample position. Further, for example, when a specific sample position is mechanically accurately positioned, a design value of the distance from the central axis to the sample position can be used as the distance r _M.
The cylindrical coordinates of the three sample positions corrected as described above are converted into Cartesian coordinates (S24), and based on these Cartesian coordinates, the sample positions P [i,
j] orthogonal coordinates (x _CAL , y _CAL , z _CAL ) are calculated (S25), and each of these sample positions P [i,
The orthogonal coordinates (x _CAL , y _CAL , z _CAL ) of j] are converted into cylindrical coordinates (r _CAL , θ _CAL , z _CAL ) again (S26). The processing of S24 to S26 is the same as the processing of S12 to S14 of FIG. 6 shown in the second embodiment.

When the cylindrical coordinates (r _CAL , θ _CAL , z _CAL ) of each sample position P [i, j] are calculated in this way,
Finally, the radius r _CAL of these cylindrical coordinates is set to the above displacement r _DEC
Based on the equation (11), the correction is performed by the equation 11 (S27).

[Equation 11] By this correction, the radius vector r _mCAL becomes that of the cylindrical coordinate system of the present embodiment. Then, each sample position P after this correction
The cylindrical coordinates (r _mCAL , θ _CAL , z _CAL ) of [i, j] are
The cylindrical coordinates of the three sample positions acquired by the teaching means 4 are stored in the storage device 3 and the processing is ended. As described above, according to the autosampler of the present embodiment, even in the case of an autosampler having a cylindrical coordinate system in which the origin of the radius vector r is deviated from the central axis, the radius vector r is corrected to correct As in the case of the second embodiment, the sample in each sample container 12 can be normally supplied to the thermal analysis device.

In the first to third embodiments described above, the coordinates of the sample positions at the three corners of the matrix are acquired by the teaching means 4. However, if the sample positions are not on the same straight line, the sample positions are Any sample position can be used without being limited to such three corners. Moreover, the coordinates of three or more sample positions may be acquired as long as they are a part of all sample positions.
Also, for example, the tray cassette 11 is perpendicular to the z-axis (xy
If it is guaranteed to be installed parallel to the plane), it is enough to acquire the coordinates of the two sample positions.

Further, in the above-mentioned first to third embodiments, 1
Although the tray / cassette 11 in which the samples are arranged in a matrix of 0 rows × 10 columns is used, the present invention is not limited to this, and an arbitrary number of samples can be arranged, and a sample mounting tool other than the tray / cassette 11 is used. You can also In addition, this sample is not limited to a matrix of equal intervals, but may be any other regular array. If the sample is arranged based on any of the rules, another sample position can be calculated based on the coordinates of two or more sample positions. Further, in the above-described first to third embodiments, only the autosampler in which the sample gripper 1 performs the Cartesian coordinate system three-axis operation or the cylindrical coordinate system three-axis operation has been described, but the present invention is, for example, the tray cassette 11 or the like. It can be applied to any type of autosampler, such as a type that moves in parallel and a type that rotates.

[0027]

As is apparent from the above description, according to the autosampler of the present invention, the coordinates of the sample positions of about 2 to 3 places are acquired by executing the teaching operation, and the other sample positions can be set to the sample position. Therefore, each sample can be reliably taken out and supplied to the processing apparatus even if the sample mounting device is displaced and installed.

[Brief description of drawings]

FIG. 1 shows a first embodiment of the present invention and is a block diagram showing a configuration of an autosampler.

FIG. 2 shows the first embodiment of the present invention and is a flowchart showing the operation of the autosampler.

FIG. 3 shows the first embodiment of the present invention and is a plan view showing the arrangement of sample storage portions on the tray cassette.

FIG. 4 illustrates the first embodiment of the present invention, and is a diagram for explaining the content of calculation for calculating rectangular coordinates.

FIG. 5 shows a second embodiment of the present invention, and is a perspective view showing a sample holding part that performs a triaxial operation in a cylindrical coordinate system.

FIG. 6 shows a second embodiment of the present invention and is a flowchart showing the operation of the autosampler.

FIG. 7 shows a third embodiment of the present invention, and is a perspective view showing a sample gripping part that performs a triaxial operation of a cylindrical coordinate system having a deviation in an origin.

FIG. 8 shows a third embodiment of the present invention and is a flowchart showing an operation of the autosampler.

FIG. 9 is a perspective view showing a sample holding unit that performs a triaxial operation in a Cartesian coordinate system.

FIG. 10 is a perspective view for explaining displacement of the installation position of the tray / cassette.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 sample holding part 4 teaching means 6 coordinate calculation means 11 cassette 12 sample storage part

Claims (2)

[Claims] 1. An autosampler in which each sample is taken out one by one from a sample mounting tool in which a plurality of samples are regularly arranged and sequentially supplied to a processing apparatus, and a part of all the samples mounted on the sample mounting tool is used. Based on the teaching means for acquiring the coordinates of the positions of two or more samples by executing the teaching operation and the coordinates of the two or more sample positions acquired by this teaching means, according to the arrangement rule of the samples, An automatic sampler, which is provided with coordinate calculating means for calculating coordinates respectively. 2. The sample mounting tool is such that I × J samples are arranged in a matrix in I columns at regular intervals and J rows at regular intervals, and the teaching means is either in a matrix. Cartesian coordinates (x ₀ , y ₀ , z ₀ ) of the reference sample positions at the corners and Cartesian coordinates (x ₁ , y ₁ , z ₁ ) of the sample positions in the most distant column on the same row with respect to this reference sample position. ) And the Cartesian coordinates (x ₂ , y ₂ , z ₂ ) of the sample positions in the most distant row in the same column with respect to this reference sample position are acquired by executing the teaching operation. The calculation means calculates i (0 ≦ i from the reference sample position).
The Cartesian coordinates (x _CAL , y _CAL , z _CAL ) of each sample position on the j (0 ≦ j <J) row in the <I) column are obtained by the operation of the equation 1 [Equation 1] The autosampler according to claim 1, wherein: