Subject container gripping device and subject transport device, connection device

Abstract

The present invention provides a subject container gripping device capable of gripping a subject container without mixing foreign matter into a subject, and a subject conveying device and a connecting device having the same. The subject container gripping device for gripping a subject container in which a subject is accommodated according to the present invention is characterized by having a pair of jaws which stand by outside a conveying route in which a subject carrier carrying the subject container is conveyed before the subject carrier is conveyed to a prescribed position, and which horizontally move toward the conveying route when the subject carrier is conveyed to the prescribed position to grip the subject container from a horizontal direction at the prescribed position.

Description

TECHNICAL FIELD

[0001] The present application relates to a connection device that connects a subject transport device that transports a subject container that houses a subject such as blood or urine to an analysis device that analyzes the subject, or a subject container gripping device that grips the subject container in the subject transport device. BACKGROUND

[0002] In hospitals, examination facilities, a subject examination automation system is used to analyze a subject such as blood or urine provided by a subject for clinical examination. In the subject examination automation system, a pre-treatment device that performs various pre-treatments on a subject container that houses a subject, a subject transport device that transports the subject container, an analysis device that collects the subject from the subject container and performs analysis, and a connection device that connects the subject transport device to the analysis device are included. In addition, in the subject examination automation system, it is required to correctly arrange the subject container at a prescribed position, for example, a position at which the subject is collected from the subject container.

[0003] In Patent Literature 1, a device having a pair of centering claws that correctly grip the subject container at the position to which the subject container is transported by a turntable is disclosed.

[0004] Prior Art Documents

[0005] Patent Literature

[0006] Patent Literature 1: Japanese Patent Application Publication No. 2017-129576 SUMMARY

[0007] Problems to be Solved by the Invention

[0008] However, in Patent Literature 1, the centering claws are arranged on a transport route in which the subject container is transported, so there is a case where foreign matter such as wear powder generated by the centering claws is mixed into the subject in the subject container. If the foreign matter is mixed into the subject, the analysis accuracy of the analysis device decreases.

[0009] Therefore, an object of the present application is to provide a subject container gripping device that can grip a subject container without mixing foreign matter into a subject, and a subject transport device and a connection device having the same.

[0010] Technical Solution for Solving the Problem

[0011] To achieve the above object, the present application is a subject container gripping device which grips a subject container for housing a subject, characterized by a pair of grippers which stand by outside a conveyance route of a subject carrier which carries the subject container before the subject carrier is conveyed to a prescribed position, and which horizontally move toward the conveyance route when the subject carrier is conveyed to the prescribed position to horizontally grip the subject container at the prescribed position.

[0012] Further, the present application is a subject conveying device which conveys a subject container for housing a subject, characterized by the subject container gripping device.

[0013] Further, the present application is a connection device which connects a subject conveying device which conveys a subject container for housing a subject, and an analysis device which analyzes the subject, characterized by the subject container gripping device.

[0014] Effects of Invention

[0015] According to the present application, it is possible to provide a subject container gripping device which can grip a subject container without mixing foreign matter into a subject, and a subject conveying device and a connection device having the same. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a diagram showing the overall structure of a subject examination automated system of Example 1.

[0017] Figure 2 is a perspective view showing a connection device of Example 1.

[0018] Figure 3 is a top view showing the connection device of Example 1.

[0019] Figure 4 is a top view showing a main part of a subject container gripping device.

[0020] Figure 5 is a perspective view showing the structure of a subject container gripping device of Example 1.

[0021] Figure 6 is a top view showing the structure of the subject container gripping device of Example 1.

[0022] Figure 7 is a diagram showing the flow of the operation of a subject container gripping device of Example 1.

[0023] Figure 8 is a top view showing the operation of the subject container gripping device of Example 1.

[0024] Figure 9is a top view showing the operation of the subject container gripping device of Example 1.

[0025] Figure 10 is a top view showing the operation of the subject container gripping device of Example 1.

[0026] Figure 11 is a top view showing the operation of the subject container gripping device of Example 1.

[0027] Figure 12 is a top view showing the operation of the subject container gripping device of Example 1.

[0028] Figure 13 is a top view showing the operation of the subject container gripping device of Example 1.

[0029] Figure 14 is an enlarged view of the contact surface of the subject container gripping device of Example 1.

[0030] Figure 15 is a top view showing the operation of the subject container gripping device of Example 1.

[0031] Figure 16 is a top view showing the structure and operation of the subject container gripping device of Example 2.

[0032] Figure 17 is a top view showing the structure and operation of the subject container gripping device of Example 2.

[0033] Figure 18 is a top view showing the structure and operation of the subject container gripping device of Example 2.

[0034] Figure 19 is a top view showing the structure and operation of the subject container gripping device of Example 2.

[0035] Figure 20 is a top view showing the structure and operation of the subject container gripping device of Example 3.

[0036] Figure 21 is a top view showing the structure and operation of the subject container gripping device of Example 4. DETAILED DESCRIPTION

[0037] Example 1

[0038] Hereinafter, the present embodiment will be described with reference to the drawings. In some of the drawings, the directions of up, down, left, right, front, and back are shown for the sake of clarity of the directions.

[0039] With Figure 1The automated patient examination system 1 of this embodiment will be described. The automated patient examination system 1 is a system that performs various pre-processing steps on patient samples such as blood or urine provided by a patient, and then analyzes them for clinical examination. The automated patient examination system 1 includes a pre-processing device 2, a patient transport device 3, a patient buffer device 4, a connecting device 5, an analysis device 6, and a control device 9. Each device will be described below.

[0040] The pretreatment device 2 is a device for pretreating the test sample before analysis. The pretreatment includes receiving the test sample container 7, centrifugation, measuring the liquid volume in the test sample container 7, opening the test sample container 7, and dispensing the test sample into smaller parts.

[0041] The sample transport device 3 is a device that transports a sample carrier 8 carrying one sample container 7 between the pretreatment device 2 and the analysis device 6. The sample transport device 3 is provided with two transport routes, one for the sample carrier and one for the return.

[0042] The subject buffer device 4 is a device that temporarily holds the subject tray 8 to prevent it from becoming blocked in the transport path. The subject buffer device 4 is provided as needed.

[0043] The connecting device 5 connects the sample transport device 3 and the analysis device 6, transporting the sample carrier 8 to the sample collection position 10 of the analysis device 6. Regarding the connecting device 5, [the following is a separate section:] Figure 2 and Figure 3 This will be described later.

[0044] The analysis device 6 is a device for analyzing the specimen collected from the specimen container 7 on the specimen carrier 8, which is transported to the specimen collection position 10. The specimen is collected by inserting a nozzle or the like into the specimen container 7 located at the specimen collection position 10 from above.

[0045] The control device 9 is, for example, a CPU (Central Processing Unit), which controls the operation of each device based on information obtained by sensors, etc.

[0046] use Figure 2 and Figure 3 The connection device 5 of this embodiment will be described. The connection device 5 includes a turntable 21 and a subject container gripping device 20.

[0047] The turntable 21 is a device that transports the subject carrier 8 to the subject collection position 10, and has a plurality of claws 22 and a circular arc-shaped transport route 23. The claws 22 are thin plates whose planar shape is substantially pentagonal, and are arranged at equal intervals along the transport route 23 in a manner that the apexes are directed toward the outer periphery, and rotate along the transport route 23. A gap that holds the subject carrier 8 is provided between the claws 22, so the subject carrier 8 is transported at equal intervals on the transport route 23 by the rotation of the claws 22.

[0048] The transport route 23 is connected to the subject carrying-in route 11 on which the subject carrier 8 is carried in from the subject transport device 3, and the subject carrying-out route 12 on which the subject carrier 8 is carried out to the subject transport device 3. The subject carrier 8 that is carried in on the subject carrying-in route 11 is blocked by the carrier separation section 13. During the period in which the subject carrier 8 is blocked, the bar code label or the RFID that is attached to the subject container 7 is read by the reading section 14, and information relating to the subject is acquired. After the information relating to the subject is acquired, the subject carrier 8 is released from the carrier separation section 13, and is transported one by one to the transport route 23. The subject carrier 8 on the transport route 23 is transported by the rotation of the claws 22, and after reaching the subject collection position 10, is further transported to be carried out from the subject carrying-out route 12.

[0049] The subject container gripping device 20 is a device that grips the subject container 7 that is transported to the subject collection position 10, and performs position fixation and anti-toppling of the subject container 7 by gripping the subject container 7. The subject container gripping device 20 stands by outside the transport route 23 before the subject carrier 8 is transported to the subject collection position 10, moves horizontally to the transport route 23 when the subject carrier 8 is transported to the subject collection position 10, and grips the subject container 7 from the horizontal direction at the subject collection position 10. Since the subject container gripping device 20 stands by outside the transport route 23 before the subject carrier 8 is transported to the subject collection position 10, and moves horizontally to the subject container 7 after the subject carrier 8 is transported to the subject collection position 10, it is possible to prevent foreign matter from being mixed into the subject container 7. In addition, since the subject container gripping device 20 stands by outside the transport route 23 before the subject carrier 8 is transported to the subject collection position 10, it does not interfere with the transport of the subject container 7, and since it does not move in the vertical direction but only moves in the horizontal direction, it is possible to achieve miniaturization in the vertical direction.

[0050] The subject container gripping device 20 is a device that grips the subject container 7 that is transported to the subject collection position 10, and performs position fixation and anti-toppling of the subject container 7 by gripping the subject container 7. The subject container gripping device 20 stands by outside the transport route 23 before the subject carrier 8 is transported to the subject collection position 10, moves horizontally to the transport route 23 when the subject carrier 8 is transported to the subject collection position 10, and grips the subject container 7 from the horizontal direction at the subject collection position 10. Since the subject container gripping device 20 stands by outside the transport route 23 before the subject carrier 8 is transported to the subject collection position 10, and moves horizontally to the subject container 7 after the subject carrier 8 is transported to the subject collection position 10, it is possible to prevent foreign matter from being mixed into the subject container 7. In addition, since the subject container gripping device 20 stands by outside the transport route 23 before the subject carrier 8 is transported to the subject collection position 10, it does not interfere with the transport of the subject container 7, and since it does not move in the vertical direction but only moves in the horizontal direction, it is possible to achieve miniaturization in the vertical direction. Figure 4 The subject container gripping device 20 is a device that grips the subject container 7 that is transported to the subject collection position 10, and performs position fixation and anti-toppling of the subject container 7 by gripping the subject container 7. The subject container gripping device 20 stands by outside the transport route 23 before the subject carrier 8 is transported to the subject collection position 10, moves horizontally to the transport route 23 when the subject carrier 8 is transported to the subject collection position 10, and grips the subject container 7 from the horizontal direction at the subject collection position 10. Since the subject container gripping device 20 stands by outside the transport route 23 before the subject carrier 8 is transported to the subject collection position 10, and moves horizontally to the subject container 7 after the subject carrier 8 is transported to the subject collection position 10, it is possible to prevent foreign matter from being mixed into the subject container 7. In addition, since the subject container gripping device 20 stands by outside the transport route 23 before the subject carrier 8 is transported to the subject collection position 10, it does not interfere with the transport of the subject container 7, and since it does not move in the vertical direction but only moves in the horizontal direction, it is possible to achieve miniaturization in the vertical direction. Figure 4Only the left side of one pair of tongs 30 is shown, and the right side of the tongs 30 symmetrically disposed with respect to the axis of symmetry 36 is omitted. The axis of symmetry 36 is preferably a line connecting the center of the turntable 21 and the subject collecting position 10. The tongs 30 have a contact surface 31 and a first pin 32, a second pin 33.

[0051] The contact surface 31 is a surface that contacts the subject container 7, and is provided at one end of the tongs 30. The contact surface 31 contacts the subject container 7 from the left and right, thereby gripping the subject container 7. Since the contact surfaces 31 disposed symmetrically left and right grip, the subject container 7 is stably and accurately gripped.

[0052] The first pin 32 is a shaft that is driven in a manner to trace a circular arc in a horizontal plane, and is provided at the other end of the tongs 30. In addition, let the circular arc traced by the first pin 32 be a first circular arc 34, and the center of the first circular arc 34 be a first center 38. The direction in which the first pin 32 is driven is opposite in the left and right, and the first pin 32 on the left side is in the clockwise direction, and the first pin 32 on the right side is in the counterclockwise direction.

[0053] The second pin 33 is a shaft that moves in a manner to trace a circular arc in a horizontal plane, in conjunction with the driving of the first pin 32, and is provided between the two ends of the tongs 30. In addition, let the circular arc traced by the second pin 33 be a second circular arc 35, and the center of the second circular arc 35 be a second center 39. The direction in which the second pin 33 moves is opposite in the left and right, as with the first pin 32.

[0054] The second center 39 can be located outside the pair of tongs 30, or on the axis of symmetry 36. In order to distinguish between the two, the second center 39 located outside the pair of tongs 30 is referred to as a second center 39a, and the second center 39 located on the axis of symmetry 36 is referred to as a second center 39b. In addition, the second circular arc 35 corresponding to the second center 39a is referred to as a second circular arc 35a, and the second circular arc 35 corresponding to the second center 39b is referred to as a second circular arc 35b. The second center 39b and the second circular arc 35b are common in the left and right.

[0055] In the subject container gripping device 20 having the above main portions, the direction in which the first pin 32 is driven is the tangent direction of the first circular arc 34, and the direction in which the second pin 33 moves is the tangent direction of the second circular arc 35. Thus, the direction in which each point on the tongs 30 moves is the tangent direction of a circular arc having the intersection 37 of a straight line connecting the first pin 32 and the first center 38 and a straight line connecting the second pin 33 and the second center 39 as a center. Figure 4In the present embodiment, as an example of the direction in which the contact surface 31 of the forceps 30 moves, a tangent direction of an arc of a circle having the intersection 37a of a straight line connecting the first pin 32 with the first center 38 and a straight line connecting the second pin 33 with the second center 39a as a center is shown by an arrow. In the case where the second center 39 is located on the axis of symmetry 36, a tangent direction of an arc of a circle having the intersection 37b of a straight line connecting the first pin 32 with the first center 38 and a straight line connecting the second pin 33 with the second center 39b as a center is the direction in which the point on the forceps 30 moves.

[0056] With Figure 5 and Figure 6 A more specific structure of the subject container gripping device 20 will be described. The subject container gripping device 20 of the present embodiment has a transmission portion that transmits the rotational drive force generated by the motor 40 to the first pin 32, and the transmission portion has a crank arm 42 and a link plate 44, a first gear 49, a second gear 51, a third gear 52, and the like. Hereinafter, an example of the transmission portion will be described.

[0057] The motor 40 is, for example, a step motor, and has a rotational shaft 41 that rotates with the up-down direction as an axis. In addition, when the motor 40 rotates in the forward direction, the rotational shaft 41 rotates clockwise. Since one end of the crank arm 42 is fixedly connected to the rotational shaft 41, the crank arm 42 rotates integrally with the rotational shaft 41. A link shaft 43 that is rotatably connected to one end of the link plate 44 is provided at the other end of the crank arm 42, and a long hole 48 that faces the link shaft 43 is provided at the other end of the link plate 44. A transmission shaft 45 that is connected to the first gear 49 having a sector with a central angle of about 90° is made to pass through the long hole 48. The transmission shaft 45 is able to move along the long hole 48, and thus when the rotational shaft 41 rotates clockwise, the transmission shaft 45 is pulled in the left direction, and the first gear 49 rotates clockwise with the first gear shaft 50 as a center of rotation.

[0058] In addition, the transmission shaft 45 is connected to one end of a spring 46 that is a tension spring, and the other end of the spring 46 is supported by the link plate 44 via a spring fixing portion 47. The transmission shaft 45 that is pulled by the spring 46 toward the spring fixing portion 47 is maintained in a state of abutting against the face on the side of the link shaft 43 of the long hole 48.

[0059] The second gear 51 engages with the first gear 49, so that when the first gear 49 rotates clockwise, the second gear 51 rotates counterclockwise. Since the second gear 51 shares the first center 38 as a rotation axis with the right side of the pair of left and right third gears 52, when the second gear 51 rotates counterclockwise, the third gear 52 on the right side also rotates counterclockwise. Since the pair of left and right third gears 52 have the same number of teeth and engage with each other, when the third gear 52 on the right side rotates counterclockwise, the third gear 52 on the left side rotates clockwise. On the pair of left and right third gears 52, the first pins 32 of the pair of left and right symmetrical tongs 30 are respectively provided, so that the first pins 32 are respectively driven on the first circular arcs 34 in a left and right symmetrical manner by the rotation of the third gears 52.

[0060] In addition, the second pins 33 of the pair of left and right symmetrical tongs 30 are respectively rotatably connected to one end of the pair of left and right link arms 53, and the second centers 39a rotatably supported by shafts are respectively provided at the other end of the link arms 53 in a left and right symmetrical manner. That is, the second pins 33 move on the second circular arcs 35a through the link arms 53.

[0061] Then, as the first pins 32 are driven on the first circular arcs 34, the second pins 33 move on the second circular arcs 35a, so that the contact surfaces 31 move in the tangent direction of the circular arcs with the intersection point 37a as the center. The intersection point 37a is a point where a straight line connecting the first pins 32 and the first center 38 and a straight line connecting the second pins 33 and the second center 39a intersect, and the position changes as the first pins 32 and the second pins 33 move, so that the contact surfaces 31 move in a curved line as indicated by an arrow in FIG. 6. Figure 6

[0062] In addition, in order to detect the rotation angle of the first gear 49, a first detection plate 54 and a first sensor 56 can be provided. The first detection plate 54 is fixed to the first gear 49 and rotates together with the first gear 49. The first sensor 56 is arranged to detect the position of the first detection plate 54 when the origin position of the subject container gripping device 20, that is, the rotation axis 41, the link shaft 43, the spring fixing portion 47, and the transmission shaft 45 are arranged in the order as described in substantially one straight line.

[0063] In addition, in order to detect the position of the link plate 44, a second detection plate 55 and a second sensor 57 can be provided. The second detection plate 55 is fixed to the link plate 44 and moves together with the link plate 44. The second sensor 57 is arranged to detect the position of the second detection plate 55 when the link shaft 43, the rotation axis 41, the spring fixing portion 47, and the transmission shaft 45 are arranged in the order as described in substantially one straight line.

[0064] ​Further, the third sensor 58 can be arranged to detect the position of the first detection plate 54 when the first gear 49 reaches a predetermined rotational angle. In addition, the first sensor 56, the second sensor 57, and the third sensor 58 are fixed to the subject container gripping device 20 by a support member not shown.

[0065] With Figure 7 An example of the flow of the operation of the subject container gripping device 20 of the present embodiment will be described.

[0066] (S701)

[0067] The connecting device 5 moves the subject carrier 8 in based on the instruction from the control device 9. Preferably, the information related to the subject is acquired by the reading section 14 during the period in which the subject carrier 8 is blocked by the carrier separation section 13. In addition, the control device 9 preferably causes the subject container gripping device 20 to move to the home position in advance based on the output of the first sensor 56.

[0068] (S702)

[0069] The turntable 21 rotates the claws 22 in the circumferential direction of the transport route 23 based on the instruction from the control device 9. The subject carrier 8 held between the claws 22 is transported along the transport route 23.

[0070] (S703)

[0071] The control device 9 determines whether the subject carrier 8 has reached the subject collection position 10. If not, the process returns to S702, and if so, the process proceeds to S704.

[0072] (S704)

[0073] The control device 9 causes the motor 40 to rotate in the forward direction in the state in which the turntable 21 is stopped. In addition, the height of the subject carrier 8 can be adjusted by a lifting device not shown in correspondence with the height of the analysis device 6.

[0074] (S705)

[0075] The control device 9 determines whether the subject container gripping device 20 has gripped the subject container 7. If not, the process proceeds to S706, and if so, the process proceeds to S707.

[0076] With Figures 8 to 11 The operation until the subject container gripping device 20 grips the subject container 7 will be described. Figure 8 is a state in which the rotational shaft 41 rotates clockwise and the connecting shaft 43 has rotated by an angle θ1 from the home position. As the connecting shaft 43 rotates, the first pin 32 and the second pin 33 move, and the intersection 37a also moves, so the direction of movement of the contact surface 31 becomesFigure 8 the arrow direction. In addition, Figure 8 the first detection plate 54 has been disengaged from the first sensor 56, so the movement of the subject container gripping device 20 to the origin position in S701 can be performed by rotating the rotation shaft 41 counterclockwise in the state shown in FIG. 7B. Figure 8

[0077] Figure 9 is a state after the rotation shaft 41 further rotates clockwise and the link shaft 43 rotates by an angle θ2 (> θ1) from the origin position. With the movement of the first pin 32 and the second pin 33, the intersection 37a of the straight line connecting the first pin 32 and the first center 38 and the straight line connecting the second pin 33 and the second center 39 moves to the position shown in FIG. 7D, so the moving direction of the contact surface 31 becomes the arrow direction. In addition, the tongs 30 cross the transport route 23. Figure 9 Figure 9

[0078] Figure 10 is a state after the rotation shaft 41 further rotates clockwise and the link shaft 43 rotates by an angle θ3 (> θ2) from the origin position. With the movement of the first pin 32 and the second pin 33, the intersection 37a moves and the contact surface 31 comes into contact with the subject container 7 disposed at the subject collection position 10. In addition, during the process of reaching the state shown in FIG. 7E from the origin position, the spring 46 pulls only the transmission shaft 45 in the long hole 48, and the elastic force of the spring 46 is not transmitted from the transmission shaft 45 to the first gear 49. Thus, the load required for the movement of the tongs 30 is only the inertial force and the frictional load due to acceleration, so the power consumption of the motor 40 from the origin position until the contact with the subject container 7 can be reduced. In addition, the tongs 30 are driven by one motor 40, so the subject container gripping device 20 can be configured inexpensively. In addition, in the state shown in FIG. 7E, the contact surface 31 is only in contact with the subject container 7, and no force to grip the subject container 7 is generated in the tongs 30. Figure 10 Figure 10

[0079] Figure 11 ​​​​​This is a state where the rotating shaft 41 further rotates clockwise, the connecting shaft 43 rotates by an angle θ4 (> θ3) from the origin position, and moves to the side opposite to the transmission shaft 45 with respect to the rotating shaft 41. Since the clamp 30 contacts the test object container 7, as the positions of the first pin 32 and the second pin 33 are fixed, the rotation angles of the third gear 52, the second gear 51, and the first gear 49 and the position of the transmission shaft 45 are fixed. With the position of the transmission shaft 45 fixed, in contrast, the spring fixing portion 47 and the connecting plate 44 move in the direction approaching the rotating shaft 41, so the spring 46 is stretched, and a torque is generated via the transmission shaft 45 to rotate the first gear 49 clockwise. This torque acts on the clamp 30 via the second gear 51 and the third gear 52, generating a force to grip the test object container 7. Additionally, Figure 11 In this state, the straight line connecting the connecting shaft 43 and the spring fixing portion 47 is located behind the center of the rotating shaft 41, so the reverse rotation of the motor 40 can be prevented by the elastic force of the spring 46.

[0080] The second sensor 57 can be arranged at the position of the second detection plate 55 when the straight line connecting the connecting shaft 43 and the spring fixing portion 47 is located behind the center of the rotating shaft 41. That is, based on the output of the second sensor 57, it can be determined whether the test object container gripping device 20 has gripped the test object container 7.

[0081] Additionally, there are multiple types of test object containers 7 with different diameters. Using Figure 12 and Figure 13 For cases where the diameters are d2 and d3 that are thinner than the diameter d1 of the test object container 7 shown in Figure 11 etc. are described. Additionally, let d2 = (d1 + d3) / 2.

[0082] In Figure 12 the state of gripping the test object container 7 with diameter d2 (< d1) is shown. Figure 12 In this case, when the intersection point 37a is on the tangent line in the front - rear direction with respect to the test object container 7, the contact surface 31 contacts the test object container 7. Therefore, only a gripping force from the left - right direction is applied to the test object container 7.

[0083] In Figure 13 the state of gripping the test object container 7 with diameter d3 (< d2) is shown. Figure 13 In this case, the intersection point 37a moves to the left compared to Figure 12 the situation in Figure 11 so a gripping force towards the right - rear is applied. Additionally, Figure 12 In this case, the intersection point 37a moves to the right compared to Figure 13 so a gripping force towards the right - front is applied. Therefore, by the pair of clamps 30, Figure 11The force to move forward is made to act on the subject container 7. Thus, the contact surface 31 is preferably a shape that surrounds the subject container 7, for example, a shape having a V-shaped groove.

[0084] With Figure 14 An example of the shape of the contact surface 31 will be described. Among them, Figure 14 (a) of FIG. 10 is an enlarged view of the vicinity of the contact surface 31 in the case of the thick diameter dl, Figure 14 (b) is the case of the thin diameter d3. In addition, in Figure 14 (b) of FIG. 10, the case of the thick diameter dl is shown by a broken line. Figure 14 In this case, the contact surface 31 is a shape having a V-shaped groove, and is divided into a front side contact surface 31a and a rear side contact surface 31b.

[0085] Figure 14 In (a) of FIG. 10, as with Figure 11 Likewise, the intersection point 37a is located to the right of the tangent line in the front-rear direction, and thus the left gripper 30 moves to the right front. At this time, the front side contact surface 31a contacts the subject container 7 at the point P, so that a reaction force Fa toward the center position O of the subject container 7 is generated. In addition, the rear side contact surface 31b is configured so as to generate a reaction force Fb toward the center position O of the subject container 7 when the rear side contact surface 31b contacts the subject container 7 at the point Q. By configuring the front side contact surface 31a and the rear side contact surface 31b in this way, the left and right pair of grippers 30 can grip the subject container 7 at the center position O.

[0086] Figure 14 In (b) of FIG. 10, as with Figure 13 Likewise, the intersection point 37a is located to the left of the tangent line in the front-rear direction, and thus the left gripper 30 moves to the right rear. At this time, the front side contact surface 31a contacts the subject container 7' at the point P', so that a reaction force Fa' toward the center position O' of the subject container 7' is generated. In addition, the rear side contact surface 31b is configured so as to generate a reaction force Fb' toward the center position O' of the subject container 7' when the rear side contact surface 31b contacts the subject container 7' at the point Q'. By configuring the front side contact surface 31a and the rear side contact surface 31b in this way, the left and right pair of grippers 30 can grip the subject container 7 at the center position O.

[0087] Here, it is preferable to set the relative position and angle of the front contact surface 31a and the rear contact surface 31b such that the distance from point P to point P' and the distance from point Q to point Q' are equal to (d1-d3) / 2. With this configuration, it is possible to accurately grasp various types of test container 7 with different diameters. Furthermore, the center position O of the test container 7 and the center position O' of the test container 7' may not be the same position; for example, there may be an error of about 0.2 mm.

[0088] Furthermore, the intersection point 37a when grasping the test container 7 with a diameter of d2 is preferably positioned within the range sandwiched by tangents extending rearward from the sides of the test containers 7 with different diameters. Specifically, the intersection point 37a when grasping the test container 7 with a diameter of d2 is preferably positioned between the tangent extending rearward from the side of the test container 7 with a diameter of d1 and the tangent extending rearward from the side of the test container 7 with a diameter of d3. With this configuration, test containers 7 with diameters ranging from d1 to d3 can be grasped correctly.

[0089] (S706)

[0090] The control device 9 determines whether the specimen container 7 is not detected on the specimen carrier 8 that has been transported to the specimen collection position 10. If the absence of the specimen container 7 is not detected, the process returns to step S704; if it is detected, the process proceeds to step S709.

[0091] use Figure 15 This indicates that there is no subject container 7. Figure 15 It comes into contact with the test container 7 from the contact surface 31. Figure 10 The state is as follows: due to the further clockwise rotation of the rotating shaft 41, the connecting shaft 43 rotates by an angle θ5 (>θ3) from the origin position. Furthermore, θ5 is less than θ4. As the first pin 32 and the second pin 33 move, the intersection point 37a moves, and the contact surfaces 31 come into contact with each other. Because the contact surfaces 31 do not contact the test container 7, the first gear 49... Figure 10 The first gear 49 rotates further, and as it rotates, the first detection plate 54 moves to the position of the third sensor 58, causing the output of the third sensor 58 to change. That is, based on the output of the third sensor 58, it can be detected that the sample collection position 10 does not contain the sample container 7.

[0092] (S707)

[0093] Control device 9 stops motor 40. The object container 7 is gripped by the torque exerted on clamp 30 by the tension of spring 46.

[0094] (S708)

[0095] The analysis device 6 picks up the subject from the subject container 7 held by the subject container holding device 20.

[0096] (S709)

[0097] The control device 9 reverses the rotation of the motor 40. As the motor 40 is reversed, the pair of tongs 30 releases the holding of the subject container 7 and moves horizontally to the home position.

[0098] (S710)

[0099] The control device 9 determines whether the subject carrier 8 has reached the home position. If not, the process returns to S709, and if so, the process proceeds to S711. Whether the subject carrier 8 has reached the home position can be determined from the output of the first sensor 56.

[0100] (S711)

[0101] The control device 9 stops the motor 40. The pair of tongs 30 has returned to the home position. In addition, in the case where the height of the subject carrier 8 was adjusted in S704, the subject carrier 8 is returned to the original height in this step.

[0102] (S712)

[0103] The control device 9 determines whether there is a next subject to be analyzed. If there is no next subject, the process ends, and if there is, the process returns to S701.

[0104] By the above-described process flow, the foreign matter such as wear powder generated by the pair of tongs 30 can be prevented from being mixed into the subject held in the subject container 7 on the transport route 23. In addition, the subject container holding device 20 of the present embodiment moves in the horizontal direction and holds the subject container 7 from the horizontal direction, so that the vertical direction can be downsized. In addition, because the pair of tongs 30 waits outside the transport route 23 until the subject carrier 8 is transported to the subject pickup position 10, the transport of the subject container 7 is not hindered.

[0105] Embodiment 2

[0106] In Embodiment 1, the case where the second center 39 is located outside the pair of tongs 30, i.e., the second center 39a, was described. In the present embodiment, the case where the second center 39 is located on the axis of symmetry 36 of the pair of tongs 30, i.e., the second center 39b, is described. In addition, the same structures as in Embodiment 1 are omitted from the description.

[0107] With Figures 16 to 19 The structure of the subject container holding device 20 of the present embodiment and the operation from the home position until the subject container 7 is held are described. As shown in FIG. 8, the subject container holding device 20 of the present embodiment is different from that of Embodiment 1 in that the second center 39b is located on the axis of symmetry 36 of the pair of tongs 30.Figure 16 As shown in FIG. 1, the subject container gripping device 20 of the present embodiment has a pair of jaws 30 and a pair of third gears 52 arranged symmetrically left and right, as in Embodiment 1. In addition, Figure 16 In the present embodiment, the structure from the motor 40 to the second gear 51 is omitted.

[0108] The jaws 30 have a contact surface 31 and a first pin 32 and a second pin 33, as in Embodiment 1. The contact surface 31 is a surface that contacts the subject container 7, and is provided at one end of the jaws 30. The first pin 32 is provided at the other end of the jaws 30, and is rotatably connected to the third gear 52, whereby it is driven in a manner that traces a circular arc having the first center 38 as a center of rotation. The second pin 33 is provided between the two ends of the jaws 30, and is rotatably connected to one end of a second link arm 60. The other end of the second link arm 60 is rotatably connected to a second center 39b arranged on the axis of symmetry 36. In addition, the second link arm 60 is arranged symmetrically left and right with respect to the axis of symmetry 36.

[0109] According to such a structure, the second pin 33 of the present embodiment moves in a manner that traces a second circular arc 35b having the second center 39b as a center, in conjunction with the driving of the first pin 32. Then, the contact surface 31 moves in a tangential direction of a circular arc having the intersection point 37b of a straight line connecting the first pin 32 and the first center 38 and a straight line connecting the second pin 33 and the second center 39b as a center. In addition, Figure 16 is a state in which the subject container gripping device 20 is in the origin position, and shows the direction in which the contact surface 31 moves when the third gear 52 on the left side is rotated clockwise.

[0110] Figure 17 is a state in which the third gear 52 on the left side has been rotated clockwise from the origin position, whereby the first pin 32 and the second pin 33 have moved, and the pair of jaws 30 has moved forward while opening. In conjunction with the movement of the first pin 32 and the second pin 33, the intersection point 37b has moved to the position shown in Figure 17 , and the direction in which the contact surface 31 moves is as shown by the arrow of Figure 17 .

[0111] Figure 18 is a state in which the third gear 52 on the left side has been further rotated clockwise, whereby the first pin 32 and the second pin 33 have moved, and the pair of jaws 30 has moved forward while closing. In conjunction with the movement of the first pin 32 and the second pin 33, the intersection point 37b has moved to the position shown in Figure 18 , and the direction in which the contact surface 31 moves is as shown by the arrow of Figure 18 .

[0112] Figure 19is the state where the third gear 52 on the left further rotates clockwise, the first pin 32 and the second pin 33 move, the pair of pincers 30 further close and the contact surface 31 contacts the subject container 7. The intersection point 37b moves to Figure 19 the position shown in the figure, the moving direction of the contact surface 31 is substantially right as shown by the arrow. Figure 19 Because the moving direction of the contact surface 31 is substantially right, the subject container 7 transported to the subject collection position 10 is correctly held by the pair of pincers 30 which are left-right symmetrical.

[0113] With the above-described structure and operation, as in Embodiment 1, the subject container 7 can be held so that foreign matter such as wear powder generated by the pair of pincers 30 does not mix into the subject accommodated in the subject container 7. In addition, the subject container holding device 20 of this embodiment also moves in the horizontal direction, holds the subject container 7 from the horizontal direction, and thus can achieve miniaturization in the vertical direction. In addition, because the pair of pincers 30 stand by outside the transport route 23 before the subject holder 8 is transported to the subject collection position 10, the transport of the subject container 7 is not hindered.

[0114] Embodiment 3

[0115] In Embodiment 2, the movement of the second pin 33 on the second circular arc 35b centered on the second center 39b by using the second link arm 60 was described. In this embodiment, a guide groove 70 in which the second pin 33 slides is described instead of the second link arm 60. In addition, description of the same structure as in Embodiment 2 is omitted.

[0116] With the above-described structure and operation, as in Embodiment 1, the subject container 7 can be held so that foreign matter such as wear powder generated by the pair of pincers 30 does not mix into the subject accommodated in the subject container 7. In addition, the subject container holding device 20 of this embodiment also moves in the horizontal direction, holds the subject container 7 from the horizontal direction, and thus can achieve miniaturization in the vertical direction. In addition, because the pair of pincers 30 stand by outside the transport route 23 before the subject holder 8 is transported to the subject collection position 10, the transport of the subject container 7 is not hindered. Figure 20 The structure of the subject container holding device 20 of this embodiment is described. The subject container holding device 20 of this embodiment, as in Embodiment 2, has a pair of pincers 30 and a pair of third gears 52 which are left-right symmetrical, and the pincers 30 have a contact surface 31 and a first pin 32 and a second pin 33. As in Embodiment 2, the contact surface 31 is a surface which contacts the subject container 7, and the first pin 32 is rotatably connected to the third gear 52. The second pin 33 of this embodiment slides in a guide groove 70 provided along a second circular arc 35b centered on a second center 39b. In addition, the guide groove 70 is provided left-right symmetrical with respect to the axis of symmetry 36. In addition, the guide groove 70 is not limited to the shape along the second circular arc 35b, and can be the shape along the second circular arc 35a shown in the figure. Figure 4

[0117] ​According to such a structure, the second pin 33 of the present embodiment moves in a manner to trace a second circular arc 35b in conjunction with the driving of the first pin 32. Then, the contact surface 31 moves in a tangential direction of a circular arc having the intersection 37b of a straight line connecting the first pin 32 and the first center 38 and a straight line connecting the second pin 33 and the second center 39b as a center. In addition, Figure 20 In the present embodiment, the state where the subject container gripping device 20 is located at the home position is shown by a solid line, the state where the gripper 30 grips the subject container 7 located at the subject collection position 10 is shown by a broken line, and the moving direction of the contact surface 31 from the home position until the gripping state is shown by a curved arrow.

[0118] According to the structure described above, as in Embodiment 2, the foreign matter such as a wear powder generated by the pair of grippers 30 can be prevented from being mixed into the subject accommodated in the subject container 7. In addition, the subject container gripping device 20 of the present embodiment also moves in the horizontal direction, grips the subject container 7 from the horizontal direction, and thus the miniaturization in the vertical direction can be achieved. In addition, because the pair of grippers 30 stand by outside the transport route 23 before the subject carrier 8 is transported to the subject collection position 10, the transport of the subject container 7 is not hindered.

[0119] Embodiment 4

[0120] In Embodiments 1 to 3, the gripping of the subject container 7 on the subject carrier 8 transported by the gripping turntable 21 has been described. In the present embodiment, the gripping of the subject container 7 transported along a straight transport route 80 possessed by the subject transport device 3, not along the circular arc-shaped transport route 23, is described. In addition, the description of the same structure as in Embodiment 1 is omitted.

[0121] In the present embodiment, the state where the subject container gripping device 20 is located at the home position is shown by a solid line, the state where the gripper 30 grips the subject container 7 located at the subject collection position 10 is shown by a broken line, and the moving direction of the contact surface 31 from the home position until the gripping state is shown by a curved arrow. Figure 21 The structure of the subject container gripping device 20 of the present embodiment is described. The subject container gripping device 20 of the present embodiment has a pair of grippers 30 that stand by outside the straight transport route 80 before the subject container 7 is transported to the prescribed position, and moves horizontally to the straight transport route 80 to grip the subject container 7 from the horizontal direction when the subject container 7 is transported to the prescribed position. The driving mechanism of the gripper 30 can be the same as that of any one of Embodiments 1 to 3. In addition, Figure 21 In the present embodiment, the state where the subject container gripping device 20 is located at the home position is shown by a solid line, the state where the gripper 30 grips the subject container 7 located at the subject collection position 10 is shown by a broken line, and the moving direction of the contact surface 31 from the home position until the gripping state is shown by a curved arrow.

[0122] According to the above-described structure, as with Embodiments 1 to 3, the subject container 7 can be gripped without foreign matter such as wear powder generated by the pair of tongs 30 being mixed into the subject accommodated in the subject container 7. In addition, the subject container gripping device 20 of the present embodiment also moves in the horizontal direction to grip the subject container 7 from the horizontal direction, and thus the vertical direction can be made small. In addition, because the pair of tongs 30 waits outside the straight conveyance route 80 before the subject container 7 is conveyed to the prescribed position, the conveyance of the subject container 7 is not hindered.

[0123] Four embodiments are described for the subject container gripping device and the subject conveyance device, the connecting device of the present application. In addition, the subject container gripping device and the subject conveyance device, the connecting device of the present application are not limited to the above-described embodiments, and the constituent elements can be modified and embodied within the scope of the gist of the present application. In addition, the plurality of constituent elements disclosed in the above-described embodiments can be appropriately combined. Furthermore, some of the constituent elements shown in the above-described embodiments can also be deleted.

[0124] Explanation of Reference Numerals

[0125] 1: subject examination automation system, 2: pretreatment device, 3: subject conveyance device, 4: subject buffer device, 5: connecting device, 6: analysis device, 7: subject container, 8: subject carrier, 9: control device, 10: subject collection position, 11: subject carrying-in route, 12: subject carrying-out route, 13: carrier separation section, 14: reading section, 20: subject container gripping device, 21: turntable, 22: claw, 23: conveyance route, 30: tongs, 31: contact surface, 32: first pin, 33: second pin, 34: first circular arc, 35: second circular arc, 36: axis of symmetry, 37: intersection, 38: first center, 39: second center, 40: motor, 41: rotation shaft, 42: crank arm, 43: link shaft, 44: link plate, 45: transmission shaft, 46: spring, 47: spring fixing section, 48: long hole, 49: first gear, 50: first gear shaft, 51: second gear, 52: third gear, 53: link arm, 54: first detection plate, 55: second detection plate, 56: first sensor, 57: second sensor, 58: third sensor, 60: second link arm, 70: guide groove, 80: straight conveyance route.

Claims

1. A specimen container gripping device for holding a specimen container used to collect a specimen, characterized in that: It has a pair of clamps that stand outside the transport path of the specimen carrier before the specimen carrier carrying the specimen container is transported to a predetermined position, and move horizontally along the transport path when the specimen carrier is transported to the predetermined position to grasp the specimen container horizontally at the predetermined position. One end of the clamp has a contact surface that contacts the container of the test subject, and the other end has a first pin. A second pin is located between the two ends. The clamps are arranged symmetrically in pairs. As the first pin is driven on the first arc, the second pin moves on the second arc. The straight line connecting the center of the first arc and the first pin intersects the straight line connecting the center of the second arc and the second pin.

2. The object container gripping device as described in claim 1, characterized in that: The center of the second arc is located outside the pair of clamps.

3. The object container gripping device as described in claim 1, characterized in that: The center of the second arc lies on the axis of symmetry of the pair of clamps.

4. The object container gripping device as described in claim 1, characterized in that: It also includes an electric motor for generating a rotary driving force, a transmission part for transmitting the rotary driving force to the first pin, and a sensor, i.e., a gripping sensor, for detecting whether the pair of clamps have gripped the container under test. The transmission unit includes: an elastic portion that extends due to the rotational driving force after the contact surface contacts the test object container; a crank arm with one end fixedly connected to the rotating shaft of the motor; and a connecting plate having a connecting shaft at one end rotatably connected to the other end of the crank arm and a transmission shaft at the other end for transmitting the rotational driving force. The gripping sensor detects that the container being examined has been gripped when the connecting shaft moves to the side opposite to the drive shaft relative to the rotation shaft and the line connecting the connecting shaft and the drive shaft is located behind the center of the rotation shaft.

5. The object container gripping device as described in claim 4, characterized in that: It also includes a gear rotatably connected to the drive shaft that drives the first pin, and a sensor, namely a container sensor, that detects when the test container is not in the specified position. The container sensor detects that the tested container is not in the specified position when the gear reaches the specified rotation angle.

6. The object container gripping device as described in claim 1, characterized in that: The second arc is formed by a connecting arm having one end rotatably connected to the second pin and the other end rotatably supported by a shaft.

7. The object container gripping device as described in claim 1, characterized in that: The second arc is formed by a guide groove for the second pin to slide.

8. A specimen transport device for transporting a specimen container for receiving a specimen, characterized in that: It has the subject container gripping device as described in claim 1.

9. A connecting device for connecting a sample transport device for transporting and storing a sample container to an analytical device for analyzing the sample, characterized in that: It has the subject container gripping device as described in claim 1.

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