Holding device, automatic analyzer, and holding method

Abstract

The present invention is provided with: a connecting rod (23) extending in a first direction; a first arm (20a) axially supported at one end of the connecting rod (23) and extending in a second direction; a second arm (20b) which is axially supported at the other end of the connecting rod (23) on the opposite side from the side on which the first arm (20a) is axially supported, and which extends in the third direction; a first gripping arm (25a) which is configured so as to be rotatable about a first oscillating bearing part (19a) and which extends in a fourth direction; and a second gripping arm (25b) which is configured so as to be rotatable about the second oscillating bearing section (19b), extends in a fifth direction, and is configured so that a straight line connecting the first oscillating bearing section (19a) and the second oscillating bearing section (19b) is parallel to the first direction, the second direction is parallel to the third direction, and the fourth direction and the fifth direction are in a point-symmetric relationship with respect to the container (8). As a result, provided are a gripping device, an automatic analyzer, and a gripping method that can be made more compact than conventional mechanisms and that can improve gripping accuracy.

Description

Technical Field

[0001] The present invention relates to a gripping device, an automatic analysis device, and a gripping method. Background Art

[0002] The electric clamping device described in Patent Document 1 is configured such that "the sub-arm is rotatably supported on the first wrist and the second wrist in a state parallel to the main arm, and rotates as the main arm rotates through the rotation of the motor shaft, and the first wrist and the second wrist can approach and separate while maintaining their parallel state with each other".

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2016-55393 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] An automatic analysis device is a device that automatically analyzes blood and other biological samples and outputs results, and has become an essential device in hospitals and medical examination facilities. In such an automatic analysis device, it is desired to perform more diverse examinations in a shorter time.

[0008] An automatic analysis device needs to supply a large number of disposable consumable containers for mixing and analyzing samples such as blood as a test object with reagents from the outside, take them out one by one, and supply them to the analysis device. For example, in order to grip and take out containers one by one from a magazine in which a plurality of consumable containers are placed close to each other and at high density and convey them to the analysis device, a gripping device that is small and can reliably and highly accurately grip the container and has a pair of opening and closing claws for gripping and holding the container is required.

[0009] As such a gripping device, it is desired to achieve both the gripping position accuracy of the container and miniaturization so as not to interfere with adjacent containers disposed close to the magazine when fully opened.

[0010] In the structure disclosed in Patent Document 1, although the first wrist and the second wrist can hold or release the workpiece while maintaining parallelism and approaching and separating, since the workpiece gripping portions for holding or releasing the workpiece extend to the side of the motor and are arranged in parallel, there is a limit in miniaturization by reducing the projected area of the motor and the workpiece holding portion.

[0011] The present invention provides a gripping device, an automatic analysis device, and a gripping method that can be miniaturized and can improve gripping accuracy as compared with conventional mechanisms.

[0012] Means for Solving the Problems

[0013] The present invention includes multiple solutions to the above problems. If one example is cited, it includes: a rod-shaped member extending in a first direction in a horizontal plane; a first arm pivotally supported at one end of the rod-shaped member and extending in a second direction different from the first direction in the horizontal plane; a second arm pivotally supported at the other end of the rod-shaped member on the side opposite to the side where the first arm is pivotally supported and extending in a third direction different from the first direction in the horizontal plane; a first gripping portion configured to be rotatable about one end of the first arm that is not connected to the rod-shaped member, i.e., a first portion, and extending in a fourth direction different from the second direction in the horizontal plane; and a second gripping portion configured to be rotatable about one end of the second arm that is not connected to the rod-shaped member, i.e., a second portion, and extending in a fifth direction different from the third direction in the horizontal plane. When the first gripping portion and the second gripping portion grip the object by clamping the object or release the object being gripped, they operate in the following manner: making the straight line connecting the first portion and the second portion parallel to the first direction, making the second direction parallel to the third direction, and making the fourth direction and the fifth direction point-symmetric with respect to the object.

[0014] Advantages of the Invention

[0015] According to the present invention, miniaturization can be achieved and gripping accuracy can be improved compared with conventional mechanisms. Other problems, structures, and effects will be clarified by the description of the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a diagram showing an overview of the automatic analysis device.

[0017] Figure 2 is a perspective view of the gripping device.

[0018] Figure 3 is Figure 2 a view in the direction A of

[0019] Figure 4 is Figure 2 a cross-sectional view taken along line B - B of

[0020] Figure 5 is an exploded perspective view showing the structure of the gripping portion linkage mechanism.

[0021] Figure 6 is Figure 5 a view in the direction D of ((a) is the closed state, (b) is the fully open state, (c) is the state of gripping the container).

[0022] Figure 7 is Figure 5The D-direction view is a line drawing schematically showing the structure of the gripping part linkage mechanism ((a) is the closed state, (b) is the fully open state, and (c) is the state of gripping the container).

[0023] Figure 8 is Figure 4 The C-C sectional view ((a) is the closed state, (b) is the state of gripping the container).

[0024] Figure 9 is a perspective view of the gripping device ((a) is the closed state, (b) is the state of gripping the container).

[0025] Figure 10 is a perspective view of the gripping device observed from another direction ((a) is the closed state, (b) is the state of gripping the container).

[0026] Figure 11 is a perspective view showing the gripping device and the cassette on which the container is placed.

[0027] Figure 12 is a schematic top view showing the positional relationship between the gripping claws of the gripping device and the container placed on the cassette ((a) is the fully open state, (b) is the state of gripping the container). Detailed implementation

[0028] Use Figures 1 to 12 Examples of the gripping device, the automatic analysis device, and the gripping method of the present invention will be described. It should be noted that in the drawings used in this specification, the same or corresponding components are labeled with the same or similar reference numerals, and sometimes the repeated description of these components is omitted.

[0029] In the following embodiments, the case where the gripping device is provided in Figure 1 the consumable conveying unit 112 of the automatic analysis device shown will be described, but it can be applied to the reaction vessel conveying unit 114, other gripping mechanisms, or various mechanisms for holding objects.

[0030] In addition, the case where the object to be gripped is various containers used in the above automatic analysis device, particularly the bottomed cylindrical container 8 (refer to Figure 2 etc.) will be described, but the object to be gripped is not limited to such containers.

[0031] Hereinafter, use Figure 1 to describe an immunoassay device as an example of the automatic analysis device. Figure 1 is a schematic structural diagram of the immunoassay device.

[0032] Figure 1The immunological analysis device shown is composed of the following units: a test body transport unit 102 that transports a test body container 101 such as a blood collection tube containing a test body to be analyzed to a test body suction position 110; a reagent storage unit 104 that controls the temperature of a reagent container 103 filled with a reagent used for analysis so that the temperature of the reagent is within a certain range; a test body dispensing unit 105 that dispenses the test body in the test body container 101 into a reaction container; a reagent dispensing unit 106 that dispenses the reagent in the reagent container 103 into the reaction container; a stirring unit 107 that stirs particles and the like in the liquid in the reagent container 103 with an open top; a cleaning unit 115 that cleans the stirring unit 107; a reaction promotion unit 108 that provides a reaction container for accommodating a reaction solution in which the test body and the reagent are mixed and controls the reaction solution to enter a certain temperature range; a measurement unit 109 that optically measures the amount of a substance in the reaction solution whose reaction has been promoted by the reaction promotion unit; an ambient temperature measurement sensor (omitted for ease of illustration) that measures the temperature of the surrounding environment where the immunological analysis device is disposed; and a control device 113 that controls the operations of the above-mentioned respective units.

[0033] The test body transport unit 102 is a mechanism for transporting a test body rack carrying one or more test body containers 101 to a destination. It should be noted that a test body disk arranged on the circumference of a disk can be used instead of or in addition to the transport unit. In the case of a test body rack, the test body rack is transported to the suction position of the test body dispensing unit by a transport device such as a conveyor belt mechanism or a robotic arm.

[0034] The reagent storage unit 104 is structured such that a plurality of reagent containers 103 are arranged on a circumference and rotated to transport an arbitrary reagent container to a desired position, but it can also be structured such that the reagent containers are arranged in a row or multiple rows are arranged vertically and horizontally.

[0035] The measurement unit 109 optically or electrically measures the reaction solution in the reaction container transported from the reaction promotion unit 108 by the reaction container transport unit 114. At this time, the reaction solution in the flow path is measured in a state where it is controlled within a certain temperature range. As an example of the measurement operation, there can be mentioned measurement of the absorbance of the reaction solution, measurement of the luminescence amount when a reagent is added to or a voltage is applied to the reaction solution, measurement of the number of particles in the reaction solution, or measurement of the change in the current value or voltage value when the reaction solution comes into contact with an electrode film. Therefore, a photomultiplier tube, a photometric device such as a photometer, an imaging element such as a CCD, an ammeter for measuring the change in the current value, a voltmeter for measuring the change in the voltage value, etc. are provided in the measurement unit 109.

[0036] The reaction promotion unit 108 performs a stable reaction by maintaining the temperature of the reaction container within a predetermined temperature range. Specifically, it is an incubator that controls the temperature by heating the surroundings with a heater or the like in a state where a plurality of reaction containers are arranged on the circumference. As another example of the reaction promotion unit 108, it may be a thermostatic bath that immerses the reaction container in a tank that circulates a liquid controlled to a certain temperature range.

[0037] The sample dispensing unit 105 dispenses the sample in the sample container 101 into the reaction container. However, depending on the analytical performance required of the analyzer, the influence of carry-over between samples needs to be considered. Therefore, when the sample dispensing unit 105 dispenses the sample, a dispensing chip that can be replaced every time the sample changes is used, or an unused reaction container is used each time. In this case, the dispensing chip and reaction container that have been used once are discarded.

[0038] Therefore, new dispensing chips and reaction containers required to execute analysis for a certain period of time are stored in the magazine 36 and are supplied to the place where they are used in a timely manner by the consumables transport unit 112.

[0039] The consumable product transport unit 112 is configured to be movable in the planar direction and the vertical direction, and is configured to be movable above the magazine 36 , the reaction promotion unit 108 , the disposal hole 117 , and the stirring mechanism 116 .

[0040] The cartridge 36 is configured to be attachable to and detachable from the immunoanalyzer, and is placed on the upper surface of the immunoanalyzer by an operator in a state where a plurality of containers are placed thereon.

[0041] Next, use Figures 2 to 12 The structure and the like of the container gripping device will be described.

[0042] First, use Figures 2 to 5 The basic structure is described. Figure 2 is a perspective view showing the overall structure of the holding device, Figure 3 It is a view in the direction of A and is a side view of the holding device. Figure 4 yes Figure 2 Cross-sectional view along the B-B direction. Figure 5 This is an exploded perspective view showing the structure of a gripping section interlocking mechanism that causes a pair of gripping sections in a gripping device to open and close in conjunction with each other.

[0043] In addition, in the following description, in a plane including a pair of parallel and vertical first swing axes 2a and second swing axes 2b described later of the holding device 1, the direction orthogonal to the up-down (Y, -Y) direction is set as the left-right (X, -X) direction, and the direction orthogonal to both the up-down (Y, -Y) direction and the left-right (X, -X) direction is set as the front-back (Z, -Z) direction.

[0044] As shown Figures 2 to 5 in FIG. 3, a guide rail 3 extending vertically in the up-and-down direction is fixed to a frame (not shown). As a preferred example of the frame, the gripping device 1 is mounted on a biaxial slide rail that is orthogonally arranged so as to be able to move freely in the horizontal plane.

[0045] The direction of movement through one of the biaxial slide rails is set as the front’-rear’ (Z’, -Z’) direction, and the direction of movement through the other slide rail is set as the left’-right’ (X’, -X’) direction. That is, the gripping device 1 is supported so as to be able to move in the three-axis directions of XYZ, and is driven by a drive mechanism such as a motor provided on each axis.

[0046] A slider 4 that can move up and down along the guide rail 3 is provided on the guide rail 3, and a base 5 that forms the base member of the entire gripping device 1 is mounted on the slider 4.

[0047] A part of the base 5 constitutes a rack 6, which is a rectilinear gear in the up-and-down direction parallel to the guide rail 3. A rotatable pinion 7 is engaged with the rack 6, and it is configured that the pinion 7 is rotated by a motor (not shown), so that the base 5 can move in the vertical direction along the guide rail 3 together with the slider 4 via the rack 6.

[0048] Next, the structure of the gripping part will be described.

[0049] A pair of gripper jaws, namely a first gripping part 9a and a second gripping part 9b, which can be opened and closed, are provided at the lower end of the gripping device 1 so as to be able to grip and release a bottomed cylindrical object, namely a container 8, having an opening on its upper surface. These first gripping part 9a and second gripping part 9b are the main bodies of the gripping part.

[0050] An example of the shape of the container 8 is a shape in which the outer diameter of the cylindrical part 8a having an opening on the upper surface is the largest, the outer diameter of the bottom part 8b provided at the lower part of the cylindrical part 8a is smaller than that of the cylindrical part 8a, and a step 8c is provided at the boundary between the cylindrical part 8a and the bottom part 8b.

[0051] The first gripping part 9a and the second gripping part 9b are configured to grip the outer periphery of the cylindrical part 8a of the container 8 above the step 8c. However, a part of the second gripping part 9b extends downward beyond the step 8c, and a convex part, namely a hook part 10, is formed at its lower end facing the center direction of the container 8. The first gripping part 9a and the second gripping part 9b are configured such that when the gripping device 1 is lifted while gripping the container 8, the hook part 10 engages with the step 8c to reliably lift the container 8 without dropping it.

[0052] It should be noted that in Figure 2 and Figure 3In [description], the container 8 is shown at a position moved downward from the gripping part. In Figure 4 the position of gripping is shown.

[0053] At the upper parts of the first gripping part 9a and the second gripping part 9b, there is provided a gripping part linkage mechanism 11 that makes the first gripping part 9a and the second gripping part 9b perform a linked opening and closing operation in an opposed manner. And, directly above the gripping part linkage mechanism 11, there is provided a drive mechanism 12 for driving the gripping part linkage mechanism 11. This drive mechanism 12 includes a motor 13 as a power source. The motor 13 is arranged such that the rotary drive shaft 14 that outputs a driving force faces vertically downward. The motor 13 is preferably a stepping motor, and by increasing or decreasing the number of steps for driving the stepping motor, the opening amount of the first gripping arm 25a and the second gripping arm 25b can be adjusted.

[0054] Next, the structure of the linkage mechanism that operates in linkage with the gripping part will be described.

[0055] A part of the base 5 horizontally extends on the upward projection plane of the gripping part linkage mechanism 11, the motor 13 is installed from above, and it has a pair of swing shaft holes 15a, 15b that are bored in the vertical direction. The first swing shaft 2a and the second swing shaft 2b are respectively fixed to these pair of swing shaft holes 15a, 15b so as to extend downward in parallel. Here, sometimes the first swing shaft 2a is referred to as the first part, and the second swing shaft 2b is referred to as the second part.

[0056] Next, the positional relationship with the container 8 as the object to be gripped will be described.

[0057] The first swing shaft 2a and the second swing shaft 2b are parallel to the central axis of the container 8 and are symmetrically arranged with respect to the center of the container 8 in a top view. In other words, the container 8 is arranged at the position of the midpoint 41 of the straight line connecting the first swing shaft 2a and the second swing shaft 2b in a top view.

[0058] Next, the link frame will be described.

[0059] The link frame 16 has a substantially "U" shape when viewed in the left - right direction. On the upper surface 16a and the lower surface 16b of the "U" shape of the link frame 16, there are provided a pair of upper and lower swing shaft holes 43a, 43b through which the first swing shaft 2a and the second swing shaft 2b respectively pass. The diameters of the swing shaft holes 15a, 15b are slightly enlarged so as to generate a clearance that allows axial sliding relative to the first swing shaft 2a and the second swing shaft 2b.

[0060] It should be noted that except for the peripheral parts of the swing shaft holes 43a, 43b, the link frame 16 can also be made into a cut - out shape by removing the upper surface and the lower surface of the "U" shape, which has the effect of reducing the weight of the component.

[0061] The lower ends of the first swing shaft 2a and the second swing shaft 2b penetrate through the lower surface 16b of the link frame 16 and are prevented from coming off by a retaining ring 42.

[0062] In addition, between the upper surface 16a of the link frame 16 and the lower surface 5a of the base, a compression spring 17 is provided coaxially with the first swing shaft 2a and the second swing shaft 2b, configured to apply a downward force to the link frame 16, and when a force greater than or equal to a specified value is applied upward, the compression spring 17 contracts and the link frame 16 can rise.

[0063] Next, the structure of the swing arm will be described.

[0064] A first swing member 18a that rotates about the first swing shaft 2a is provided around the first swing shaft 2a, and a second swing member 18b that rotates about the second swing shaft 2b is provided around the second swing shaft 2b.

[0065] The first swing member 18a includes a cylindrical first swing bearing portion 19a, and the inner peripheral hole of the first swing bearing portion 19a is rotatably fitted with the first swing shaft 2a with an appropriate gap therebetween. The first swing bearing portion 19a is fixedly disposed with a minute gap in the vertical direction inside the upper and lower sides of the "C" shape of the link frame 16, configured not to interfere with the rotation about the first swing shaft 2a.

[0066] The second swing member 18b includes a cylindrical second swing bearing portion 19b, and the inner peripheral hole of the second swing bearing portion 19b is rotatably fitted with the second swing shaft 2b with an appropriate gap therebetween. The second swing bearing portion 19b is fixedly disposed with a minute gap in the vertical direction inside the upper and lower sides of the "C" shape of the link frame 16, configured not to interfere with the rotation about the second swing shaft 2b.

[0067] Therefore, the relative positional relationship between the first swing bearing portion 19a and the second swing bearing portion 19b is fixed.

[0068] The first swing member 18a further includes a first arm 20a that extends substantially forward with the first swing bearing portion 19a as one end. A first connection base portion 22a for erecting a cylindrical first connection shaft 21a is provided at the other end of the first arm 20a and is pivotally supported at one end of the connecting rod 23.

[0069] In addition, the second swing member 18b further includes a second arm 20b that extends substantially forward with the second swing bearing portion 19b as one end. A second connection base portion 22b for erecting a cylindrical second connection shaft 21b is provided at the other end of the second arm 20b and is pivotally supported at the other end of the connecting rod 23 on the side opposite to the side where the first arm 20a is pivotally supported.

[0070] The lengths of the first arms 20a of these first swing members 18a and the second arms 20b of the second swing members 18b are equal, and the directions in which the first arms 20a extend (sometimes referred to as the second direction) and the second arms 20b extend (sometimes referred to as the third direction) extend in parallel.

[0071] Next, the parallel link is described.

[0072] A first connection bearing hole 24a is provided on one end side of the connection rod 23 as a rod-shaped member. In contrast, a second connection bearing hole 24b is provided on the other end side as the other end, and is rotatably supported by the first connection shaft 21a and the second connection shaft 21b, respectively. The distance between the first connection bearing hole 24a and the second connection bearing hole 24b is configured to be equal to the distance between the swing shaft holes 43a and 43b provided in the link frame 16.

[0073] Here, the distance between the first swing shaft 2a and the second swing shaft 2b is equal to the distance between the first connection bearing hole 24a and the second connection bearing hole 24b, and the lengths of the first arm 20a and the second arm 20b are equal. Thus, the link frame 16, the first arm 20a, the second arm 20b, and the connection rod 23 form a so-called "parallel link", and the first arm 20a and the second arm 20b are configured to rotate while maintaining parallel to each other around the swing shaft holes 43a and 43b, respectively. It should be noted that the direction connecting one end and the other end of the connection rod 23, that is, the direction in which the connection rod 23 itself extends, is sometimes referred to as the first direction.

[0074] Next, the details of the holding portion are described.

[0075] A part of the above-described first swing member 18a forms a first holding arm 25a that extends in a fourth direction approaching the container 8 and the connection rod 23, that is, a direction different from the second direction, in a plan view, and is connected to the upper end of the first holding portion 9a.

[0076] In addition, the first swing member 18a is configured to be rotatable about one end of the first arm 20a that is not connected to the connection rod 23, that is, the first swing bearing portion 19a, and is configured to approach or separate from the container 8 with respect to the first holding portion 9a by rotating about the first swing bearing portion 19a.

[0077] The surface of the first holding portion 9a facing the container 8 has a first concave portion 26a that forms a part of a cylindrical surface extending in the vertical direction. If the diameter of the first concave portion 26a is smaller than the diameter of the cylindrical portion of the container 8, it is set such that the ridge lines at both ends in the vertical direction of the first concave portion 26a come into contact with the cylindrical surface of the container 8 when the first holding portion 9a abuts against the container 8.

[0078] Similarly, when viewed from above, a part of the second swing member 18b forms a second holding arm 25b that extends in a fifth direction approaching the container 8 and away from the connecting rod 23 with respect to the container 8, that is, a direction different from the third direction, and is connected to the upper end of the second holding portion 9b.

[0079] In addition, the second swing member 18b is configured to be rotatable about one end of the second arm 20b that is not connected to the connecting rod 23, that is, the second swing bearing portion 19b, and is configured to rotate about the second swing bearing portion 19b so that the second holding portion 9b approaches or separates from the container 8.

[0080] The surface of the second holding portion 9b facing the container 8 has a second concave portion 26b that forms a part of a cylindrical surface extending in the vertical direction. If the diameter of the second concave portion 26b is smaller than the diameter of the cylindrical portion of the container 8, it is arranged such that the ridge lines at both ends in the vertical direction of the second concave portion 26b come into contact with the cylindrical surface of the container 8 when the second holding portion 9b abuts against the container 8.

[0081] The first holding arm 25a extending in the fourth direction and the second holding arm 25b extending in the fifth direction have the same length and are symmetrically arranged with respect to the container 8 point-symmetrically when viewed from above. Therefore, the first holding portion 9a and the second holding portion 9b are arranged point-symmetrically with respect to the container 8, and the container 8 is held at the midpoint between the first swing bearing portion 19a and the second swing bearing portion 19b.

[0082] Moreover, when the first holding portion 9a and the second holding portion 9b hold the container 8, the ridge lines at both ends in the vertical direction of the first concave portion 26a and the ridge lines at both ends in the vertical direction of the second concave portion 26b are both arranged to be in contact with the cylindrical surface of the container 8.

[0083] In addition, the first holding portion 9a and the second holding portion 9b face each other, maintain a point-symmetric relationship with each other, and perform a linked opening and closing operation, and can hold and release the container 8 at the position of the midpoint 41 of the straight line connecting the first swing shaft 2a and the second swing shaft 2b when viewed from above.

[0084] And, as described above, a hook portion 10 is provided at the lower end of the second holding portion 9b, and the hook portion 10 is used to hook on the step 8c so as to prevent the container 8 from falling during holding.

[0085] Next, the details of the spring hooking portion will be described.

[0086] A part of the first holding arm 25a extends in a direction away from the container 8 with respect to the first holding portion 9a when viewed from above to become a first spring receiving portion 27a, and a first spring receiving shaft 28a is provided upward.

[0087] A part of the second gripping arm 25b extends away from the container 8 relative to the second gripping portion 9b in a plan view to form a second spring receiving portion 27b, and a second spring receiving shaft 28b is provided upward.

[0088] The first spring receiving shaft 28a and the second spring receiving shaft 28b are arranged point-symmetrically with respect to the container 8. In a plan view, the straight line connecting the first spring receiving shaft 28a and the second spring receiving shaft 28b passes through the central axis of the container 8, and the center of the container 8 becomes the midpoint of the first spring receiving shaft 28a and the second spring receiving shaft 28b.

[0089] A tension spring 29 as a biasing member is provided between the first spring receiving shaft 28a and the second spring receiving shaft 28b. One end 29a of the tension spring 29 is hung on the first spring receiving shaft 28a, and the other end 29b of the tension spring 29 on the side opposite to the one end 29a is hung on the second spring receiving shaft 28b.

[0090] The acting force generated by the tension spring 29 causes the first spring receiving shaft 28a and the second spring receiving shaft 28b to approach each other, and functions as a force in the direction of gripping the container 8 by the first gripping arm 25a and the second gripping arm 25b. That is, based on the acting force of the tension spring 29, the first swing member 18a and the second swing member 18b are respectively rotated around the first swing shaft 2a and the second swing shaft 2b via the first spring receiving shaft 28a and the second spring receiving shaft 28b, and the first gripping portion 9a and the second gripping portion 9b are brought closer, thereby serving to grip the container 8 with a predetermined force.

[0091] One end of the tension spring 29, that is, the first spring receiving shaft 28a, which is hung on the first spring receiving shaft integrally provided with the first gripping arm 25a, and the other end of the tension spring 29, that is, the second spring receiving shaft 28b, which is hung on the second spring receiving shaft integrally provided with the second gripping arm 25b, are arranged point-symmetrically with respect to the container 8. Therefore, the acting forces based on the tension spring 29 are symmetrically and equally applied to the first gripping portion 9a and the second gripping portion 9b, and the gripping force is symmetrically applied to the container 8, having the effect of stably gripping the container 8. If the spring constant of the tension spring 29 is appropriately set, the gripping force of the container 8 can be set to an appropriate value, and the situation of insufficient gripping force or gripping with an excessive force can be minimized.

[0092] Here, if the first gripping arm 25a and the first gripping portion 9a are made into an integral structure using a resin molded product, the first swing bearing portion 19a and the first spring receiving shaft 28a are also integral components. Further, if the second gripping arm 25b and the second gripping portion 9b are made into an integral structure using a resin molded product, the second swing bearing portion 19b and the second spring receiving shaft 28b are also integral components. If such a structure is adopted, there is no assembly error or the like, it is easy to improve the accuracy, and cost reduction due to the reduction in the number of components is also achieved.

[0093] The holding part linkage mechanism 11 has the structure as described above.

[0094] Next, the structure of the cam receiving part of the connecting rod 23 will be described.

[0095] First, the structure of the drive mechanism 12 that applies a driving force to the connecting rod 23 to drive the holding part linkage mechanism 11 will be described.

[0096] As described above, in the present embodiment, the connecting rod 23, together with the link frame 16, the first arm 20a, and the second arm 20b, forms a parallel link.

[0097] As a drive mechanism that gives the connecting rod 23 a driving force to move the first holding arm 25a and the second holding arm 25b in the direction of releasing the container 8 being held, in addition to the above-described motor 13, a rotating cam 34 and a cam receiving part 30 are further provided.

[0098] The cam receiving part 30 is a recess provided along a direction orthogonal to the first direction, surrounded by a wall surface that is open on the side of the connecting rod 23 close to the container 8 and has a substantially "U" shape in plan view.

[0099] One of the wall surfaces of the cam receiving part 30 that is orthogonal to the straight line connecting the first connecting bearing hole 24a and the second connecting bearing hole 24b in plan view is defined as the cam receiving surface 31. The cam receiving surface 31 is provided on the side close to the first connecting bearing hole 24a, and is configured such that when the cam receiving surface 31 is moved in the direction of the first connecting bearing hole 24a, the first holding part 9a and the second holding part 9b are linked to open against the acting force of the tension spring 29 through the action of the parallel link.

[0100] Next, the rotating cam 34 will be described.

[0101] At the lower end of the rotary drive shaft 14 of the motor 13 facing downward, an eccentric member 32 that rotates together with the rotary drive shaft 14 is provided. On the eccentric member 32, at a position parallel to and away from the rotary drive shaft 14, a rotating cam shaft 33 is provided downward. At the lower end of the rotating cam shaft 33, a rotating cam 34 is provided, and the rotating cam 34 is pivotally supported so as to be rotatable relative to the rotating cam shaft 33 and is a cylindrical shape such as a ball bearing.

[0102] When electric power is applied to the motor 13 to rotate it, the rotary drive shaft 14 rotates, and the rotating cam 34 is configured to rotate together with the rotary drive shaft 14 in a state eccentric from the rotary drive shaft 14.

[0103] Within the range where the rotary drive shaft 14 rotates by a specified angle, the rotary cam 34 abuts against the cam receiving surface 31, and the cylindrical outer peripheral surface of the rotary cam 34 presses the cam receiving surface 31, thereby moving the connecting rod 23.

[0104] If the connecting rod 23 moves, the parallel link moves while maintaining the parallel state of the opposed members. As a result, the first arm 20a and the second arm 20b rotate around the first swing shaft 2a and the second swing shaft 2b synchronously, respectively. At the same time, the first holding arm 25a and the second holding arm 25b rotate oppositely synchronously, and the first holding portion 9a and the second holding portion 9b move oppositely to each other, thereby enabling the container 8 to be held or released.

[0105] In this embodiment, when the container 8 is clamped, the rotary cam 34 is separated from the cam receiving portion 30. When the container 8 is released, the rotary cam 34 rotates by a specified angle together with the rotary drive shaft 14 and abuts against the cam receiving portion 30 and moves, thereby moving the connecting rod 23 to open the first holding arm 25a and the second holding arm 25b.

[0106] Next, the effect of driving the connecting rod 23 by providing the cam receiving surface 31 on which the rotary cam 34 acts to the connecting rod 23 will be described.

[0107] A normal force is applied from the rotary cam 34 to the cam receiving surface 31, and this force becomes a driving force to generate a displacement that moves the connecting rod 23 in the first direction.

[0108] The displacement of the connecting rod 23 is transmitted to the first swing member 18a that is rotatable around the first swing shaft 2a via the first connecting shaft 21a, and moves in the direction of opening the first holding portion 9a. That is, it is configured that from the cam receiving surface to the first holding portion 9a, there are two support shafts, namely the first connecting shaft 21a and the first swing shaft 2a.

[0109] In addition, the displacement of the connecting rod 23 is transmitted to the second swing member 18b that is rotatable around the second swing shaft 2b via the second connecting shaft 21b, and moves in the direction of opening the second holding portion 9b. That is, it is configured that from the cam receiving surface to the second holding portion 9b, there are two support shafts, namely the second connecting shaft 21b and the second swing shaft 2b.

[0110] In each of the support shafts, in order to enable rotation, a clearance of about 0.05 mm, for example, is required between the support shaft and the support bearing hole, resulting in looseness. Therefore, if the number of support shafts from the cam receiving surface 31, which is subjected to the driving force and displacement, to the first gripping portion 9a that outputs the opening and closing operation is equal to the number of support shafts from the cam receiving surface 31 to the second gripping portion 9b, the effects of the looseness generated in the first gripping portion 9a and the second gripping portion 9b are equal. Therefore, the first gripping portion 9a and the second gripping portion 9b can also operate while maintaining a point-symmetrical relationship with respect to the container 8 including the looseness.

[0111] In the present embodiment, the number of support shafts from the cam receiving surface 31 to the first gripping portion 9a and the number of support shafts from the cam receiving surface 31 to the second gripping portion 9b are both two and equal. Therefore, the first gripping portion 9a and the second gripping portion 9b operate while maintaining a point-symmetrical relationship, and the gripping position of the container 8 and the symmetry during the opening and closing operations are high, having the effect of enabling stable gripping and releasing operations.

[0112] Next, an example in which the cam receiving surface is provided on the same member as the first swing member 18a will be described as a modified example of the cam receiving surface and its effects.

[0113] In such a case, the support shaft located between the cam receiving surface and the first gripping portion 9a is only one part of the first swing shaft 2a. On the other hand, the support shafts located between the cam receiving surface and the second gripping portion 9b are three parts: the first connecting shaft 21a, the second connecting shaft 21b, and the second swing shaft 2b. Therefore, the influence of the looseness of the second gripping portion 9b is greater than that of the first gripping portion 9a.

[0114] Therefore, for example, when starting the opening operation from the gripping state of the container 8, the first gripping portion 9a with less looseness starts to open first, and the second gripping portion 9b with greater looseness delays opening. During the period from the first gripping portion 9a opening first to the second gripping portion 9b starting to open, the container 8 receives a horizontal force only from the second gripping portion 9b. Therefore, the container 8 is tilted by the force rotating around the horizontal axis at the cylindrical portion 8a near the upper end.

[0115] In this way, when starting the opening and closing operation, in order to maintain the point-symmetrical relationship between the first gripping portion 9a and the second gripping portion 9b, it is preferable to conduct further research.

[0116] Comparing with this modified example, as in the present embodiment, by providing the cam receiving surface 31 on the connecting rod 23, it is possible to ensure the symmetry of the gripping position of the container 8 and the opening and closing operations, and an effect of achieving the gripping position accuracy of the container 8 and the stabilization of the gripping and releasing operations is produced.

[0117] Next, the vertical arrangement relationship of the gripping device will be described.

[0118] The holding device 1 is configured to have a so-called laminated structure with a first holding portion 9a and a second holding portion 9b that hold the container 8 at the lowermost part, a first holding arm 25a and a second holding arm 25b at their upper ends, a tension spring 2 at its upper part, a connecting rod 23 at its upper part, a rotary cam 34, an eccentric member 32, and a motor 13 at its upper part. Thus, it is configured to overlap each other in a plan view and have a small projected area, being suitable for miniaturization.

[0119] In other words, the first holding portion 9a and the second holding portion 9b, the first holding arm 25a and the second holding arm 25b, the tension spring 29, and the connecting rod 23 constitute a holding portion linkage mechanism 11, and the rotary cam 34, the eccentric member 32, and the motor 13 constitute a drive mechanism 12.

[0120] Therefore, except for the portion where the rotary cam 34 overlaps in the vertical direction so as to act on the connecting rod 23, the drive mechanism 12 is arranged to overlap the upper part of the holding portion linkage mechanism 11 in a laminated structure, and it can be configured to overlap each other in a plan view and have a small projected area, being suitable for miniaturization.

[0121] Next, the position of the motor 13 will be described.

[0122] Here, the rotary drive shaft 14 of the motor 13 is also arranged in the region surrounded by the swing shaft holes 15a, 15b and the first connection bearing holes 24a, the second connection bearing holes 24b, that is, inside the vertical projection plane of the parallel link formed by the first swing bearing portion 19a, the second swing bearing portion 19b, one end of the connecting rod 23, and the other end of the connecting rod 23. Thus, the holding portion linkage mechanism 11 and the drive mechanism 12 are arranged to overlap substantially vertically. With this arrangement, the holding device 1 in this embodiment can reduce the projected area in the vertical direction, and thus has the effect of being able to provide a small-sized holding device 1.

[0123] Next, the opening and closing operation of the holding device having the above structure will be described.

[0124] In this embodiment, with the above structure, when the container 8 is held by clamping the container 8 with the first holding arm 25a and the second holding arm 25b or the held container 8 is released, the straight line connecting the first swing bearing portion 19a and the second swing bearing portion 19b is made parallel to the first direction, the second direction is made parallel to the third direction, and the fourth direction and the fifth direction maintain a point-symmetrical relationship with respect to the container 8.

[0125] In addition, when the rotating cam 34 is not in contact with the cam receiving surface 31, due to the acting force generated by the tension spring 29, the first gripping portion 9a and the second gripping portion 9b maintain a point-symmetrical relationship with respect to the container 8 and can grip the container 8 closely. Furthermore, in the absence of the container 8, the first gripping portion 9a and the second gripping portion 9b come closer to each other, and the first stopper portion 35a provided on the first gripping arm 25a and the second stopper portion 35b provided on the second gripping arm 25b abut against each other and stop, and this state becomes the so-called origin state.

[0126] If electric power is applied to the motor 13 to rotate it in the first direction, the rotating cam 34 comes into contact with the cam receiving surface 31 and the connecting rod 23 moves, and the first gripping arm 25a and the second gripping arm 25b move away from the container 8 in a point-symmetrical manner with respect to each other to release the container 8.

[0127] If the motor 13 is rotated in the second direction opposite to the first direction, the connecting rod 23 moves in the opposite direction, the rotating cam 34 moves away from the cam receiving surface 31, and the container 8 is gripped by the acting force of the tension spring 29, or it can move back to the origin in the absence of the container 8.

[0128] Next, use Figures 6 to 10 to explain in detail the gripping and releasing actions of the gripping device on the container 8. Figure 6 is a top view, i.e., a D-direction view, for explaining the gripping and releasing actions of the parallel link of the gripping portion linkage mechanism 11, the first gripping portion 9a, and the second gripping portion 9b of the gripping device 1 shown in Figures 2 to 5 . It should be noted that, in order to prevent the drawing from becoming complicated, the tension spring 29 and the drive mechanism 12 are omitted from the drawing. Figure 6 (a) of Figure 6 represents the fully closed or origin state, Figure 6 (b) of

[0129] Figure 7 represents the fully open or container 8-releasing state, Figure 6 (c) of Figure 6 represents the state of gripping the container. Figure 7 (a) of Figure 7 is a schematic top view showing the parallel link of the gripping portion linkage mechanism 11 and the drive mechanism 12 of Figure 7 as a line connecting the rotation support shafts to each other. Similar to Figure 7In order to make the figure easy to understand, the tension spring 29 is schematically shown at a position offset so as not to overlap with the first gripping portion 9a, the second gripping portion 9b, and the container 8. In addition, the rotary drive shaft 14 is shown as being located outside rather than inside the parallel link, and the cam receiving surface 31 is schematically depicted as being on the side opposite to the container 8 with respect to the connecting rod 23 (rod-shaped member).

[0130] Figure 8 is Figure 4 a C-C cross-sectional view of, Figure 8 where (a) of Figure 8 shows the fully closed or origin state, and

[0131] Figure 9 and Figure 10 are perspective views of the gripping portion linkage mechanism 11 and the drive mechanism 12, Figure 9 where (a) of Figure 10 shows the fully closed or origin state, and Figure 9 where (b) of Figure 10 shows the state of gripping the container. It should be noted that in Figure 9 and Figure 10 the link frame 16 is omitted from the drawing.

[0132] Regarding the fully closed state, i.e., the origin state, in Figure 6 where (a) of Figure 7 where (a) of Figure 8 where (a) of Figure 9 where (a) of Figure 10 and where (a) of

[0133] the first gripping portion 9a and the second gripping portion 9b do not grip the container 8, and the rotary cam 34 is located at a position far from the cam receiving portion 30. Here, the force acting on the parallel link is only the acting force based on the tension spring 29, the first spring receiving shaft 28a and the second spring receiving shaft 28b approach each other, and the first stopper portion 35a provided on the first swing member 18a abuts against the second stopper portion 35b provided on the second swing member 18b, resulting in the fully closed state or the origin state. The rotary cam 34 is located at a position separated from the cam receiving portion 30. Figure 7 For the transition to the fully open state, if the rotary drive shaft 14 is rotated counterclockwise from the above-described origin state in the illustration of Figure 6 where (b) ofFigure 7 the fully open state shown in (b) thereof.

[0134] That is, since the first gripping portion 9a and the second gripping portion 9b are arranged in a point-symmetrical relationship with respect to the container 8, they move in opposite directions while facing each other at the same angle around the first swing axis 2a and the second swing axis 2b, respectively.

[0135] In the case where the motor 13 is a stepping motor, for example, the opening amounts of the first gripping portion 9a and the second gripping portion 9b in the fully open state can be appropriately controlled according to the number of driving steps. As the opening amount, it is larger than the diameter of the container 8 that is the object to be gripped. In addition, the force transmitted from the motor 13 to the gripping portion linkage mechanism 11 to open the first gripping portion 9a and the second gripping portion 9b is of course larger than the acting force generated by the tension spring 29.

[0136] When re-gripping the container 8 by the gripping device 1, after moving the gripping device 1 to directly above the container 8 that is the object to be gripped, the first gripping portion 9a and the second gripping portion 9b are temporarily brought into the fully open state and opened to a size larger than the diameter of the container 8, the pinion 7 is rotated, and the gripping device 1 is lowered to a gripping height where the hook portion 10 at the lower end of the second gripping portion 9b is lower than the step 8c of the container 8. The motor 13 is rotated Figure 7 in the clockwise direction shown in the figure in to move the first gripping portion 9a and the second gripping portion 9b in the closing direction, and the first gripping portion 9a and the second gripping portion 9b grip the container 8 facing each other.

[0137] If the rotary drive shaft 14 is rotated so that the rotary cam 34 moves away from the cam receiving surface 31, the first gripping portion 9a and the second gripping portion 9b grip the container 8 by the acting force of the tension spring 29 and become Figure 6 the state shown in (c) of, Figure 7 the state shown in (c) of, Figure 8 the state shown in (b) of, Figure 9 the state shown in (b) of, and Figure 10 the state shown in (b) of. The container 8 is gripped at the midpoint 41 of the first swing axis 2a and the second swing axis 2b, so in Figure 6 the state shown in (c) of, L1 = L2.

[0138] The operation of releasing the container 8 being gripped is to rotate the pinion 7 in the upward direction in the state of gripping the container 8 to raise the gripping device to a specified height. As the specified height, it is preferably a height at which the gripped container 8 does not come into contact with other components or other containers 8. The gripping device 1 grips the container 8 at the specified height and moves the container 8 along the biaxial slide rails provided in the front-rear direction and the left-right direction to the position where it should be released.

[0139] When the pinion gear 7 rotates downward at the position where the container 8 should be released, the gripping device 1 descends, the drive motor 13 is driven to rotate the rotary drive shaft 14, and the connecting rod 23 is moved via the rotary cam 34 and the cam receiving portion 30 to become Figure 6 the (b) of Figure 7 the fully opened position shown in (b) of, whereby the gripped container 8 can be released. That is, the first gripping portion 9a and the second gripping portion 9b perform an opening and closing operation, and the container 8 can be gripped and released.

[0140] When the first gripping portion 9a and the second gripping portion 9b or the container 8 do not descend due to contact with a foreign object or the like during the descent of the gripping device 1, the gripping portion linkage mechanism 11 including the parallel linkages stops descending together with the link frame 16.

[0141] In this case, since the entire gripping device 1 also continues to descend, it descends while compressing the compression spring 17 along the first swing shaft 2a and the second swing shaft 2b, and the distance between the link frame 16 and the base 5 is shortened. If a detection mechanism (not shown) is provided between the link frame 16 and the base 5 and the shortening of the distance is detected, for example, it is possible to detect that the container 8 has come into contact with a foreign object. Examples of the detection mechanism include an optical transmission sensor, a distance sensor, a microswitch, etc.

[0142] The gripping device 1 can be used, for example, when taking out the containers 8, which are consumables containing detection bodies and reagents, one by one from the state of being placed on a cassette for supplying to an analysis device and loading them into the analysis device.

[0143] Use Figure 11 and Figure 12 Preferred examples of the shape and movement direction of the first gripping portion 9a and the second gripping portion 9b, which are suitable for taking out the container 8 from the cassette, will be described.

[0144] Figure 11 The state is shown in which the gripping device 1 is moved to a specified position on the cassette 36 in order to grip one of the cassette 36 in which the consumable container 8 is inserted into the container insertion holes 40 arranged at equal intervals in a horizontal X-Z plane in a vertical and horizontal grid pattern and the container 8 placed on the cassette 36.

[0145] As an example, the cassette 36 is arranged in the front'-rear' (Z', -Z') direction, which is the arrangement direction of the two-axis slide rails arranged orthogonally to each other, and the left'-right' (X', -X') direction in which it moves through the other slide rail, so that the gripping device 1 can move in the horizontal plane.

[0146] At the specified position, open the first gripping part 9a and the second gripping part 9b completely, lower them to the gripping height, close the first gripping part 9a and the second gripping part 9b to grip the container 8, then raise them, and then move inside the analysis device for the next process.

[0147] Since the containers 8 are arranged in a grid pattern on the upper surface of the cassette 36, when lowering the first gripping part 9a and the second gripping part 9b in the fully open state, the positions, shapes, and the opening amount in the fully open state of the first gripping part 9a and the second gripping part 9b are determined in such a way that a specified gap can be ensured between the first gripping part 9a and the second gripping part 9b and the adjacent container 8z.

[0148] Figure 12 It is a schematic diagram showing the positional relationship between the containers 8 arranged in a grid pattern on the upper surface of the cassette 36 and the first gripping part 9a and the second gripping part 9b that grip a specified container 8. Here, only the part between the first gripping part 9a and the first swing axis 2a and the part between the second gripping part 9b and the second swing axis 2b are illustrated by the same line diagram as shown. As an example, the containers 8 arranged in a grid pattern are arranged at equal intervals in the left - right direction and the front - back direction respectively. Figure 7 The (a) of

[0149] Figure 12 represents the fully open state corresponding to the (b) of Figure 6 or the (b) of Figure 7 , and the (b) of Figure 12 represents the gripping state corresponding to the (c) of Figure 6 or the (c) of Figure 7 .

[0150] In Figure 12 the fully open state shown in the (a) of

[0151] , the first gripping part 9a and the second gripping part 9b are centered on the container 8 to be gripped, maintain a point - symmetric relationship with each other, and open to a specified position. In this state, the first gripping part 9a and the second gripping part 9b descend from above. When viewed from above, the first concave surface part 26a of the first gripping part 9a and the second concave surface part 26b of the second gripping part 9b facing the cylindrical part 8a of the container 8 respectively descend adjacent to the cylindrical part 8a while maintaining the fully open position with a gap relative to the cylindrical part 8a of the container 8, and are ready for the gripping action of closing the first gripping part 9a and the second gripping part 9b.

[0152] The first gripping arm 25a of the first gripping portion 9a includes: a first concave surface portion 26a that faces the outer peripheral cylindrical portion of the selected container 8 in a plan view; a first gripping portion back surface 37a that is located on a side away from the first concave surface portion 26a with respect to the selected container 8; and a pair of first gripping portion side surfaces 38a and second gripping portion side surfaces 38b that connect between the first concave surface portion 26a and the first gripping portion back surface 37a.

[0153] The preferred shape of the first gripping portion 9a is preferably a substantially trapezoidal shape with a side taper in which the width of the first gripping portion back surface 37a is narrower than that of the first concave surface portion 26a in a plan view and the width becomes narrower as it is farther away from the container 8.

[0154] It should be noted that ribs can also be provided as reinforcement members in the up-down direction on the first gripping portion back surface 37a within a range where they do not contact the adjacent container 8z.

[0155] The first gripping portion 9a and the second gripping portion 9b are lowered while maintaining the fully open state, so the first gripping portion side surface 38a and the second gripping portion side surface 38b approach the cylindrical portions 8a of the adjacent containers 8z, 8z adjacent to the container 8 to be gripped on the magazine 36. Here, a predetermined gap gap1, gap2 is formed between the first gripping portion side surface 38a, the second gripping portion side surface 38b and the cylindrical portions 8a of the adjacent containers 8z, 8z.

[0156] In a state where the first gripping arm 25a and the second gripping arm 25b are fully open, the first gripping portion 9a and the second gripping portion 9b are arranged such that the central axes of the first concave surface portion 26a and the second concave surface portion 26b are located on a symmetric straight line in the 45° direction, so that the first gripping portion side surface 38a and the second gripping portion side surface 38b are symmetric with respect to a straight line 39 in the 45° direction with respect to the X-axis and the Y-axis from the central axis position of the selected container 8 among the adjacent containers 8 arranged in a grid pattern, that is, symmetric with respect to the container 8 as the object in the upper right and lower left directions.

[0157] Thus, with respect to both of the adjacent containers 8z, 8z, the first gripping portion side surface 38a and the second gripping portion side surface 38b can ensure the same gap gap1 = gap2 and will not be biased to one side, so the gap becomes the largest and is preferred.

[0158] The second gripping portion 9b is point-symmetric with the first gripping portion 9a, so it has the same function on the container 8 as the first gripping portion 9a. In the second gripping portion 9b, it is also possible to ensure gap1 = gap2 between the second gripping portion 9b and the container 8 in the same manner as the first gripping portion 9a, so it is preferred.

[0159] The first swing shaft 2a and the second swing shaft 2b are arranged in accordance with the preferred positions of the first gripping portion 9a and the second gripping portion 9b.

[0160] If this configuration is set, even when only one container 8 is gripped and taken out from the upper surface of the cassette 36 in which a plurality of containers 8 are arranged in close proximity and at high density, a predetermined gap can be ensured between the adjacent containers 8z. Therefore, it can be said that the structure is more suitable for miniaturization.

[0161] After the gripping device 1 is lowered, the drive motor 13 is driven, and the gripping operation of closing the first gripping portion 9a and the second gripping portion 9b is performed via the rotary cam 34 to grip the container 8. Then, the gripping device 1 is raised to raise the gripped container 8, and it is horizontally moved and supplied toward the reaction promotion unit 108. Or conversely, after the container 8 is moved from the analysis device to the cassette 36, it can be lowered and placed on the cassette 36.

[0162] As another function of the gripping device, the container 8 after the analysis is completed is transported to the waste hole 117, which is an opening provided at a predetermined position of the analysis device, and the container 8 is dropped from the waste port and put into a waste container storage box (not shown).

[0163] As described above, since a detection body or the like may remain in the container 8 after the analysis, it is necessary to stably control so that the container 8 does not vibrate or change its posture greatly when it falls from the waste port.

[0164] That is, if the gripping portions that grip the container 8 perform an opening operation at high speed and asymmetrically with respect to the container, for example, the first gripping portion 9a first separates from the container, and the start of the opening operation of the second gripping portion 9b is delayed. As a result, there is a case where the second gripping portion 9b presses the upper end of the container 8 and applies a horizontal force. Since the container 8 is lightweight, it may be greatly inclined at the start of the fall.

[0165] Or, sometimes air suddenly flows into the gap generated when the first gripping portion 9a or the second gripping portion 9b rapidly moves away from the container 8 at high speed, and a fluid force is generated asymmetrically in the container 8, causing the container 8 to tilt.

[0166] In the gripping device, the first gripping portion 9a and the second gripping portion 9b that grip the container 8 are structured to operate interlockingly. When gripping the container 8, they also maintain a point-symmetrical relationship with respect to the container 8 during the opening and closing operations. Therefore, when releasing the container 8 from the state of gripping the container 8, the first gripping portion 9a and the second gripping portion 9b also move the same displacement at the same speed point-symmetrically from the container 8. Therefore, they do not operate asymmetrically and can perform a stable opening and closing operation.

[0167] In addition, by using a stepping motor that can perform a low-speed operation instead of a solenoid that can perform a high-speed operation as an actuator, the opening operation can be performed at a low speed. Therefore, there is an effect that no impact force is generated when the gripping part starts to open, and the gripping part does not move asymmetrically, so the container 8 can be stably gripped or released, and a gripping device with high reliability that can perform a stable operation can be provided.

[0168] Furthermore, if the motor 13 is, for example, a stepping motor, there is an effect that the opening amounts of the first gripping portion 9a and the second gripping portion 9b in the fully opened state can be appropriately controlled according to the number of driving steps.

[0169] Next, the effects of this embodiment will be described.

[0170] The holding device 1 comprises: a connecting rod 23 extending in a first direction in a horizontal plane; a first arm 20a, which is supported by a shaft at one end of the connecting rod 23 and extends in a second direction different from the first direction in a horizontal plane; a second arm 20b, which is supported by a shaft at the other end of the connecting rod 23 on the opposite side of the side supporting the first arm 20a and extends in a third direction different from the first direction in a horizontal plane; a first holding arm 25a, which is configured to be rotatable around one end of the first arm 20a on the side not connected to the connecting rod 23, i.e., the first swing bearing portion 19a, and extends in a fourth direction different from the second direction in a horizontal plane; And the second holding arm 25b is configured to be able to rotate around the second swing bearing portion 19b, one end of the second arm 20b on the side not connected to the connecting rod 23, and to extend in a horizontal plane along a fifth direction different from the third direction. When the container 8 is clamped by the first holding arm 25a and the second holding arm 25b to hold the container 8 or to release the container 8 being held, it operates in the following manner: the straight line connecting the first swing bearing portion 19a and the second swing bearing portion 19b is made parallel to the first direction, the second direction and the third direction are made parallel, and the fourth direction and the fifth direction are made point-symmetrical with respect to the container 8.

[0171] For example, when a used consumables container is dropped through a disposal port and stored in a disposal container storage box, the container is required to be removed from the gripping device in a straight and stable posture without tilting in order to prevent the sample remaining in the container from scattering.

[0172] Therefore, it is desired that within the entire range of the opening and closing movement of the opening and closing claws, the pair of opening and closing claws always perform opening and closing movements equally and symmetrically in a linked manner, and that the forces applied to the pair of opening and closing claws during holding are equal and the holding forces are applied symmetrically relative to the container, and that the opening movement of the pair of holding claws is symmetrical relative to the container and that the opening movement is not excessively high-speed.

[0173] In addition, when selecting and gripping a specified container from among consumable containers arranged in a lattice pattern in close proximity to each other on a cassette for supplying consumable containers, it is preferable to obtain a specified clearance between the gripping claws and adjacent containers so that the gripping claws do not interfere with adjacent containers when first descending to the height of the container in a state where the gripping claws are open. Therefore, a structure with a small projected area in a top view and capable of being miniaturized is preferable.

[0174] In the present embodiment, as described above, the link frame 16, the first arm 20a, the second arm 20b, and the connecting rod 23 constitute a so-called "parallel link". The first arm 20a and the second arm 20b are configured to rotate around the swing shaft holes 15a and 15b while maintaining parallelism with each other. Therefore, the first gripping portion 9a and the second gripping portion 9b can perform a linked opening and closing operation in an opposed manner, and it is also possible to avoid an increase in the size of the device. Thus, the following effects can be obtained: by always linking a pair of gripping portions, a gripping device that is stable, has a small projected area, and has high reliability can be provided.

[0175] Furthermore, since the first gripping portion 9a and the second gripping portion 9b for gripping the container 8 are arranged to rotate point-symmetrically with respect to the container 8, the container 8 is gripped and released symmetrically. Thus, the following effects are achieved: it is possible to minimize the imbalance caused by asymmetry and perform a stable operation. Therefore, a gripping device with high reliability that can improve the gripping position accuracy of the gripping object and can make the release operation stable can be provided.

[0176] In addition, the container 8 is gripped at the midpoint between the first swing bearing portion 19a and the second swing bearing portion 19b, so that a more stable gripping operation and release operation can be achieved.

[0177] Moreover, the relative positional relationship between the first swing bearing portion 19a and the second swing bearing portion 19b is fixed, which can further improve the stability of the parallel link. Therefore, the stability of the gripping mechanism can be further improved.

[0178] In addition, it further includes: a biasing member that applies a biasing force in a direction in which the first gripping arm 25a and the second gripping arm 25b clamp the container 8; and a drive mechanism that applies a driving force for moving the first gripping arm 25a and the second gripping arm 25b in a direction to release the container 8 being gripped. The drive mechanism can symmetrically apply the opening driving force for opening the first gripping arm 25a and the second gripping arm 25b to the connecting rod 23 by applying a driving force to the connecting rod 23, and can further improve the stability during the gripping operation.

[0179] Furthermore, the force-applying member is a tension spring 29. By tensioning and installing one end of the tension spring 29 hung on the first spring receiving shaft integrally provided with the first holding arm 25a and the other end of the tension spring 29 hung on the second spring receiving shaft integrally provided with the second holding arm 25b in a point-symmetrical relationship with respect to the container 8, the acting forces of the tension spring 29 are symmetrically and equally applied to the first holding portion 9a and the second holding portion 9b respectively. Therefore, the holding force is symmetrically applied to the container 8, and the container 8 can be held more stably. Moreover, since the holding force is applied by the tension spring 29, there is an effect that the optimal holding force can be applied to the container 8 by appropriately selecting the spring constant.

[0180] In addition, the drive mechanism includes: a motor 13 having a rotary drive shaft 14; a rotary cam 34 provided parallel and eccentric to the rotary drive shaft 14 and rotating together with the rotary drive shaft 14; and a cam receiving portion 30 provided on the connecting rod 23 and arranged in a direction orthogonal to the first direction. When the container 8 is clamped, the rotary cam 34 is separated from the cam receiving portion 30, and when the container 8 is released, it rotates a predetermined angle together with the rotary drive shaft 14 and abuts against the cam receiving portion 30 and moves, thereby moving the connecting rod 23 to open the first holding arm 25a and the second holding arm 25b. As a result, the influence of the looseness of the pivot portion of the parallel link can also be made symmetrical. Therefore, there is an effect that the symmetry of the holding position and the opening / closing action of the container 8 is ensured, and the holding position accuracy and the stabilization of the holding and releasing actions of the container 8 are achieved.

[0181] Furthermore, the rotary drive shaft 14 of the motor 13 is arranged in the vertical direction and is arranged within the range of the projection of the area surrounded by the first swing bearing portion 19a, the second swing bearing portion 19b, one end of the connecting rod 23, and the other end of the connecting rod 23 in the vertical direction. Thus, the motor 13 can be overlapped and arranged above the parallel link, and further downsizing of the projected area can be achieved.

[0182] In addition, the holding device is stacked with the first holding arm 25a, the second holding arm 25b, the tension spring 29, the connecting rod 23, the rotary cam 34, and the motor 13 in order from the lowermost part in the vertical direction upward. Thus, it becomes a stacked structure in which the drive mechanism 12 is overlapped and arranged above the holding portion linkage mechanism 11. Therefore, they overlap each other in plan view and have a small projected area, and a structure more suitable for miniaturization can be achieved.

[0183] Furthermore, the motor 13 is a stepping motor. By increasing or decreasing the number of steps of driving the stepping motor, the opening amount of the first holding arm 25a and the second holding arm 25b can be adjusted. Thus, the opening amount can be adjusted more finely, the variation of the holding action can be improved, and various holding actions can be responded to.

[0184] In addition, the container 8 is a bottomed cylindrical shape, and the gripping device can grip and release a selected one of the plurality of containers 8 placed in the magazine 36 through the first gripping arm 25a and the second gripping arm 25b. The magazine 36 vertically holds the plurality of containers 8 in a grid pattern in the X-axis direction and the Y-axis direction on a horizontal plane. The first gripping arm 25a and the second gripping arm 25b each include: a first concave surface portion 26a and a second concave surface portion 26b, which face the outer peripheral cylindrical portion of the selected container 8 in a plan view; a first gripping portion back surface 37a and a second gripping portion back surface 37b, which are located on a side away from the first concave surface portion 26a and the second concave surface portion 26b with respect to the selected container 8; a pair of first gripping portion side surfaces 38a and a pair of second gripping portion side surfaces 38b, which connect between the first concave surface portion 26a and the second concave surface portion 26b and the first gripping portion back surface 37a and the second gripping portion back surface 37b. The widths of the first gripping portion back surface 37a and the second gripping portion back surface 37b are narrower than those of the first concave surface portion 26a and the second concave surface portion 26b. The pair of first gripping portion side surfaces 38a and the pair of second gripping portion side surfaces 38b are in a substantially trapezoidal shape where the width becomes narrower as it is farther from the selected container 8. When the first gripping arm 25a and the second gripping arm 25b are opened, the central axes of the first concave surface portion 26a and the second concave surface portion 26b are located on a symmetry line that is at a 45° angle to the X-axis and the Y-axis with respect to the central axis position of the selected container 8. The pair of first gripping portion side surfaces 38a and the pair of second gripping portion side surfaces 38b are symmetrically arranged with respect to the symmetry line, and a predetermined gap is generated between the selected container 8 and the plurality of adjacent containers 8. Thus, even when only one container 8 is gripped and taken out from the upper surface of the magazine 36 where a plurality of containers 8 are arranged in a grid pattern in close proximity and at a high density, a gap can be ensured between the selected container 8 and the adjacent containers 8z. Therefore, a gripping device 1 with further improved reliability can be provided.

[0185] <Others>

[0186] It should be noted that the present invention is not limited to the above-described embodiments, and various modifications and applications can be made. The above embodiments are described in detail for easy understanding of the present invention and are not necessarily limited to having all the structures described.

[0187] Description of reference numerals:

[0188] 1... Gripping device

[0189] 2a... First swing axis (first part)

[0190] 2b... Second swing axis (second part)

[0191] 3... Guide rail

[0192] 4... Slider

[0193] 5... Base

[0194] 5a…Lower surface of the base

[0195] 6…Rack

[0196] 7…Pinion

[0197] 8…Container (object)

[0198] 8a…Cylindrical part

[0199] 8b…With bottom

[0200] 8c…Step

[0201] 8z…Adjacent container

[0202] 9a…First gripping part

[0203] 9b…Second gripping part

[0204] 10…Hook part

[0205] 11…Gripping part linkage mechanism

[0206] 12…Drive mechanism

[0207] 13…Motor

[0208] 14…Rotary drive shaft

[0209] 15a, 15b…Swing shaft holes

[0210] 16…Linkage frame

[0211] 16a…Upper surface

[0212] 16b…Lower surface

[0213] 17…Compression spring

[0214] 18a…First swing member

[0215] 18b…Second swing member

[0216] 19a…First swing bearing part (first part)

[0217] 19b…Second swing bearing part (second part)

[0218] 20a…First arm

[0219] 20b…Second arm

[0220] 21a…First connecting shaft

[0221] 21b…Second connecting shaft

[0222] 22a…First connecting base

[0223] 22b…Second connecting base

[0224] 23…Connecting rod (rod-shaped member)

[0225] 24a…First connecting bearing hole (one end)

[0226] 24b…Second connecting bearing hole (the other end)

[0227] 25a…First gripping arm (first gripping part)

[0228] 25b…Second gripping arm (second gripping part)

[0229] 26a…First concave surface part (partial cylindrical concave surface part)

[0230] 26b…Second concave surface part (partial cylindrical concave surface part)

[0231] 27a…First spring receiving part

[0232] 27b…Second spring receiving part

[0233] 28a…First spring receiving shaft

[0234] 28b…Second spring receiving shaft

[0235] 29…Tension spring (biasing member)

[0236] 29a…One end

[0237] 29b…The other end

[0238] 30…Cam receiving part

[0239] 31…Cam receiving surface

[0240] 32…Eccentric member

[0241] 33…Rotating camshaft

[0242] 34…Rotating cam

[0243] 35a…First stop part

[0244] 35b…Second stop part

[0245] 36…Magazine (container holding part)

[0246] 37a…Back surface of the first gripping part (back surface of the gripping part)

[0247] 37b…Back surface of the second gripping part (back surface of the gripping part)

[0248] 38a…Side surface of the first gripping part (side surface of the gripping part)

[0249] 38b…Second gripping part side surface (gripping part side surface)

[0250] 39…Straight line

[0251] 40…Container insertion hole

[0252] 41…Midpoint

[0253] 42…Circlip

[0254] 43a, 43b…Swing shaft holes

[0255] 101…Test body container

[0256] 102…Test body conveying unit

[0257] 103…Reagent container

[0258] 104…Reagent storage unit

[0259] 105…Test body dispensing unit

[0260] 106…Reagent dispensing unit

[0261] 107…Stirring unit

[0262] 108…Reaction promotion unit

[0263] 109…Measurement unit

[0264] 110…Test body suction position

[0265] 112…Consumable conveying unit

[0266] 113…Control device

[0267] 114…Reaction vessel conveying part

[0268] 115…Cleaning unit

[0269] 116…Stirring mechanism

[0270] 117…Waste hole.

Claims

1. A gripping device, wherein, the gripping device includes: a rod-shaped member extending in a first direction in a horizontal plane; a first arm pivotally supported at one end of the rod-shaped member and extending in a second direction different from the first direction in a horizontal plane; a second arm pivotally supported at the other end of the rod-shaped member on the side opposite to the side where the first arm is pivotally supported and extending in a third direction different from the first direction in a horizontal plane; a first gripping portion configured to be rotatable about one end of the first arm not connected to the rod-shaped member, i.e., a first portion, and extending in a fourth direction different from the second direction in a horizontal plane; and a second gripping portion configured to be rotatable about one end of the second arm not connected to the rod-shaped member, i.e., a second portion, and extending in a fifth direction different from the third direction in a horizontal plane, when the first gripping portion and the second gripping portion grip the object by clamping the object or release the object being gripped, they operate in the following manner: make the straight line connecting the first portion and the second portion parallel to the first direction, make the second direction parallel to the third direction, and make the fourth direction and the fifth direction be in a point-symmetrical relationship with respect to the object.

2. The gripping device according to claim 1, wherein, the object is gripped at the midpoint between the first portion and the second portion.

3. The gripping device according to claim 1, wherein, the relative positional relationship between the first portion and the second portion is fixed.

4. The gripping device according to claim 1, wherein, the gripping device further includes: a biasing member that applies a force in the direction of clamping the object by the first gripping portion and the second gripping portion; and a driving mechanism that applies a driving force for moving the first gripping portion and the second gripping portion in the direction of releasing the object being gripped, the driving mechanism applies the driving force to the rod-shaped member.

5. The gripping device according to claim 4, wherein, the biasing member is a tension spring, one end of the tension spring hung on a first spring receiving shaft provided integrally with the first gripping portion and the other end of the tension spring hung on a second spring receiving shaft provided integrally with the second gripping portion are tensioned and erected in a point-symmetrical relationship with respect to the object.

6. The gripping device according to claim 5, wherein, the driving mechanism includes: a motor having a rotary drive shaft; a rotary cam provided parallel and eccentric to the rotary drive shaft and rotating together with the rotary drive shaft; and a cam receiving portion provided on the rod-shaped member and arranged in a direction orthogonal to the first direction, the rotary cam is separated from the cam receiving portion when gripping the object, the rotary cam rotates a predetermined angle together with the rotary drive shaft and abuts against and moves the cam receiving portion when releasing the object, thereby moving the rod-shaped member to open the first gripping portion and the second gripping portion.

7. The holding device according to claim 6, wherein, the rotary drive shaft of the motor is arranged in the vertical direction, the rotary drive shaft is arranged within the range of the projection in the vertical direction of the region surrounded by the first part, the second part, one end of the rod-shaped member, and the other end of the rod-shaped member.

8. The holding device according to claim 7, wherein, the first holding part, the second holding part, the biasing member, the rod-shaped member, the rotary cam, and the motor are stacked in order from the lowermost part in the vertical direction upward.

9. The holding device according to claim 6, wherein, the motor is a stepping motor, and by increasing or decreasing the number of steps for driving the stepping motor, the opening amount of the first holding part and the second holding part can be adjusted.

10. The holding device according to claim 6, wherein, the object is a bottomed cylindrical container, the holding device can hold and release a selected one of a plurality of the containers placed on the container holding part by the first holding part and the second holding part, and the container holding part vertically holds the plurality of containers in a grid pattern in the X-axis direction and the Y-axis direction on a horizontal plane, the first holding part and the second holding part each include: a partial cylindrical concave surface portion that faces the outer peripheral cylindrical portion of the selected container in a plan view; a back surface of the holding part that is located on a side away from the partial cylindrical concave surface portion with respect to the selected container; and a pair of side surfaces of the holding part that connect between the partial cylindrical concave surface portion and the back surface of the holding part, the width of the back surface of the holding part is narrower than that of the partial cylindrical concave surface portion, the pair of side surfaces of the holding part are in a substantially trapezoidal shape that becomes narrower as they are farther away from the selected container, when the first holding part and the second holding part are opened, the central axis of the partial cylindrical concave surface portion is located on a symmetry line that is at a 45° direction with respect to the X-axis and the Y-axis from the central axis position of the selected container, the pair of side surfaces of the holding part are symmetrically arranged with respect to the symmetry line, and a predetermined gap is formed between the plurality of containers adjacent to the selected container.

11. An automatic analysis device, wherein, the automatic analysis device includes the holding device according to any one of claims 1 to 10.

12. A holding method, wherein, the holding method constitutes a holding device in the following manner, the holding device includes: a rod-shaped member that extends in a first direction in a horizontal plane; a first arm that is pivotally supported at one end of the rod-shaped member and extends in a second direction different from the first direction in a horizontal plane; a second arm that is pivotally supported at the other end of the rod-shaped member on the side opposite to the side where the first arm is pivotally supported and extends in a third direction different from the first direction in a horizontal plane; a first holding part that is configured to be rotatable about one end of the first arm that is not connected to the rod-shaped member, i.e., a first part, and extends in a fourth direction different from the second direction in a horizontal plane; and A second gripping portion, which is configured to be rotatable about a second portion that is one end of the second arm not connected to the rod-shaped member, and extends in a fifth direction different from the third direction in a horizontal plane. The gripping device is configured such that: The first direction is parallel to a straight line connecting the first portion and the second portion. The second direction is parallel to the third direction, and The fourth direction and the fifth direction are point-symmetric with respect to the object. The first gripping portion and the second gripping portion grip the object by clamping the object or release the object being gripped.

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