Holding device and automatic analyzer

Abstract

An actuator sensor (248) blocks the first detection light by an actuator sensor light-blocking member (250) entering between the first light-projecting unit and the first light-receiving unit, and detects whether the actuator (243) is in an operation state of opening the gripping members (241, 242) or in a state of closing the gripping members (241, 242). The holding member sensor (247) detects whether the holding members (241, 242) are in a closed state, an open state, or a state of holding the container by blocking the second detection light by a holding member sensor light blocking member (249) entering between the second light projecting unit and the second light receiving unit. As a result, provided are a gripping device and an automatic analyzer that can distinguish, with higher accuracy, three states, namely, a state in which the gripping member is closed without being gripped, a state in which the gripping member is opened without being gripped, and a state in which the gripping member grips the object to be gripped compared with the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to a holding device and an automatic analysis device. BACKGROUND

[0002] In an analysis device that detects a measurement target included in a sample, a device that processes by reacting a reagent with the sample in a container is known. Here, a container conveying mechanism for holding a container and moving it in a horizontal direction and a vertical direction is disclosed (see Patent Literature 1).

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2018-169165 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] According to Patent Literature 1, based on the operation state of the actuator and the state of the holding member detected by the sensor, the state in which the holding member holds nothing and is closed, the state in which the holding member holds nothing and is opened, and the state in which the holding member holds a container as a holding object are distinguished.

[0008] However, there is a problem that the distinction of the state depends on the operation state of the actuator itself, and the reliability of distinguishing the three states is low.

[0009] An object of the present application is to solve the above-described problem, and to provide a holding device and an automatic analysis device that can distinguish the state in which the holding member holds nothing and is closed, the state in which the holding member holds nothing and is opened, and the state in which the holding member holds a holding object with higher accuracy than before.

[0010] MEANS FOR SOLVING THE PROBLEMS

[0011] The present application includes a plurality of means for solving the above problems, and if one example is cited, it has: a gripping portion that grips a gripping object by gripping it with two or more members opened and closed by an actuator; a first sensor having a first light projecting portion that projects a first detection light and a first light receiving portion that receives the first detection light; a second sensor having a second light projecting portion that projects a second detection light and a second light receiving portion that receives the second detection light; a determination portion that determines in relation to three states: a state in which the members are not gripping the gripping object and are open, a state in which they are not gripping the gripping object and are closed, and a state in which they are gripping the gripping object, based on detection information of the first sensor and the second sensor; a first light shielding member that is linked to the actuator; and a second light shielding member that is linked to any one or more of the members, the first sensor detecting which of the state in which the actuator is performing an operation to open the members and the state in which it is performing an operation to close the members by the first light shielding member entering between the first light projecting portion and the first light receiving portion to shield the first detection light, the second sensor detecting which of the state in which the members are closed and the state in which they are open or gripping the gripping object by the second light shielding member entering between the second light projecting portion and the second light receiving portion to shield the second detection light.

[0012] In addition, if another example is cited, it has: a gripping portion that grips a gripping object by gripping it with two or more members opened and closed by an actuator; a first sensor having a first light projecting portion that projects a first detection light and a first light receiving portion that receives the first detection light; a second sensor having a second light projecting portion that projects a second detection light and a second light receiving portion that receives the second detection light; a determination portion that determines in relation to three states: a state in which the members are not gripping the gripping object and are open, a state in which they are not gripping the gripping object and are closed, and a state in which they are gripping the gripping object, based on detection information of the first sensor and the second sensor; a first light shielding member that is linked to the actuator; and a second light shielding member that is linked to any one or more of the members, the opening and closing operation of the gripping portion being performed by a rotation operation of the actuator and a rotation operation of the members linked to the rotation operation of the actuator, the first light projecting portion and the first light receiving portion being configured such that the first detection light is shielded by the first light shielding member when the actuator has rotated by a first angle, the second light projecting portion and the second light receiving portion being configured such that the second detection light is shielded by the second light shielding member when the members have rotated by a second angle.

[0013] Inventive Effects

[0014] According to the present application, three states can be distinguished with higher accuracy than in the past. The above-mentioned problems, structures, and effects are made clear through the following description of embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a plan view showing a structure example of an automatic analysis device of the embodiment.

[0016] Figure 2 is a detailed explanatory view of a consumable carrying unit in the automatic analysis device of the embodiment.

[0017] Figure 3 is a B-B sectional view of Figure 2

[0018] Figure 4 is an appearance view of a container holding device of the automatic analysis device of the embodiment.

[0019] Figure 5 is a front view showing a state in which the holding member of the container holding device of the embodiment is closed.

[0020] Figure 6 is a C-C sectional view of Figure 5

[0021] Figure 7 is a sectional view showing a positional relationship between a sensor and a light shielding member in a state in which the holding member of the container holding device of the embodiment is closed.

[0022] Figure 8 is a sectional view showing a positional relationship between a sensor and a light shielding member in a state in which the holding member of the container holding device of the embodiment is opened.

[0023] Figure 9 is a sectional view showing a positional relationship between a sensor and a light shielding member in a state in which the holding member of the container holding device of the embodiment is holding a container.

[0024] Figure 10 is a matrix diagram of determination of a holding state in the automatic analysis device of the embodiment. DETAILED DESCRIPTION

[0025] The embodiment of the holding device and the automatic analysis device of the present application will be described. Note that in the drawings used in the present specification, the same or similar symbols are attached to the same or corresponding constituent elements, and sometimes repeated description of these constituent elements is omitted. Figures 1 to 10

[0026] ​​​In the following embodiments, the holding device of the present application is described in the case where the holding device is provided in the consumable carrying unit 112 of the automatic analysis device, but the holding device of the present application can be applied to the reaction container carrying section 114, other holding mechanisms, or various mechanisms for holding objects.

[0027] In addition, the holding object is described in the case of various containers used in the above-described automatic analysis device, but the holding object is not limited to such containers.

[0028] As an embodiment of the present application, a Figure 1 An immunoassay device as an example of an automatic analysis device is described. Figure 1 A schematic configuration of the immunoassay device in the present embodiment is shown.

[0029] Figure 1 The immunoassay device shown has a specimen carrying unit 102 that carries a specimen container 101 such as a blood collection tube in which a specimen of an analysis object is housed to a specimen suction position 110, a reagent storage unit 104 that temperature-controls a reagent container 103 in which a reagent used in analysis is loaded so that the temperature of the reagent is within a certain range, a specimen dispensing unit 105 that dispenses the specimen in the specimen 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 a liquid in the reagent container 103 that is open at the top, a cleaning unit 115 that cleans the stirring unit 107, a reaction promoting unit 108 that provides a reaction container in which a reaction solution in which the specimen and the reagent are mixed is housed, and controls so that the reaction solution enters a certain temperature range, a measurement unit 109 that optically measures the amount of a substance in the reaction solution in which the reaction is promoted by the reaction promoting unit, an ambient temperature measurement sensor (omitted for ease of illustration) for measuring the temperature of the ambient environment in which the immunoassay device is disposed, and a control device 113 and the like that controls the operation of each of the above-described units.

[0030] The specimen carrying unit 102 is a mechanism for carrying a specimen rack on which one or a plurality of specimen containers 101 to a destination. In addition, a specimen disk can be used instead of or in addition to the carrying unit, the specimen disk being disposed on the circumference of a disk. In the case of a specimen rack, the specimen rack is carried to the suction position of the specimen dispensing unit by a carrying belt mechanism, a robot arm, or the like.

[0031] The reagent storage unit 104 is a structure in which a plurality of reagent containers 103 are disposed on the circumference and rotated to carry an arbitrary reagent container to a desired position, but can be a structure in which the reagent containers are disposed in a row or in multiple rows vertically and horizontally.

[0032] The measurement unit 109 optically or electrically measures the reaction solution in the reaction container carried from the reaction promoting unit 108 by the reaction container carrying unit 114. At this time, the reaction solution in the flow path is measured while being controlled within a certain temperature range. As an example of the measurement operation, there are measurement of absorbance of the reaction solution, measurement of the amount of light emission when a reagent is added to the reaction solution or a voltage is applied, measurement of the number of particles in the reaction solution, or measurement of the change in current value or voltage value when the reaction solution contacts an electrode film, and the like. Therefore, a photomultiplier tube, a photometer, an imaging element such as a CCD, a galvanometer, a voltmeter, or the like, which measures the change in current value or voltage value, is provided in the measurement unit 109.

[0033] The reaction promoting unit 108 promotes stable reactions by keeping the temperature of the reaction container within a prescribed temperature range. Specifically, it is a thermostat in which a plurality of reaction containers are arranged in a circle, and the temperature is controlled by heating the surroundings with a heater or the like. As another example of the reaction promoting unit 108, it can be a thermostat tank in which the reaction container is immersed in a tank in which a liquid controlled to a certain temperature range is circulated.

[0034] The specimen dispensing unit 105 dispenses the specimen in the specimen container 101 into the reaction container, but depending on the analysis performance required of the analysis device, the influence of carryover between specimens needs to be considered. Therefore, when the specimen dispensing unit 105 dispenses the specimen, the portion that contacts the specimen uses a dispensing head that can be replaced every time the specimen is changed, or a reaction container that is not used each time. At this time, the dispensing head and the reaction container that have been used once are discarded.

[0035] Therefore, the new dispensing head and the reaction container required for performing analysis for a certain amount of time are stored in the consumable storage unit 111, and are supplied to the place where they are used by the consumable carrying unit 112 in a timely manner.

[0036] The consumable carrying unit 112 is configured to be movable in the planar direction and the vertical direction, and is configured to be movable above the consumable storage unit 111, the reaction promoting unit 108, the disposal hole 117, and the stirring mechanism 116.

[0037] The consumable storage unit 111 is configured to be detachable from the immunoassay device, and is configured to be arranged on the upper surface of the immunoassay device by the operator in a state in which a plurality of containers are placed.

[0038] Figure 2The illustrated consumable carrying unit 112 has a Y-axis frame 210 extending in the Y-axis direction and an X-axis frame 220 extending in a direction orthogonal to the Y-axis frame 210. The X-axis frame 220 is movably attached to the Y-axis frame 210. Further, a Z-carriage 230 is attached to the X-axis frame 220 in a manner so as to be movable in the X-axis direction. Also, a container gripping device 240 is attached to the Z-carriage 230 so as to be movable in the Z-axis direction. That is, the carrying mechanism is movable in three-axis directions.

[0039] The container gripping device 240 grips the unused containers one by one from the consumable storage unit 111 and moves them to the reaction promoting unit 108 and the stirring mechanism 116.

[0040] In addition, the consumable carrying unit 112 grips the used containers and moves them to the disposal hole 117. Since the used containers have the specimen or the like attached thereto, infection or the like can occur if directly contacted, and therefore, for example, by providing a disposal box in the lower portion of the disposal hole 117 and disposing them therein, the used containers are finally disposed together with the disposal box, so that the risk of direct contact can be reduced.

[0041] A Y-drive motor 211 and a Y-driven pulley 212 are attached to the Y-axis frame 210. A Y-drive pulley 213 is attached to the drive shaft of the Y-drive motor 211. A Y-geared belt 214 is suspended between the Y-drive pulley 213 and the Y-driven pulley 212. A portion of the X-carriage is fixed to the Y-geared belt 214.

[0042] A Y-start sensor 215 is attached to the Y-axis frame 210. The Y-start sensor 215 is composed of optical couplers, and a Y-detection plate fixed to a portion of the X-axis frame 220 is located between the optical couplers, and by shielding the light emitted from the light-emitting portion of the optical couplers, the position of the Y-detection plate, that is, the position of the X-axis frame 220 can be detected. The Y-start sensor 215 detects the Y-start position of the X-axis frame 220.

[0043] With the above structure, the X-axis frame 220 operates as follows.

[0044] That is, if the Y-drive motor 211 rotates, the rotational force is transmitted to the Y-geared belt 214 via the Y-drive pulley 213, and the X-axis frame 220 fixed to the Y-geared belt 214 moves in the Y-axis direction.

[0045] An X-drive motor 221 and an X-driven pulley 222 are attached to the X-axis frame 220. An X-drive pulley 223 is attached to the drive shaft of the X-drive motor 221. An X-geared belt 224 is suspended between the X-drive pulley 223 and the X-driven pulley 222. In addition, the Z-carriage 230 is linked to the X-geared belt 224.

[0046] An X-axis frame 220 is mounted with an X-home sensor 225. The X-home sensor 225 is comprised of a photocoupler. An X-detection plate, fixed to a portion of the Z carriage 230, is positioned between the photocouplers. This shields the light emitted from the photocoupler's light-emitting diode, thereby detecting the position of the X-detection plate, and therefore the position of the Z carriage 230. The X-home sensor 225 detects the X-home position of the Z carriage 230.

[0047] With the above configuration, the Z carriage 230 operates as follows: When the X drive motor 221 rotates, the rotational force is transmitted to the X toothed belt 224 via the X drive pulley 223 , and the Z carriage 230 fixed to the X toothed belt 224 moves in the X-axis direction.

[0048] Next, use Figure 3 The structure and operation of the Z carriage 230 will be described.

[0049] The Z-axis linear guide 231, Z drive motor 232, and Z start sensor 233 are mounted on the Z-bracket 230. A container gripping device 240 is mounted on a sliding plate 234 that is movable along the Z-axis linear guide 231. An L-shaped detection piece 234a is mounted on the sliding plate 234. The tip of this detection piece 234a extends across the gap between the light-emitting diode and photodiode of the Z start sensor 233, which is composed of an optical coupler, thereby detecting the Z start position. A rack 235 is engraved on the left end of the sliding plate, which meshes with a pinion 236 mounted on the Z drive motor 232.

[0050] With the above configuration, the container gripping device 240 operates as follows: When the Z drive motor 232 rotates, the rotational force is transmitted to the rack 235 engraved on the sliding plate 234 via the pinion 236, and the container gripping device 240 fixed to the sliding plate 234 moves in the Z-axis direction.

[0051] Next, use Figures 4 to 6 The structure of the container gripping device 240 and the functions of its main components will be described. Figure 4 This is a diagram showing the appearance of a container gripping device 240 for conveying containers. Figure 5 is a front view of the container holding device 240, Figure 6 yes Figure 5 CC view.

[0052] like Figures 4 to 6 As shown, the container holding device 240 also includes holding parts 241, 242, an actuator 243, a holding part connecting part 244, a holding part base 245, a tension spring 246 for the holding part, a sensor 247 for the holding part, a sensor 248 for the actuator, a sensor light-shielding part 249 for the holding part, and a sensor light-shielding part 250 for the actuator.

[0053] Guide pins 252 and 253 are fixed to the actuator base 251. The grip base 245 is fitted to the guide pins 252 and 253 so as to be able to move vertically. The grip member 241 is mounted on the guide pin 252 so as to be able to rotate and move vertically. The grip member 242 is also mounted on the guide pin 253 so as to be able to rotate and move vertically.

[0054] Furthermore, a pressing spring 254 is installed between the actuator base 251 and the grip base 245 and around the guide pins 252 and 253 to constantly press the grip base 245 downward relative to the actuator base 251. Therefore, the grip members 241 and 242 engaged with the grip base 245 are also constantly pressed downward.

[0055] An obstacle sensor 256 is mounted on a sensor base 255 mounted on the grip base 245. The obstacle sensor 256 includes a photocoupler and detects the presence of an obstacle by whether a detection plate 251a fixed to the actuator base 251 blocks light from the photocoupler.

[0056] For example, when the container holding device 240 descends and the holding parts 241 and 242 hit an obstacle, the holding parts 241 and 242 stop their descending action, but by compressing the pressing spring 254 while causing the container holding device 240 to continue descending, the detection plate 251a fixed to the actuator base 251 blocks the light from the optical coupler and detects the presence of the obstacle.

[0057] use Figure 6 The structure of the grip portion will be described.

[0058] like Figure 6 As shown, the gripping member connecting member 244 is rotatably attached to the gripping member 241 and the gripping member 242 via pins 257 and 258. The gripping portion base, the gripping member 241, the gripping member 242, and the gripping member connecting member 244 constitute a four-link structure.

[0059] In this embodiment, the four-link structure composed of the grip base 245, the grip member 241, the grip member 242, and the grip member connecting member 244 is a parallel link with equal and parallel interaxial distances.

[0060] In addition, a gripping member tensile spring 246 is suspended between a spring pin 259 attached to the gripping member 241 and a spring pin 260 attached to the gripping member 242. That is, a force in the closing direction is always applied to the gripping members 241, 242, a force to press from the outside of the container is applied when the container is gripped, and a force to bring the gripping member link member 244 into contact with a cam 261 attached to the actuator 243 is applied when the gripping members 241, 242 are opened. The cam 261 attached to the actuator 243 comes into contact with the gripping member link member 244, thereby transmitting the rotational motion of the actuator 243 to the gripping member link member 244. The motion of the gripping member link member 244 is transmitted to the gripping members 241, 242 through a parallel link mechanism, thereby enabling the gripping members 241, 242 to be opened. That is, the gripping members 241, 242 are opened and closed by the actuator 243, and constitute a grip that grips an object to be gripped by sandwiching the object.

[0061] Figures 7 to 9 is a D-D view. Figure 5 Figure 7 FIG. 2 is a view showing the state in which the gripping members 241, 242 of the container gripping device 240 are closed, Figure 8 FIG. 3 is a view showing the state in which the gripping members 241, 242 of the container gripping device 240 are opened, Figure 9 FIG. 4 is a view showing the state in which the container gripping device 240 grips a container.

[0062] As shown in FIG. 1, the container gripping device 240 includes an actuator 243, a gripping member 241, a gripping member 242, and a gripping member link member 244. Figures 7 to 9 As shown in FIG. 1, the container gripping device 240 includes an actuator 243, a gripping member 241, a gripping member 242, and a gripping member link member 244.

[0063] The actuator sensor 248 has a first light projecting portion that projects a first detection light and a first light receiving portion that receives the first detection light. These first light projecting portion and first light receiving portion are configured to be shielded from the first detection light by the actuator sensor light shielding member 250 when the actuator 243 is rotated by a first angle.

[0064] More specifically, the actuator sensor 248 detects which of the state in which the actuator 243 performs the motion to open the gripping members 241, 242 and the state in which the actuator 243 performs the closing motion by the actuator sensor light shielding member 250 entering between the first light projecting portion and the first light receiving portion to shield the first detection light.

[0065] ​Therefore, when the actuator 243 performs a rotational operation for closing the holding members 241 and 242, the actuator-sensor light-blocking member 250 enters the actuator-sensor 248 installed in the sensor base 255, and the actuator-sensor 248 becomes a light-blocked state. Further, when the actuator 243 performs a rotational operation for opening the holding members 241 and 242, the actuator-sensor light-blocking member 250 is separated from the actuator-sensor 248, and the actuator-sensor 248 becomes a state where it is not light-blocked.

[0066] The holding-member sensor 247 has a second light projecting portion that projects a second detection light, and a second light receiving portion that receives the second detection light. These second light projecting portion and second light receiving portion are configured such that, when the holding members 241 and 242 are rotated by a second angle, the second detection light is blocked by the holding-member sensor light-blocking member 249.

[0067] More specifically, the holding-member sensor 247 detects which of the state where the holding members 241 and 242 are closed, the state where they are opened, or the state where they hold a holding object, by the holding-member sensor light-blocking member 249 entering between the second light projecting portion and the second light receiving portion to block the second detection light.

[0068] Therefore, in the state where the holding members 241 and 242 are closed, the holding-member sensor light-blocking member 249 that is a part of the holding member 242 is separated from the holding-member sensor 247 installed in the sensor base 255, and the holding-member sensor 247 becomes a state where it is not light-blocked. In addition, in the state where the holding members 241 and 242 are opened, the holding-member sensor light-blocking member 249 enters the holding-member sensor 247, and the holding-member sensor 247 becomes a light-blocked state. Further, when a container is held, the actuator 243 performs a closing operation, but the holding-member sensor light-blocking member 249 is not separated from the holding-member sensor 247 by the holding members 241 and 242 pinching the container.

[0069] On this basis, the control device 113 controls the operation of the holding portion, and based on the detection information of the actuator-sensor 248 and the holding-member sensor 247, determines, as the container holding state of the container holding device 240, the state where the holding members 241 and 242 are opened without holding a holding object, the state where they are closed without holding a holding object, and the state where they hold a holding object.

[0070] That is, as Figure 10As shown, the following three states can be determined: (1) a state in which the actuator sensor 248 is shaded and the holding member sensor 247 is not shaded (a state in which the holding members 241, 242 are not holding anything and are closed); (2) a state in which the actuator sensor 248 is not shaded and the holding member sensor 247 is shaded (a state in which the holding members 241, 242 are not holding anything and are opened); and (3) a state in which the actuator sensor 248 is shaded and the holding member sensor 247 is shaded (a state in which the holding members 241, 242 are holding a container).

[0071] Further, in a case where the holding member sensor 247 is not shaded in a state in which the actuator sensor 248 is not shaded, the state described above is not detected in normal operation, and thus it can be determined that the state is an abnormal state.

[0072] Further, when control is performed to change from the first state among the three states to a second state among the three states that is different from the first state, in a case where the control device 113 determines that the first state or the third state, the control device 113 compares the detection information of the actuator sensor 248 in the second state with the detection information of the actuator sensor 248 in the first state or the third state, determines that the actuator 243 is abnormal in a case where they are different, and determines that the connection of the actuator 243 and / or the holding members 241, 242 is abnormal in a case where they are the same. Hereinafter, a specific example thereof will be described.

[0073] The container holding device 240, in a case where a container held by the consumable storage unit 111 or the like is held, after the container holding device 240 is moved horizontally upward to the container, performs an opening operation by the actuator 243, and the holding members 241, 242 are shifted from the state in which they are not holding anything and are closed to the state in which they are not holding anything and are opened, after the container holding device 240 is lowered in the vertical direction to a height at which the container can be held, performs a closing operation by the actuator 243, and the holding members 241, 242 are shifted from the state in which they are not holding anything and are opened to the state in which they are holding the container, and the container holding device 240 is raised in the vertical direction.

[0074] In the above-described operation, when shifting from the state in which the holding members 241, 242 are not holding anything and are closed to the state in which the holding members 241, 242 are not holding anything and are opened, in a case where the container holding state of the container holding device 240 based on the detection information of the actuator sensor 248 and the holding member sensor 247 is a state different from the state in which the holding members 241, 242 are not holding anything and are opened, it can be determined that an abnormality has occurred in the operation of the container holding device 240 to open the holding members 241, 242.

[0075] Further, in the above-described operation, when shifting from the state in which the holding members 241, 242 are not holding anything and are opened to the state in which the holding members 241, 242 are holding a container, in a case where the container holding state of the container holding device 240 based on the detection information of the actuator sensor 248 and the holding member sensor 247 is a state different from the state in which the holding members 241, 242 are holding a container, it can be determined that an abnormality has occurred in the operation of the container holding device 240 to hold a container.

[0076] Further, in the above-described operation, when shifting from the state in which the holding members 241, 242 are not holding anything and are opened to the state in which the holding members 241, 242 are holding a container, in a case where the container holding state of the container holding device 240 based on the detection information of the actuator sensor 248 and the holding member sensor 247 is a state different from the state in which the holding members 241, 242 are holding a container, it can be determined that an abnormality has occurred in the operation of the container holding device 240 to hold a container.

[0077] In the above-described operation, when shifting from the state in which the holding members 241, 242 are holding a container to the state in which the holding members 241, 242 are not holding anything and are opened, in a case where the container holding state of the container holding device 240 based on the detection information of the actuator sensor 248 and the holding member sensor 247 is a state different from the state in which the holding members 241, 242 are not holding anything and are opened, it can be determined that an abnormality has occurred in the operation of the container holding device 240 to open the holding members 241, 242.

[0078] Further, in the above-described operation, when shifting from the state in which the holding members 241, 242 are not holding anything and are opened to the state in which the holding members 241, 242 are not holding anything and are closed, in a case where the container holding state of the container holding device 240 based on the detection information of the actuator sensor 248 and the holding member sensor 247 is a state different from the state in which the holding members 241, 242 are not holding anything and are closed, it can be determined that an abnormality has occurred in the operation of the container holding device 240 to close the holding members 241, 242.

[0079] Thus, regarding an abnormality in the operation of the container holding device 240, by providing the sensors on the actuator 243 side and the holding members 241, 242 side respectively, it is possible to distinguish whether the abnormality is on the actuator 243 side or the holding member side.

[0080] The normal state changes of the container holding device 240 are the following four: (1) a change from the state in which nothing is held by the holding members 241, 242 and closed to the state in which nothing is held by the holding members 241, 242 and opened; (2) a change from the state in which nothing is held by the holding members 241, 242 and opened to the state in which the container is held by the holding members 241, 242; (3) a change from the state in which the container is held by the holding members 241, 242 to the state in which nothing is held by the holding members 241, 242 and opened; and (4) a change from the state in which nothing is held by the holding members 241, 242 and opened to the state in which nothing is held by the holding members 241, 242 and closed.

[0081] Before and after each of these four state changes, the state of the actuator 243 changes. That is, when an abnormality occurs, if the light blocking state of the actuator sensor 248 does not change before and after the operation, it is possible to determine that there is an abnormality on the actuator 243 side. In addition, when an abnormality occurs, if the light blocking state of the actuator sensor 248 changes before and after the operation, the actuator 243 is operating normally, and it is possible to determine that there is an abnormality in the state of a portion other than the actuator 243, such as the holding members 241, 242, the connection portion of the holding members 241, 242 and the actuator 243, or the holding state of the container.

[0082] Next, the effects of the present embodiment will be described.

[0083] The container gripping device 240 of the present embodiment described above includes a gripping portion that grips a container by sandwiching the container with two or more gripping members 241, 242 that are opened and closed by an actuator 243; an actuator sensor 248 that includes a first light projecting portion that projects first detection light and a first light receiving portion that receives the first detection light; a gripping member sensor 247 that includes a second light projecting portion that projects second detection light and a second light receiving portion that receives the second detection light; a control device 113 that, based on detection information of the actuator sensor 248 and the gripping member sensor 247, performs determination related to three states: a state in which the gripping members 241, 242 are not gripping the container and are open, a state in which the gripping members 241, 242 are not gripping the container and are closed, and a state in which the gripping members 241, 242 are gripping the container; an actuator sensor light blocking member 250 that moves in conjunction with the actuator 243; and a gripping member sensor light blocking member 249 that moves in conjunction with any one or more of the gripping members 241, 242, the actuator sensor 248 detects which of the state in which the actuator 243 is performing an operation to open the gripping members 241, 242 and the state in which the actuator 243 is performing an operation to close by the actuator sensor light blocking member 250 entering between the first light projecting portion and the first light receiving portion to block the first detection light, and the gripping member sensor 247 detects which of the state in which the gripping members 241, 242 are closed and the state in which the gripping members 241, 242 are open or gripping the container by the gripping member sensor light blocking member 249 entering between the second light projecting portion and the second light receiving portion to block the second detection light.

[0084] Thus, the three states of the container conveying mechanism can be reliably determined, so that the response can be more appropriately taken, the recovery at the time of an abnormality can be accelerated compared to the past, and the decrease in the analysis throughput can be suppressed compared to the past.

[0085] Further, the opening and closing operation of the gripping portion is performed by the rotational operation of the actuator 243 and the rotational operation of the gripping members 241, 242 that moves in conjunction with the rotational operation of the actuator 243, the first light projecting portion and the first light receiving portion are configured such that the first detection light is blocked by the actuator sensor light blocking member 250 when the actuator 243 is rotated by a first angle, and the second light projecting portion and the second light receiving portion are configured such that the second detection light is blocked by the gripping member sensor light blocking member 249 when the gripping members 241, 242 are rotated by a second angle, whereby two state quantities can be measured and distinguished in the state of the operation in one operation system due to the conjunction operation, so that the state distinction also becomes easy, so that the three states of the container conveying mechanism can be reliably determined, so that the recovery at the time of an abnormality can be accelerated compared to the past, and the decrease in the analysis throughput can be suppressed compared to the past. In addition, since the number of drive systems is small, maintenance can be improved, the device can be downsized, manufacturing can be easy, and cost reduction can be achieved.

[0086] In addition, the opening and closing operation of the holding portion is performed by the rotation operation of the actuator 243 and the rotation operation of the holding members 241, 242 in conjunction with the rotation operation of the actuator 243, the first light projecting portion and the first light receiving portion are configured to block the first detection light by the actuator sensor light blocking member 250 when the actuator 243 is rotated by a first angle, and the second light projecting portion and the second light receiving portion are configured to block the second detection light by the holding member sensor light blocking member 249 when the holding members 241, 242 are rotated by a second angle, so that determination of the abnormal site becomes easier, and recovery at the time of occurrence of an abnormality can be further accelerated.

[0087] <Other>

[0088] In addition, the present application is not limited to the above-described embodiments, and various modifications and applications can be made. The above-described embodiments are embodiments that are described in detail in order to easily understand the present application, and are not necessarily limited to having all the structures described.

[0089] Explanation of Reference Signs

[0090] 101: Specimen container

[0091] 102: Specimen conveyance unit

[0092] 103: Reagent container

[0093] 104: Reagent storage unit

[0094] 105: Specimen dispensing unit

[0095] 106: Reagent dispensing unit

[0096] 107: Agitation unit

[0097] 108: Reaction promotion unit

[0098] 109: Measurement unit

[0099] 110: Specimen suction position

[0100] 111: Consumable storage unit

[0101] 112: Consumable conveyance unit

[0102] 113: Control device (determination portion, control portion)

[0103] 114: Reaction container conveyance portion

[0104] 115: Cleaning unit

[0105] 116: Agitation mechanism

[0106] 117: Waste hole

[0107] 210: Y-axis frame

[0108] 211: Y-drive motor

[0109] 212: Y-driven pulley

[0110] 213: Y-drive pulley

[0111] 214: Belt

[0112] 215: Y-start sensor

[0113] 220: X-axis frame

[0114] 221: X-drive motor

[0115] 222: X-driven pulley

[0116] 223: X-drive pulley

[0117] 224: X-toothed belt

[0118] 225: X-start sensor

[0119] 230: Z-carriage

[0120] 231: Linear guide

[0121] 232: Z-drive motor

[0122] 233: Z-start sensor

[0123] 234: Slide

[0124] 234a: Detection tab

[0125] 235: Rack

[0126] 236: Pinion

[0127] 240: Container gripping device

[0128] 241, 242: Gripping member (member)

[0129] 243: Actuator

[0130] 244: Gripping member connecting member

[0131] 245: Gripping member base

[0132] 246: Gripping member extension spring

[0133] 247: Gripping member sensor (second sensor)

[0134] 248: Actuator sensor (first sensor)

[0135] 249: Sensor-shielding member for gripping member (second shielding member)

[0136] 250: Sensor-shielding member for actuator (first shielding member)

[0137] 251: Actuator base

[0138] 251a: Detection plate

[0139] 252, 253: Guide pin

[0140] 254: Pressing spring

[0141] 255: Sensor base

[0142] 256: Obstacle sensor

[0143] 257, 258: Pin

[0144] 259, 260: Spring pin

[0145] 261: Cam

Claims

1. A gripping device, characterized by Possessing: a gripping portion that grips a gripping object by gripping the gripping object using two or more members that are opened and closed by an actuator; a first sensor that has a first light projecting portion that projects first detection light and a first light receiving portion that receives the first detection light; a second sensor that has a second light projecting portion that projects second detection light and a second light receiving portion that receives the second detection light; a determination portion that determines, based on detection information of the first sensor and the second sensor, a state of the members being in an open state without gripping the gripping object, a closed state without gripping the gripping object, or a state of gripping the gripping object; a first light blocking member that moves in conjunction with the actuator; and a second light blocking member that moves in conjunction with one or more of the members, the first sensor detects, by the first light blocking member entering between the first light projecting portion and the first light receiving portion to block the first detection light, which of the actuator is in a state of performing an operation to open the members or a state of performing an operation to close the members, the second sensor detects, by the second light blocking member entering between the second light projecting portion and the second light receiving portion to block the second detection light, which of the members is in a closed state or a state of being open or gripping the gripping object.

2. The gripping device according to claim 1, wherein the opening and closing operation of the gripping portion is performed by a rotational operation of the actuator and a rotational operation of the members that moves in conjunction with the rotational operation of the actuator, the first light projecting portion and the first light receiving portion are configured such that the first detection light is blocked by the first light blocking member when the actuator is rotated by a first angle, the second light projecting portion and the second light receiving portion are configured such that the second detection light is blocked by the second light blocking member when the members are rotated by a second angle.

3. The gripping device according to claim 1, further comprising a control portion that controls the gripping portion, wherein when the control portion performs control to change from a first state of the three states of the gripping portion to a second state that is different from the first state, in a case where the determination portion determines that the first state or a third state is present, the determination portion compares detection information of the first sensor in the second state with detection information of the second sensor in the first state or the third state, determines that there is an abnormality in the actuator in a case where they are different, and determines that there is an abnormality in a connection portion of the actuator and / or the members in a case where they are the same. Possessing: a gripping portion that grips a gripping object by gripping the gripping object using two or more members that are opened and closed by an actuator; 4. A gripping device, characterized in that a first sensor that has a first light projecting portion that projects first detection light and a first light receiving portion that receives the first detection light; a second sensor that has a second light projecting portion that projects second detection light and a second light receiving portion that receives the second detection light; ​ ​ a determination unit that determines, based on detection information from the first sensor and the second sensor, a state of the member with respect to the gripping object, the state being one of: a state in which the member is open without gripping the gripping object, a state in which the member is closed without gripping the gripping object, and a state in which the member is gripping the gripping object; a first light-blocking member that moves in conjunction with the actuator; and a second light-blocking member that moves in conjunction with any one or more of the members, the opening and closing of the gripping portion is performed by a rotation of the actuator and a rotation of the member in conjunction with the rotation of the actuator, the first light-emitting portion and the first light-receiving portion are configured such that, when the actuator is rotated by a first angle, the first detection light is blocked by the first light-blocking member, the second light-emitting portion and the second light-receiving portion are configured such that, when the member is rotated by a second angle, the second detection light is blocked by the second light-blocking member.

5. An automatic analysis device characterized by comprising: the gripping device according to claim 1 or 4.

6. The automatic analysis device according to claim 5, characterized by the gripping object is a container for analysis of a specimen.

Images