Conveying device

Abstract

To provide a conveying device that facilitates the movement of a holding unit when the conveying device is stopped and a brake device works.SOLUTION: A conveying device comprises a holding unit that holds an object to be conveyed, and a first moving device that moves a support member supporting the holding unit in the vertical direction. The first moving device is provided with a motor and a brake device that brakes the motor to stop the motor. The support member is provided with a brake release switch for releasing the braking of the brake device.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present disclosure relates to a transport device. [Background technology]

[0002] As a transport device, for example, a transport device provided in an analysis device described in Patent Document 1 is known. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2015-111118 A Summary of the Invention [Problem to be solved by the invention]

[0004] This transport device is composed of a gripping unit that grips a plate used for analyzing a sample, and a moving device that moves this gripping unit to a predetermined location. In this type of transport device, the moving device may be provided with a brake device that automatically applies the brakes to the motor that drives the moving device and stops the gripping unit if any problem occurs during sample analysis. After stopping, the brake must be released in order to manually move the gripping unit to eliminate the problem.

[0005] The present disclosure aims to provide a transport device that facilitates movement of a gripping unit when the moving device is stopped and a braking device is applied. [Means for solving the problem]

[0006] The conveying device according to the first aspect comprises a gripping unit for gripping an object to be conveyed, and a first moving device for moving a support member supporting the gripping unit in an up and down direction, the first moving device being provided with a motor and a braking device for applying a brake to the motor when the motor is stopped, and the support member being provided with a brake release switch for releasing the brake of the braking device.

[0007] In the transport device according to the first aspect, the gripping unit can grip the transport object, and the first moving device can move the support member supporting the gripping unit in the vertical direction. That is, the transport object gripped by the gripping unit can be moved in the vertical direction.

[0008] The first moving device is provided with a brake device that brakes the motor when the motor is stopped, so that the rotation of the motor due to its own weight or an external force can be suppressed when the motor is stopped. In other words, the support member that supports the gripping unit is prevented from moving due to its own weight when the motor is stopped.

[0009] To move the support member supporting the gripping unit when the motor is stopped, the brake is released by operating the brake release switch. This allows the motor to be easily rotated by an external force. Therefore, by operating the brake release switch provided on the support member supporting the gripping unit, the support member can be easily moved manually in the vertical direction. In other words, since the brake release switch is provided on the support member to be moved, it is easy to simultaneously operate the brake release switch and move the support member.

[0010] Furthermore, in the conveying device of the first aspect, the brake release switch is provided on the support member that supports the gripping unit, making it easier to operate the support member while operating the brake release switch compared to when the brake release switch is provided in a location other than the support member.

[0011] A conveying device according to a second aspect is the conveying device according to the first aspect, further comprising: a second moving device provided on the support member and configured to move in a first horizontal direction; and a third moving device provided on the second moving device, carrying the gripping unit and configured to move the gripping unit in a second horizontal direction perpendicular to the first horizontal direction; is provided.

[0012] In the transport device according to the second aspect, a second moving device provided on the support member moves in a first horizontal direction, and a third moving device provided on the second moving device moves the gripping unit in a second horizontal direction perpendicular to the first horizontal direction. Therefore, in the conveying device of the second aspect, the first moving device, the second moving device, and the third moving device can be used to move the gripping unit in an up-down direction, a first horizontal direction, and a second horizontal direction perpendicular to the first horizontal direction.

[0013] A transport device according to a third aspect is the transport device according to the first or second aspect, wherein the object to be transported is a plate that is installed in an analyzer and used for analyzing a sample.

[0014] In the transport device according to the third aspect, the plate to be used in the analyzer can be gripped and transported by the gripping unit. Effect of the Invention

[0015] As described above, according to the transport device of the present disclosure, when the moving device stops and the braking device is applied, the gripping unit can be easily moved. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a perspective view showing an analysis device according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a perspective view showing a reaction plate used in the analyzer. [Diagram 3] FIG. 2 is a perspective view showing a sample plate used in the analyzer. [Figure 4]FIG. 2 is a front view showing an outline of the internal configuration of the analysis device. [Diagram 5] FIG. [Figure 6] FIG. [Figure 7] FIG. [Figure 8] 1 is a perspective view showing a gripping unit, a front-rear moving device, a left-right moving device, and a part of a up-down moving device. FIG. [Figure 9] 1 is a perspective view showing a gripping unit, a front-rear moving device, a left-right moving device, and a part of a up-down moving device. FIG. [Figure 10] 1 is a perspective view showing a gripping unit, a front-rear moving device, a left-right moving device, and a part of a up-down moving device, as viewed from below the device. FIG. [Figure 11] FIG. 2 is a block diagram showing a control system of the analyzer of the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] An analysis device 10 according to an embodiment of the present disclosure will be described with reference to FIGS. 1 to 11. FIG. 1 shows an analysis device 10 according to one embodiment of the present disclosure. 1, the analysis device 10 has a box-shaped housing 12. In the drawing, the X-axis indicates the left-right width direction of the housing 12, the Y-axis indicates the front-rear direction of the housing 12, and the Z-axis indicates the up-down direction of the housing 12. Moreover, the arrow F indicates the front (front face) direction of the analysis device 10.

[0018] On the front side of the housing 12, an upper door 12A and a pair of lower doors 12B that open on both sides are provided.

[0019] FIG. 2 shows a reaction plate 16 used for analyzing samples in the analysis device 10, and FIG. 3 shows a sample plate 23 used for analyzing samples in the analysis device 10.

[0020] 2, a plurality of (8×12=96 in this embodiment) recesses 16A are formed on the upper surface of the reaction plate 16. Primary antibodies are immobilized in advance in these recesses 16A.

[0021] 3, a plurality of (8×12=96 in this embodiment) recesses 23A are formed on the upper surface of the specimen plate 23, similar to the upper surface of the reaction plate 16. Specimens (liquid samples) to be tested are placed in these recesses 23A.

[0022] The analysis device 10 is a device that analyzes components of a specimen placed in a recess 23A of a specimen plate 23.

[0023] Next, the schematic internal configuration of the housing 12 will be described with reference to FIG. Inside the housing 12, a plate shelf (storage section) 24 for storing the reaction plates 16 and a specimen area 34 for storing the specimen plates 23 are provided.

[0024] Further provided inside the housing 12 are a dispensing unit 30, a dispensing stage 32, a reagent storage 36, a tank area 38 that accommodates purified water / washing bottles (not shown), a washing unit 40, a detection section 42, an incubator 44, and the like.

[0025] The dispensing unit 30 aspirates the specimen placed in the recess 23A of the specimen plate 23 and dispenses the aspirated specimen into the recess 16A of the reaction plate 16.

[0026] The incubator 44 keeps the reaction plate 16 at a predetermined temperature for a predetermined time, thereby promoting the reaction (primary reaction) between the primary antibody and the antigen in the sample. The primary reaction produces an immune complex between the primary antibody and the antigen.

[0027] The cleaning unit 40 discharges a cleaning liquid into the recess 16A of the reaction plate 16. Next, the cleaning unit 40 aspirates the mixed liquid containing the cleaning liquid from the recess 16A to remove impurities within the recess 16A.

[0028] The dispensing unit 30 aspirates an enzyme-labeled antibody (labeled secondary antibody) liquid from a reagent container (not shown) in the reagent storage 36, and dispenses the aspirated enzyme-labeled antibody liquid into the recess 16A of the reaction plate 16. The dispensing stage 32 vibrates the reaction plate 16 mounted thereon to agitate the enzyme-labeled antibody liquid. The incubator 44 further keeps the reaction plate 16 warm at a predetermined temperature for a predetermined time. This promotes the reaction (secondary reaction) between the immune complex of the primary antibody and antigen generated by the primary reaction and the enzyme-labeled antibody. The cleaning unit 40 further ejects a cleaning liquid into the recess 16A of the reaction plate 16. Next, the cleaning unit 40 aspirates a mixed liquid containing the cleaning liquid from the recess 16A, and removes unnecessary enzyme-labeled antibody in the recess 16A.

[0029] The dispensing unit 30 also aspirates the chromogenic substrate liquid from the reagent container and dispenses the aspirated chromogenic substrate liquid into the recesses 16A of the reaction plate 16. The dispensing stage 32 vibrates the reaction plate 16 mounted thereon to agitate the chromogenic substrate liquid (chromogenic substrate dispensing operation).

[0030] The incubator 44 keeps the reaction plate 16 at a predetermined temperature for a predetermined time, thereby promoting the reaction (color reaction) between the label contained in the immune complex generated in the secondary reaction and the chromogenic substrate, causing the chromogenic substrate solution to develop color.

[0031] The dispensing unit 30 aspirates a reaction stop solution from a reagent container and dispenses it into the recess 16A of the reaction plate 16. The dispensing stage 32 vibrates the reaction plate 16 mounted thereon to agitate the reaction stop solution, thereby stopping the reaction (color reaction) between the label contained in the immune complex and the color-developing substrate.

[0032] The detection unit 42 projects light of a predetermined wavelength onto the recess 16A of the reaction plate 16. Then, it measures the absorbance of the solution in the recess 15A. By the measurement, it is possible to analyze the sample, that is, to know the amount of antigen in the sample.

[0033] (Transportation device) As shown in Fig. 4, a transport device 50 is provided inside the housing 12. The transport device 50 is a device that can hold the reaction plate 16, the sample plate 23, etc. and transport them within the device. The transport device 50 includes a gripping unit 52 shown in Fig. 6 that can grip the reaction plate 16, the sample plate 23, etc. from the side.

[0034] As shown in Figures 4 and 5, the conveying device 50 is configured to include a front-to-back moving device 54 as an example of a third moving device that is equipped with a gripping unit 52 and moves in the front-to-back direction of the analysis device 10 (Y-axis direction, an example of the second horizontal direction of the present disclosure), a left-to-right moving device 56 as an example of a second moving device that is equipped with the front-to-back moving device 54 and moves the front-to-back moving device 54 in the left-to-right direction of the analysis device 10 (X-axis direction, an example of the first horizontal direction of the present disclosure), and a up-to-down moving device 58 as an example of the first moving device of the present disclosure that moves the left-to-right moving device 56 in the up-down direction (Z-axis direction).

[0035] (Grip unit) 6, the gripping unit 52 includes a pair of hands 60 capable of gripping the reaction plate 16 and the sample plate 23 from the sides as an example of an object to be transported. The pair of hands 60 extend along the front-rear direction of the device, and are opened and closed in a direction in which they approach and separate from each other (in the width direction of the device) by an actuator 62 including a motor 62A.

[0036] (back and forth movement device) 7, in the front-rear movement device 54, a rail 66 and a rack 68 are attached to a base plate 64 extending in the front-rear direction (Y-axis direction) of the device. A linear slide bearing 70 is slidably attached to the rail 66, and the gripping unit 52 (not shown in FIG. 7) is mounted on this linear slide bearing 70.

[0037] The gripping unit 52 is provided with a front-rear movement motor 74 that rotates a pinion gear 72 that meshes with the rack 68, and by rotating this front-rear movement motor 74, the gripping unit 52 (not shown in Figure 7) can be moved in the front-rear direction of the device (Y-axis direction).

[0038] (Left and right moving device) 8 and 9, the left-right movement device 56 has a rail 78 extending in the left-right direction of the device (X-axis direction) attached to the upper part of a horizontal arm 76 extending in the left-right direction of the device (X-axis direction). A linear slide bearing 80 is slidably attached to the rail 78, and the base plate 64 of the front-rear movement device 54 is attached onto this linear slide bearing 80.

[0039] As shown in FIG. 10, timing pulleys 82A, 82B are rotatably attached to both longitudinal sides of the horizontal arm 76, and a timing belt 84 is stretched between the timing pulley 82A on one side and the timing pulley 82B on the other side.

[0040] The timing pulley 82A is fixed to a shaft 86 that is rotatably provided on the horizontal arm 76, and a timing pulley 88 is fixed to this shaft 86.

[0041] A left-right movement motor 90 is attached to the horizontal arm 76, and a timing pulley 92 is fixed to the rotation shaft of this left-right movement motor 90. A timing belt 94 is stretched between the timing pulley 88 and the timing pulley 92, and by rotating the left-right movement motor 90, the timing belt 94 can be driven to rotate.

[0042] As shown in Figures 9 and 10, the timing belt 84 is connected to the base plate 64 of the front-rear movement device 54 via a metal fitting 96, and by rotating the timing belt 94 with a left-right movement motor 90, the front-rear movement device 54 carrying the gripping unit 52 can be moved in the left-right direction of the device (X-axis direction).

[0043] (Up and down movement device) As shown in FIGS. 5 and 8, the vertical movement device 58 includes a rail 98 extending in the vertical direction (Z-axis direction), and a feed screw 100.

[0044] The rail 98 is attached to the inner surface of the housing 12, and a linear slide bearing 102 is slidably attached to the rail 98.

[0045] As shown in FIG. 8, a base plate 104 is attached vertically to the linear slide bearing 102, and an end of the horizontal arm 76 of the left-right movement device 56 is fixed to this base plate 104.

[0046] The base plate 104 incorporates a nut (not shown) that screws onto the feed screw 100, and is fitted with a bearing 106 that rotatably supports the rotating nut.

[0047] As shown in FIG. 10, a timing pulley 108 is fixed to the lower end of the feed screw 100.

[0048] Furthermore, a vertical movement motor 110 is attached to the base plate 104 adjacent to the bearing 106 .

[0049] The vertical movement motor 110 of this embodiment includes a pulse motor 110A as an example of a motor, and a brake device 110B. The brake device 110B of this embodiment is a so-called electromagnetic brake, and in this embodiment, it operates to apply the brake when the motor stops rotating (when the input of the pulse signal that rotates the motor stops).

[0050] A timing pulley 112 is attached to the rotation shaft of the pulse motor 110A of the vertical movement motor 110.

[0051] A timing belt 114 is stretched between a timing pulley 108 fixed to the feed screw 100 and a timing pulley 112 attached to the rotating shaft of a pulse motor 110A.

[0052] Therefore, when the vertical movement motor 110 is rotated, the lead screw 100 rotates and the bearing 106 incorporating a nut moves along the lead screw 100, thereby causing the gripping unit 52, the front-to-back movement device 54, and the left-to-right movement device 56 to move in the vertical direction.

[0053] In this embodiment, the brake device 110B is activated when the vertical movement motor 110 is stopped, so that the left-right movement device 56 (including the gripping unit 52 and the front-back movement device 54) supported by the vertical movement device 58 is prevented from falling due to its own weight when the motor is stopped.

[0054] As shown in FIG. 11, the wiring of the actuator 62, the wiring of the motor 74 for forward and backward movement, the wiring of the motor 90 for left and right movement, the wiring of the pulse motor 110A of the motor 110 for up and down movement, and the wiring of the brake device 110B are connected to a control device 116 that controls each part of the analysis device 10 (e.g., the dispensing unit 30, the dispensing stage 32, the cleaning unit 40, the detection unit 42, the incubator 44, etc.).

[0055] The control device 116 controls the brake device 110B so that the brake of the brake device 110B is released when the pulse motor 110A is rotated, and the brake is applied by the brake device 110B when the pulse motor 110A is stopped.

[0056] A brake release switch 118 is connected to the control device 116. The brake release switch 118 in this embodiment is a momentary type push button switch. When the rotation of the pulse motor 110A is stopped, while the brake release switch 118 is being pressed, the control device 116 controls the operation of the brake device 110B so that the brake is not applied. Therefore, in the conveyance device 50 of this embodiment, while the brake release switch 118 is being pressed, the pulse motor 110A can be easily rotated by an external force, and the horizontal arm 76 can be easily moved manually in the vertical direction.

[0057] As shown in FIGS. 4, 5 and 8, in this embodiment, a brake release switch 118 is attached to the side surface of the horizontal arm 76 on the front (front) side of the device.

[0058] An operation panel 120 for instructing the operation of the analysis device 10 and an emergency stop switch 122 for stopping the operation of the analysis device 10 are connected to the control device 116.

[0059] As an example, the emergency stop switch 122 can be provided on the front surface of the housing 12, on the operation panel 120, or the like, so that it can be easily operated in an emergency.

[0060] (Action, effect) Next, an example of the operation of the transport device 50 in the analyzer 10 of this embodiment will be described, for example, the operation when transporting the reaction plate 16 stored in the plate shelf 24 to the dispensing stage 32. The analysis operation of the analyzer 10 can be started by operating the operation panel 120.

[0061] (1) First, the left-right moving device 56 and the up-down moving device 58 are actuated, and the gripping unit 52 moves to the front of the reaction plate 16 stored on the plate shelf 24.

[0062] (2) Next, the actuator 62 is operated to open the pair of hands 60, after which the forward / backward moving device 54 is operated to move the gripping unit 52 to the rear side of the device, and the pair of hands 60 is positioned on the side of the reaction plate 16.

[0063] (3) Next, the actuator 62 is actuated to clamp the sides of the reaction plate 16 with the pair of hands 60.

[0064] (4) Next, the front-rear moving device 54 is operated, the gripping unit 52 holding the reaction plate 16 moves to the front side of the device, and the reaction plate 16 is removed from the plate shelf 24.

[0065] (5) Next, the left / right movement device 56 and the up / down movement device 58 are actuated, and the gripping unit 52 moves to the front of the dispensing stage 32.

[0066] (6) Next, the front-rear moving device 54 is actuated, the gripping unit 52 holding the reaction plate 16 moves to the rear side of the device, and the reaction plate 16 is placed on the dispensing stage 32.

[0067] (7) Next, the actuator 62 is operated to open the pair of hands 60, and the reaction plate 16 is placed on the dispensing stage 32. Then, the front-rear moving device 54 is operated to move the gripping unit 52 to the front side of the device. With the above, the transportation of the reaction plate 16 is completed.

[0068] Incidentally, when the emergency stop switch 122 is pressed (switched on) and when the conveying device 50 automatically stops, the rotation of each motor of the conveying device 50 stops.

[0069] When the rotation of the pulse motor 110A of the vertical movement motor 110 stops, the brake device 110B operates to apply a brake in order to prevent the horizontal arm 76 carrying the gripping unit 52, which holds the reaction plate 16, and the front-rear movement device 54 from falling freely. Therefore, it becomes difficult to rotate the pulse motor 110A by an external force (because the rotation shaft of the pulse motor 110A is locked), and it becomes difficult to manually move the gripping unit 52 and the horizontal arm 76 supporting the front-rear movement device 54 up and down.

[0070] When it is desired to forcibly move the horizontal arm 76 manually while the rotation of the pulse motor 110A is stopped, the lower door 12B is opened to open the inside of the device, and an external force in the desired direction (upward or downward) is applied to the horizontal arm 76 while pressing the brake release switch 118, which is a momentary switch. Since the brake remains released while the brake release switch 118 is pressed, it becomes possible to rotate the pulse motor 110A by external force while the brake release switch 118 is pressed, and it becomes possible to easily manually move the horizontal arm 76 up and down. In other words, since the brake release switch 118 is provided on the horizontal arm 76 which is the object to be moved, it is easy to simultaneously operate the brake release switch 118 and move the horizontal arm 76 up and down.

[0071] In this embodiment, the brake release switch 118 is provided on the front side of the horizontal arm 76, so that the horizontal arm 76 can be easily moved by holding the horizontal arm 76 while pressing down the brake release switch 118 from the front side of the device, providing good operability.

[0072] [Other embodiments] While one embodiment of the present disclosure has been described above, the present disclosure is not limited to the above, and it goes without saying that the present disclosure can be implemented in various modified forms without departing from the spirit and scope of the present disclosure.

[0073] In the above embodiment, the brake release switch 118 was provided on the side of the horizontal arm 76 facing the front of the device, but the brake release switch 118 may be provided on a member that moves up and down in the conveying device 50 other than the horizontal arm 76 as long as it is a location that is easy to operate.

[0074] In the above embodiment, the brake release switch 118 is a push button switch, but the present disclosure is not limited to this, and the brake release switch 118 may be another type of switch other than a push button switch, such as a toggle switch, a slide switch, or a rocker switch.

[0075] The motor used in the above-mentioned analysis device 10 is not limited to a pulse motor, but may be a servo motor or the like capable of controlling the rotation angle of the rotation shaft.

[0076] The transport device 50 in the above embodiment is a device that grips and transports the reaction plate 16 and the specimen plate 23, but the objects that the transport device 50 transports are not limited to the reaction plate 16 and the specimen plate 23, and the objects that the transport device of the present disclosure may transport are other than the reaction plate 16 and the specimen plate 23. In other words, the transport device of the present disclosure can be applied to devices other than the analysis device 10.

[0077] The motor that applies the brakes is not limited to the motor used when moving the transport object in the vertical direction, but may be a motor used when moving the transport object in a direction other than the vertical direction. [Explanation of symbols]

[0078] 10 Analyzer 16 Reaction Plate (Plate) 23 Sample plate (plate) 50 Transport device 52 Grasping unit 54 Forward and backward movement device (third movement device) 56 Left-right moving device (second moving device) 58 Up-down moving device (first moving device) 76 Horizontal arm (support member) 110A Pulse Motor (Motor) 110B Brake device 118 Brake release switch

Claims

1. A gripping unit that grips the transport object; a first moving device that moves a support member that supports the gripping unit in a vertical direction; Equipped with the first moving device is provided with a motor and a brake device that brakes the motor when the motor is stopped; The support member is provided with a brake release switch that releases the brake of the brake device. Conveying device.

2. a second moving device provided on the support member and moving in a first horizontal direction; a third moving device provided on the second moving device, the third moving device mounting the gripping unit and moving the gripping unit in a second horizontal direction perpendicular to the first horizontal direction; It is provided with The conveying device according to claim 1 .

3. The object to be transported is a plate used in an analytical device for analyzing a sample. The conveying device according to claim 1 or 2.

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