Container transfer method and container transfer device

Abstract

To provide a method for transferring a container and a container transfer device which allow a user to smoothly take a target container out of a plurality of containers held close to one another while downsizing the device.SOLUTION: The present invention relates to a method for transferring a container, which moves a container 110 from a buffer rack 120 which can hold a plurality of containers 110 by using a grasping unit 640 capable of performing an opening-closing operation and moving in a vertical direction and in a horizontal direction. In the method, the grasping unit 640 is moved downward to a position lower than a lid part 113 of the container 110 in a position where the container 110 is not held in planar view, and the grasping unit 640 in an open state is moved in a horizontal direction toward a target container T1 on the buffer rack 120, thereafter is set in a closed state with respect to the target container T1, and is moved upward.SELECTED DRAWING: Figure 19

Description

[Technical Field]

[0001] The present invention relates to a container transfer method and a container transfer device. [Background technology]

[0002] A known example of an apparatus that holds sample containers arranged in multiple rows is the sample sorter disclosed in Patent Document 1. This sample sorter is connected to a measurement unit that measures the samples contained in the sample containers via a transport unit. The sample sorter is equipped with a buffer rack for temporarily storing sample containers. The sample sorter can rearrange the samples by storing sample containers removed from a sample rack for transport in the buffer rack and then storing the sample containers stored in the buffer rack in the sample rack.

[0003] When removing a sample container stored in a rack, the sample transfer device of Patent Document 1 positions the gripper in an open state directly above the target container. From there, the gripper is lowered and closed to grip the target container, and then the gripper is raised. The gripper is then transported to another location, lowered, the gripper releases the container, and the gripper is raised. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2015-087306 Summary of the Invention [Problem to be solved by the invention]

[0005] There is a demand for miniaturization of specimen testing-related devices to more effectively utilize the limited space in laboratories. To miniaturize specimen transfer devices, it is necessary to reduce the spacing between specimen containers held in racks inside the device. However, with the method of Patent Document 1, in which the gripper is lowered in an open state and inserted between two adjacent specimen containers, there is a limit to how small the spacing between specimen containers can be reduced in order to ensure stable operation without the gripper colliding with the containers.

[0006] The present invention was developed in consideration of these circumstances, and aims to provide a container transfer method and container transfer device that allows the device to be miniaturized while being able to remove a target container from among multiple containers held in close proximity. [Means for solving the problem]

[0007] The container transfer method of the present invention relates to a container transfer method in which a container (110, T1) is transferred from a container holding unit (22, 24, 25, 100, 120, 130) capable of holding a plurality of containers (110) by using a gripping unit (640) capable of opening and closing, moving vertically and horizontally. The container transfer method of the present invention is as follows: Around and inside the container holding portion (22, 24, 25, 100, 120, 130) In a position where the container (110, T1) is not being held, the gripping portion (640) is moved downward to a position lower than the head (113) of the container (110, T1) (S11), the open gripping portion (640) is moved horizontally toward the target container (110, T1) on the container holding portion (22, 24, 25, 100, 120, 130) (S12), and after moving horizontally relative to the target container (110, T1), the gripping portion (640) is closed relative to the target container (110, T1) (S13), and the closed gripping portion (640) is moved upward (S14).

[0008] According to the container transfer method of the present invention, when a target container is removed from a container holding unit, the gripping unit is first lowered toward a position where no containers are present. This prevents the gripping unit from colliding with the target container or other containers as it descends. Furthermore, since the gripping unit in the open state moves toward the target container after descending, even if other containers are present in the movement path, the gripping unit will pass through the sides of the other containers and move horizontally toward the target container, smoothly reaching the target container. The gripping unit is then closed, and the target container is gripped by the gripping unit. Furthermore, the closed gripping unit is moved upward, and the target container is removed from the container holding unit. Therefore, even if multiple containers are placed close to each other in the container holding unit for compactness, the gripping unit can be removed without colliding with the target container or surrounding containers.

[0009] The container transfer method of the present invention is a method for transferring a container (110, T1) to a holding position of a container holder (22, 24, 25, 100, 120, 130) capable of holding a plurality of containers (110) by using a gripper (640) capable of opening and closing, moving vertically, and moving horizontally. The container transfer method of the present invention includes the steps of: moving the gripper (640) holding the target container (110, T1) downward toward a holding position on the container holder (22, 24, 25, 100, 120, 130) where the target container (110, T1) is stored (S21); opening the gripper (640) (S22); and moving the gripper (640) in the open state. In plan view, the periphery and inner side of the container holding portion The container (110) is moved horizontally toward a position where it is not being held (S23), and the gripping portion (640) is moved upward (S24).

[0010] According to the container transfer method of the present invention, after storing a container in the holding position, the gripper is moved horizontally in an open state toward a position where there is no container, and then moved upward from that position. As a result, even if other containers are present on the horizontal movement path, the gripper will slip past the sides of the other containers and move to a position where there are no containers. The gripper then moves upward at the position where there are no containers. Therefore, even if multiple containers are placed close to each other in the container holding section for compactness, it is possible to avoid a situation where the gripper gets caught on a container and the container unintentionally falls out of the container holding section.

[0011] The container transfer device (20, 40, 70) of the present invention relates to a container transfer device that transfers a container (110, T1) from a container holding unit (22, 24, 25, 100, 120, 130) that can hold a plurality of containers (110). The container transfer device (20, 40, 70) of the present invention includes a gripping unit (640) that can be opened and closed, a movement mechanism unit (610, 620, 630) that moves the gripping unit (640) vertically and horizontally, and a control unit (801, 811, 821) that controls the operation of the gripping unit (640) and the movement mechanism unit (610, 620, 630). The control unit (801, 811, 821) is configured as follows in a plan view: Around and inside the container holding portion (22, 24, 25, 100, 120, 130) The gripping unit (640) is moved downward to a position lower than the head (113) of the container (110, T1) toward a position where the container (110, T1) is not held, the open gripping unit (640) is moved horizontally toward the target container (110, T1) on the container holding unit (22, 24, 25, 100, 120, 130), the gripping unit (640) is closed relative to the target container (110, T1) after moving horizontally relative to the target container (110, T1), and the gripping unit (640) in the closed state is moved upward, by controlling the gripping unit (640) and the moving mechanism unit (610, 620, 630.

[0012] According to the container transfer device of the present invention, even when multiple containers are placed close to each other in the container holder, the container can be removed without the gripper colliding with the target container or surrounding containers. This allows the device to be made compact, while still allowing the target container to be removed from among multiple containers held close to each other. [Effects of the Invention]

[0013] According to the present invention, it is possible to take out a target container from among a plurality of containers held closely together while enabling the device to be miniaturized. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a diagram schematically showing the configuration of a sample testing system according to an embodiment. [Figure 2] FIG. 2 is a perspective view showing the configuration of a rack and a container according to the embodiment. [Figure 3] FIG. 3 is a plan view schematically showing the configuration of the supply device according to the embodiment. [Figure 4] FIG. 4 is a plan view schematically showing the configuration of the first layer of the sample sorting device according to the embodiment. [Figure 5] FIG. 5 is a plan view schematically showing the configuration of the second layer of the sample sorting device according to the embodiment. [Figure 6] FIG. 6 is a perspective view schematically showing the appearance of a sample sorting device according to an embodiment. [Figure 7] FIG. 7 is a plan view schematically showing the configuration of the first story of the sample storage device according to the embodiment. [Figure 8] FIG. 8 is a plan view schematically showing the configuration of the second level of the sample storage device according to the embodiment. [Figure 9] FIG. 9 is a perspective view schematically showing the appearance of a sample storage device according to an embodiment. [Figure 10] FIG. 10 is a plan view schematically showing the configuration of a container transfer mechanism of a sample sorting device according to an embodiment. [Figure 11] FIG. 11 is a side view schematically showing the configuration of the vertical transfer unit and the gripping unit according to the embodiment. [Figure 12] FIG. 12 is a perspective view showing the configuration of the grip portion according to the embodiment, as viewed from the front side. [Figure 13]FIG. 13 is a perspective view showing the configuration of the grip portion according to the embodiment, as viewed from the rear side. [Figure 14] FIG. 14 is a plan view schematically showing a state in which the gripper grips a container according to the embodiment. [Figure 15] FIG. 15 is a side view schematically showing a state in which the gripper grips a container according to the embodiment. [Figure 16] FIG. 16 is a block diagram showing the configuration of a supply device according to an embodiment. [Figure 17] FIG. 17 is a block diagram showing the configuration of a sample sorting device according to an embodiment. [Figure 18] FIG. 18 is a block diagram showing the configuration of a sample storage device according to an embodiment. [Figure 19] FIG. 19 is a plan view schematically illustrating an example in which the gripping portion is lowered to a position outside the rack in a plan view according to the embodiment. [Figure 20] FIG. 20 is a side view schematically illustrating an example in which the gripping unit is lowered to a position outside the rack in a plan view according to the embodiment. [Figure 21] FIG. 21 is a side view schematically illustrating an example in which the gripping unit is lowered to a position outside the rack in a plan view according to the embodiment. [Figure 22] FIG. 22 is a plan view schematically illustrating an example in which the gripping unit descends to a position between two adjacent holes on the rack according to the embodiment. [Figure 23] FIG. 23 is a plan view schematically illustrating an example in which the gripping part descends to the widest position between two adjacent holes on the rack according to the embodiment. [Figure 24] FIG. 24 is a plan view schematically illustrating an example in which the gripping part descends to the position of a hole on the rack where no container is held, according to the embodiment. [Figure 25] FIG. 25 is a side view schematically showing an example in which the gripping portion rises in a step-like manner during storage according to the embodiment. [Figure 26] FIG. 26 is a side view schematically illustrating an example in which the gripping portion rises in a step-like manner during storage according to the embodiment. [Figure 27] FIG. 27 is a side view schematically illustrating an example in which the gripping portion rises in a step-like manner during storage according to the embodiment. [Figure 28] FIG. 28 is a flowchart showing the process of the removal operation according to the embodiment. [Figure 29] FIG. 29 is a flowchart showing the process of the storing operation according to the embodiment. [Figure 30] FIG. 30 is a flowchart showing a process for moving the grip portion upward during a storing operation according to an embodiment. [Figure 31] FIG. 31 is a diagram schematically illustrating a container transfer operation performed between a heating unit and a rack at a transfer position in a supply device according to an embodiment. [Figure 32] FIG. 32 is a diagram schematically showing the container transfer operation performed on the washing solution rack and the quality control sample rack in the supply device according to the embodiment. [Figure 33] FIG. 33 is a diagram schematically showing a container transfer operation performed between a buffer rack and a rack at a lifting position in a sample sorting device according to an embodiment. [Figure 34] FIG. 34 is a diagram schematically showing a container transfer operation performed between a rack at a lifting position and an archive rack in a sample storage device according to an embodiment. [Figure 35] FIG. 35 is a schematic diagram for explaining the effect according to the embodiment in more detail. [Figure 36] FIG. 36 is a side view and a plan view for explaining the effect according to the embodiment in more detail. [Figure 37] FIG. 37 is a plan view showing a schematic view of the operation of the gripping portion when the gripping direction of the gripping portion and the direction in which the gripping portion moves downward are inclined relative to the front-rear and left-right directions according to a modified example. [Figure 38] FIG. 38 is a plan view schematically showing the configuration of a gripping portion that grips a container at four points according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0015] FIG. 1 is a diagram schematically showing the configuration of a sample testing system 1. As shown in FIG.

[0016] FIG. 1 shows the configuration of the sample testing system 1 in a plan view, and indicates the front, rear, left, and right directions in the plan view. The downstream and rear directions are to the left, and the upstream and front directions are to the right. An operator accesses the sample testing system 1 from the front side of the sample testing system 1. The front side of the sample testing system 1 corresponds to the near side for the operator.

[0017] The specimen testing system 1 includes an input device 11, a transport device 12, a collection device 13, a supply device 20, a blood cell counter 30 that counts blood cells contained in a specimen, a specimen sorting device 40, a transport device 51, a smear preparation device 52, a transport device 61, an analyzer 62 that measures measurement items such as CRP, HbA1c, and ESR, a specimen storage device 70, and a transport control device 80. The blood cell counter 30 includes two sets of one transport device 31 and two measurement devices 32, and one control device 33.

[0018] The control device 33 is communicatively connected to the transport device 31, the measurement device 32, and the host computer 2. The smear preparation device 52 is communicatively connected to the transport device 51 and the host computer 2. The analysis device 62 is communicatively connected to the transport device 61 and the host computer 2. The transport control device 80 is communicatively connected to the insertion device 11, the transport device 12, the recovery device 13, the supply device 20, the transport device 31, the sample sorting device 40, the transport devices 51 and 61, the sample storage device 70, and the host computer 2. In Figure 1, communication cables for communication between devices are shown by dashed dotted lines.

[0019] The sample testing system 1 is a system that automatically measures samples and performs analysis based on the measurement data. The sample is, for example, whole blood collected from a subject. A container 110 (see FIG. 2) containing the sample is transported while held in a rack 100, and the sample is aspirated from the container 110 in the measuring device 32, smear preparation device 52, and analyzer 62, and measurements are performed on the sample. A transport control device 80 controls each device connected to the transport control device 80 so that the rack 100 is transported to the target device.

[0020] FIG. 2 is a perspective view showing the configuration of the rack 100 and the container 110. As shown in FIG.

[0021] The rack 100 has ten holes 101 capable of holding containers 110, and a barcode label 102. The barcode label 102 is attached to the rear surface of the rack 100. A barcode indicating a rack ID is printed on the barcode label 102 as identification information that allows the rack 100 to be individually identified.

[0022] The container 110 comprises a body 111, a barcode label 112, and a lid 113. The body 111 is a tubular container with an open top and contains a sample inside. The barcode label 112 is affixed to the side of the body 111. A barcode indicating a sample ID is printed on the barcode label 112 as identification information that allows the sample inside to be individually identified. The lid 113 is attached to the top of the body 111 to seal the inside of the body 111. The lid 113 is configured so that piercers provided in the measuring device 32, the smear preparation device 52, and the analyzer 62 can penetrate it from above and below.

[0023] 1, in the sample testing system 1, an input device 11, a supply device 20, two transport devices 31, a transport device 12, a sample sorting device 40, a transport device 51, a transport device 61, a sample storage device 70, and a collection device 13 are lined up adjacent to one another in this order in a row. Racks 100 are transported between two adjacent devices.

[0024] The insertion device 11, the supply device 20, the transport device 31, the transport device 12, the sample sorting device 40, the transport devices 51 and 61, the sample storage device 70, and the recovery device 13 are each provided with a rack transport path 1a for transporting racks 100. The rack transport path 1a is indicated by an arrow in FIG. 1, and the direction of this arrow indicates the direction in which the racks 100 can be transported on the rack transport path 1a. The rack transport paths 1a of each device are connected to each other at a front position. The rack transport path 1a is composed of a conveyor belt that moves in the left-right direction, a plate member whose upper surface is parallel to a horizontal plane, etc.

[0025] In the configuration shown in Fig. 1, an operator places containers 110 containing specimens to be tested in rack 100, and then places rack 100 in loading device 11. As a result, rack 100 is transported along rack transport path 1a, and the specimens are aspirated by the target device according to the test items set for the specimens, and the specimens are tested. After all the required tests are completed, rack 100 is collected by collection device 13.

[0026] Referring to FIG. 1, the transportation of the rack 100 from the input device 11 to the collection device 13 will be described.

[0027] The input device 11 carries out the rack 100 input by the operator to the supply device 20.

[0028] The supply device 20 reads the rack ID and sample ID of the rack 100 delivered from the input device 11 and delivers it to the transport device 31 on the left. The supply device 20 also holds a container 110 containing a quality control sample and a container 110 containing a cleaning solution. The quality control sample is a sample containing known components at known concentrations and is used to manage the measurement accuracy of a sample collected from a subject. Hereinafter, when simply referred to as a "sample," this sample refers to a sample collected from a subject. The cleaning solution is used to clean predetermined parts of each device. A barcode indicating an ID that can identify the quality control sample is printed on the barcode label 112 of the container 110 containing the quality control sample, and a barcode indicating an ID that can identify the cleaning solution is printed on the barcode label 112 of the container 110 containing the cleaning solution. The IDs of the quality control sample and the cleaning solution are also read in the same way as the sample ID.

[0029] The supply device 20 transports the rack 100 holding the sample containers 110, the rack 100 holding the quality control sample containers 110, and the rack 100 holding the cleaning liquid containers 110 to the transport device 31 on the left.

[0030] The transport device 31 transports the rack 100 carried in from the device adjacent to the right to the front of the measuring device 32. The measuring device 32 aspirates the specimen and quality control specimen from the containers 110 held in the transported rack 100 and counts the blood cell particles contained in the specimen and quality control specimen. The control device 33 analyzes the specimen and quality control specimen based on the measurement data obtained by each measuring device 32. The measuring device 32 also aspirates cleaning fluid from the containers 110 held in the transported rack 100 to clean the interior.

[0031] In the case of a rack 100 holding containers 110 containing specimens, once the required measurement is completed in the measuring device 32, the rack 100 is transported to the adjacent device on the left. In the case of a rack 100 holding containers 110 containing quality control specimens or cleaning fluid, once the required processing is completed in each measuring device 32, the rack 100 is transported to the right and stored in the supply device 20.

[0032] The transport device 12 transports the rack 100 carried in from the transport device 31 adjacent to the right rearward, and delivers it to the sample sorting device 40 at the rear position.

[0033] The sample sorting device 40 transfers containers 110 that need to be processed in the subsequent sample processing device, i.e., the smear preparation device 52 and / or the analyzer 62, from the rack 100 carried in from the transport device 12 to an empty rack 100 held by the sample sorting device 40. The sample sorting device 40 transports the rack 100 holding the transferred containers 110 forward and unloads it to the transport device 51 on the left at the front position. The sample sorting device 40 also transports the rack 100 holding the containers 110 that do not need to be processed in the subsequent sample processing device and have not been transferred to the rack 100 forward and unloads it to the transport device 51 on the left at the front position. The rack 100 from which all the containers 110 have been transferred and which has become empty is held by the sample sorting device 40.

[0034] The transport device 51 transports racks 100 carried in from the specimen sorting device 40 on the right, which hold containers 110 that need to be processed by the smear preparation device 52, to the front of the smear preparation device 52. The smear preparation device 52 aspirates samples from the containers 110 held in the transported racks 100 and prepares smears. The transport device 51 transports racks 100 that have finished processing by the smear preparation device 52 to the transport device 61 on the left. In addition, the transport device 51 does not transport racks 100 that hold only containers 110 that do not need to be used to prepare smears by the smear preparation device 52 to the transport device 61 on the left, rather than to the front of the smear preparation device 52.

[0035] The transport device 61 transports racks 100 carrying in from the transport device 51 on the right, which racks 100 hold containers 110 that need to be processed by the analyzer 62, to the front of the analyzer 62. The analyzer 62 is a device capable of measuring measurement items such as CRP, HbA1c, and ESR. The analyzer 62 aspirates samples from the containers 110 held in the transported rack 100 and analyzes the samples. The transport device 61 transports racks 100 that have finished processing by the analyzer 62 to the sample storage device 70 on the left. Furthermore, the transport device 51 does not transport racks 100 that hold only containers 110 that do not need to be analyzed by the analyzer 62 to the sample storage device 70 on the left, rather than to the front of the analyzer 62.

[0036] The specimen storage device 70 transports the rack 100 carried in from the transport device 61 on the right to a lift position P25 (described later) within the specimen storage device 70, and transfers the containers 110 held in this rack 100 to an archive rack 130 (described later) within the specimen storage device 70. The specimen storage device 70 transports the empty rack 100 to the transport device 61 on the right or the collection device 13 on the left.

[0037] The recovery device 13 transports the empty rack 100 carried in from the sample storage device 70 on the right side to the rear and stores it therein.

[0038] The transport control device 80 determines the transport destination of the rack 100, and controls each device that transports the rack 100 so that the rack 100 is transported to the determined transport destination.

[0039] FIG. 3 is a plan view schematically showing the configuration of the supply device 20. As shown in FIG.

[0040] The supply device 20 includes a storage section 21, a heating section 22, a tray 23, a cleaning liquid rack 24, a quality control sample rack 25, a container transfer mechanism 26, a reading unit 27, and a reader 28. The supply device 20 also includes components for transporting the rack 100, such as an inlet path 201, a rack storage section 211, a transport path 231, a rack storage section 241, and an outlet path 251, as will be described later.

[0041] Containers 110 containing quality control samples are held in holes 21b formed in a heat conductive member 21a in the storage unit 21. The storage unit 21 cools and stores the containers 110 held in the holes 21b.

[0042] The heating unit 22 includes an aluminum block heater, and the aluminum block heater has a plurality of holes 22a formed in the front-rear direction that can hold the container 110. The heating unit 22 heats the container 110 held in the holes 22a as needed. The quality control sample in the container 110 is kept at room temperature while the container 110 is held in the holes 22a.

[0043] A cleaning liquid rack 24 and a quality control sample rack 25 are placed on the tray 23. The cleaning liquid rack 24 has a plurality of holes 24a formed therein that can hold containers 110 containing cleaning liquid. The quality control sample rack 25 has a plurality of holes 25a formed therein that can hold containers 110 containing quality control samples. The tray 23 is configured to be movable in the front-rear direction. The operator pulls out the tray 23 forward, sets the containers 110 containing cleaning liquid in the holes 24a, and sets the containers 110 containing quality control samples in the holes 25a.

[0044] The container transfer mechanism 26 has a configuration for gripping and transferring the container 110. The container transfer mechanism 26 removes the container 110 containing the quality control sample from the hole 21b of the storage unit 21 and stores the removed container 110 in the hole 22a of the heating unit 22. The container transfer mechanism 26 removes the container 110 held in the hole 22a of the heating unit 22 and stores the removed container 110 in the hole 101 of the rack 100 positioned at the transfer position 223. The container transfer mechanism 26 removes the container 110 containing the cleaning solution from the hole 24a of the cleaning solution rack 24 and stores the removed container 110 in the hole 101 of the rack 100 positioned at the transfer position 223. In this way, the rack 100 holding the container 110 containing the quality control sample or the cleaning solution is transported to the transport device 31 adjacent to the left.

[0045] Furthermore, the rack 100 holding the container 110 containing the quality control sample or the cleaning fluid is returned to the supply device 20 after the subsequent processing is completed, and is positioned at the transfer position 223. The container transfer mechanism 26 removes the container 110 containing the quality control sample from the rack 100 positioned at the transfer position 223 and stores it in the hole 21b of the storage unit 21, and removes the container 110 containing the cleaning fluid and stores it in the hole 24a of the cleaning fluid rack 24. The container transfer mechanism 26 also removes the container 110 containing the quality control sample from the quality control sample rack 25 and stores the removed container 110 in the hole 21b of the storage unit 21.

[0046] The carry-in path 201 transports the rack 100 carried out from the loading device 11 to the left. The transport mechanism 202 transports the rack 100 on the carry-in path 201 to the rack storage unit 211. The transport mechanism 212 transports the rack 100 on the rack storage unit 211 to the transport path 231.

[0047] The transport mechanism 222 pulls the rack 100 at the right end of the transport path 231 into the rack storage unit 221, and transports the rack 100 on the rack storage unit 221 to the transport path 231. As described above, the container 110 containing the quality control sample or the cleaning solution is taken out and stored from the rack 100 positioned at the transfer position 223 in front of the rack storage unit 221.

[0048] The transport path 231 transports the racks 100 transported from the rack storage units 211 and 221 in the left-right direction. When the rack 100 is positioned at the left end of the transport path 231, the reading unit 27 reads the rack ID and the sample ID from the rack 100 on the transport path 231. The reading unit 27 includes two moving units 27a that move in the left-right direction. The moving unit 27a includes a driving roller 27b that rotates the container 110 held in the rack 100 in the circumferential direction, two driven rollers 27c that rotatably hold the container 110 from the opposite side of the driving roller 27b, and a reader 27d that reads the sample ID from the container 110 sandwiched between the driving roller 27b and the driven roller 27c. The driving roller 27b rotates the container 110 in the hole 101 around a rotation axis that is vertical, thereby ensuring reliable reading of the barcode. The rack ID is read by the reader 27d on the left side, which is a barcode reader.

[0049] The transport mechanism 232 transports the rack 100 at the left end of the transport path 231 to the rack storage unit 241. The transport mechanism 242 transports the rack 100 on the rack storage unit 241 to the carry-out path 251. The carry-out path 251 carries the rack 100 transported from the rack storage unit 241 out to the adjacent transport device 31 on the left. At this time, the reader 28 reads the rack ID of the rack 100 being carried out. The reader 28 is a barcode reader.

[0050] The transport path 261 transports the rack 100 carried out from the transport device 31 on the left in a right direction. The transport mechanism 202 transports the rack 100 at the right end of the transport path 261 through the carry-in path 201 to the rack storage unit 211.

[0051] 4 and 5 are plan views schematically illustrating the configuration of a sample sorting device 40 for sorting samples. FIGS. 4 and 5 are views showing the first and second levels of the sample sorting device 40, respectively. FIG. 6 is a perspective view schematically illustrating the exterior of the sample sorting device 40. As shown in FIG. 6, the sample sorting device 40 has a two-story structure. The interior of the sample sorting device 40 is divided into two levels, upper and lower, by a partition plate 47 that forms the bottom of the second level and the ceiling of the first level. The lower level is the first level 48, and the upper level is the second level 49. The first level 48 and the second level 49 overlap in plan view. The partition plate 47 has an opening 47a that allows one rack 100 to pass through. The partition plate 47 may have other openings, cutouts, etc. in addition to the opening 47a. Furthermore, the first story 48 and the second story 49 may not be formed by the partition plate 47, but may be formed by placing the housing that forms the second story 49 on top of the housing that forms the first story 48.

[0052] Referring to Figure 4, the first floor of the sample sorting device 40 includes a reading unit 41, a lifting mechanism 42, a reader 43, an inlet path 301, a sensor 302, a transport mechanism 303, an intermediate path 304, an opening 305, a connection section 306, a relay section 307, a rack waiting area 311, sensors 312 to 318, transport mechanisms 319 to 322, an outlet path 331, a sensor 332, an outlet path 341, and a sensor 342.

[0053] The transport device 12 located to the right of the sample sorting device 40 transports the rack 100 rearward and unloads the rack 100 into the sample sorting device 40 at the rear position.

[0054] The carry-in path 301 extends in the left-right direction and is disposed behind the sample sorting device 40. The carry-in path 301 is composed of a conveyor belt that moves left-right, and transports the racks 100 carried out from the transport device 12 to the left. The racks 100 are carried into the carry-in path 301 in the longitudinal direction (left-right direction) of the racks 100. The sensor 302 is a transmission type photoelectric sensor that detects the rack 100 positioned at the carry-in position P11 on the carry-in path 301. The reading unit 41 reads the rack ID and the sample ID from the rack 100 positioned at the carry-in position P11.

[0055] The reading unit 41 has two moving parts 41a that move in the left-right direction. The moving part 41a has a driving roller 41b that rotates the container 110 held in the rack 100 in the circumferential direction, two driven rollers 41c that rotatably hold the container 110 from the opposite side of the driving roller 41b, and a reader 41d that reads the sample ID from the container 110 sandwiched between the driving roller 41b and the driven roller 41c. The driving roller 41b rotates the container 110 within the hole 101 around a rotation axis in the vertical direction, thereby ensuring reliable reading of the barcode. The rack ID is read by the reader 41d on the left side. The reader 41d is a barcode reader.

[0056] The transport mechanism 303 is equipped with a member for pushing the side of the rack 100, and transports the rack 100 from the loading position P11 in the short direction (front-to-back direction) of the rack 100, via the intermediate path 304, to the lifting position P12 of the lifting mechanism 42 and the rack waiting area 311.

[0057] The intermediate path 304, the connecting portion 306, the relay portion 307, and the rack waiting area 311 are each formed of a plate member whose upper surface is parallel to the horizontal plane. The intermediate path 304 and the rack waiting area 311 are connected to each other via the connecting portion 306. The connecting portion 306, the relay portion 307, and the lifting position P12 of the lifting mechanism 42 are disposed between the intermediate path 304 and the rack waiting area 311.

[0058] The intermediate path 304 is disposed between the loading position P11 and the lifting position P12, which is the arrangement position of the racks 100 on the first tier. The width of the intermediate path 304 in the front-to-rear direction is approximately the same as the width of one rack 100 in the front-to-rear direction (short side direction). In other words, the lifting position P12 is provided in front of the loading path 301, with a space of approximately one rack 100's width in the front-to-rear direction.

[0059] The rack waiting area 311 is an area where the rack 100 waits when the rack 100 is stuck in the transport device 51 on the left or the transport device 12 on the right and cannot be unloaded from the unloading position P13 or P14, and is also a transport path for transporting the rack 100 from the lifting / lowering position P12 to the unloading position P13. The rack waiting area 311 is a rectangular area with its long sides in the front-to-rear direction, and extends in the front-to-rear direction from the lifting / lowering position P12 to the front. The rack waiting area 311 has a length that allows 20 racks 100 to be lined up in the short direction between the lifting / lowering position P12 for the rack 100 on the first tier and the unloading position P13 to the rack transport path 1a of the left device.

[0060] The rack standby area 311 may have an area for waiting racks 100, but from the viewpoint of reducing the installation area of ​​the sample testing system 1, it is preferable that it has an area for waiting 10 or more, more preferably 15 or more, and even more preferably 20 or more racks 100. Furthermore, from the viewpoint of reducing the length of the sample testing system 1 in the front-to-rear direction, the rack standby area 311 may have an area for waiting no more than 50 racks 100, preferably no more than 40 racks 100.

[0061] The lifting mechanism 42 is installed between the intermediate path 304 and the rack waiting area 311. The lifting mechanism 42 raises the rack 100 positioned at the lifting position P12 to the second level. The transport mechanism 303 positions the rack 100 on the loading path 301 at the lifting position P12. The sensor 312 is a reflective photoelectric sensor that detects the rack 100 positioned at the lifting position P12.

[0062] An opening 305 is formed between the intermediate path 304 and the rack standby area 311. The opening 305 is a hole that passes through the plate members that make up the intermediate path 304, the connecting portion 306, and the rack standby area 311 in the vertical direction. The connecting portion 306 is located on the right side of the opening 305. The relay portion 307 is disposed at the left end within the opening 305. The connecting portion 306 and the relay portion 307 support the underside of the rack 100 that is positioned at the lifting position P12. The support portion 42a of the lifting mechanism 42 is shaped to fit within the opening 305 in a plan view and not to interfere with the connecting portion 306 and the relay portion 307.

[0063] When the rack 100 is raised from the first tier to the second tier, the lifting mechanism 42 first positions the support part 42a at a position lower than the rack waiting area 311. Thereafter, when the rack 100 is transported to the position on the upper surfaces of the connection part 306 and the relay part 307, i.e., the lifting position P12, the lifting mechanism 42 moves the support part 42a upward to place the rack 100 on the upper surface of the support part 42a, and then lifts the rack 100 to the second tier. On the second tier, as described below, the containers 110 held in the rack 100 are rearranged. After the rearrangement of the containers 110 is completed, the lifting mechanism 42 moves the support part 42a downward to position it lower than the rack waiting area 311. As a result, the rack 100 is positioned at the position on the upper surfaces of the connection part 306 and the relay part 307, i.e., the lifting position P12.

[0064] The rack 100 at the lifting position P12 is transported in the short side direction (front-rear direction) of the rack 100 along the rack waiting area 311 toward the front of the sample sorting device 40. The rack 100 returned to the lifting position P12 is transported to the front of the lifting position P12 by the transport mechanism 303. Note that in the case of a rack 100 that does not require sorting, after being positioned at the lifting position P12, it is transported to the front of the lifting position P12 without being moved to the second level.

[0065] When the reading unit 41 finishes reading the rack 100 at the loading position P11, if there is no rack 100 at the lifting position P12 and no rack 100 being lifted to the second tier by the lifting mechanism 42, the transport mechanism 303 positions the rack 100 at the loading position P11 at the lifting position P12. Also, when the reading unit 41 finishes reading the rack 100 at the loading position P11, if a rack 100 that has returned from the second tier or a rack 100 that does not need to be lifted to the second tier is positioned at the lifting position P12, the transport mechanism 303 pushes the rack 100 at the loading position P11 forward, thereby transporting the rack 100 at the loading position P11 and the rack 100 at the lifting position P12 forward together. As a result, the rack 100 at the loading position P11 is positioned at the lifting position P12, and the rack 100 at the lifting position P12 is transported to the front of the lifting position P12.

[0066] In addition, when the reading unit 41 has finished reading the rack 100 at the loading position P11, if there is no need to raise the rack 100 at the loading position P11 to the second level and the rack 100 has been raised to the second level by the lifting mechanism 42, the transport mechanism 303 may transport the rack 100 at the loading position P11 past the lifting position P12 to a position in front of the lifting position P12.

[0067] The sensors 313 to 318 detect the racks 100 on the rack waiting area 311. Based on the detection signals of the sensors 318 to 318, the retention state of the racks 100 on the rack waiting area 311 is detected. The sensors 313, 314, and 318 are reflective photoelectric sensors, and the sensors 315 to 317 are transmissive photoelectric sensors.

[0068] The transport mechanisms 319 to 322 move the rack 100, which has been transported to the front of the lift position P12 by the transport mechanism 303, along the rack standby area 311 in the short direction (front-to-back direction) of the rack 100, and transport it to the unloading positions P13 and P14. At this time, the rack 100 at the unloading position P13 waits at the unloading position P13 as appropriate depending on the processing status of the subsequent stage. The rack 100 at the unloading position P14 waits at the unloading position P14 as appropriate depending on the processing status of the previous stage.

[0069] The transport mechanism 319 includes a member that protrudes upward from the upper surface of the rack waiting area 311 and pushes the lower part of the rack 100, and transports the rack 100 further forward after being transported to the front of the lifting position P12. The transport mechanism 320 includes a pair of members that push the sides of the rack 100, and transports the rack 100 further forward after being transported forward by the transport mechanism 319. The transport mechanism 321 has a similar configuration to the transport mechanism 319, and transports the rack 100 further forward after being transported forward by the transport mechanism 320. The transport mechanism 322 has a similar configuration to the transport mechanism 320, and transports the rack 100 transported forward by the transport mechanism 321 to the output path 331 or the output path 341. The reader 43 reads the rack ID of the rack 100 positioned near the front end of the rack waiting area 311. The reader 43 is a barcode reader.

[0070] The carry-out path 331 is formed by a conveyor belt that moves in the left-right direction, and carries the rack 100 that has been carried out from the rack standby area 311 to the adjacent transport device 51 on the left. The sensor 332 is a transmission-type photoelectric sensor that detects the rack 100 that has been positioned at the carry-out position P13 on the carry-out path 331. The carry-out path 341 is formed by a conveyor belt that moves in the left-right direction, and carries the rack 100 that has been carried out from the adjacent transport device 51 on the left, and the rack 100 that has passed through the carry-out path 331 and been carried out from the rack standby area 311, to the adjacent transport device 12 on the right. The sensor 342 is a transmission-type photoelectric sensor that detects the rack 100 that has been positioned at the carry-out position P14 on the carry-out path 341.

[0071] Referring to Figure 5, the second tier of the sample sorting device 40 includes a reader 44, a container transfer mechanism 45, a sensor 351, a transport mechanism 352, a rack storage section 361, a rack installation section 362, sensors 363 to 366, a transport mechanism 367, a sensor 368, a stopper 369, and a buffer rack 120.

[0072] The lifting mechanism 42 lifts the rack 100 from the lifting position P12 on the first level to a lifting position P15, which is the arrangement position of the rack 100 on the second level. The sensor 351 is a transmissive photoelectric sensor that detects the rack 100 positioned at the lifting position P15. The reader 44 reads the rack ID of the rack 100 positioned at the lifting position P15. The reader 44 is a barcode reader.

[0073] The container transfer mechanism 45 is configured to be able to transfer containers 110 between the rack 100 and the buffer rack 120. The container transfer mechanism 45 transfers the containers 110 from the rack 100, which has been transferred by the lifting mechanism 42 from the lifting position P12 on the first level to the lifting position P15 on the second level, to the buffer rack 120 arranged on the second level. The container transfer mechanism 45 rearranges the containers 110 using the buffer rack 120 so that the containers 110 held in the rack 100 are only containers 110 containing samples that need to be processed in the downstream devices (the smear preparation device 52 and the analyzer 62), or only containers 110 containing samples that do not need to be processed in the downstream devices. After rearranging the containers 110 is complete, the lifting mechanism 42 lowers the rack 100 from the lifting position P15 to the first level and positions it at the lifting position P12.

[0074] The transport mechanism 352 includes a member for pushing the side of the rack 100, and transports the rack 100 at the lifting position P15 to the rack storage section 361. When all the containers 110 have been transferred to the buffer rack 120 from the rack 100 positioned at the lifting position P15, this rack 100 becomes a rack 100 that does not hold any containers 110 (hereinafter referred to as an "empty rack"). In this case, the transport mechanism 352 transports the empty rack at the lifting position P15 to the rack storage section 361.

[0075] The rack storage unit 361 and the rack installation unit 362 are each composed of a rear portion and a front portion of a plate member whose upper surface is parallel to a horizontal plane. The plate members constituting the rack storage unit 361 and the rack installation unit 362 extend in the front-to-rear direction from the rear to the front. The upper part of the rack installation unit 362 is open to the outside through an opening provided in the housing of the sample sorting device 40.

[0076] Sensors 363 and 364 detect racks 100 on the rack storage unit 361. The storage state of empty racks on the rack storage unit 361 is detected based on the detection signals of sensors 363 and 364. Sensor 363 is a reflective photoelectric sensor, and sensor 364 is a transmissive photoelectric sensor. Sensors 365 and 366 detect racks 100 on the rack installation unit 362. The installation state of empty racks on the rack installation unit 362 is detected based on the detection signals of sensors 365 and 366. Sensors 365 and 366 are transmissive photoelectric sensors.

[0077] The transport mechanism 367 has a pair of members for pushing the sides of the rack 100, and transports the racks 100 on the rack storage unit 361 and the rack installation unit 362 in the forward and backward directions. The sensor 368 is a transmission type photoelectric sensor that detects that the transport mechanism 367 has been positioned at the origin position. When the transport mechanism 367 moves the transfer unit of the transport mechanism 367 to the forwardmost position, this transfer unit is positioned at the sensor 368. By detecting this transfer unit, the sensor 368 detects that the transport mechanism 367 has been positioned at the origin position.

[0078] The buffer rack 120 is formed with a plurality of holes 121 capable of holding containers 110 containing samples. The buffer rack 120 shown in FIG. 5 has a total of 60 holes 121 formed in a grid pattern with six rows in the front-rear direction and ten columns in the left-right direction. When a predetermined number N of containers 110 is held in the buffer rack 120, or when a predetermined time T has elapsed since the first sample was stored in the buffer rack 120, the containers 110 are transferred from the buffer rack 120 to the rack 100 at the elevation position P15 so that only containers 110 with the same destination are held in the rack 100. The predetermined number N can be set, for example, between 1 and 10 via the display / input unit 813 (see FIG. 17). The predetermined time T can be set, for example, between 1 and 30 minutes via the display / input unit 813.

[0079] When transferring a container 110 from the buffer rack 120 to a rack 100, if the rack 100 to be transferred is not at the lift position P15, the transport mechanism 367 pushes the front surface of the forward-most empty rack among the empty racks stored in the rack storage section 361 and the rack installation section 362, thereby pushing the rearmost empty rack among the empty racks stored in the rack storage section 361 and the rack installation section 362 to the lift position P15. At this time, the stopper 369 protrudes upward from the top surface of the rack storage section 361, separating the rearmost empty rack from the empty rack adjacent to the front of the rearmost empty rack. Thereafter, the container transfer mechanism 45 transfers the container 110 from the buffer rack 120 to the empty rack positioned at the lift position P15.

[0080] Once the transfer of the containers 110 to the rack 100 at the lifting position P15 is completed, the rack 100 is transported by the lifting mechanism 42 to the lifting position P12 on the first floor and is then transported to the adjacent conveying device 51 on the left or the adjacent conveying device 12 on the right.

[0081] When the number of empty racks stored in the rack storage section 361 falls below a predetermined number, the transport control device 80 controls each device so that the empty rack 100, from which all the containers 110 have been removed in the sample storage device 70, is transported to the sample sorting device 40 via the transport device 12. The sample sorting device 40 transports the empty rack carried in from the transport device 12 to the rack storage section 361 on the second tier.

[0082] Furthermore, the operator can refer to the notification of a shortage of empty racks displayed on the display input unit 813 (see FIG. 17) and place an empty rack in the rack setting unit 362, the top of which is open to the outside. The transport mechanism 367 transports the empty rack placed in the rack setting unit 362 by the operator to the rack storage unit 361 and the lifting position P15 as appropriate.

[0083] The number of empty racks stored in the rack storage section 361 and the rack installation section 362 is detected by the number of steps of the stepping motor from the drive position when the empty rack is positioned at the lifting position P15 to the return to the origin position detected by the sensor 368 when the transport mechanism 367 transports the empty rack to the lifting position P15. The number of steps of the stepping motor is counted by a rotary encoder or the like.

[0084] 7 and 8 are plan views schematically illustrating the configuration of a sample storage device 70 for storing samples. FIGS. 7 and 8 are views illustrating the first and second levels of the sample storage device 70, respectively. FIG. 9 is a perspective view schematically illustrating the exterior of the sample storage device 70. As shown in FIG. 9, the sample storage device 70 has a two-story structure, similar to the sample sorting device 40. The interior of the sample storage device 70 is divided into two levels, upper and lower, by a partition plate 77 that forms the bottom of the second level and the ceiling of the first level. The lower level is the first level 78, and the upper level is the second level 79. The first level 78 and the second level 79 overlap in plan view. The partition plate 77 has an opening 77a for allowing one rack 100 to pass through. The partition plate 77 may have other openings, cutouts, etc. in addition to the opening 77a. Furthermore, the first story 78 and the second story 79 may not be formed by the partition plate 77, but may be formed by placing the housing that forms the second story 79 on top of the housing that forms the first story 78.

[0085] Referring to Figure 7, the first floor of the sample storage device 70 includes a reading unit 71, a lifting mechanism 72, a reader 73, an inlet path 401, a sensor 402, a transport mechanism 403, a transfer path 411, sensors 412 to 416, transport mechanisms 417 and 418, an inlet path 421, a sensor 422, a transport mechanism 423, an intermediate path 424, an opening 425, a connection section 426, a relay section 427, a rack waiting area 431, sensors 432 to 438, transport mechanisms 439 to 442, an outlet path 451, a sensor 452, an outlet path 461, and a sensor 462.

[0086] The transport device 61 located to the right of the sample sorting device 40 transports the rack 100 to the sample storage device 70 at the front position along the front rack transport path 1a (see FIG. 1).

[0087] The carry-in path 401 is composed of a conveyor belt that moves left and right, and transports racks 100 carried out from the transport device 61 to the left. The sensor 402 is a transmission type photoelectric sensor, and detects racks 100 positioned at carry-in position P21 on the carry-in path 401. The transport mechanism 403 has a member for pushing the side of the rack 100, and transports the rack 100 at carry-in position P21 to the transfer path 411.

[0088] The transfer path 411 is made up of a plate member whose upper surface is parallel to a horizontal plane, and extends in the front-to-rear direction from the front to the rear of the sample storage device 70. Sensors 412 to 416 detect racks 100 on the transfer path 411. Based on the detection signals of the sensors 412 to 416, the retention state of the racks 100 on the transfer path 411 is detected. The sensors 412 to 416 are transmission-type photoelectric sensors.

[0089] The transport mechanisms 417 and 418 move the rack 100 in the short direction (front-rear direction) of the rack 100 along the transfer path 411 and transport it to the carry-in path 421. The transport mechanism 417 has a pair of members for pushing the sides of the rack 100, and transports the rack 100 on the transfer path 411 to the position of the sensor 415. The transport mechanism 418 has a member that protrudes upward from the top surface of the transfer path 411 and pushes the lower part of the rack 100, and transports the rack 100 at the position of the sensor 415 to the right end of the carry-in path 421.

[0090] The reading unit 71 reads the rack ID and the sample ID from the rack 100 positioned at the right end of the carry-in path 421. The reading unit 71 has a configuration similar to that of the reading unit 41 in FIG. 4. The reading unit 71 has two moving parts 71a, and the moving part 71a has a driving roller 71b, two driven rollers 71c, and a reader 71d. The reader 71d is a barcode reader.

[0091] The carry-in path 421 extends in the left-right direction and is disposed on the rear side of the sample storage device 70. The carry-in path 421 is formed by a conveyor belt that moves in the left-right direction, and transports the rack 100 transported from the transfer path 411 to the left. The sensor 422 is a transmission type photoelectric sensor that detects the rack 100 positioned at the left end of the carry-in path 421. The transport mechanism 423 includes a member for pushing the side of the rack 100, and transports the rack 100 at the left end of the carry-in path 421 to the rack waiting area 431 via the intermediate path 424.

[0092] The intermediate path 424, opening 425, connecting section 426, relay section 427, rack standby area 431, sensors 432-438, transport mechanisms 439-442, lifting mechanism 72, and reader 73 have the same configurations as the intermediate path 304, opening 305, connecting section 306, relay section 307, rack standby area 311, sensors 312-318, transport mechanisms 319-322, lifting mechanism 42, and reader 43 in Fig. 4, respectively. The width of the intermediate path 424 in the front-to-rear direction is approximately the same as the width of one rack 100 in the front-to-rear direction (short side direction).

[0093] The rack standby area 431 is an area where the rack 100 waits when the rack 100 is stuck in the recovery device 13 on the left or the transport device 61 on the right and cannot be transported from the unloading position P23 or P24, and is also a transport path for transporting the rack 100 from the lifting / lowering position P22 to the unloading position P23. The rack standby area 431 is a rectangular area with its long sides in the front-to-rear direction, and extends in the front-to-rear direction from the lifting / lowering position P22, which is the arrangement position of the rack 100 on the first tier, to the front. The rack standby area 431 has a length that allows 20 racks 100 to be lined up in the short direction between the lifting / lowering position P22 of the rack 100 on the first tier and the unloading position P23 to the rack transport path 1a of the device on the left.

[0094] The rack standby area 431 may have an area for waiting racks 100, but from the viewpoint of reducing the installation area of ​​the sample testing system 1, it is preferable that it has an area for waiting 10 or more, more preferably 15 or more, and even more preferably 20 or more racks 100. Furthermore, from the viewpoint of reducing the length of the sample testing system 1 in the front-to-rear direction, the rack standby area 431 may have an area for waiting no more than 50 racks 100, preferably no more than 40 racks 100.

[0095] The lifting mechanism 72 moves the rack 100 up and down by moving a support part 72a that supports the lower surface of the rack 100 in the up and down direction.

[0096] The rack 100 carried out from the loading path 421 is positioned at the lifting position P22 via the intermediate path 424, and the rack 100 positioned at the lifting position P22 is transferred to the second tier by the lifting mechanism 72. On the second tier, as will be described later, the containers 110 held in the rack 100 are removed from the rack 100 and stored. As a result, the rack 100 transferred to the second tier becomes an empty rack. When the storage of the containers 110 is completed, the lifting mechanism 72 lowers the rack 100 positioned on the second tier to the first tier and positions it again at the lifting position P22.

[0097] The rack 100 at the lifting position P22 is transported in the short side direction (front-rear direction) of the rack 100 along the rack waiting area 431 toward the front of the sample storage device 70. The rack 100 returned to the lifting position P22 is transported by the transport mechanism 423 to the front of the lifting position P22.

[0098] When a rack 100 arrives at the left end of the loading path 421, if there is no rack 100 at the lifting position P22 and no rack 100 being lifted to the second tier by the lifting mechanism 72, the transport mechanism 423 positions the rack 100 at the left end of the loading path 421 at the lifting position P22. Also, when a rack 100 arrives at the left end of the loading path 421, if a rack 100 that has returned from the second tier or a rack 100 that does not need to be lifted to the second tier is positioned at the lifting position P22, the transport mechanism 423 pushes the rack 100 at the left end of the loading path 421 forward, thereby transporting the rack 100 at the left end of the loading path 421 and the rack 100 at the lifting position P22 forward together. As a result, the rack 100 at the left end of the carry-in path 421 is positioned at the lifting position P22, and the rack 100 at the lifting position P22 is transported forward of the lifting position P22.

[0099] The transport mechanisms 439 to 442 move the empty rack transported by the transport mechanism 423 to the front of the lifting position P22 along the rack standby area 431 in the short direction (front-rear direction) of the rack 100, and transport it to the unloading positions P23 and P24. At this time, the rack 100 at the unloading position P23 waits at the unloading position P23 as appropriate depending on the processing status of the subsequent stage. The rack 100 at the unloading position P24 waits at the unloading position P24 as appropriate depending on the processing status of the previous stage. The reader 73 reads the rack ID from the rack 100 positioned near the front end of the rack standby area 431. The reader 73 is a barcode reader.

[0100] The output path 451 is formed by a conveyor belt that moves left and right, and outputs the rack 100 that has been output from the rack standby area 431 to the adjacent recovery device 13 on the left. The sensor 452 is a transmissive photoelectric sensor that detects the rack 100 positioned at an output position P23 on the output path 451. The output path 461 is formed by a conveyor belt that moves left and right, and outputs the rack 100 that has been output from the adjacent recovery device 13 on the left, and the rack 100 that has passed through the output path 451 and output from the rack standby area 431, to the adjacent transport device 61 on the right. The sensor 462 is a transmissive photoelectric sensor that detects the rack 100 that has been positioned at an output position P24 at the right end of the output path 461. The transport mechanism 403 can also transport the rack 100 that has been positioned at the output position P24 to the transfer path 411.

[0101] Referring to FIG. 8, the second story of the sample storage device 70 includes a container transfer mechanism 74, a tray 75, an archive rack 130, a sensor 471, and a take-out unit 472.

[0102] The lifting mechanism 72 lifts the rack 100 from the lifting position P22 on the first tier, and positions it at the lifting position P25, which is the arrangement position of the rack 100 on the second tier. The sensor 471 is a transmissive photoelectric sensor, and detects the rack 100 positioned at the lifting position P25.

[0103] The container transfer mechanism 74 is configured to be able to transfer containers 110 between the rack 100 and the archive rack 130. The container transfer mechanism 74 transfers the containers 110 from the rack 100 that has been transferred from the first level to the second level by the lifting mechanism 72 to the archive rack 130 arranged on the second level. The container transfer mechanism 74 removes all of the containers 110 from the rack 100 positioned at the lifting position P25 and stores the removed containers 110 in the archive rack 130. When all of the containers 110 have been removed from the rack 100, the lifting mechanism 72 transfers the empty rack 100 to the lifting position P22 on the first level. The empty rack returned to the first level is transported to the recovery device 13 or the sample sorting device 40.

[0104] The archive racks 130 are removably set on trays 75 that can be pulled out toward the front of the sample storage device 70. The archive rack 130 has a plurality of holes 131 formed therein that can hold containers 110 containing samples. The archive rack 130 in FIG. 8 has a total of 50 holes 131 formed in a grid pattern with 10 rows in the front-to-back direction and 5 columns in the left-to-right direction. Also, in FIG. 8, five trays 75 are provided in the left-to-right direction, and each tray 75 is configured to be able to hold three archive racks 130 lined up in the front-to-back direction. When the operator inputs an instruction to remove a tray 75, the lock of the target tray 75 is released. This allows the operator to pull the target tray 75 forward and remove the target archive rack 130.

[0105] The removal section 472 is configured to be able to be pulled out toward the front of the sample storage device 70. A hole 472a capable of holding a container 110 is formed in the removal section 472. The container transfer mechanism 74 is configured to be able to transfer the container 110 between the archive rack 130 and the removal section 472. When an operator inputs an instruction to remove a specific container 110 via the display input section 823 (see FIG. 18 ), the container transfer mechanism 74 transfers the target container 110 from the archive rack 130 to the removal section 472, and the removal section 472 is pushed forward. This allows the operator to remove the target container 110 from the removal section 472.

[0106] Next, the configuration of the container transfer mechanism 45 of the sample sorting device 40 will be described with reference to FIGS.

[0107] The container transfer mechanism 26 of the supply device 20 and the container transfer mechanism 74 of the sample storage device 70 have the same configuration as the container transfer mechanism 45 of the sample sorting device 40. That is, the container transfer mechanisms 26, 45, and 74 each include a front-rear transfer section 610, a left-right transfer section 620, a top-bottom transfer section 630, and a gripping section 640 shown in Figures 10 to 15. For convenience, only the configuration of the container transfer mechanism 45 will be described below.

[0108] Fig. 10 is a plan view schematically showing the configuration of the container transfer mechanism 45 of the sample sorting device 40. In Fig. 10, the configuration other than the rack 100, the containers 110, and the buffer rack 120 is omitted for convenience.

[0109] The container transfer mechanism 45 includes a front-rear transfer section 610, a left-right transfer section 620, a top-bottom transfer section 630, and a gripping section 640. The container transfer mechanism 45 uses the gripping section 640 to move one container 110 from a buffer rack 120 capable of holding multiple containers 110.

[0110] The front-rear transfer section 610 is equipped with a motor and rails extending in the front-rear direction, and transfers the left-right transfer section 620 in the front-rear direction. The left-right transfer section 620 is equipped with a motor and rails extending in the left-right direction, and transfers the up-down transfer section 630 in the left-right direction. The up-down transfer section 630 is equipped with a motor and rails extending in the up-down direction, and transfers the gripping section 640 in the up-down direction. The gripping section 640 is capable of opening and closing, and can move vertically and horizontally by the front-rear transfer section 610, the left-right transfer section 620, and the up-down transfer section 630. The vertical direction is synonymous with the up-down direction and the vertical direction. The gripping section 640 is also configured to be capable of opening and closing, and grips the container 110.

[0111] FIG. 11 is a side view schematically showing the configuration of the vertical transfer unit 630 and the gripping unit 640. As shown in FIG.

[0112] The vertical transfer unit 630 includes a base plate 631 , a motor 632 , pulleys 633 and 634 , a belt 635 , and a rail 636 .

[0113] Motor 632 is configured by a stepping motor and is installed on substrate 631. Pulley 633 is installed on a shaft extending in the front-to-rear direction of motor 632. Pulley 634 is installed on substrate 631 below pulley 633. Belt 635 is connected to pulleys 633 and 634 and moves up and down in response to the driving of motor 632. Rail 636 extends in the vertical direction and is installed on substrate 631.

[0114] The gripping portion 640 includes a connecting member 641, a substrate 642, a motor 643, a conversion mechanism portion 644, and a pair of gripping members 710, 720.

[0115] The right end of the connecting member 641 is fixed to the belt 635. When the belt 635 moves up and down, the connecting member 641 moves up and down while being supported by the rail 636. The connecting member 641 is fixed to the substrate 642.

[0116] Motor 643 is a stepping motor and is mounted on substrate 642. The rotation shaft of motor 643 extends in the vertical direction. Conversion mechanism 644 is mounted on substrate 642, and gripping members 710 and 720 are mounted on conversion mechanism 644. Conversion mechanism 644 is configured to convert the rotation direction of motor 643 into a direction in which gripping members 710 and 720 approach and move apart. Therefore, when motor 643 is driven, gripping members 710 and 720 approach and move apart. As a result, as shown in FIG. 11 , body 111 of container 110 is gripped by the inner surfaces of gripping members 710 and 720.

[0117] Figures 12 and 13 are perspective views showing the configuration of the gripping members 710 and 720. Figure 12 is a view of the gripping members 710 and 720 as seen from the front side, and Figure 13 is a view of the gripping members 710 and 720 as seen from the rear side.

[0118] Referring to FIG. 12, on the lower side of grip member 720, a thin plate portion 721, an opening 722, a pair of notches 723, a pair of protrusions 724, and a recess 725 are formed.

[0119] The thin plate portion 721 is configured to have a smaller thickness in the left-right direction than the upper portion of the gripping member 720. The left-right thickness of the thin plate portion 721 is, for example, about several millimeters. The opening 722 is formed in the thin plate portion 721 so as to penetrate the thin plate portion 721 in the left-right direction. A pair of notches 723 are formed in the front and rear side surfaces of the lower end of the gripping member 720, and are inclined relative to the vertical direction so as to approach each other as they extend downward. Furthermore, as shown in FIG. 15 , notches 726 and 727 are formed in the right and left side surfaces of the lower end of the gripping member 720, respectively, and the notches 726 and 727 are inclined relative to the vertical direction so as to approach each other as they extend downward.

[0120] The pair of protrusions 724 are located below the opening 722 and are formed on the left side surface of the lower end of the thin plate portion 721. The pair of protrusions 724 are spaced apart in the front-to-rear direction and have a ridge shape extending in the up-down direction. In other words, the leftmost protruding portion of each protrusion 724 extends parallel in the up-down direction. The recess 725 is formed between the pair of protrusions 724. The recess 725 has a shape similar to the side surface of a cylinder whose generatrix extends in the up-down direction.

[0121] Referring to FIG. 13, on the lower side of gripping member 710, a thin plate portion 711, an opening 712, a pair of notches 713, a flat portion 714, a recessed portion 715, and a step portion 716 are formed.

[0122] The thin plate portion 711 is configured to have a smaller thickness in the left-right direction than the upper portion of the gripping member 710. The left-right thickness of the thin plate portion 711 is, for example, about a few millimeters, the same thickness as the thin plate portion 721. The opening 712 is formed in the thin plate portion 711 so as to penetrate the thin plate portion 711 in the left-right direction. A pair of notches 713 are formed in the front and rear side surfaces of the lower end of the gripping member 710, and are inclined relative to the up-down direction so as to approach each other as they extend downward. In addition, as shown in FIG. 15 , a notch 717 is formed in the left side surface of the lower end of the gripping member 710. The notch 717 is inclined relative to the up-down direction so as to approach the inner surface as it extends downward.

[0123] The flat portion 714 is located below the opening 712 and is formed on the right side of the lower end of the thin plate portion 711. The flat portion 714 is parallel to a plane formed by the front-rear direction and the up-down direction. The recessed portion 715 is formed between the opening 712 and the flat portion 714. The recessed portion 715 is parallel to the flat portion 714 and is positioned offset to the left of the flat portion 714. The step portion 716 is formed between the flat portion 714 and the recessed portion 715 and is parallel to a plane formed by the front-rear direction and the left-right direction (horizontal plane).

[0124] FIG. 14 is a plan view schematically showing a state in which the gripping members 710 and 720 grip the container 110. As shown in FIG.

[0125] Figure 14 shows a cross section of the gripping members 710 and 720 when cut along a plane parallel to the horizontal plane passing through the openings 712 and 722. Figure 14 also shows a cross section of the container 110 when cut along a plane parallel to the horizontal plane passing through the position where the body 111 of the container 110 contacts the gripping members 710 and 720. For convenience, the lid 113 of the container 110 is shown by a dashed line.

[0126] When the gripping members 710, 720 grip the container 110, the gripping members 710, 720 sandwich the vicinity of the upper end of the body portion 111 of the container 110 from the left and right. At this time, the left end of the body portion 111 is supported at a point on the boundary line between the flat portion 714 and the step portion 716, and the vicinity of the right end of the body portion 111 is supported by a line on the ridge shape of the protrusion 724 that extends in the vertical direction.

[0127] Furthermore, when container 110 is held, lid 113 of container 110 is housed in openings 712 and 722. When lid 113, which has a larger diameter than body 111, is housed in openings 712 and 722 in this manner, the width from the left side surface of gripping member 710 to the right side surface of gripping member 720 can be reduced.

[0128] FIG. 15 is a side view that schematically shows a state in which the gripping members 710 and 720 grip the container 110. As shown in FIG.

[0129] Figure 15 shows a cross section of the gripping members 710, 720 when cut along a plane parallel to the up-down, left-right directions that passes through the center position in the front-rear direction of the gripping members 710, 720. Also, in Figure 15, the shape of the container 110 when cut along a plane parallel to the up-down, left-right directions that passes through the center position in the front-rear direction of the gripping members 710, 720 is shown by a dashed line.

[0130] The body 111 of the container 110 shown in FIG. 15 is configured so that its diameter decreases slightly downward. When the diameter of the container 110 decreases downward, it becomes difficult to properly hold the container 110 without moving it if the container 110 is gripped only by lines or planes parallel to the vertical direction. In contrast, in this embodiment, a step 716 is provided between the flat surface 714 and the recess 715 on the gripping member 710, and a pair of protruding projections 724 extending vertically are provided on the gripping member 720. As a result, the left side of the container 110 is supported by position P31 on the boundary line between the flat surface 714 and the step 716, and the right side of the container 110 is supported by position P32 of the projections 724. Position P31 is a point, and position P32 is a line.

[0131] 14, in a plan view, the portion of the gripping member 710 that comes into contact with the container 110 (the portion at position P31) is positioned on a line that vertically bisects a line connecting two portions of the gripping member 720 that come into contact with the container 110 (the portions at position P32). This allows the container 110 to be stably gripped.

[0132] 15, in the vertical direction, position P31 is located between the upper end P32a and the lower end P32b of position P32. This makes it possible to prevent the container 110 gripped by the gripping members 710, 720 from rotating around the front-rear direction.

[0133] FIG. 16 is a block diagram showing the configuration of the supply device 20.

[0134] The supply device 20 includes a control unit 801, a memory unit 802, a display input unit 803, a communication unit 804, transport mechanisms 202, 212, 222, 232, 242, other mechanisms 805, a sensor 806, a storage unit 21, a heating unit 22, a container transfer mechanism 26, a reading unit 27, and a reader 28.

[0135] The control unit 801 is configured, for example, by a CPU. The control unit 801 controls each hardware unit of the supply device 20 by executing a computer program stored in the storage unit 802. The storage unit 802 is configured, for example, by an SSD, HDD, RAM, etc. The display input unit 803 is configured, for example, by a touch panel display. The display input unit 803 may be divided into a display unit such as a liquid crystal display or an organic EL display, and an input unit such as a mouse or keyboard. The communication unit 804 is configured, for example, by a network card, and is communicatively connected to the transport control device 80. The other mechanism 805 includes a mechanism for driving the conveyor belt in the supply device 20. The sensor 806 includes a sensor for detecting the racks 100 in the supply device 20.

[0136] FIG. 17 is a block diagram showing the configuration of the sample sorting device 40.

[0137] The sample sorting device 40 includes a control unit 811, a memory unit 812, a display input unit 813, a communication unit 814, transport mechanisms 303, 319-322, 352, 367, other mechanisms 815, sensors 302, 312-318, 332, 342, 351, 363-366, 368, a reading unit 41, a lifting mechanism 42, readers 43, 44, and a container transfer mechanism 45.

[0138] The control unit 811 is configured, for example, by a CPU. The control unit 811 controls each hardware unit of the sample sorting device 40 by executing a computer program stored in the storage unit 812. The storage unit 812 is configured, for example, by an SSD, HDD, RAM, etc. The display input unit 813 is configured, for example, by a touch panel display. The display input unit 813 may be divided into a display unit such as a liquid crystal display or an organic EL display, and an input unit such as a mouse or keyboard. The communication unit 814 is configured, for example, by a network card, and is communicatively connected to the transport control device 80. The other mechanisms 815 include a mechanism for driving the conveyor belt in the sample sorting device 40 and a mechanism for driving the stopper 369.

[0139] FIG. 18 is a block diagram showing the configuration of the sample storage device 70.

[0140] The sample storage device 70 includes a control unit 821, a memory unit 822, a display input unit 823, a communication unit 824, transport mechanisms 403, 417, 418, 423, 439-442, other mechanisms 825, sensors 402, 412-416, 422, 432-438, 452, 462, 471, a reading unit 71, a lifting mechanism 72, a reader 73, and a container transfer mechanism 74.

[0141] The control unit 821 is configured, for example, by a CPU. The control unit 821 controls each hardware unit of the sample storage device 70 by executing a computer program stored in the memory unit 822. The memory unit 822 is configured, for example, by an SSD, HDD, RAM, etc. The display input unit 823 is configured, for example, by a touch panel display. The display input unit 823 may be separated into a display unit such as a liquid crystal display or an organic EL display, and an input unit such as a mouse or keyboard. The communication unit 824 is configured, for example, by a network card, and is communicatively connected to the transport control device 80. The other mechanism 825 includes a mechanism for driving a conveyor belt in the sample storage device 70.

[0142] Incidentally, the specimen testing system 1 can use various types of containers 110 with different diameters. In this case, containers 110 with small diameters are likely to be held at an angle in the holes formed in the rack. When the gripping members 710, 720 are lowered from above the container 110 to remove the container from the rack in this state, there is a risk that the lower ends of the gripping members 710, 720 will collide with the upper part of the container 110. If the gripping members 710, 720 are lowered in a more widely opened state to avoid this, there is a risk that the lower ends of the gripping members 710, 720 will collide with other containers adjacent to the container in question. This problem becomes more pronounced when the containers 110 are held as close as possible to the rack in order to reduce the installation area of ​​the device.

[0143] In contrast, in the embodiment, the gripping members 710, 720 are lowered in an open state toward a position where a container 110 is not being held. The "position where a container 110 is not being held" refers to, for example, a position on the outer side of the rack in a plan view, a position between two adjacent holes on the rack, a position of a hole on the rack where a container 110 is not being held, a position between the outermost hole on the rack and the outer edge of the rack in a plan view, a position on the outer edge of the rack, etc. In other words, the position where a container 110 is not being held is a position different from a position on the rack where a container 110 is being held. As a result, the lower ends of the gripping members 710, 720 are positioned lower than the heads (lids 113) of the containers 110 held on the rack.

[0144] Then, the gripping members 710, 720 in the open state are moved horizontally toward the target container 110. Thereafter, the gripping members 710, 720 are closed to grip the target container 110, and the gripping members 710, 720 are raised to remove the target container 110. This allows the target container 110 to be removed smoothly.

[0145] It should be noted that the gripping members 710, 720 do not necessarily have to be in the open state when they descend. That is, the gripping members 710, 720 may descend in the closed state, and then move horizontally in the open state.

[0146] 19 to 30, an overview of the operation of taking out and storing the container 110 will be described. For convenience, in FIGS. 19 to 30, the explanation will be given using a buffer rack 120 as an example of a rack that holds multiple containers 110.

[0147] Fig. 19 is a plan view schematically showing an example in which gripping unit 640 is lowered to a position outside buffer rack 120 in a plan view. Figs. 20 and 21 are side views schematically showing an example in which gripping unit 640 is lowered to a position outside buffer rack 120 in a plan view.

[0148] 19 to 21, container 110 to be removed is designated container T1. The central positions of gripping portion 640 and gripping members 710, 720 in a plan view are hereinafter referred to as the positions of gripping portion 640 and gripping members 710, 720. Also, in Fig. 19, during the removal operation of container 110, the position to which gripping portion 640 is moved downward is indicated by a downward-pointing triangle, the direction in which gripping portion 640 is moved horizontally downward is indicated by a thick arrow, and the position to which gripping portion 640, gripping container 110, is moved upward is indicated by an upward-pointing triangle.

[0149] 19 to 21, first, the lower end 640a of the gripping portion 640 is positioned above the upper end of the container T1, and further, the gripping portion 640 is positioned behind the center position of the container T1 and outside the buffer rack 120 in a plan view. As a result, the gripping portion 640 is positioned at a position P101, as shown in position M11 during the removal operation in FIGS. 19 and 20. Next, the gripping portion 640 is moved downward at position P101, as shown in position M12 during the removal operation in FIGS. 19 and 20.

[0150] Next, as shown in position M13 during the removal operation in Figures 19 and 21, the gripping portion 640 is moved horizontally forward and positioned at position P102 corresponding to the center position of the container T1. Next, as shown in Figure 19, at position P102, the gripping members 710, 720 are closed, and the container T1 is gripped by the gripping members 710, 720. Then, as shown in position M14 during the removal operation in Figures 19 and 21, the gripping members 710, 720 are moved upward so that the bottom end 640a of the container T1 is positioned higher than the lids 113 of the other containers 110 held in the buffer rack 120. In this way, the removal operation of the container T1 is completed.

[0151] When storing the container T1 held by the holding portion 640 in the hole 121 of the buffer rack 120, the reverse operation of the above-described removal operation is performed. That is, the holding portion 640 holding the container T1 is positioned above position P102. Next, the holding portion 640 is lowered and the holding portion 640 is set to an open state. This causes the container T1 to be stored in the hole 121. Next, the holding portion 640 in the open state is positioned at position P101 outside the buffer rack 120 in a plan view. Then, the holding portion 640 is moved upward. In this way, the storing operation of the container T1 is completed.

[0152] FIG. 22 is a plan view that schematically shows an example in which the gripping portion 640 descends to a position between two adjacent holes 121 on the buffer rack 120. As shown in FIG.

[0153] In the buffer rack 120 shown in Fig. 22, the distance between the holes in the front-rear direction is wider than that in Fig. 19. Therefore, during the removal operation, instead of the gripper 640 being lowered on the outside of the buffer rack 120 as shown in Figs. 19 to 21, the gripper 640 may be lowered at a position P111 between two holes 121 adjacent in the front-rear direction on the buffer rack 120 as shown in Fig. 22. In this case, the subsequent removal operation is the same as in Figs. 19 to 21. Furthermore, when the gripper 640 is used to store the container T1, the reverse operation of the removal operation is performed.

[0154] During the removal operation, it is preferable that the gripping portion 640 be lowered at the wider position between two holes 121 adjacent to each other in the front-rear direction on the buffer rack 120.

[0155] FIG. 23 is a plan view schematically showing an example in which gripping portion 640 is lowered to the widest position between two adjacent holes 121 on buffer rack 120. As shown in FIG.

[0156] Container T2 is held in a hole 121 at the rear of container T1, and container T3 is held in a hole 121 at the rear of container T2. In the example shown in FIG. 23, the distance between the hole 121 holding container T1 and the hole 121 holding container T2 is d1, whereas the distance between the hole 121 holding container T2 and the hole 121 holding container T3 is d2, which is larger than d1. In this case, gripper 640 is not lowered at position P121 between the hole 121 of container T1 and the hole 121 of container T2, but is lowered at position P122 between the hole 121 of container T2 and the hole 121 of container T3. This allows gripper 640 to be lowered smoothly. In this case, the subsequent removal operation is the same as in the cases of FIGS. 19 to 21. When container T1 is stored by gripper 640, the reverse operation of the removal operation is performed.

[0157] Furthermore, during the removal operation, the positions to which the gripping members 710 and 720 descend may be positions of holes 121 on the buffer rack 120 where no container 110 is held.

[0158] FIG. 24 is a plan view schematically showing an example in which the gripper 640 descends to the position of a hole 121 on the buffer rack 120 where no container 110 is held.

[0159] In the example shown in Fig. 24, no container 110 is held in the hole 121 at position P131, and the gripper 640 is lowered at position P131. In this case, since there is no container 110 at position P131, the gripper 640 can be smoothly lowered at position P131. In this case, the subsequent removal operation is the same as in the cases of Figs. 19 to 21. Furthermore, when the gripper 640 is used to store the container T1, the reverse operation of the removal operation is performed.

[0160] 22, when container T1 is stored at position P102, if the open gripper 640 is moved horizontally to position P111 and then moved upward at position P111, a portion of container T1 may become caught on the gripping members 710, 720, causing container T1 to be unintentionally removed from hole 121. In such a case, unintentional removal of container T1 can be prevented by changing the upward movement of the open gripper 640 as follows.

[0161] 25 to 27 are side views that schematically show examples in which the gripping portion 640 rises in a step-like manner when stored.

[0162] In the example shown in FIGS. 25 to 27, the container 110 is a type of container in which a label 113a is attached to the lid 113. As shown in position M21 during the storing operation in FIG. 25, after the container T1 is stored in the hole 121, the gripping portion 640 is opened. Next, as shown in position M22 during the storing operation in FIG. 25, the gripping portion 640 is moved between adjacent holes 121. Then, as shown in position M23 during the storing operation in FIG. 26, the gripping portion 640 is moved upward. At this time, the label 113a of the lid 113 may get caught in the openings 712, 722 of the gripping portion 640 (see FIG. 12). If the gripping portion 640 is moved further upward in this state, the container T1 may be unintentionally removed from the hole 121.

[0163] In contrast, in this embodiment, first, as shown in position M23 during the storage operation in Fig. 26, the container T1 is raised by a distance d11 that is higher than the container 110 and is smaller than the depth d12 of the hole 121. The distance d11 is, for example, about one-third of the total height of the container 110. As a result, if the label 113a of the container T1 is caught on the gripping portion 640, the container T1 is lifted upward to a degree that prevents it from being removed.

[0164] Next, as shown in position M24 during the storage operation in Fig. 26, the gripping part 640 is moved slightly backward (away from the container T1). As a result, the container T1 is released from the gripping part 640 and stored back into the hole 121, as indicated by the dotted arrow. Thereafter, the gripping part 640 is moved upward, as shown in position M25 during the storage operation in Fig. 27. In Fig. 27, the trajectory of the lower end 640a of the gripping part 640 at positions M21 to M25 during the storage operation is indicated by a dotted line. In this way, the gripping part 640 rises in a stepped manner, thereby preventing the container T1 from being unintentionally removed.

[0165] The process of the take-out operation and the process of the storage operation will be described with reference to FIGS.

[0166] In this embodiment, a control unit 801 of the supply device 20 controls the container transfer mechanism 26 to remove and store contents from the containers 110. A control unit 811 of the sample sorting device 40 controls the container transfer mechanism 45 to remove and store contents from the containers 110. A control unit 821 of the sample storage device 70 controls the container transfer mechanism 74 to remove and store contents from the containers 110.

[0167] For convenience, the following description will be made of the processing performed by the control unit 811 of the sample sorting device 40, but the processing performed by the other control units 801 and 821 is similar. The container 110 to be removed and the container 110 to be stored are referred to as container T1.

[0168] FIG. 28 is a flowchart showing the process of the removal operation.

[0169] In step S11, the control unit 811 of the sample sorting device 40 controls the container transfer mechanism 45 to move the gripper 640 downward to a position lower than the head (lid 113) of the container 110 at a position where no container 110 is held in a plan view. As a result, the gripper 640 is moved downward, for example, to position P101 in FIG. 19, position P111 in FIG. 22, position P122 in FIG. 23, and position P131 in FIG. 24. In step S12, the control unit 811 controls the container transfer mechanism 45 to move the open gripper 640 horizontally toward the target container T1 on the buffer rack 120. As a result, the gripper 640 is moved horizontally, for example, to position P102 in FIGS. 19 and 22 to 24.

[0170] In step S13, the control unit 811 controls the container transfer mechanism 45 so that the gripper 640 is in the closed state relative to the target container T1. This causes the gripper 640 to grip the container T1. In step S14, the control unit 811 controls the container transfer mechanism 45 so that the gripper 640, which is in the closed state and gripping the container T1, moves upward. In this way, the removal operation processing is completed.

[0171] FIG. 29 is a flowchart showing the process of the storing operation.

[0172] In step S21, the control unit 811 of the sample sorting device 40 controls the container transfer mechanism 45 so that the gripper 640 gripping the target container T1 moves downward toward a holding position on the buffer rack 120 where the container T1 is stored. As a result, the gripper 640 gripping the container T1 moves downward, for example, to position P102 in Figures 19 and 22 to 24. In step S12, the control unit 811 controls the container transfer mechanism 45 so that the gripper 640 is in an open state. As a result, the container T1 is stored in the target hole 121.

[0173] In step S23, the control unit 811 controls the container transfer mechanism 45 so that the open gripper 640 moves horizontally toward a position where the container 110 is not being held. As a result, the gripper 640 is moved horizontally to, for example, position P101 in FIG. 19, position P111 in FIG. 22, position P122 in FIG. 23, and position P131 in FIG. 24. In step S24, the control unit 811 controls the container transfer mechanism 45 so that the gripper 640 moves upward. In this way, the storage operation processing is completed.

[0174] Before and after the operations in Figures 28 and 29, the gripping portion 640 moves horizontally within the device in an elevated state, but the gripping portion 640 is controlled so that the speed at which the gripping portion 640 moves horizontally in an elevated state is faster than the speed at which the gripping portion 640 moves horizontally in a lowered state during the removal operation and the storage operation.

[0175] 25 to 27, when gripping portion 640 is raised from between adjacent holes 121 during the storing operation, gripping portion 640 is preferably raised in a stepped manner. The process in this case will be described with reference to FIG.

[0176] FIG. 30 is a flowchart showing the process of moving the gripping part 640 upward during the storing operation.

[0177] In step S101, the control unit 811 of the sample sorting device 40 controls the container transfer mechanism 45 so that the gripper 640, which has stored the container T1 and is now in an open state, moves between adjacent holes 121. As a result, the gripper 640 moves horizontally, for example, as shown in position M22 during the storing operation in FIG. 25. In step S102, the control unit 811 controls the container transfer mechanism 45 so that the lower end 640a of the gripper 640 is higher than the upper end of the container 110 and the gripper 640 moves upward by a distance d11 that is smaller than the depth d12 of the hole 121. As a result, the gripper 640 rises, for example, as shown in position M23 during the storing operation in FIG. 26.

[0178] In step S103, the control unit 811 controls the container transfer mechanism 45 so that the gripper 640 moves a predetermined distance in the horizontal direction. As a result, the gripper 640 moves backward (away from the container T1), for example, as shown in position M24 during the storage operation in FIG. 26. In step S104, the control unit 811 controls the container transfer mechanism 45 so that the gripper 640 moves upward. As a result, the gripper 640 moves upward, for example, as shown in position M25 during the storage operation in FIG. 27.

[0179] Next, with reference to FIGS. 31 to 34, the operation of the gripping section 640 actually performed in the supplying device 20, the sample sorting device 40, and the sample storage device 70 will be described.

[0180] 31 to 34, during the removal operation, the position to which gripping part 640 is moved downward is the position of a downward triangle, the direction in which gripping part 640 is moved horizontally downward is the direction of the thick arrow, and the position to which gripping part 640 holding container 110 is moved upward is the position of an upward triangle. During the storage operation, the position to which gripping part 640 holding container 110 is moved downward is the position of an upward triangle, the direction in which gripping part 640 is moved horizontally downward after storage is the opposite direction of the thick arrow, and the position to which gripping part 640 is moved upward is the position of a downward triangle.

[0181] The take-out operation is performed according to Fig. 28. The storing operation is performed according to Fig. 29. The process of Fig. 30 is executed in the storing operation of the sample sorting device 40.

[0182] FIG. 31 is a diagram schematically illustrating the transfer operation of the container 110 performed between the heating unit 22 and the rack 100 at the transfer position 223 in the supply device 20. As shown in FIG.

[0183] In the heating unit 22, the spacing between the holes 22a at a central position P201 in the front-to-rear direction of the heating unit 22 is wider than the other spacing between the holes 22a. Therefore, when removing a container 110 held by the heating unit 22, the gripping unit 640 is moved downward at the central position P201. The gripping unit 640 then moves horizontally to the target container 110 and removes the container 110 in an upward direction.

[0184] When removing a container 110 held by the rack 100 at the transfer position 223, the gripper 640 is moved downward at a position P211 at the rear of the rack 100. The gripper 640 then moves horizontally forward to the target container 110 and removes the container 110 upward.

[0185] FIG. 32 is a diagram showing a schematic diagram of the transfer operation of the container 110 to the washing liquid rack 24 and the quality control sample rack 25 in the supply device 20. As shown in FIG.

[0186] In the cleaning liquid rack 24, the spacing between the holes 24a at the central position P221 in the front-to-rear direction is wider than the spacing between the holes 24a at other positions, and there is a large space at the front position P222 of the cleaning liquid rack 24. Therefore, during the operation of removing a container 110 held in the cleaning liquid rack 24, if the target container 110 is at the rear side of the cleaning liquid rack 24, the gripping part 640 is moved downward at the central position P221, and if the target container 110 is at the front side of the cleaning liquid rack 24, the gripping part 640 is moved downward at the front position P222. The gripping part 640 then moves horizontally to the target container 110 and removes the container 110 in an upward direction.

[0187] When removing a container 110 held in the quality control sample rack 25, the gripper 640 is moved downward at the rear position P231 of the quality control sample rack 25. The gripper 640 then moves horizontally forward to the target container 110 and removes the container 110 upward.

[0188] FIG. 33 is a diagram schematically showing the transfer operation of the containers 110 performed in the sample sorting device 40 between the buffer rack 120 and the rack 100 at the lifting position P15.

[0189] If the positions where the holes 121 are lined up in the left-right direction are referred to as rows, then in the buffer rack 120, the spacing between the holes 121 at position P241 between the second and third rows from the rear and at position P242 between the second and third rows from the front are wider than the other spacing between the holes 121. Therefore, during an operation to remove a container 110 held in the buffer rack 120, if the target container 110 is on the rear side of the buffer rack 120, the gripper 640 is moved downward at position P241, and if the target container 110 is on the front side of the buffer rack 120, the gripper 640 is moved downward at position P242. The gripper 640 then moves horizontally to the target container 110 and removes the container 110 upward.

[0190] When removing a container 110 held by the rack 100 at the lift position P15, the gripper 640 is moved downward at a position P251 behind the rack 100. The gripper 640 then moves horizontally forward to the target container 110 and removes the container 110 upward.

[0191] 33, when a container 110 is stored in the buffer rack 120, the gripping unit 640 gripping the container 110 is moved downward at the storage position, and the container 110 is stored. Thereafter, the movement of the gripping unit 640 is performed as shown in FIGS. 25 to 27. That is, the gripping unit 640 is moved between the holes 121 located behind the storage position, and the gripping unit 640 is moved rearward in a stepped manner. Only when a container 110 is stored in the rearmost row, the gripping unit 640 is moved forward in a stepped manner. In this way, when there is another mechanism around the rack that makes it difficult to move the gripping unit 640, the direction in which the gripping unit 640 is moved horizontally is appropriately changed.

[0192] FIG. 34 is a diagram schematically showing the transfer operation of the container 110 performed between the rack 100 at the lifting position P25 and the archive rack 130 in the sample storage device 70.

[0193] When removing a container 110 held in the rack 100, the gripper 640 is moved downward at a position P261 behind the rack 100. The gripper 640 then moves horizontally forward to the target container 110 and removes the container 110 upward.

[0194] During the operation of removing a container 110 held in the rearmost archive rack 130, the gripper 640 is moved downward at a position P271 behind the rearmost archive rack 130. During the operation of removing a container 110 held in another archive rack 130, the gripper 640 is moved downward at a position P272 between the archive rack 130 and the archive rack 130 adjacent to the rear of the archive rack 130. The gripper 640 then moves horizontally forward to the target container 110 and removes the container 110 in an upward direction.

[0195] <Effects of the embodiment> In the following explanation of the effects, the buffer rack 120 will be used as an example of a container holder among the heating unit 22, the cleaning solution rack 24, the quality control sample rack 25, the rack 100, the buffer rack 120, and the archive rack 130 (container holder). Similar effects are achieved with container holders other than the buffer rack 120.

[0196] As described with reference to Figure 28, in step S11, at a position where no container 110 is held in a plan view, the gripper 640 is moved downward to a position lower than the lid 113 (head) of the container 110. In step S12, the open gripper 640 is moved horizontally toward the target container 110 on the buffer rack 120 (container holding portion). In step S13, the gripper 640 is closed relative to the target container 110. In step S14, the closed gripper 640 is moved upward.

[0197] According to this control, when a target container 110 is removed from the buffer rack 120, the gripper 640 is first lowered toward a position where no container 110 is present. This prevents the gripper 640 from colliding with the target container 110 or other containers 110 as it descends. Furthermore, since the gripper in the open state moves toward the target container 110 after descending, even if other containers 110 are present in its movement path, the gripper 640 moves toward the target container 110, passing through the sides of the other containers 110, and smoothly reaches the target container 110. Thereafter, the gripper 640 is closed, whereby the target container 110 is gripped by the gripper 640. Furthermore, the gripper 640 in the closed state is moved upward, whereby the target container 110 is removed from the buffer rack 120. Therefore, even when multiple containers 110 are arranged close to each other in the buffer rack 120, the target container 110 can be smoothly removed.

[0198] Fig. 35 is a schematic diagram for explaining the effect of the embodiment in more detail. Fig. 35 shows a side view of the buffer rack 120 with the containers 110 held in the holes 121. Note that the dimensions shown in Fig. 35 are different from the actual dimensions to facilitate understanding.

[0199] As described above, the dimensions of the container 110, particularly the diameter, vary depending on the type of container. The diameter of the hole 121 in the buffer rack 120 is larger than the diameter of a typical container 110 so that different types of containers can be accommodated. Therefore, when the container 110 is accommodated in the hole 121, the container 110 may be accommodated in a tilted position rather than an upright position, as shown by the dashed line in FIG. 35. In FIG. 35, the width D1 indicates the possible position of the lid 113 due to the tilt of the container 110. The width D1 is larger than the width of the hole 121 by D2×2.

[0200] When the gripping portion 640 in the open state is lowered from directly above the container 110 as in the conventional technology, the distance between the gripping members 710, 720 in the open state needs to be greater than the width D1 so that the tips of the gripping members 710, 720 do not collide with the lid portion 113 from above. Therefore, in the conventional technology, a clearance D3 large enough for the gripping portion 640 to enter is required between the width D1 centered on one container 110 and the width D1 centered on another adjacent container 110. This inevitably requires a large distance D4 between adjacent holes 121, which places a limit on how compact the buffer rack 120 can be.

[0201] The upper view of Fig. 36 is a side view illustrating the effect of the above-described embodiment. The lower view of Fig. 36 is a plan view illustrating the effect of the above-described embodiment. The side view of Fig. 36 is a view of the state of position M12 during the removal operation of Fig. 20 as seen from the front. The side view and plan view of Fig. 36 show a state in which the tip of the gripping part 640 is lowered to a position lower than the lid part 113 of the container 110.

[0202] When the gripper 640 moves horizontally forward from the state shown in the side view of FIG. 36 , the front ends of the gripping members 710 and 720 come into contact with the lids 113. As the gripper 640 moves further forward, the gripping members 710 and 720 enter between the lids 113 of two adjacent containers 110. At this time, the containers 110 move horizontally or slightly rotate as shown in the plan view of FIG. 36 to create a gap for the gripping members 710 and 720 to enter. Because the containers 110 are generally cylindrical and there is a gap between the hole 121 and the container 110, the container 110 can easily move within the hole 121 when a horizontal force is applied. Therefore, unlike the prior art where the gripper 640 is lowered from above, the gripper 640 can be positioned between the adjacent containers 110 without colliding with the containers 110.

[0203] When the gripping part 640 is moved by the method of the embodiment, there is no need to provide a clearance D3 (see FIG. 35) between the width D1 of two adjacent containers 110. Therefore, the adjacent holes 121 can be arranged close to each other, which allows the device to be made smaller.

[0204] 29, in step S21, gripping unit 640 gripping container 110 is moved downward toward a holding position on buffer rack 120 (container holding unit). In step S22, gripping unit 640 is opened. In step S23, gripping unit 640 in the open state is moved horizontally toward a position where container 110 is not being held. In step S24, gripping unit 640 is moved upward.

[0205] According to this control, after storing the container 110 in the holding position, the gripping unit 640 is moved horizontally in the open state toward a position where there is no container 110, and then moved upward from that position. As a result, even if there is another container 110 on the horizontal movement path, the gripping unit 640 will slip past the side of the other container 110 and move to a position where there is no container 110. Thereafter, the gripping unit 640 moves upward at a position where there is no container 110, thereby preventing the gripping unit 640 from getting caught on a container 110 and causing the container 110 to unintentionally fall off the buffer rack 120.

[0206] The containers 110 are held in holes 121 formed on a buffer rack 120 (container holding portion). This allows the containers 110 to be held reliably with a simple configuration.

[0207] 22 and 23, in the operation of removing a container 110, the gripper 640 descends toward the space between two adjacent holes 121 on the buffer rack 120 (container holder). According to this control, since there is no container between the two adjacent holes 121, it is possible to avoid the gripper 640 colliding with the container 110 when the gripper 640 descends.

[0208] 23, gripper 640 descends to a position (position P122) at a second distance wider than the first distance between two adjacent holes 121. According to this control, when the distance between adjacent holes 121 varies, gripper 640 is lowered to a position at the wider distance, thereby more reliably avoiding collision between gripper 640 and container 110.

[0209] 19, in the operation of removing a container 110, the gripper 640 descends toward a position P101 outside the buffer rack 120 (container holding portion) in a plan view. According to this control, since there is no container 110 outside the buffer rack 120 in a plan view, it is possible to reliably avoid collision between the gripper 640 and the container 110.

[0210] 22 and 23, in the operation of storing the container 110, after storing the container 110, the gripping part 640 moves horizontally between two adjacent holes 121 on the buffer rack 120 (container holding part), and then rises. According to this control, since there is no container 110 between the two adjacent holes 121, it is possible to avoid the gripping part 640 getting caught on the container 110 when the gripping part 640 rises.

[0211] 23, gripping portion 640 rises from a position (position P122) where the second spacing is wider than the first spacing, among the positions between two adjacent holes 121. According to this control, when the spacing between adjacent holes 121 varies, gripping portion 640 is raised from a position where the spacing is wider, thereby more reliably preventing gripping portion 640 from getting caught on container 110.

[0212] 30, in the operation of storing container 110, after storing container 110, in step S101, gripper 640 is moved between adjacent holes 121. In step S102, gripper 640 is moved upward by a distance d11 that is higher than container 110 and smaller than depth d12 of hole 121. In step S103, gripper 640 is moved horizontally by a predetermined distance. In step S104, gripper 640 is moved upward.

[0213] When the gripper 640 rises between adjacent holes 121, as shown in position M23 during the storage operation in FIG. 26 , it is possible that the label 113a on the lid 113 of the container 110 gets caught on the gripper 640, causing the container 110 to be lifted. In the above control, if such an event is anticipated, the subsequent horizontal movement of the gripper 640 will release the catch and drop the container 110 into the hole 121. Therefore, the lifting of the gripper 640 will prevent the container 110 from falling out of the hole 121. Furthermore, since the gripper 640 then rises further, the subsequent horizontal movement of the gripper 640 can be performed smoothly.

[0214] 19, in the operation of storing the container 110, after the container 110 is stored, the gripping part 640 moves horizontally to the outside of the buffer rack 120 (container holding part) in a plan view, and then rises. According to this control, since there is no container 110 outside the buffer rack 120 in a plan view, it is possible to reliably prevent the gripping part 640 from getting caught on the container 110.

[0215] The speed at which the gripper 640 moves in the horizontal direction in the raised state is faster than the speed at which the gripper 640 moves in the horizontal direction in the lowered state. When the gripper 640 moves in the horizontal direction in the raised state, unlike when the gripper 640 moves in the horizontal direction in the lowered state, excessive collision between the gripper 640 and the container 110 does not occur, and therefore the movement speed of the gripper 640 can be increased. This allows the container 110 to be transported quickly.

[0216] The gripping unit 640 includes two gripping members 710, 720 that are arranged opposite each other and can move toward and away from each other. With this configuration, the gripping members 710, 720 can be stably gripped, and the gripping unit can be realized with a simple configuration.

[0217] 14, when gripping portion 640 grips container 110, it grips container 110 at three points. With this configuration, gripping portion 640 can stably grip container 110, preventing container 110 from dropping during movement.

[0218] 14, in a plan view, the portion of one gripping member 710 that comes into contact with the container 110 (the portion at position P31) is positioned on a line that vertically bisects a line connecting two portions of the other gripping member 720 that come into contact with the container 110 (the portions at position P32). By providing three portions in this way, the container 110 can be stably gripped.

[0219] 12, two protrusions 724 are formed on the inner surface of the other gripping member 710 in a plan view, aligned in a direction (front-rear direction) perpendicular to the gripping direction (left-right direction) of the gripping portion 640. The two protrusions 724 enable the container 110 to be supported at two points from the other gripping member 720 side.

[0220] 13, a flat surface 714 is formed on the inner surface of one of the gripping members 710. The single flat surface 714 allows the container 110 to be supported at one location from the side of one of the gripping members 710.

[0221] 13, a step 716 extending outward is formed at the upper end of the flat portion 714. With this configuration, even if the container 110 is configured so that the outer diameter of the container 110 gradually decreases downward as it goes down, as shown in Fig. 15, the container 110 is supported at three points: the boundary between the flat portion 714 and the step 716, and two points on the other gripping member 720 side. This allows the container 110 to be stably gripped.

[0222] 15, in a side view, the step 716 is located between the upper end (position P32a) and the lower end (position P32b) of two protrusions 724 formed on the other gripping member 720. This configuration can prevent the container 110 from rotating around an axis parallel to the horizontal direction.

[0223] 12 and 15, one gripping member 710 has corner-cut notches 713 and 717 formed at the tip thereof, and the other gripping member 720 has corner-cut notches 723, 726, and 727 formed at the tip thereof. This configuration makes it possible to avoid excessive collision between gripping members 710 and 720 and container 110 when gripping section 640 moves downward.

[0224] 15, the two gripping members 710, 720 each have openings 712, 722 that penetrate in the gripping direction (left-right direction) above the portion that grips the container 110. With this configuration, a portion of the lid portion 113 provided above the container 110 fits into the two openings 712, 722 from the inside, so the distance between the outside of the thin plate portion 711 and the outside of the thin plate portion 721 can be reduced. In other words, the outer shape of the gripping portion 640 can be reduced. As a result, when the gripping portion 640 is moved horizontally in a lowered state, the gripping portion 640 can be moved smoothly horizontally between the containers 110.

[0225] <Other change examples> In the embodiment, the gripping direction of the gripping portion 640 is the left-right direction, and the gripping portion 640 is moved downward in the front-rear direction during the operation of removing the container 110. However, this is not limiting, and the gripping direction of the gripping portion 640 and the direction in which the gripping portion 640 moves downward may be inclined with respect to the front-rear and left-right directions.

[0226] FIG. 37 is a plan view schematically showing the operation of the gripping portion 640 in this case.

[0227] In Fig. 37, the gripping direction of gripper 640 and the direction in which gripper 640 moves downward are parallel to the horizontal plane and inclined at 45° relative to the front-rear and left-right directions. The angle between the gripping direction of gripper 640 and the direction in which gripper 640 moves downward is 90°. In the example shown in Fig. 37, gripper 640 is moved downward at position P141 outside buffer rack 120, and then moved diagonally to position P142 for container T1. Then, gripper 640 is closed at position P142, and gripper 640 is moved upward to remove container T1.

[0228] In this case, too, when removing the container T1, the gripper 640 in the open state moves toward the container T1 after descending, so that the gripper 640 smoothly reaches the container T1. When storing the container T1, the reverse operation to the removal operation is performed. This allows smooth removal and storage of the target container 110, as in the embodiment.

[0229] In the embodiment, as shown in FIG. 14, the gripping portion 640 grips the container 110 at three points when gripping the container 110, but the gripping portion 640 may grip the container 110 at four or more points.

[0230] FIG. 38 is a plan view schematically showing the configuration of a gripping portion 640 that grips a container 110 at four points.

[0231] The gripping unit 640 in FIG. 38 includes a pair of support members 730, 740 arranged side by side. The support member 730 includes a pair of gripping members 731 that can move inward and outward relative to the support member 730, and the support member 740 includes a pair of gripping members 741 that can move inward and outward relative to the support member 740. The gripping members 731, 741 are rod-shaped members. The movement direction of the gripping members 731, 741 is inclined at 45° relative to the front-rear and left-right directions, as indicated by the bold arrows in FIG. 38. When the gripping unit 640 grips the container 110, the gripping members 731, 741 are moved inward. As a result, the tips of the gripping members 731, 741 come into contact with the body 111 of the container 110, and the container 110 is gripped at four points by the gripping members 731, 741.

[0232] In this case, the transfer operation of the container 110 is also performed in the same manner as in Figures 28 to 30. The direction of movement below the gripper 640 is the front-to-rear direction, as in the embodiment. This allows the target container 110 to be smoothly taken out and stored, as in the embodiment.

[0233] 13, the gripping member 710 has the flat portion 714 formed thereon, but instead of this, a protrusion protruding inward may be formed thereon. In this case as well, the gripping portion 640 can stably grip the container 110 at three points.

[0234] In the embodiment, as shown in FIGS. 12, 13 and 15, the notches 713, 717, 724 and 726 are formed in a flat surface, but they may also be formed in a curved surface.

[0235] In the embodiment, the supply device 20, the sample sorting device 40, and the sample storage device 70 are provided with container transfer mechanisms 26, 45, and 74, respectively, and the container transfer mechanisms 26, 45, and 74 are controlled as shown in Figures 28 to 30. However, this is not limiting, and a container transfer mechanism installed in an apparatus that transfers containers containing various liquids may be configured similarly to the above-mentioned container transfer mechanism and controlled similarly.

[0236] The embodiments of the present invention can be modified in various ways as appropriate within the scope of the technical idea defined in the claims. [Explanation of symbols]

[0237] 20 Supply device (container transfer device) 22a, 24a, 25a, 101, 121, 131 holes 22 Heating section (container holding section) 22a hole 24 Cleaning solution rack (container holder) 24a hole 25 Quality control sample rack (container holder) 25a hole 40 Sample sorting device (container transfer device) 70 Sample storage device (container transfer device) 100 racks (container holders) 101 holes 110 Containers (Target Containers) 113 Lid (head) 120 Buffer rack (container holding part) 121 holes 130 Archive rack (container holder) 131 holes 610 Front and rear transfer section (transfer mechanism section) 620 Left and right transfer section (moving mechanism section) 630 Vertical transfer section (moving mechanism section) 640 Gripping part 710 Gripping member (one of the gripping members) 712 Aperture 713, 717 Notch 714 Plane section 716 Multilayered section 720 Gripping member (other gripping member) 722 Aperture 723, 726, 727 notches 724 Protrusion 801, 811, 821 Control unit T1 container (target container)

Claims

1. A container transfer method for transferring containers from a container holding unit capable of holding multiple containers using a gripping unit that can open and close and move vertically and horizontally, comprising: In a plan view, the gripping portion is moved downward to a position lower than the top of the container at a position around the container holding portion and inside the container holding portion where the container is not being held; The gripping portion in the open state is moved horizontally toward the target container on the container holding portion; After moving the gripper in a horizontal direction relative to the target container, the gripper is closed relative to the target container; A container transfer method, comprising: moving the gripping portion in a closed state upward.

2. The gripping portion gripping the container is moved downward toward a holding position on the container holding portion; The gripping portion is opened, The gripping portion in the open state is moved horizontally toward a position where the container is not being held; The container transfer method according to claim 1 , wherein the gripping portion is moved upward.

3. 3. The container transfer method according to claim 1, wherein the container is held in a hole formed on the container holder.

4. The container transfer method according to claim 3 , wherein, in the container removal operation, the gripping portion is lowered toward a position between two adjacent holes on the container holding portion.

5. The container transfer method according to claim 4 , wherein the gripping portion is lowered to a position between two adjacent holes at a second distance that is wider than the first distance.

6. The container transfer method according to claim 3 , wherein, in the container removal operation, the gripping portion descends toward a position outside the container holding portion in a plan view.

7. A container transfer method described in any one of claims 3 to 6, wherein, during the container storage operation, after the container is stored, the gripping portion moves horizontally between two adjacent holes on the container holding portion and then rises.

8. The container transfer method according to claim 7 , wherein the gripping portion rises from a position at a second distance between two adjacent holes, the second distance being wider than the first distance.

9. A container transfer method as described in any one of claims 7 or 8, wherein, in the container storage operation, after storing the container, the gripping portion moves between adjacent holes, then rises a distance higher than the container and smaller than the depth of the hole, then moves horizontally a predetermined distance, and further moves upward.

10. 4. The container transfer method according to claim 3, wherein, in the container storing operation, after storing the container, the gripping portion moves horizontally to the outside of the container holding portion in a plan view, and then rises.

11. 11. The container transfer method according to claim 1, wherein the speed at which the gripping portion moves horizontally in the raised state is faster than the speed at which the gripping portion moves horizontally in the lowered state.

12. A container transfer method for moving containers to holding positions of a container holder capable of holding multiple containers using a gripper capable of opening and closing operations and vertical and horizontal movement, comprising: The gripping unit gripping the target container is moved downward toward the holding position on the container holding unit where the target container is stored; The gripping portion is opened, The gripping portion in the open state is moved horizontally toward a periphery of the container holding portion and a position inside the container holding portion where the container is not held, in a plan view; The container transfer method further comprises moving the gripping portion upward.

13. A container transfer device that moves a container from a container holding unit that can hold a plurality of containers, A gripping portion that can be opened and closed; a movement mechanism that moves the gripper in vertical and horizontal directions; a control unit that controls operations of the gripping unit and the moving mechanism unit, The control unit The gripping portion is moved downward to a position lower than the top of the container toward a periphery of the container holding portion and a position inside the container holding portion where the container is not held, in a plan view; The gripping portion in the open state is moved horizontally toward the target container on the container holding portion; After moving the gripper in a horizontal direction relative to the target container, the gripper is closed relative to the target container; The container transfer device controls the gripping unit and the movement mechanism unit to move the gripping unit in an upward direction when the gripping unit is in a closed state.

14. The control unit further The gripping portion gripping the container is moved downward toward a holding position on the container holding portion; The gripping portion is opened, The gripping portion in the open state is moved horizontally toward a position where the container is not being held; The container transfer device according to claim 13 , wherein the gripping unit and the movement mechanism are controlled to move the gripping unit upward.

15. 15. The container transfer device according to claim 13, wherein the gripping section comprises two gripping members arranged opposite each other and movable toward and away from each other.

16. The container transfer device according to claim 15 , wherein the gripping portion grips the container at three points when gripping the container.

17. The container transfer device according to claim 16, wherein the gripping section grips the container by one of the gripping members contacting the container at one point and the other of the gripping members contacting the container at two points.

18. A container transfer device as described in claim 17, wherein, in a planar view, the portion of one of the gripping members that contacts the container is positioned on a line that vertically bisects a line connecting the two portions of the other gripping member that contact the container.

19. 19. The container transfer device according to claim 17, wherein the other gripping member has an inner surface formed with two protrusions aligned in a direction perpendicular to the gripping direction of the gripping portion in a plan view.

20. 20. The container transfer device according to claim 17, wherein one of the gripping members has an inner surface formed with a flat surface.

21. 21. The container transfer device according to claim 20, wherein an outwardly extending step is formed on an upper end of the flat surface portion.

22. 22. The container transfer device according to claim 21, wherein the step portion is located between upper and lower ends of two protrusions formed on the other of the gripping members in a side view.

23. 22. The container transfer device according to claim 15, wherein the two gripping members have notches formed at their tip ends with the corners cut off.

24. 24. The container transfer device according to claim 15, wherein each of the two gripping members has an opening penetrating in the gripping direction above a portion where the container is gripped.

Images