JP7034210B2 - 試料容器を取り扱うための把持装置および分析機器 - Google Patents
試料容器を取り扱うための把持装置および分析機器 Download PDFInfo
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- JP7034210B2 JP7034210B2 JP2020093680A JP2020093680A JP7034210B2 JP 7034210 B2 JP7034210 B2 JP 7034210B2 JP 2020093680 A JP2020093680 A JP 2020093680A JP 2020093680 A JP2020093680 A JP 2020093680A JP 7034210 B2 JP7034210 B2 JP 7034210B2
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- gripping
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- 238000006073 displacement reaction Methods 0.000 claims description 13
- 239000000523 sample Substances 0.000 description 61
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 239000006101 laboratory sample Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L9/00—Supporting devices; Holding devices
- B01L9/06—Test-tube stands; Test-tube holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/20—Measuring arrangements characterised by the use of mechanical techniques for measuring contours or curvatures
- G01B5/207—Measuring arrangements characterised by the use of mechanical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
- B01L3/50—Containers for the purpose of retaining a material to be analysed, e.g. test tubes
- B01L3/508—Containers for the purpose of retaining a material to be analysed, e.g. test tubes rigid containers not provided for above
- B01L3/5082—Test tubes per se
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/009—Gripping heads and other end effectors with pins for accurately positioning the object on the gripping head
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/46—Measurement of colour; Colour measuring devices, e.g. colorimeters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/0401—Sample carriers, cuvettes or reaction vessels
- G01N2035/0403—Sample carriers with closing or sealing means
- G01N2035/0405—Sample carriers with closing or sealing means manipulating closing or opening means, e.g. stoppers, screw caps, lids or covers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/0401—Sample carriers, cuvettes or reaction vessels
- G01N2035/0406—Individual bottles or tubes
Description
Claims (11)
- 試料容器(2)を取り扱うための把持装置(1、1’)であって、前記試料容器(2)は、所定のキャップタイプのキャップ(3)によって閉鎖されているか、または、キャップによって閉鎖されておらず、前記把持装置(1、1’)は、
共同して試料容器(2)の把持を引き起こすように構成された複数のフィンガ(4)と、
前記フィンガ(4)の少なくとも1つに配置された触覚センサ装置(5、7、8、9)であって、前記触覚センサ装置(5、7、8、9)は、試料容器(2)の長手方向の輪郭(LP)を得るように、または、試料容器(2)がキャップによって閉鎖されている場合には、前記試料容器(2)と前記キャップ(3)との長手方向の輪郭(LP)を得るように構成された、触覚センサ装置(5、7、8、9)と、
前記触覚センサ装置(5、7、8、9)に連結された制御装置(6)と
を備え、前記制御装置(6)は、得られた前記長手方向の輪郭(LP)における、前記長手方向の位置に応じた前記長手方向に垂直な方向での変位に基づいて、前記試料容器(2)がキャップ(3)によって閉鎖されているか、または、キャップによって閉鎖されていないかを判定するように構成されている、把持装置(1、1’)。 - 前記触覚センサ装置(5、7、8、9)は、前記長手方向の輪郭(LP)を得るために、前記フィンガ(4)の少なくとも1つに沿って長手方向に配置された複数の触覚センサ(5)を備えている、請求項1に記載の把持装置(1、1’)。
- 前記試料容器(2)がキャップ(3)によって閉鎖されていると前記制御装置(6)が判定した場合、前記制御装置(6)がさらにキャップタイプを判定するように構成されている、請求項1または2に記載の把持装置(1、1’)。
- 前記制御装置が、得られた前記長手方向の輪郭(LP)に基づいて、前記キャップタイプを判定するように構成されている、請求項3に記載の把持装置(1、1’)。
- 前記キャップ(3)が、前記試料容器(2)に挿入される基部(3b)と、前記試料容器(2)の外径よりも大きな外径を有する頭部(3a)とを備え、
前記試料容器(2)がキャップ(3)によって閉鎖されていると前記制御装置(6)が判定した場合、前記制御装置(6)はさらに、前記頭部(3a)、前記基部(3b)および前記試料容器(2)の外径の違いに応じた、得られた前記長手方向の輪郭(LP)における変化に基づいて、前記基部(3b)が前記試料容器(2)に挿入された程度を判定するように構成されている、
請求項1~4のいずれか1項に記載の把持装置(1、1’)。 - 前記触覚センサ装置(5、7、8、9)は、前記フィンガ(4)の少なくとも1つに沿って長手方向に配置された複数の触覚センサ(5)を備え、
触覚センサ(5)のそれぞれが、
軸方向に可動のピン(7)と、
前記軸方向に可動のピン(7)の軸方向の変位を測定するように構成された変位測定セル(8)と
を備えている、請求項1~5のいずれか1項に記載の把持装置(1、1’)。 - 前記触覚センサ装置(5、7、8、9)は、前記フィンガ(4)の少なくとも1つに沿って長手方向に配置された複数の触覚センサ(5)を備え、
前記触覚センサがバネ付勢されている、請求項1~6のいずれか1項に記載の把持装置(1、1’)。 - 前記触覚センサ装置(5、7、8、9)は、前記フィンガ(4)の少なくとも1つに沿って長手方向に配置された複数の触覚センサ(5)を備え、
複数の触覚センサ(5)が、複数のフィンガ(4)のそれぞれ1つに沿って長手方向に配置されている、請求項1~7のいずれか1項に記載の把持装置(1、1’)。 - 前記フィンガ(4)の数が2つである、請求項1~8のいずれか1項に記載の把持装置(1、1’)。
- 前記把持装置(1、1’)がさらに、
把持されるキャップ(3)がある場合に、キャップ(3)の色を検知するように構成された色センサ(10)を備えている、請求項1~9のいずれか1項に記載の把持装置(1、1’)。 - 請求項1~10のいずれか1項に記載の把持装置(1、1’)を備えた分析機器(100)。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP19178494.1A EP3748364B1 (en) | 2019-06-05 | 2019-06-05 | Gripping device for handling sample containers and analytical instrument |
EP19178494.1 | 2019-06-05 |
Publications (2)
Publication Number | Publication Date |
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JP2020201251A JP2020201251A (ja) | 2020-12-17 |
JP7034210B2 true JP7034210B2 (ja) | 2022-03-11 |
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Application Number | Title | Priority Date | Filing Date |
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JP2020093680A Active JP7034210B2 (ja) | 2019-06-05 | 2020-05-28 | 試料容器を取り扱うための把持装置および分析機器 |
Country Status (4)
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US (1) | US11559907B2 (ja) |
EP (1) | EP3748364B1 (ja) |
JP (1) | JP7034210B2 (ja) |
CN (1) | CN112044485B (ja) |
Families Citing this family (4)
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EP3888704A1 (en) * | 2020-04-03 | 2021-10-06 | Gibotech A/S | System for opening and/or closing a lid of a container containing medical equipment in a sterile processing department |
CN112556426B (zh) * | 2020-12-15 | 2022-08-23 | 江西科技学院 | 一种具有气相淬火功能的烧结炉及其淬火工艺 |
CN112974261B (zh) * | 2021-02-04 | 2022-10-14 | 上海中通吉网络技术有限公司 | 自动分拣设备和系统 |
EP4279228A1 (en) * | 2022-05-20 | 2023-11-22 | F. Hoffmann-La Roche AG | Gripping apparatus for gripping sample container |
Citations (3)
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JP2008541061A (ja) | 2005-05-05 | 2008-11-20 | コントロール、ゲージング、インコーポレイテッド | ワークピース搬送メカニズムのためのゲージ・グリッパ組立体 |
JP2009274204A (ja) | 2008-05-13 | 2009-11-26 | Samsung Electronics Co Ltd | ロボット、ロボットハンド及びロボットハンドの制御方法 |
US20140036276A1 (en) | 2012-08-06 | 2014-02-06 | Beckman Coulter, Inc. | Sensing specimen gripper |
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AUPP058197A0 (en) * | 1997-11-27 | 1997-12-18 | A.I. Scientific Pty Ltd | Pathology sample tube distributor |
EP0995555A1 (de) * | 1998-10-15 | 2000-04-26 | Tecan AG | Robotarm |
US6203760B1 (en) * | 1999-02-12 | 2001-03-20 | Perkinelmer Instruments Llc | Autosampler having gripper with shape memory metal actuator |
US6435582B1 (en) * | 2000-07-31 | 2002-08-20 | Motoman, Inc. | Object manipulator and manipulation system |
JP3715266B2 (ja) * | 2002-08-30 | 2005-11-09 | 株式会社アイディエス | 検体容器チャック機構 |
DE602006019509D1 (de) * | 2006-12-04 | 2011-02-17 | Inpeco Ip Ltd | Mit einem positionssensor ausgestatteter behältergreifer |
WO2011050112A2 (en) * | 2009-10-20 | 2011-04-28 | Nexus Biosystems, Inc. | Gripper apparatus and method for containers of different sizes |
WO2013023130A1 (en) * | 2011-08-11 | 2013-02-14 | Siemens Healthcare Diagnostics Inc. | Methods and apparatus to calibrate an orientation between a robot gripper and a camera |
WO2016014429A1 (en) * | 2014-07-21 | 2016-01-28 | Beckman Coulter, Inc. | Methods and systems for tube inspection and liquid level detection |
EP3444616A1 (en) * | 2017-08-18 | 2019-02-20 | Roche Diagnostics GmbH | Method for determining, whether an opening of a laboratory sample container is open or closed, laboratory device and laboratory automation system |
EP3693139A1 (en) * | 2019-02-11 | 2020-08-12 | Université d'Aix-Marseille | Optical tactile sensor |
-
2019
- 2019-06-05 EP EP19178494.1A patent/EP3748364B1/en active Active
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2020
- 2020-05-28 JP JP2020093680A patent/JP7034210B2/ja active Active
- 2020-05-28 US US16/885,719 patent/US11559907B2/en active Active
- 2020-06-05 CN CN202010506444.8A patent/CN112044485B/zh active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008541061A (ja) | 2005-05-05 | 2008-11-20 | コントロール、ゲージング、インコーポレイテッド | ワークピース搬送メカニズムのためのゲージ・グリッパ組立体 |
JP2009274204A (ja) | 2008-05-13 | 2009-11-26 | Samsung Electronics Co Ltd | ロボット、ロボットハンド及びロボットハンドの制御方法 |
US20140036276A1 (en) | 2012-08-06 | 2014-02-06 | Beckman Coulter, Inc. | Sensing specimen gripper |
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Publication number | Publication date |
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JP2020201251A (ja) | 2020-12-17 |
CN112044485B (zh) | 2022-08-23 |
CN112044485A (zh) | 2020-12-08 |
US11559907B2 (en) | 2023-01-24 |
EP3748364B1 (en) | 2023-05-24 |
EP3748364A1 (en) | 2020-12-09 |
US20200384655A1 (en) | 2020-12-10 |
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