JP2001310285A - Tube carrying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To agitate the sample by utilizing an existing usual mechanism on the way of carrying of a tube in a device for carrying a tube housing the sample. SOLUTION: A tube 8 is held for lifting by a manipulator 10, and the vertical movement and the rocking motion are combined on the way of carrying so as to operate the agitation. Holding force by the manipulator 10 is increased when operating the agitation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tube transport device, and more particularly to a device for lifting and transporting a tube containing a sample.

[0002]

2. Description of the Related Art A tube transfer device is used to pick up and transfer a tube containing a sample such as a test tube or various containers. On the other hand, when the necessity of stirring the sample in the tube arises, a stirring device configured separately from the tube transport device is conventionally used. Specifically, a magnet member or the like is dropped into the sample and the magnet member is rotated or reciprocated by an external magnetic force, or a stick with a blade at the tip is inserted and rotated. Was to be done. When the two devices as described above are used in combination, for example, it is possible to cope with solidification of the sample and separation of components during transport.

[0003]

However, when two independent devices are used together as described above, the system scale and system cost are inevitably increased. Further, it is necessary to interrupt the transfer process or to complete the transfer and perform the stirring operation, which causes a problem in operation efficiency.

[0004] The present invention has been made in view of the above-mentioned conventional problems, and an object of the present invention is to realize tube transportation and stirring with a simple configuration.

An object of the present invention is to stir a sample using an existing and common handling mechanism.

[0006]

(1) In order to achieve the above object, the present invention relates to a manipulator for holding a tube containing a sample, a transport mechanism for transporting the manipulator, and a manipulator and a transport mechanism for transporting the manipulator. A control unit for controlling at least one of the manipulator and the transport mechanism in a state where the manipulator and the transport mechanism are stirred while the tube is being lifted.

[0007] According to the above configuration, the transport mechanism for picking up and transporting the tube is used to cause the tube to perform periodic or irregular movement, whereby the sample in the tube can be agitated.

Preferably, the stirring operation is performed by simultaneously executing the swinging movement of the tube and the reciprocating movement of the tube. According to this configuration, the stirring efficiency can be further increased.

Preferably, the reciprocating motion is a motion including at least one of a vertical reciprocating motion and a horizontal reciprocating motion. Such periodic motion causes convection in the sample, which can achieve agitation.

[0010] Preferably, the stirring operation is performed at least once in the course of transporting the tube to the destination by picking up the tube. According to this configuration, the stirring can be performed in a series of transport steps, so that the operation efficiency can be improved.

Preferably, the control unit adjusts at least one of a speed, an operation range, and an operation mode of the stirring operation according to predetermined conditions. According to this configuration, an appropriate stirring condition can be selected according to various conditions.

Preferably, the control unit executes control for increasing a mechanical holding force of at least one of the transport mechanism and the manipulator during the stirring operation.
In the stirring operation, an urging force and an inertia force different from those during normal conveyance are applied, and the holding force is increased to cope with the urging force and the inertia force.

Preferably, the manipulator is provided with a sensor for detecting a contact pressure on the tube,
The control unit controls the stirring operation based on an output of the sensor. The contact pressure corresponds to the gripping force of the manipulator, and control is performed based on the contact pressure so that the gripping force at the time of stirring becomes appropriate.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a preferred embodiment of a tube transport device according to the present invention, and FIG. 1 is a schematic configuration diagram showing a configuration of a main part thereof. The manipulator 10 is a mechanism for grasping and transporting the tube 8 containing the liquid sample. This manipulator 10
Roughly speaking, two arms 12 and 14, a link member 11 connecting the upper parts of the arms, and each arm 12, 1
4 and finger members 20 and 22 provided at the lower end of the fourth member 4. Each arm 12, 14 has an upper part 12
A, 14A and lower parts 12B, 14B, and lower parts 12B, 14B are attached to upper parts 12A, 14A by joint mechanisms 13, 15 so as to be openable and closable. That is, the distance between the finger members 20 and 22 can be changed by the operation of the arms 12 and 14,
The tube 8 can be gripped by the two finger members 20 and 22 by reducing the distance between the two. In addition, although the drive of the joints 13 and 15 is realized by the micromotor provided for each arm 12 and 14 in this embodiment, it is needless to say that those drive sources may be provided outside the manipulator 10.
In addition, a rotation mechanism is provided at the upper end portion of the fingers 12, 14,
Thus, the finger members 16 and 18 may be opened and closed. In this regard, various known techniques can be used.

As shown in FIG. 1, each finger member 1
Reference numerals 6 and 18 are attached so as to be rotatable around rotation shafts 20 and 22 formed at lower ends of the lower portions 12B and 14B. Of course, a small motor or the like may be attached to the rotating shafts 20 and 22 to incline the tube 8 at an arbitrary angle. Generally, two finger members 2
By means of 0 and 22, the vertical state of the tube 8 is maintained.
A specific configuration example of the two finger members 20 and 22 will be described later with reference to FIG.

As shown in FIG. 1, a motor 32 is connected to the link member 11 via a rotation shaft 30 as a rotation drive unit. By driving the motor 32, the entire manipulator 10 can be rotated, that is, rocked. The swing direction is represented by θ in FIG. Incidentally, the tube 8 is a test tube made of, for example, glass or plastic.
Of course, various containers for storing liquids and the like can be transported by the manipulator 10 shown in FIG.

FIG. 2 illustrates a transport mechanism for transporting the manipulator 10. The motor 32 shown in FIG. 1 is provided on a member 40 movable in a vertical direction (Z direction), and the member 40 is a member 42 movable in a horizontal direction.
Mounted on The member 42 is mounted on a rail 44. That is, the member 42 is
Moves horizontally to determine the horizontal position of the tube 8, and by changing the height position of the member 40 with respect to the member 42, the vertical position of the tube 8 can be determined. By adjusting the rotation angle of the tube 32, the tube 8 can be swung. As will be described later in detail, in the present embodiment, the agitating operation of the tube 8 is performed during the transportation of the tube 8, and in this case, the agitating operation of the tube 8, the vertical movement, and the horizontal movement are performed. At least one, and preferably a plurality of combinations thereof, are performed.
This is to increase the stirring efficiency.

FIG. 3 is a top view showing a specific configuration example of the finger members 16 and 18 shown in FIGS. The finger members 16 and 18 are connected to the frames 46 and 4
8 and the shaft 2 attached to the frames 46 and 48
0 and 22 and a bifurcated contact member 50 provided on the shafts 20 and 28. A pressure sensor 52 is provided at a contact portion of the forked contact member 50. Specifically, two pressure sensors 52 are provided on the inner surfaces on the right and left sides of the forked portion, respectively, at predetermined intervals vertically. Therefore, tube 8
Eight pressure sensors will be in contact with the side of
Tubes 8 based on the output signals of the respective pressure sensors
It is possible to confirm the pressure balance at the time of grasping. Further, it is possible to control the gripping force based on the output signal of the pressure sensor 52. As shown in FIG. 3, the finger member 1 having the above configuration
If tubes 6 and 18 are used, tubes 8 having various diameters can be grasped. Needless to say, it is desirable to appropriately change the form of finger members 16 and 18 according to the grasping target.

FIG. 4 is a block diagram showing the overall configuration of the tube transport device according to this embodiment. The manipulator 10 includes a gripping mechanism 54 composed of, for example, two arms 12, 14 and two finger members 16, 18, a gripping drive unit 56 as a driving source of the gripping mechanism 54, and a plurality of pressure sensors. And a sensor group 58. The manipulator 10 is driven to rotate by a rotation drive unit 62 provided in the transport mechanism 60. That is, the operation of the manipulator 10
Can be rocked. Here, the rotation drive unit 6
2 includes the motor 32 shown in FIG. The transport mechanism 60 has a Z drive unit 64, an X drive unit 66, and a Y drive unit 68, and the manipulator 10 can be freely moved in three-dimensional directions by these three drive units. In particular, the driving units 62, 64, 66, 68
Controlled by the controller 70, the driving of these components enables the tube to be transported and the tube to be stirred during the transportation. here,
The controller 70 controls the overall operation of the tube transport device.
2 is connected, and each tube is transported based on the position (address) of each tube stored in the memory 72 and the address of the transport destination. Further, as shown by reference numeral 100, various transport conditions and sample-related conditions are input to the controller 70. The controller 70 controls the speed of the stirring operation in accordance with the various conditions. , Range and method are adjusted. For example, it is desirable to select the speed and range (amplitude) of the stirring operation according to the sample amount and the viscosity of the sample. Also, depending on the properties of the sample,
A plurality of types of stirring operations may be performed in combination to further increase the stirring efficiency.

The controller 70 includes a sensor group 58
Has a function of controlling the gripping force exerted by the gripping drive unit 56 based on the pressure signal output from the controller.
For example, at the time of the stirring operation, the gripping force may be increased more than the normal gripping force, that is, the tube holding force may be increased to prevent the tube from falling off.
On the other hand, at the time of a normal transfer in which such a stirring operation is not performed, the gripping force may be set to a normal level, thereby reducing the load or electric power generated in each mechanism. Incidentally, the holding force described above means the holding force of each drive unit in the transport mechanism 60 in addition to the gripping action in the grip drive unit 56, and for example, when the tube is rocked by the rotary drive unit 62, , Z drive unit 64, X drive unit 66, Y drive unit 68
It is preferable to supply an electric signal for exerting a holding force to each of the driving units, thereby controlling the three-dimensional position in a fixed manner.

Further, a signal representing the stirring operation selected by the user may be input to the controller 70. That is, as the agitation operation, the user selects the vertical motion, the horizontal motion, the rocking motion, or a combination of two or more of them, and causes the controller 70 to control the operation of each drive unit based on such designation. . In this case, for example, regardless of the user's designation, a motion is randomly selected, or a pseudo irregular pattern is registered in advance, and the rocking motion is performed according to such a pattern. Is also good.

FIG. 5 is a flowchart showing the operation of the configuration shown in FIG. In S101, the manipulator 10 is positioned above the tube to be transported. In S102, the manipulator 10 is pulled down from above, and the manipulator is stopped at a predetermined height. Then, in S103, the above-described gripping operation is performed, whereby the tube 8 is gripped by the manipulator 10. In that case, as described above, the pressure signal output from the sensor group is referred to as a reference, and servo control or the like based on such reference may be applied.

After the gripping operation is properly completed, S104
Then, the manipulator 10 is pulled up. In this case, when the stirring operation is performed immediately, the stirring operation of S106 described later in detail may be performed in a state where the tube 8 is lifted by a predetermined distance from the reference surface, if necessary. In a state where the tube 8 is pulled up to a predetermined height for carrying,
06 may be performed. Alternatively, one or more stirring operations may be performed during the transfer of the tube 8 in the horizontal direction.

In S105, prior to the stirring operation in the next S106, as described above, the electric signal is increased to increase the holding force of each drive unit. That is, especially by increasing the gripping force,
This is to generate a sufficient holding force against an increase in the inertial action in the stirring operation. Thereby, the tube 8
It is possible to prevent the sample from being scattered due to falling off or unexpected operation. As shown in FIG. 5, in S106, the selection based on the predetermined condition is performed.
Alternatively, one or more stirring operations designated by the user are performed. In this case, for example, the vertical motion and the rotational motion may be performed simultaneously or separately. Similarly, a combination of the vertical motion and the horizontal motion,
A movement based on a combination of a rotation movement and a left-right movement or a predetermined pattern or a randomly generated pattern as described above may be performed. Further, one or more stirring operations specified by an input device provided outside may be performed. For example, in that case, it is desirable that the timing of the stirring operation, the time of the stirring operation, and the like can be further selected by the user.

In S107, the holding force set in S105 is canceled, and the normal holding force is set. Then, in S108, an operation of transporting the tube 8 is performed, that is, the tube 8 is positioned above the transport destination (see S109). In S110, the tube 8 is pulled down from above, and in S111, the gripping force of the manipulator 10 is released while the tube is inserted on a predetermined rack or the like, whereby the tube 8 becomes free. Thereafter, in S112, the manipulator 10 is pulled upward, and thereafter, the steps from S101 are repeatedly executed.

According to the above-described embodiment, for example, there is no need to use a magnetic scaler or a stir bar provided with a wing at the tip, which is indispensable in the conventional stirring, and utilizes an existing and common tube transport mechanism. Thus, a stirring effect can be obtained. In this case, since the stirring is performed during the transfer of the tube, a separate step of lifting the tube for stirring is not required, and the handling efficiency of the tube can be extremely increased. In addition, various stirring operations can be easily realized by controlling various driving units of the tube transport mechanism. In particular, a combined stirring operation such as reciprocating the tube up and down while rotating (oscillating) is performed. There is an advantage that it can be realized. Further, since the holding force is increased during such a stirring operation, it is possible to securely hold the tube and prevent the tube from falling off.

[0028]

As described above, according to the present invention,
The transfer and stirring of the tube can be realized with a simple configuration. In particular, there is an advantage that the stirring of the sample can be realized by using an existing and common handling mechanism as needed.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram illustrating a main configuration of a tube transport device according to the present invention.

FIG. 2 is a diagram illustrating an example of a transport mechanism.

FIG. 3 is a diagram showing a specific configuration example of a finger member.

FIG. 4 is a block diagram showing the overall configuration of the tube transport device according to the embodiment.

FIG. 5 is a flowchart for explaining the operation of the configuration shown in FIG. 4;

[Explanation of symbols]

8 tubes, 10 manipulators, 11 link members, 12, 14 arms, 16, 18 finger members,
32 motor, 54 gripping mechanism, 56 gripping drive, 58 sensor group, 60 transport mechanism, 62 rotation drive, 64 Z drive, 66 X drive, 68 Y drive, 70 controller.

Claims (7)

[Claims] 1. A manipulator for gripping a tube containing a sample, a transport mechanism for transporting the manipulator, and means for controlling at least one of the manipulator and the transport mechanism, wherein the tube is lifted up, A control unit for causing at least one of the manipulator and the transfer mechanism to perform a stirring operation. 2. The tube transport apparatus according to claim 1, wherein the stirring operation is performed by simultaneously executing a swinging motion of the tube and a reciprocating motion of the tube. 3. The tube transport apparatus according to claim 2, wherein the reciprocating motion is a motion including at least one of a vertical reciprocating motion and a horizontal reciprocating motion. 4. The tube transport apparatus according to claim 1, wherein the stirring operation is performed at least once in the course of transporting the tube to a destination by grasping the tube. 5. The apparatus according to claim 1, wherein the control unit controls a speed of the stirring operation according to a predetermined condition.
A tube transport device for adjusting at least one of a range and a method. 6. The tube according to claim 5, wherein the control unit executes control for increasing a mechanical holding force of at least one of the transport mechanism and the manipulator during the stirring operation. Transport device. 7. The apparatus according to claim 6, wherein the manipulator is provided with a sensor for detecting a contact pressure on the tube, and the control unit controls the stirring operation based on an output of the sensor. A tube conveying device characterized by the above-mentioned.