JP2001315079A - Test tube conveying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To quickly and reliably convey test tubes. SOLUTION: A conveying mechanism 20 is constituted as an articulated robot and has a test tube hand 22. The target position of a test tube 90 to be housed is corrected on the basis of the relative position of the target test tube 90 in relation to the test tube hand 22 detected by the obtained image of an image pickup part 51 and the conveying mechanism 20 moves the test tube hand 22 to the corrected target position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to a test tube transport device,
In particular, the present invention relates to a test tube transport device that transports a test tube in order to perform processing such as attaching a label to the test tube.

[0002]

2. Description of the Related Art Conventionally, test tube labels have been used to identify the contents of test tubes. As a technique for automatically attaching such a test tube label to a test tube, Japanese Patent Application Laid-Open No.
An automatic labeling apparatus for a test tube disclosed in No. 59339 is known.

[0003] In this apparatus, a test tube is taken out of a case dedicated to this apparatus for accommodating the test tube and transported. An insertion opening is provided in the bottom plate of the special case, and test tubes are extruded one by one to the outside of the special case by inserting a pushing member into the insertion opening. That is, in this apparatus, a plurality of test tubes are placed at a specific location (in this case, an insertion portion of an extruded member)
The configuration is such that the unloading mechanism is simplified. The test tubes extruded in this manner are transported to a label printing / sticking unit by a transfer conveyor.

[0004]

However, in this apparatus, the test tubes are housed in a special case in order to carry out a plurality of test tubes from a specific location. For this reason, when this apparatus is used, the operation of transferring the test tubes from the test tube pack in which the test tubes are packed into a box to a special case occurs, and there is a problem that the preparation is time-consuming. Also, when storing the test tubes in the special case, if the test tubes are not stored in an aligned state, they cannot be pushed out of the special case, and the test tubes cannot be transported to the label printing / sticking unit. There was a problem that a case might arise.

[0005]

SUMMARY OF THE INVENTION In view of the above problems, according to the present invention, a test tube transport device includes a target position storage unit for storing a position of a test tube stored in a test tube pack as a target position, A test tube hand having a tube, a transport mechanism for moving the test tube hand having the test tube and transporting the test tube, and a test tube for the test tube hand when the test tube hand is in front of the target position. A relative position detection mechanism that detects the relative position of the target, a target position correction unit that corrects the target position based on the detected relative position, and a control unit that controls the transport mechanism to move the test tube hand to the corrected target position. And a control unit for moving the test tube held by the test tube hand to a predetermined carry-out position at this position. According to such a configuration, since the test tubes can be carried out from the respective storage positions in the test tube pack, the test tubes can be carried out from the boxed test tube pack without being transferred to the special case. It is possible to carry out the test tube quickly and more reliably.

Further, according to the present invention, a test tube transport device includes:
A storage posture detecting mechanism for detecting a storage posture of the test tube in the test tube pack is provided, and the control unit controls a posture of the test tube hand based on the detected storage posture.
For this reason, the test tube hand can hold the test tube more quickly and more reliably.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention in which a test tube transport device according to the present invention is applied to a test tube label attaching device will be described below with reference to the drawings. FIG. 1 is a schematic configuration diagram of the test tube transport device, FIG. 2 is a control block diagram of the test tube transport device, FIG. 3 is an external view of the test tube transport device, and FIG. FIG. 6 shows the stored parameters indicating the test tube unloading status, and FIG. 5 shows the stored parameters of the test tube stored in the storage state storage unit.
Shows a storage position of the test tube in the test tube pack, and FIG. 7 shows a side view of the test tube and a test tube hand corresponding thereto.

The test tube transport apparatus 1 of the present embodiment unloads the test tubes 90 stored in the test tube packs 31 held in the test tube pack holding section 30 from the respective storage positions to a predetermined unloading position. Attach the test tube label. Test tube 90
The test tube hand 22 having the test tube 90 and the test tube 90 are moved by moving the test tube hand 22.
And a transport mechanism 20 for transporting the same.

The transfer mechanism 20 is configured as an articulated robot arm, and includes a plurality of transfer arms 21 and a transfer arm drive mechanism (for example, a rotary drive mechanism 23, a reciprocating mechanism 24, etc.) for driving these transfer arms 21. Prepare. Each of the transfer arm driving mechanisms 23 and 24 is controlled by the transfer mechanism control unit 27 such as a CPU or directly by the system control unit 10 such as a CPU. In this embodiment, the transport mechanism 20 includes, as the transport arm 21, a first arm 21a connected to the base and rotating in the horizontal direction, a second arm 21b connected to the first arm 21a and rotating in the vertical direction, and a second arm 21b. Arm 21 that is connected to and rotates in the vertical direction
c, a fourth arm 21d connected to the third arm 21c and rotating in the vertical direction, a fifth arm 21e connected to the fourth arm 21d and rotating in the vertical direction, and a fifth arm 21e
And a holding arm 22 that reciprocates or lifts up and down in the vertical direction to hold the test tube 90, for example, by suction from above. The holding arm 22 corresponds to the test tube hand 22 having the test tube 90. The holding arm 22 has a reciprocating mechanism 24
For example, it is driven by an air cylinder.
The fifth arms (21a to 21e) are respectively driven by a rotary drive mechanism 23, for example, an AC servomotor.

A suction cup 22c made of an elastic member, for example, rubber is provided at a contact portion of the holding arm 22 with the test tube 90. Air suction passage 2 provided inside holding arm 22
Air is sucked from 2b, and the test tube 90 is sucked by the suction cup 22c. The air suction passage 22b is connected to a control valve 61 or an air pump (not shown) through a pipe (not shown),
The system control unit 10 controls the opening / closing of the control valve 61 or the suction / stop of the air pump to switch the suction / release of the test tube 90. That is, the control valve 61 or the air pump functions as the holding control mechanism 61.

The movement amount of each transfer arm 21 is detected by movement amount detection mechanisms 25 and 26. In the present embodiment, as the movement amount detection mechanisms 25 and 26, a displacement amount detection mechanism 26 for detecting the movement amount of the holding arm 22, for example, a gap sensor, and a rotation angle detection mechanism for detecting the movement amounts of the first to fifth arms, respectively. 25, for example, a rotary encoder. The system control unit 10 recognizes the position of the test tube hand 22 based on the amount of movement detected thereby.

In this embodiment, a plurality of, for example, two holding arms 22 whose operations are independently controlled are provided as the test tube hands 22. That is, in the present embodiment, the posture of the test tube hand 22 is adjusted by the positions of the plurality of holding arms 22. More specifically, for example, FIG.
As shown in (a), when the test tube 90 is stored in a posture inclined at an angle α with respect to the horizontal direction, the system control unit 10 controls the two holding arms 22 according to this posture.
The transfer arm drive mechanisms 23 and 24 are controlled so that the leading end position of the transfer arm has a positional relationship along this inclination. Note that the system control unit 10 controls the test tube 90 for the transport hand 22.
The relative position and the attitude of the test tube 90 are recognized based on the image captured by the imaging unit 51, which will be described later.

In this embodiment, a mechanism for detecting the holding of the test tube 90, for example, an air pressure sensor 62 is provided. When the test tube 90 is sucked and held, the air pressure in the air suction passage 22b or the piping (not shown) decreases, so the system control unit 10 can recognize the suction / release of the test tube 90 based on this pressure. .

In this embodiment, a three-dimensional sensor 50 is provided as a relative position detecting mechanism and a storage posture detecting mechanism. The three-dimensional sensor 50 is provided on the test tube hand 22 and is connected to the test tube 90.
An imaging unit 51 for photographing from above, such as a CCD camera,
A relative position calculator 52 that performs image processing (for example, binarization processing, filter processing, edge detection processing, or the like) on an image captured by the CCD camera to calculate the relative position of the target test tube 90 with respect to the test tube hand 22; A storage attitude calculation unit 53 that performs image processing on the image captured by the CCD camera to calculate the storage attitude of the test tube 90. The relative position calculation unit 52 recognizes the target image of the test tube 90 by image processing, detects the position of the center of gravity of the test tube image, and the size of the test tube image, and based on these, detects the horizontal direction (that is, FIG. The relative positions in the x and y directions of FIG. 1 and the vertical direction (that is, the z direction of FIG. 1) are calculated. Further, the test tube 90 is provided with a cap 9 having a larger diameter than the test tube main body 90b.
When 0a is provided, the test tube 90 lying in the test tube pack 31 has a higher height on the cap mounting side as shown in FIG. 7A, and is inclined by an angle θ1 with respect to the horizontal plane. That is, in this case, the storage posture calculation unit can determine the inclination direction of the test tube 90 by recognizing the test tube main body 90b and the cap 90a as an image having a larger width than the test tube main body 90b. . Note that, in the present embodiment, the relative position calculation unit 52 and the storage posture calculation unit 53
It is provided in the system control unit 10.

The test tube pack holding section 30 includes a test tube pack position changing mechanism 34 for changing the position of the test tube pack 31 to be held. In the present embodiment, the test tube pack holding unit 30 includes a disc 32 that rotates along a vertical plane,
A test tube pack position variable mechanism 34 for rotating the disk 32 is provided, for example, an AC servomotor. A test tube pack holding member 3 rotatable along a vertical plane is provided on the disc 32.
A plurality of test tubes 3 are provided along the circumference, each of which holds the test tube pack 31 such that the opening of the test tube pack 31 always faces upward. In such a configuration, the system control unit 10 variably controls the position of the test tube pack 31 by controlling the test tube pack position variable mechanism 34. The test tube pack position variable mechanism 34 is provided with a test tube pack position detection mechanism 35, for example, a rotary encoder, and the system control unit 10 recognizes the position of the test tube pack 31 based on the detected value.

A system control unit 10 for controlling each unit of the test tube transport device, for example, a CPU includes a target position calculating unit for calculating a target position of the test tube 90, a posture estimating unit for estimating the posture of the test tube 90 to be carried out next, It also has a function as a target position correction unit for correcting the target position. Each of these functions will be described later.

The storage unit 70, for example, a RAM stores various parameters related to the control of the test tube transport device 1. Further, the storage unit 70 includes an unloading status storage unit 71 that stores the unloading status of the test tubes 90 for each test tube pack 31 held in the test tube pack holding unit 30, and a storage state of the test tubes 90 in the test tube pack 31. And a storage state storage unit 72 for storing The unloading status storage unit 71 stores a test tube 90 for each test tube pack 31 held by the test tube pack holding unit 30.
For example, the type of the test tube pack 31, the position of the target test tube 90 (target position), the number of test tubes 90, and the posture of the test tube 90 are stored as the unloading status. In the present embodiment, the number of test tubes 90 is, for example, the number of test tubes 90 already carried out.
Or the number of test tubes 90 remaining in the test tube pack 31. The posture of the test tube 90 is stored in order to recognize the posture of the test tube 90 to be carried out next. More specifically, when the test tubes 90 are alternately stored in the test tube pack 31 as shown in FIG.
The posture α (the state in which the cap 90a is on the right side of the paper of FIG. 6A) and the posture β (the cap 90a
(A) state on the left side of the drawing), and the posture of the test tube 90 is, for example, the posture of the test tube 90 that was finally unloaded.
Alternatively, the attitude of the test tube 90 to be carried out next is stored.

The storage state storage unit 72 stores the storage state of each test tube pack 31 as, for example, the type of the test tube 90, the number of storage of the test tubes 90, the number of storage stages of the test tubes 90, the test tubes 90 for each storage stage. , The storage posture of the test tubes 90, the storage intervals of the test tubes 90, and the height per storage stage. In the example shown in FIG. 5, for the test tube pack 31 having the test tube pack type = 1, the test tube type = 1 and the storage number N = 1.
00, storage stage number s = 5, first stage test tube number N1 = 20,
Number of second test tubes N2 = 20, number of third test tubes N3 =
20, fourth stage test tube number N4 = 20, fifth stage test tube number N5 = 20, storage posture = A type, storage interval d = 15
(Mm), and the one-step height h = 15 (mm). Among these, the storage posture is, for example, as shown in FIG.
A type when the posture of 0 is alternated, FIG.
When the posture of the test tube 90 is constant as shown in FIG.
Determined according to the storage position of 0.

As shown in FIG. 2, the system control unit 1
In addition to the components described above, the instruction input to the apparatus 1 or the test tube pack 31 or the test tube 90
An input unit 81 for registering information related to, for example, a keyboard, an output unit 82 for outputting various information such as processing status and processing result, for example, a display, and an input / output unit 83 for inputting by pressing a display screen, for example, a touch panel are connected. .

The test tube 90 carried out of the test tube pack 31 is placed in a predetermined position outside the test tube pack 31, for example, on a conveyor mechanism 41 in a predetermined posture, from which the test tube processing mechanism, for example, a label is placed. It is put into the attaching mechanism 40. Here, based on an instruction from the system control unit 10,
A predetermined character or graphic is printed on the test tube label, and this is attached to the test tube 90. Further, as shown in FIG. 3, the test tube 90 on which processing, for example, labeling has been completed, is collected in a predetermined collection tray 91 on the collection device 2. Further, on the side surface of the test tube transport device 1, a door 36 that is opened when the test tube pack 31 is mounted on the test tube hand 22 and a door 42 for maintenance of the label attaching mechanism are provided.

Next, the operation of the test tube transport device according to this embodiment will be described. First, the installation of the test tube pack on the test tube transport device and the registration of the test tube pack will be described. FIG. 8 is a flowchart for setting a test tube pack.

First, the test tube pack 31 is installed on the test tube pack holding member 33 (test tube pack installation step S1).
1). Next, the type of the test tube pack 31 to be installed is registered in the storage unit 70 (test tube pack type registration step S1).
2). More specifically, when the storage state of the test tube pack 31 to be installed is already registered, the type of the test tube pack 31 to be mounted is selected and registered from the registered test tube pack 31 types. For example, since the storage state of the test tubes for each test tube pack 31 as shown in FIG. 5 is registered in the storage unit 70, the system control unit 10 performs the test based on the registered type of the test tube pack 31. The storage state of the test tube pack 31 held by the tube case holding unit 30 is recognized, and the storage position or storage posture of each test tube 90 can be calculated based on the recognition. On the other hand, when the storage state of the test tube pack 31 to be installed is not registered, the storage state of the test tube 90 as shown in the example of FIG. 5 is registered. The above-described registration of the type and the storage state of the test tube pack 31 is performed by the input unit 81, for example, the keyboard or the input / output unit 83.
This is performed by operating the touch panel.

Next, the test tubes 9 in the test tube pack 31 will be described.
The storage position of 0, that is, the target position is registered (target position registration step S13). In the present embodiment, the storage position of the test tube 90 first carried out from the test tube pack 31 is registered as the target position. In this embodiment, the storage position is automatically recognized by operating the device 1. More specifically, the system control unit 10 first drives the test tube pack position variable mechanism 34 to move the test tube pack 31 to a predetermined position. In the case of the present embodiment, the test tube hand 22
Since the test tube 90 is carried out from the test tube pack 31 at the uppermost position, the test tube pack 31 is moved to the uppermost position 30T in the test tube pack holder 30. Next, the system control unit 10 moves the transfer arm 21 to a position before the storage reference position (xo, yo, zo) of the first test tube to be unloaded stored in advance in the storage unit 70, for example, a position above the storage reference position. (For example, coordinates (x
o, yo, zo-γ)). Then, a test tube image is photographed by the imaging unit 51 at this position,
The relative position of the test tube 90 with respect to the test tube hand 22 is calculated based on the test tube image. More specifically, image processing is performed on a photographing screen including a test tube image photographed by a three-dimensional sensor, for example, a CCD camera, and the coordinates of the center of gravity of the test tube image are calculated as contact reference points. Then, the coordinates of the target position are calculated based on the relative position of the contact reference point to the reference point on the imaging screen and the current position of the reference point on the imaging screen. Then, the calculated coordinates are registered in the storage unit 70 as the storage position of the test tube 90. The position coordinates of the reference point on the imaging screen are detected by the movement amount detection mechanisms 25 and 26. In the example shown in FIG. 4, the storage position (xn,
yn, zn) with the storage reference position (xo, yo, zo)
Is registered as relative position coordinates with respect to.

Next, unloading of test tubes by this apparatus will be described. FIG. 9 is a flowchart showing test tube unloading and test tube processing in this embodiment.
0 indicates an example of a shooting screen by the imaging unit 51. First,
The system control unit 10 recognizes the type of the test tube 90 to be carried out, for example, based on an input from the input unit 81 (test tube type recognition step S21). Next, the system control unit 10 refers to the unloading status storage unit 71 and executes the previous step S21.
Tube pack 3 for storing test tubes 90 of the type recognized in
1 to a predetermined position (test tube pack moving step S
22). In this step S22, the system control unit 10
The test tube pack position variable mechanism 34 is driven to move the test tube pack 31 to a position where the transport mechanism 20 is easily accessible, that is, a position closest to the base of the transport mechanism 20 (for example, the highest position in the test tube hand 22). Move to 30T). Next, the system control unit 10 refers to the unloading status storage unit 71, recognizes the target position and orientation of the test tube 90 to be unloaded next in the test tube pack 31, and drives the transport mechanism 20 to determine the target position. The test tube hand 22 is moved to the near side (for example, above the target position) (test tube hand moving step S23).

Next, the target test tube 90 to be carried out is detected by the three-dimensional sensor 50 (test tube detection step S2).
4). In the present embodiment, in this step S24, an image of the target test tube 90A is captured by the imaging unit 51. Next, the target position is corrected based on the detection result of the target test tube 90A (target position correction step S25). In this embodiment,
As shown in FIG. 10, the detection result of the target test tube 90A is a shooting screen W including an image of the target test tube 90A by the imaging unit 51. In this step S26, the system control unit 10 calculates the coordinates of the center of gravity of the test tube image as the contact reference point P. Then, the system control unit 10 as a target position correction unit, based on the relative position of the contact reference point P with respect to the reference point Q of the imaging screen, for example, the center point of the imaging screen, and the detection results of the movement amount detection mechanisms 25 and 26, for example. Based on the calculated current position coordinates of the reference point Q of the imaging screen, the contact reference point P
Is calculated, and the target position is corrected to the coordinates of the contact reference point P. Thus, the test tube 90 and the test tube hand 22
By detecting the relative positional relationship with the target and correcting the target position based on the relative positional relationship, the test tube 90 can be held more reliably.

The system controller 10 recognizes the attitude of the test tube 90 based on the test tube image obtained in step S25. If the test tube hand 22 is not in a position suitable for the test tube 90, the position of the test tube hand 22 is corrected (step S26 for correcting the position of the test tube hand). More specifically, for example, when the line connecting the lower ends of the two holding arms 22 has a slope (θ3) opposite to the slope of the test tube 90 as shown in FIG. These positions are corrected so that the lower end of the arm 22 conforms to the inclination of the test tube 90 (ie, FIG. 7A, θ2 ≒ θ1). As described above, by detecting the posture of the test tube 90 and correcting the posture of the test tube hand 22 based on the detected posture, the test tube 90 can be more reliably held.

Next, the system control unit 10 moves the test tube hand 22 to the corrected target position, contacts the test tube hand 22 with the test tube 90 (test tube hand moving step S27), and holds the test tube 90. For example, suction holding is performed (test tube holding step S28). Next, the holding detection mechanism 62 determines whether or not the test tube 90 is held (test tube holding determination step S29). In the present embodiment, the air pressure is detected by the air pressure sensor 62 and the holding of the test tube 90 is determined. When it is determined that the test tube 90 is held, the held test tube 90 is unloaded at a predetermined position outside the test tube pack 31 so as to have a predetermined posture (test tube unloading step S30). In this step S30, for example, the conveyor mechanism 4
1, the test tube 90 is placed so that the upstream side of the conveyor is on the opening side of the test tube 90. On the other hand, if it is determined in step S29 that the test tube 90 is not held, the test tube hand 22 is returned to the position of the previous step S23, that is, the position just before the target position, and step S24 is performed again. Then, the unloaded test tube 90 is sent to the test tube processing mechanism 40 (the test tube label attaching mechanism 40 in the present embodiment), where it is subjected to a predetermined process (the test tube label is attached in the present embodiment) ( Test tube processing step S31).

Next, the system control unit 10 as a target position calculation unit calculates the target position corrected in step S25, the storage state (for example, storage interval, step height, etc.) of the test tube 90 stored in the storage state storage unit. Is calculated based on the target position (the target position calculating step S3).
2). More specifically, if the calculated position coordinates of the contact reference point are x = 61, y = 5, z = 17, and the storage interval of the test tube 90 is d = 15, The storage position coordinates of the test tube 90 are expressed as xn = x + d = 16, yn =
It is calculated as y = 5, zn = z = 17.

A system control unit 1 as a posture estimating unit
0 estimates the posture of the test tube 90 to be carried out next based on the storage posture detected in step S24 and the storage state of the test tube 90 stored in the storage state storage unit (estimation of test tube posture). Step S33). For example, in the example of FIG. 7B, the storage posture stored in the storage state storage unit 72 is the A type described above. At this time, if the attitude of the unloaded test tube 90 is the above-described attitude β, the next test tube 90 to be unloaded is
Is estimated to be the posture α.

Next, the unloading status of the test tube 90 is stored (storage status storing step S34). In this step S34, the system control unit 10 causes the storage unit to store information capable of identifying the storage position or posture of the test tube 90 to be subsequently carried out from the test tube pack 31 from which the test tube 90 has been carried out. In the present embodiment, the target position and orientation of the test tube 90 to be carried out next are calculated and stored. However, instead of this, the posture of the carried out test tube 90 is stored and the next test tube 90 is carried out. In doing so, they may be calculated by the same procedure as described above. In this step S34, the unloading status storage unit 71 also stores information capable of identifying the number of unloaded test tubes 90 from each test tube pack 31. In the present embodiment, the number of the test tubes 90 already carried out of the test tube pack 31 is stored as this information, but the number of the test tubes 90 remaining in the test tube pack 31 may be stored instead. . Then, the system control unit 10 controls the test tube pack 31
In the case where the test tube 90 is lost in
For example, this is output from the display.

The present invention is not limited to the embodiment described above. For example, the transport mechanism is an articulated robot in the above-described embodiment, but may be configured using a plurality of slide mechanisms.

[0032]

As described above, according to the present invention,
Since there is no need to transfer test tubes to special cases,
The test tube can be transported quickly and more reliably, and the processing for the test tube can be performed. Further, since the transport mechanism is controlled based on the position or orientation of the test tube, the test tube can be transported more quickly and more reliably, and processing can be performed.

[Brief description of the drawings]

FIG. 1 is a diagram showing a schematic configuration inside a test tube transport device according to an embodiment of the present invention.

FIG. 2 is a control block diagram of the test tube transport device according to the embodiment of the present invention.

FIG. 3 is an external view of a test tube transport device according to the embodiment of the present invention.

FIG. 4 is a diagram showing parameters indicating a test tube unloading state stored in an unloading state storage unit of the test tube transport device according to the embodiment of the present invention.

FIG. 5 is a diagram showing parameters indicating a storage state of a test tube pack registered in a storage state storage unit of the test tube transport device according to the embodiment of the present invention.

FIG. 6 is a view showing a test tube pack in which test tubes are stored.

FIG. 7 is a side view showing a test tube hand and a test tube of the test tube transport device according to the embodiment of the present invention.

FIG. 8 is a flowchart showing registration of a test tube pack in the test tube transport device according to the embodiment of the present invention.

FIG. 9 is a flowchart showing test tube transfer by the test tube transfer device according to the embodiment of the present invention.

FIG. 10 is a diagram illustrating an example of a photographing screen including a target test tube image by an imaging unit of the test tube transport device according to the embodiment of the present invention.

[Explanation of symbols]

1 Test tube transport device, 10 CPU (system control unit,
Target position calculation unit, posture estimation unit, target position correction unit), 20
Transport mechanism, 22 test tube hand, 30 test tube pack holding unit, 31 test tube pack, 34 test tube pack position variable mechanism, 50 stereoscopic sensor (relative position detection mechanism, attitude detection mechanism), 51 imaging unit, 52 relative position calculation Part, 53
Storage posture calculation unit, 90 test tubes.

 ──────────────────────────────────────────────────の Continued on the front page F term (reference) 3F059 AA10 BA02 BA09 BC07 CA05 CA06 DA02 DA05 DA08 DB03 DB08 DB09 DC01 DC05 DC08 DD01 FA03 FA05 FA08 FB01 FB16 FC02 FC04 FC13 FC14

Claims (9)

[Claims] 1. A test position storage unit for storing a position of a test tube stored in a test tube pack as a target position, a test tube hand having a test tube, and a test by moving the test tube hand having the test tube. A transport mechanism for transporting the tube, and when the test tube hand is in front of the target position,
A relative position detection mechanism that detects a relative position of the test tube with respect to the test tube hand; a target position correction unit that corrects the target position based on the detected relative position; and A test tube transport device comprising: a controller configured to move a test tube hand to a position, and to carry out the test tube held by the test tube hand to a predetermined unloading position at this position. 2. The test tube transport device according to claim 1, further comprising a target position calculating unit that calculates a target position of a test tube to be carried out next based on the corrected target position. 3. A storage posture detecting mechanism for detecting a storage posture of a test tube in the test tube pack, wherein the control unit controls a posture of a test tube hand based on the detected storage posture. The test tube transport device according to claim 1 or 2, wherein 4. An attitude estimating section for estimating the attitude of a test tube to be unloaded next based on the detected attitude, wherein the control section controls the test tube based on the estimated attitude of the test tube to be unloaded next. The test tube transport device according to claim 3, wherein the posture of the hand is controlled. 5. A storage state storage unit for storing a storage state of test tubes in the test tube pack, wherein the target position calculation unit calculates a target position based on the stored storage state. The test tube transport device according to any one of claims 2 to 4. 6. A test tube pack holding unit for holding a test tube pack, and a test tube pack position changing mechanism for changing a position of the test tube pack held by the test tube pack holding unit. The test tube transport device according to claim 1. 7. The test tube transport apparatus according to claim 6, wherein the control unit controls the test tube pack position variable mechanism according to a type of a test tube to be transported. 8. The apparatus according to claim 1, wherein the relative position detection mechanism includes an imaging unit that captures an image of the test tube, and a relative position calculation unit that calculates a relative position based on the captured test tube image. The test tube transport device according to claim 1. 9. The storage posture detection mechanism includes an imaging unit that captures an image of a test tube, and a storage posture calculation unit that calculates a storage posture based on the captured test tube image. The test tube transport device according to claim 3.