JP2005154109A - Vessel transferring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vessel transferring device capable of smoothly and certainly transferring vessels for storing specimens held by a rack to the other rack. <P>SOLUTION: This vessel transferring device transfers the tubular vessels 300 for storing the specimens between the first rack for holding a plurality of vessels 300 and the second rack for holding the vessels in an arranged state in n rows × m columns. The vessel transferring device comprises a gripping mechanism 3 capable of simultaneously gripping five vessels 300, a moving means for moving the gripping mechanism 3 in the longitudinal direction of the vessels 300, and a control means for controlling the operations of the gripping mechanism 3 and moving means. The gripping mechanism 3 comprises a base stem 35, a plurality of grasping sections 30 for grasping the upper ends of the vessels 300, and an air cylinder 36 as a displacing means for displacing each grasping section 30 so that it independently projects or evacuates with respect to the base stem 35 in the longitudinal direction of the vessels 300. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a container transfer device for transferring a container for storing a sample held in a rack to another rack.

  Conventionally, in a dispensing device that automatically dispenses a sample (sample) or a sample analyzer that automatically analyzes a sample, each sample is stored in a tube-like container such as a test tube. A plurality of units are held in a small rack that holds them in a line and are transported for each rack.

  In addition, when storing samples, a large rack that holds a large number of containers arranged in a matrix is used.

  For this reason, for example, when storing the remaining parent sample that has been dispensed by the dispensing device for analysis by the sample analyzer, the container held in the small rack is transferred to the large rack. Is done.

  However, heretofore, there has been no device for transferring a container for storing a sample held in a rack to another rack. For this reason, transferring containers held in a rack to another rack relies on humans, so that, for example, when a large number of specimens are processed in a hospital or laboratory, it takes a lot of time and effort. was there.

  In addition, due to the circumstances as described above, there is no prior art document information to be described based on the provisions of Patent Act Article 36, Paragraph 4, Item 2 in the present application.

  An object of the present invention is to provide a container transfer device capable of smoothly and reliably transferring a container for storing a sample held in a rack to another rack.

Such an object is achieved by the present inventions (1) to (8) below.
(1) A tube-like container for storing a sample is held in a first rack that holds a plurality of the containers, and the containers are arranged in n rows × m columns (where n and m are integers of 2 or more, respectively). A container transfer device for transferring to and from the second rack,
a gripping mechanism that can grip p containers (where p is an integer of 2 or more) at the same time;
Moving means for moving the gripping mechanism at least in the longitudinal direction of the container;
Control means for controlling the operation of the gripping mechanism and the moving means,
The gripping mechanism includes a base portion, a plurality of clamping portions that clamp the upper end portion of the container, and a displacement unit that displaces each of the clamping portions so as to protrude and retract independently from the base portion in the longitudinal direction of the container. And a container transfer device.

  (2) The gripping mechanism has a state in which the sandwiching portion that grips the container among the plurality of sandwiching portions protrudes and the sandwiching portion that does not grip the container is retracted, so that among the p containers The container transfer device according to (1), wherein one or more can be selectively gripped.

  (3) The sandwiching portion includes a pressing member that presses the outer peripheral surface of the container, a flat plate member that sandwiches the container between the pressing member, and the pressing member that approaches the plate member. The container transfer device according to the above (1) or (2), which has a driving means for separating the container.

  (4) The container transfer device according to (3), wherein an opening is formed at a position corresponding to the container of the plate member.

(5) The container transfer device according to (3) or (4), wherein the pressing member has a recess in a portion that contacts the container.
(6) The container transfer device according to (5), wherein the concave portion is substantially V-shaped.

  (7) The container transfer device according to any one of (1) to (6), further including a transport mechanism that transports the first rack.

  (8) The container transfer device according to any one of (1) to (7), further including a transport mechanism that transports the second rack.

  According to the container transfer device of the present invention, a container for storing a sample held in a rack can be smoothly and reliably transferred to another rack. In particular, even when there are containers to be transferred and containers not to be transferred, only the containers to be transferred can be reliably selected and held by the holding mechanism. Therefore, it is possible to reliably prevent the container that is not transferred from being caught by the gripping mechanism and being lifted halfway, and when the container that has been caught and lifted falls and collides with the bottom of the rack, Can be reliably prevented from jumping off or falling off the rack and falling down, and contamination can be reliably prevented from occurring due to these events.

  Hereinafter, a container transfer device of the present invention will be described in detail based on a preferred embodiment shown in the accompanying drawings.

  1 is a plan view showing an embodiment of the container transfer device of the present invention, FIG. 2 is a perspective view showing a gripping mechanism in the container transfer device shown in FIG. 1, and FIGS. FIG. 6 and FIG. 7 are front views showing how the gripping mechanism in the container transfer device shown in FIG. 1 selectively grips the container, respectively. FIG. 8 is a schematic block diagram of the container transfer device shown in FIG.

  A container transfer apparatus 1 shown in FIG. 1 is an apparatus that transfers a tube-shaped container 300 that stores a specimen held in a first rack 100 to a second rack 200. The apparatus main body 2 and a plurality of containers 300 are transferred. , A moving means 4 for moving the gripping mechanism 3, a first rack transport mechanism 11 for transporting the first rack 100, and a second rack transport mechanism 12 for transporting the second rack 200, The container barcode reader (first reading device) 13 for reading information carried by the barcode label (first information carrier) attached to the container 300 and the barcode label (second reading) attached to the second rack 200. And a second rack barcode reader (second reading device) 14 for reading information carried by the information carrier.

  As shown in FIGS. 2 and 3, the container 300 is a container such as a test tube having a tubular shape (bottomed tubular shape) that is long in the vertical direction. The container 300 contains (accommodates) a specimen (for example, body fluid such as blood and blood components). In the configuration shown in the drawing, the container 300 has a flange 302 formed so as to protrude over the entire periphery of the upper end opening.

  Although not shown, on the outer peripheral surface of the container 300 (corresponding) information (for example, sample ID number, patient ID number, patient name, hospital name, blood sampling date, container ID number, etc.) related to the stored sample ) Is attached to the bar code label.

  As shown in FIG. 1, the first rack 100 is configured to be able to hold a plurality of (in this embodiment, five) containers 300 in a line in an upright state (standing state). That is, in the first rack 100, five concave portions (holes) 101 into which the lower portion of the container 300 is inserted are formed in a line.

  The second rack 200 is configured to hold a plurality of (in this embodiment, 50) containers 300 in a standing state (in a standing state) in a matrix (10 rows × 5 columns in this embodiment). Yes. That is, 50 concave portions (holes) 203 into which the lower portion of the container 300 is inserted are formed in the second rack 200 in 10 rows × 5 columns. The arrangement pitch of the recesses 203 in the second rack 200 is equal to the arrangement pitch of the recesses 101 in the first rack 100.

  Although not shown, a barcode label attached with a barcode carrying information (for example, a rack ID number) identifying the second rack 200 is attached to the side surface of the second rack 200. Has been.

  The apparatus main body 2 is provided with a first rack transport mechanism 11 that transports the first rack 100 in the longitudinal direction thereof. The first rack transport mechanism 11 is composed of, for example, a belt transport mechanism (belt conveyor).

  A first rack supply unit (not shown) for storing a plurality of first racks 100 holding the containers 300 is provided on the upstream side (left side in FIG. 1) of the first rack transport mechanism 11. The held first rack 100 is supplied from the first rack supply unit to the first rack transport mechanism 11.

  The first rack 100 supplied to the first rack transport mechanism 11 is transported in the right direction in FIG. 1 and is temporarily stopped by the operation of a rack stopper mechanism (not shown) when it reaches a predetermined stop position 21. At the stop position 21, the container 300 held by the first rack 100 is transferred to the second rack 200 by the operation of the gripping mechanism 3 and the moving unit 4 described later. After the transfer, the first rack 100 in which all or a part of the concave portions 101 are emptied is further transported in the right direction in FIG. 1 and discharged by the operation of the first rack transport mechanism 11.

  In the apparatus main body 2, a second rack transport mechanism 12 that transports the second rack 200 along the longitudinal direction thereof is installed so as to be parallel (parallel) to the first rack transport mechanism 11. The second rack transport mechanism 12 is composed of, for example, a belt transport mechanism (belt conveyor).

  A second rack supply unit 22 for storing a plurality of empty second racks 200 is provided adjacent to the upstream side of the second rack transport mechanism 12 (left side in FIG. 1). The second rack 200 stored in the second rack supply unit 22 is pushed upward in FIG. 1 by the operation of a push mechanism (not shown), and is sequentially supplied to the upstream part of the second rack transport mechanism 12. The traveling direction of the second rack 200 in the second rack supply unit 22 is substantially perpendicular to the transport direction of the second rack transport mechanism 12.

  The empty second rack 200 supplied to the upstream portion of the second rack transport mechanism 12 is transported in the right direction in FIG. 1 and is temporarily stopped by a rack stopper mechanism (not shown) when it reaches a predetermined stop position 23. Be made. The container 300 held by the first rack 100 is transferred to the second rack 200 stopped at the stop position 23.

  When the transfer is completed, the second rack 200 holding the container 300 is further transported in the right direction in FIG. 1 by the operation of the second rack transport mechanism 12.

  A second rack discharge section 24 that stores a plurality of second racks 200 holding the transferred containers 300 is provided adjacent to the downstream side of the second rack transport mechanism 12 (the right side in FIG. 1). . The second rack 200 transported to the downstream portion of the second rack transport mechanism 12 is pushed downward in FIG. 1 by the operation of a push mechanism (not shown) and discharged to the second rack discharge section 24. The traveling direction of the second rack 200 in the second rack discharge unit 24 is substantially perpendicular to the transport direction of the second rack transport mechanism 12.

  A container barcode reader 13 that reads information carried by a barcode label attached to the container 300 is installed on the upstream side of the first rack transport mechanism 11. The container barcode reader 13 is a barcode of each container 300 held by the first rack 100 when the first rack 100 conveyed by the first rack conveyance mechanism 11 passes through the container barcode reader 13. Read each label.

  On the upstream side of the second rack transport mechanism 12, a second rack barcode reader 14 that reads information carried by a barcode label attached to the second rack 200 is installed. The second rack barcode reader 14 reads the barcode label of the second rack 200 when the second rack 200 is supplied from the second rack supply unit 22 to the upstream portion of the second rack transport mechanism 12. Do.

  As shown in FIG. 2, the gripping mechanism (gripping mechanism) 3 in the present embodiment can grip five containers 300 arranged in a row at the same time, and holds each of the five containers 300. Since these parts have the same configuration, only one of them will be described below as a representative.

  The clamping unit 30 includes a pressing member 31 that presses the outer peripheral surface of the container 300, a flat plate member 32 that clamps the container 300 between the pressing member 31, an air cylinder 33 as a driving unit, and a frame 34. And have.

  The plate member 32 and the air cylinder 33 are fixed to the frame 34, respectively. The pressing member 31 is fixed to the tip of the piston rod 331 of the air cylinder 33. Thereby, when the air cylinder 33 is operated and the pressing member 31 approaches the plate member 32, the upper end portion of the container 300 can be grasped, and when the pressing member 31 is separated from the plate member 32, the grasped container 300 is grasped. Can be released.

  The pressing member 31 has a substantially V-shaped recess (notch) at a contact portion with respect to the container 300, and two planes constituting the recess contact (contact) the outer peripheral surface near the upper end of the container 300. To do. The gripping mechanism 3 can reliably grip the container 300 without play (rattle) because the pressing member 31 has a recess. In particular, the gripping mechanism 3 has a substantially V-shaped recess, so Regardless of the diameter, the container 300 can be reliably gripped without play (rattle).

  The plate member 32 is a flat plate member. In the present embodiment, the plate member 32 has an escape portion (opening) 321 into which the flange 302 can be inserted at a position corresponding to the flange 302 of the container 300. Accordingly, even when the container 300 having the flange 302 is gripped, the flange 302 does not get in the way, and the plate member 32 reliably contacts the outer peripheral surface near the upper end of the container 300. The container 300 can be securely gripped.

  In addition, the part which contacts the container 300 of the press member 31 and the plate member 32 may be coat | covered with elastic materials, such as rubber | gum, for example as a slip prevention means.

  In such a gripping mechanism 3, of the pressing member 31 and the plate member 32 that sandwich the container 300, on the plate member 32 side, the projecting width from the container 300 is substantially the same as the plate thickness of the plate member 32. Few. The container transfer device 1 arranges the containers 300 in order from the row on the plate member 32 side when the containers 300 gripped by the gripping mechanism 3 are transferred to the second rack 200 one by one (see FIG. 5). ). As a result, even when the gap between the adjacent row of containers 300 held in the second rack (already transferred) is narrow, the gripping mechanism 3 (plate member 32) contacts the adjacent row of containers 300. No interference. Therefore, the container transfer device 1 transfers the container 300 even when the distance between the rows of the containers 300 held by the second rack 200 (the distance between the rows of the recesses 203) is relatively small. Replacement can be performed smoothly.

  The gripping mechanism 3 includes five clamping portions 30 as described above, and has a base 35 that supports these clamping portions 30. Each clamping part 30 is connected and fixed to the base part 35 via an air cylinder 36 as a displacement means. That is, the clamping part 30 is fixed to the tip of the piston rod 361 of the air cylinder 36 fixed to the base part 35. Thereby, the five clamping parts 30 can protrude and evacuate independently in the longitudinal direction of the container 300.

  As shown in FIGS. 1 and 3, the container transfer device 1 includes a moving unit 4 that moves such a gripping mechanism 3 in a three-dimensional direction. The moving means 4 includes a gripping mechanism lifting mechanism 41 that moves the gripping mechanism 3 in the longitudinal direction of the container 300, that is, the vertical direction (vertical direction), and the gripping mechanism 3 in the horizontal direction (vertical direction and horizontal direction in FIG. 1). It is comprised with the holding mechanism horizontal movement mechanism 42 to move.

  As shown in FIG. 3, the gripping mechanism elevating mechanism 41 includes a support column 411 and a bracket 412 that can move in the vertical direction along the support column 411. A base 35 of the gripping mechanism 3 is fixed to the bracket 412. The support 411 is provided with a mechanism (not shown) such as a feed screw and a rack and pinion gear, and a motor (not shown) for driving the mechanism, and the bracket 412 is moved by the operation of these mechanisms. It can be moved up and down. Thereby, the gripping mechanism lifting mechanism 41 moves the gripping mechanism 3 in the vertical direction.

  As shown in FIGS. 1 and 3, the gripping mechanism horizontal movement mechanism 42 is installed near both sides of the apparatus main body 2, and extends between the rails 421 and 422 that are parallel to each other and the rails 421 and 422. It has a moving beam 423 that is installed so as to be passed and is in a posture perpendicular to the rails 421 and 422. The rails 421 and 422 are installed at a height separated from the upper surface of the apparatus main body 2 by a predetermined distance so as not to interfere with the first rack 100 and the like conveyed by the first rack conveyance mechanism 11.

  The movable beam 423 is provided with a support column 411 of the gripping mechanism lifting mechanism 41 so as to be movable in the longitudinal direction of the movable beam 423.

  The gripping mechanism horizontal movement mechanism 42 includes a mechanism (not shown) such as a feed screw and a rack and pinion gear, and a motor (not shown) that drives the mechanism, and by these operations, the moving beam 423 is operated. Are moved along the rails 421 and 422, and the column 411 can be moved along the moving beam 423. As a result, the gripping mechanism lifting mechanism 41 and the gripping mechanism 3 move in the vertical direction and the horizontal direction in FIG.

  As shown in FIG. 8, the container transfer device 1 includes a control unit 15 to which each part of the container transfer device 1 as described above is connected. The control means 15 has a CPU (Central Processing Unit) and a sequencer, and is configured in software and hardware. Note that a storage unit (storage unit) 71, a display unit 72, and an operation unit (input unit) 73 are further connected to the control unit 15.

  The storage unit 71 has a storage medium (recording medium) that can be read by the control unit 15 and stores (records) programs, data, and the like. This storage medium includes, for example, RAM (Random Access Memory: including both volatile and nonvolatile), FD (Floppy Disk ("Floppy" is a registered trademark)), HD (Hard Disk), CD-ROM (Compact It is composed of a magnetic or optical recording medium such as a disc read-only memory or a semiconductor memory. This storage medium is fixedly attached to the storage unit 71, or is detachably mounted, and in this storage medium, various application programs corresponding to each part of the container transfer device 1, as will be described later. Various programs such as a program for executing the control operation of the container transfer device 1 and various data are stored in advance, data processed by each program, input data from each unit connected to the control means 15, and the like Is memorized.

  The control unit 15 reads out various programs and data stored in the storage unit 71 as necessary, and controls the operation of each unit of the container transfer device 1 based on the program and data.

  Note that the control means 15 may be configured entirely by software without having a sequencer, or may be configured by hardware so that all is performed by sequence control using only the sequencer.

  The first rack transport mechanism 11 and the second rack transport mechanism 12 are respectively connected to the control means 15, and the control means 15 controls the operations of the first rack transport mechanism 11 and the second rack transport mechanism 12, respectively. .

  Each of the container barcode reader 13 and the second rack barcode reader 14 is connected to the control means 15. Each of the container barcode reader 13 and the second rack barcode reader 14 outputs information read from the barcode label to the control means 15.

  The control means 15 stores the information input from the container barcode reader 13 and the second rack barcode reader 14 in the storage unit 71. These pieces of information are used to create management data (management information).

  The air cylinders 33 and 36 of the gripping mechanism 3 are connected to the control means 15 via the air cylinder driving means 16 and 17, respectively, and the operation is controlled by the control means 15.

  The gripping mechanism lifting mechanism 41 is connected to the control means 15, and the control means 15 controls the operation of the gripping mechanism lifting mechanism 41. The motor that drives the gripping mechanism lifting mechanism 41 is configured by a pulse motor (stepping motor), and the control unit 15 controls the gripping mechanism lifting mechanism 41 by open loop control. That is, the control means 15 grasps the vertical position (height) of the gripping mechanism 3 by monitoring the number of drive pulses for the motor that drives the gripping mechanism lifting mechanism 41. Note that the present invention is not limited to this configuration, and a detector that detects the vertical position of the gripping mechanism 3 may be provided, and the control unit 15 may control the gripping mechanism lifting mechanism 41 by closed loop control.

  The holding mechanism horizontal movement mechanism 42 is connected to the control means 15, and the control means 15 controls the operation of the holding mechanism horizontal movement mechanism 42. The motor that drives the gripping mechanism horizontal movement mechanism 42 is a pulse motor (stepping motor), and the control unit 15 controls the gripping mechanism horizontal movement mechanism 42 by open loop control. That is, the control means 15 grasps the position of the gripping mechanism 3 in the horizontal direction by monitoring the number of drive pulses for the motor that drives the gripping mechanism horizontal movement mechanism 42. Not limited to this configuration, a detector for detecting the horizontal position of the gripping mechanism 3 may be provided, and the control unit 15 may control the gripping mechanism horizontal movement mechanism 42 by closed loop control.

  The display unit 72 includes, for example, a CRT (Cathode-Ray Tube), a liquid crystal display, and the like, and displays an operation screen, a data input screen, and the like, for example.

  The operation unit 73 includes, for example, a mouse, a keypad, a keyboard, and the like, and is operated when inputting data.

  In addition to the container transfer device 1, the control means 15 is provided in a management system 500 that manages the entire sample processing system including various devices such as a dispensing device (not shown) and an analysis device (not shown). It is connected.

  The control unit 15 outputs (transmits) management data (management information) or the like to the management system 500, and the management system 500 edits the management data as it is or appropriately, and stores a storage unit (not shown). Storage (recording).

Next, based on FIGS. 3-5, the control operation of the container transfer apparatus 1 is demonstrated in order.
[1] The control unit 15 controls the operations of the first rack transport mechanism 11, the second rack transport mechanism 12, and a rack stopper mechanism (not shown) to stop the first rack 100 holding the container 300 at the stop position 21. The empty second rack 200 is stopped at the stop position 23. Next, the control unit 15 controls the operation of the gripping mechanism horizontal movement mechanism 42 to move the gripping mechanism 3 above the first rack 100 stopped at the stop position 21. The gripping mechanism 3 is in a state where the pressing member 31 is separated from the plate member 32 (open state).

  [2] As shown in FIG. 3, the control means 15 controls the operation of the gripping mechanism lifting mechanism 41 to lower the gripping mechanism 3 to a predetermined position, so that the container 300 is interposed between the pressing member 31 and the plate member 32. Make sure that the part near the top of is located. Next, the control unit 15 operates the air cylinder 33 to cause the gripping mechanism 3 to hold the container 300.

  [3] The control unit 15 controls the operation of the gripping mechanism lifting mechanism 41 to raise the gripping mechanism 3 to a predetermined position, lift the container 300, and remove it from the recess 101 of the first rack 100. Next, the control means 15 controls the operation of the gripping mechanism horizontal movement mechanism 42 so that the container 300 grasped by the gripping mechanism 3 is located closest to the plate member 32 of the five rows of recesses 203 of the second rack 200 (see FIG. The gripping mechanism 3 is moved horizontally so as to be positioned above the recesses 203 in the middle row (see FIG. 4). Next, as shown in FIG. 5, the control means 15 controls the operation of the gripping mechanism elevating mechanism 41 to lower the gripping mechanism 3, so that the lower side of the container 300 held by the gripping mechanism 3 is placed on the second rack 200. Is inserted into the recess 203. At this time, the control unit 15 controls the operation of the gripping mechanism lifting mechanism 41 so that the lower end of the container 300 stops immediately before the bottom 202 of the second rack 200. Next, the control unit 15 operates the air cylinder 33 to separate the pressing member 31 from the plate member 32 and release the gripping mechanism 3 from gripping the container 300. This completes the transfer of the second rack 200 to five of the ten concave portions 203 in the first row from the right in the drawing.

  [4] The control unit 15 operates the first rack transport mechanism 100 to transport and discharge the first first rack 100 after the transfer of the container 300 is finished, and to discharge the second rack. The first rack 100 is transported to the stop position 21. Next, after gripping the container 300 held by the second first rack 100 by the gripping mechanism 3, the gripping mechanism horizontal movement mechanism 42 is operated, and these containers 300 are moved to the right in the drawing of the second rack 200. To the remaining half of the five recesses 203 in the first row.

  Thereafter, similarly, the container transfer device 1 sequentially transfers the containers 300 to the recesses 203 in the second, third, fourth, and fifth rows from the right side of the second rack 200 in the drawing.

  When the transfer to the second rack 200 is completed, the control unit 15 stores the information read from the barcode label of each container 300 by the container barcode reader 13 stored in the storage unit 71, Management that reads the information read from the barcode label of the second rack 200 by the two-rack barcode reader 14 and identifies each container 300 held (stored) in the second rack 200 based on these information Data (management information) is created, and the management data is output (transmitted) to the management system 500. Further, the created management data may be stored in the storage unit 71.

  When the transfer of the container 300 to the second rack 200 is completed, the control unit 15 operates the second rack transport mechanism 12 to transport the second rack 200 to the downstream side and to the second rack discharge unit 24. In addition to discharging, the next empty second rack 200 is transported to the stop position 23, and the container 300 is transferred from the first rack 100 to the second rack 200 in the same manner. Create and output (send) to the management system 500. And the container transfer apparatus 1 repeats such an operation | movement.

  The gripping mechanism 3 in the container transfer device 1 can grip the five containers 300 held by the first rack 100 at the same time as described above. Any one or more of the five containers 300 to be held can be selectively gripped.

  In this case, as shown in FIG. 6, the gripping mechanism 3 controls the operation of each air cylinder 36 to project (lower) the sandwiching portion 30 that grips the container 300 among the five sandwiching portions 30. The holding part 30 that does not hold the container 300 is in a retracted (raised) state. The example shown in FIG. 6 is a case where the first, third, and fifth containers 300 from the left are to be selectively gripped.

  After the gripping mechanism 3 is lowered by the operation of the gripping mechanism lifting mechanism 41 from the state shown in FIG. 6, the container 300 is grasped by the pinching portion 30 at the protruding portion. Next, by raising the gripping mechanism 3 by operating the gripping mechanism lifting / lowering mechanism 41, the first, third and fifth containers 300 from the left are selectively removed from the first rack 100, and only these are removed from the second rack 100. 200, and the second and fourth containers 200 from the left can be left in the first rack 100.

  As described above, in the container transfer device 1 of the present invention, the first rack 100 is transferred from the first rack 100 to the second rack 200 according to the difference in the inspection item for each sample stored in each container 300, and the first What is left in the rack 100 can be selected. Whether the containers 300 are transferred to the second rack 200 or left in the first rack 100 is instructed from the management system 500 to the control means 15.

  Further, in the gripping mechanism 3 in the container transfer device 1 of the present invention, as shown in FIGS. 6 and 7, the holding part 30 that does not hold the container 300 is retracted upward, so that the holding part that does not hold the container 300 30 does not contact the container 300. Therefore, when the gripping mechanism 3 is raised, it is possible to reliably prevent the container 300 to be left in the first rack 100 from being caught by the sandwiching portion 30 (particularly the plate member 32) and being lifted halfway. Accordingly, when the container 300 that has been caught and lifted falls and collides with the bottom of the first rack 100, it is possible to reliably prevent the internal specimen from jumping around and falling off the first rack 100 and falling down. It is possible to reliably prevent the occurrence of contamination due to these events.

  As mentioned above, although the illustrated embodiment of the container transfer device of the present invention has been described, the present invention is not limited to this, and each part constituting the container transfer device is an arbitrary one that can exhibit the same function. It can be replaced with the configuration of Moreover, arbitrary components may be added.

  For example, the structure of the gripping mechanism is not limited to that using an air cylinder, and may be any structure such as a feed screw mechanism and a cam mechanism.

  In the present invention, the number of containers held by the first rack is not limited to five, and may be any number as long as it is two or more.

  The second rack is not limited to holding the containers in 10 rows × 5 columns, but may hold the containers in n rows × m columns, where n and m are each an arbitrary integer of 2 or more. For example, it may hold 100 lines in 10 rows × 10 columns.

Further, the present invention is not limited to the container transfer device that transfers the container held in the first rack to the second rack, and conversely, the container transfer that transfers the container held in the second rack to the first rack. It can also be applied to devices. The container transfer device of the present invention can perform both the transfer from the first rack to the second rack and the transfer from the second rack to the first rack (the two operating states). Can be switched).
In the present invention, the first rack transport mechanism and the second rack transport mechanism may be omitted.

It is a top view which shows embodiment of the container transfer apparatus of this invention. It is a perspective view which shows the holding | grip mechanism in the container transfer apparatus shown in FIG. It is a cross-sectional side view which shows the structure and operating state of the container transfer apparatus shown in FIG. It is a cross-sectional side view which shows the structure and operating state of the container transfer apparatus shown in FIG. It is a cross-sectional side view which shows the structure and operating state of the container transfer apparatus shown in FIG. It is a front view which shows a mode that the holding | grip mechanism in the container transfer apparatus shown in FIG. 1 hold | grips a container selectively. It is a front view which shows a mode that the holding | grip mechanism in the container transfer apparatus shown in FIG. 1 hold | grips a container selectively. It is a schematic block diagram of the container transfer apparatus shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Container transfer apparatus 11 1st rack conveyance mechanism 12 2nd rack conveyance mechanism 13 Bar code reader for containers 14 Bar code reader for 2nd racks 15 Control means 16, 17 Air cylinder drive means 2 Apparatus main body 21 Stop position 22 2nd Rack supply section 23 Stop position 24 Second rack discharge section 3 Grip mechanism 30 Holding section 31 Press member 32 Plate member 321 Escape section 33 Air cylinder 331 Piston rod 34 Frame 35 Base 36 Air cylinder 361 Piston rod 4 Moving means 41 Lifting mechanism lifting mechanism Mechanism 411 Post 412 Bracket 42 Grip mechanism Horizontal movement mechanism 421, 422 Rail 423 Moving beam 71 Storage unit 72 Display unit 73 Operation unit 100 First rack 101 Concave 200 Second rack 202 Bottom 203 Concave 300 Container 302 Flange 500 Tube System

Claims (8)

A first rack that holds a plurality of the tubes, and a second container that holds the containers in n rows × m columns (where n and m are integers of 2 or more, respectively). A container transfer device for transferring between racks,
a gripping mechanism that can grip p containers (where p is an integer of 2 or more) at the same time;
Moving means for moving the gripping mechanism at least in the longitudinal direction of the container;
Control means for controlling the operation of the gripping mechanism and the moving means,
The gripping mechanism includes a base, a plurality of holding parts that hold the upper end of the container, and a displacement unit that displaces each holding part so as to protrude and retract independently from the base in the longitudinal direction of the container. And a container transfer device.   The gripping mechanism projects one of the plurality of sandwiching portions from one of the p containers by causing the sandwiching portion that grips the container to protrude and retracting the sandwiching portion that does not grip the container. The container transfer device according to claim 1, wherein the above can be selectively gripped.   The clamping unit includes a pressing member that presses the outer peripheral surface of the container, a flat plate member that clamps the container between the pressing member, and a drive that moves the pressing member toward and away from the plate member. The container transfer device according to claim 1, further comprising: means.   The container transfer device according to claim 3, wherein an opening is formed at a position corresponding to the container of the plate member.   5. The container transfer device according to claim 3, wherein the pressing member has a recess in a portion in contact with the container.   The container transfer device according to claim 5, wherein the recess is substantially V-shaped.   The container transfer device according to claim 1, further comprising a transport mechanism that transports the first rack. The container transfer device according to claim 1, further comprising a transport mechanism that transports the second rack.

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