JP2015110264A - Gripping device, conveyance device and analyzer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a gripping device capable of preventing a gripping object from dropping to a floor or an analyzer, even if the gripping object is separated from a gripping member; and to provide a conveyance device and the analyzer.SOLUTION: When a reaction plate 16 is gripped and conveyed by a hand 102, a receiving tray 160 is moved to the under side of the reaction plate 16. Hereby, even if the gripped reaction plate 16 is separated from the hand 102 by any chance, the reaction plate 16 separated from the hand 102 is received by the receiving tray 160, to thereby suppress drop of the reaction plate 16 to a floor or an analyzer.

Description

  The present invention relates to a gripping device that grips a gripping object and a transport device that includes the gripping device.

In the analysis of a specimen such as a biological sample, a plate having a recess is often used. In the analysis of a specimen using this plate, an operation of dispensing the specimen into the recess in which an antibody is immobilized is often performed. In recent years, analysis of a specimen using such a plate is automatically performed by an analyzer.
In this type of analyzer, there are a plurality of transport points such as a stage for dispensing a sample on a plate, a stage for dispensing a reagent on a plate, an incubator for holding the plate at a predetermined temperature for a predetermined time, and a stage for analyzing the sample. is there.
The analyzer is provided with a transport device for transporting the plate, and the transport device requires a gripping device for gripping the plate that is the gripping object.
As a mechanism for gripping the gripping object, for example, a mechanism disclosed in Patent Document 1 can be used.

JP, 2011-33367, A.

In the mechanism disclosed in Patent Document 1, a rack containing a sample is gripped by a pair of gripper plates of a gripper portion, and a stopper portion is provided on the gripper portion so that the rack does not slide down, The tab of the stopper is caught on the corner of the rack.
However, in the mechanism disclosed in Patent Document 1, if the claw is not correctly hooked to the corner of the rack or the claw is detached from the corner of the rack, the rack falls to the floor or the like, and there is room for improvement. .

  In consideration of the above facts, the present invention provides a gripping device, a transport device, and an analysis device capable of preventing the gripping target from falling on the floor or the analysis device even when the gripping target is detached from the gripping member. With the goal.

  The gripping apparatus according to claim 1, a gripping member that touches and separates a gripping object that contains a specimen, a moving mechanism that moves the gripping member in a horizontal direction that touches and separates the gripping object, and the gripping A receiving member that moves downward of the object to be grasped held by the member; and a receiving member moving mechanism that moves the receiving member.

According to the first aspect of the present invention, the gripping object can be gripped by the gripping member. The moving mechanism can move the gripping member that grips the gripping object in a horizontal direction that is in contact with and away from the gripping object.
Therefore, by moving the gripping member in the direction approaching the gripping object to grip the gripping target object and moving the gripping member in the direction away from the position where the gripping target object is gripped, the gripping target object is reliably It can be moved.
If the receiving member is moved below the gripping object gripped by the gripping member, even if the gripped gripping object is detached from the gripping member, the gripping object detached from the gripping member is received. It can be received by the member, and it is possible to prevent the object to be grasped from falling onto the floor or the analyzer.

  According to a second aspect of the present invention, in the gripping device according to the first aspect, a sensor that detects whether or not the gripping member is in a gripping position for gripping the gripping target, and the gripping member is the gripping target. And a control device that determines that the object to be grasped is detached from the grasping member when a signal from the sensor is not received after grasping the object.

In the gripping device according to the second aspect, the sensor detects whether or not the gripping member is at a gripping position for gripping the gripping target object. Therefore, when the sensor detects that the gripping member is in the gripping position, the gripping member is gripping the gripping object, and the sensor does not detect that the gripping member is in the gripping position. Means that the gripping member is not gripping the gripping object.
After the gripping member grips the gripping object (the sensor detects that the gripping member is in the gripping position), the control device detects that the signal from the sensor has not been received (the sensor detects that the gripping member is in the gripping position). If it is determined that the object to be grasped has detached from the grasping member.

  According to a third aspect of the present invention, in the gripping device according to the second aspect of the present invention, the gripping device includes a warning device that performs a warning, and the control device determines that the gripping object has been detached from the gripping member. Alarm.

  In the gripping device according to the third aspect, when the control device determines that the gripping object is detached from the gripping member, the alarm device issues an alarm. Thereby, it can be notified that the object to be grasped is detached from the grasping member and received by the receiving member.

  A transport device according to a fourth aspect moves the gripping device according to any one of the first to third aspects in the vertical direction and the horizontal direction.

  In the transport device according to claim 4, the gripping device according to any one of claims 1 to 3 can be moved in the vertical direction and the horizontal direction, whereby the gripping object gripped by the gripping device. Objects can be conveyed vertically and horizontally.

  According to a fifth aspect of the present invention, there is provided the analyzer according to the fourth aspect.

  Since the analyzer according to claim 5 includes the analyzer according to claim 4, even when the object to be grasped is detached from the grasping member, the object to be grasped is prevented from falling on the floor or the analyzer. Thus, the floor and the analyzer are prevented from being contaminated by a specimen such as a biological sample, and the specimen can be analyzed under good hygiene conditions.

As described above, the gripping device of the present invention is excellent in that the gripping target can be prevented from falling into the floor or the analyzer even when the gripping target containing the specimen is detached from the gripping member. It has the effect.
Moreover, the conveyance apparatus of this invention can suppress the fall of a holding | grip target object during conveyance of a holding | grip target object.
Moreover, the analyzer of the present invention can analyze a sample under good hygiene conditions without contaminating the floor or the analyzer with a sample such as a biological sample.

It is a front view which shows schematic structure of the analyzer with which the conveying apparatus of this invention was applied. (A) is a perspective view which shows the reaction plate conveyed with a conveying apparatus, (B) is a perspective view which shows the sample plate conveyed with a conveying apparatus. It is a front view of the analyzer in which the conveying apparatus was shown. 4A is a sectional view taken along line 4-4 of the analyzer shown in FIG. 1, and FIG. 4B is an enlarged plan view of the hand unit shown in FIG. It is a top view of the analyzer in which the conveying apparatus was shown. (A) is a front view of a hand, (B) is a top view of an opening-and-closing hand apparatus. It is a top view of the hand unit which has arranged the reaction plate in the front. It is a side view of the hand unit which has arranged the reaction plate in the front. (A) is a front view of the hand arrange | positioned at the side part of the reaction plate, (B) is a top view of the hand unit which has arrange | positioned the hand to the side part of the reaction plate. It is a side view of the hand apparatus shown in FIG. (A) is a front view of the hand which shows the state which lifted up the reaction plate, (B) is a top view of the hand unit which shows the state which lifted up the reaction plate. (A) is a hand showing a state in which the reaction plate is lifted and the receiving tray is disposed below the reaction plate, and a front view of the receiving tray. (B) is a front view of the receiving tray by lifting the reaction plate and placing the receiving tray below the reaction plate. It is a top view of the hand unit which shows the arranged state. It is a side view of the hand unit which shows the state which lifted the reaction plate and has arrange | positioned the receiving tray under the reaction plate. It is a top view of the hand unit which shows the state which took out the reaction plate. It is a side view of the hand unit which shows the state which took out the reaction plate. It is a top view of the hand unit which shows the state where a pair of hands approached too much.

Hereinafter, based on the drawings, an analysis apparatus 10 including a transport device 56 according to an embodiment of the present invention will be described.
[Overall configuration of analyzer]
As shown in FIG. 1, the analysis apparatus 10 includes a box-shaped housing 12, and a first shelf plate 14 that divides the interior of the housing vertically is disposed in the middle portion of the housing 12 in the vertical direction. Has been.
A reaction plate stocker 18 that can store a plurality of reaction plates 16 is provided on the left side of the apparatus (in the direction of arrow L in the drawing) on the upper side of the first shelf 14. The reaction plate stocker 18 has six storage units for storing the reaction plates 16 before dispensing on the left side of the apparatus, and six storage units for storing the reaction plates 16 after dispensing on the right side of the apparatus.

  As shown in FIG. 2A, the reaction plate 16 is formed in a rectangular shape, and a plurality of (in this embodiment, 8 × 12 = 96) concave portions 16A are formed in the upper portion. A primary antibody is immobilized on these recesses 16A in advance. A bar code 17 for identifying the reaction plate 16 is provided on the side surface of the reaction plate 16.

  As shown in FIG. 1, two reagent container stages 19 for loading reagent containers are provided on the right side of the reaction plate stocker 18. For example, the labeled antibody solution can be placed in the reagent container 20 of the reagent container stage 19 on the left side of the apparatus, and the chromogenic substrate solution can be placed in the reagent container 22 of the reagent container stage 19 on the right side of the apparatus. Alternatively, the coloring substrate solution may be put into the reagent container 20 of the reagent container stage 19 on the left side of the apparatus, and the labeled antibody solution may be put into the reagent container 22 of the reagent container stage 19 on the right side of the apparatus. Here, the labeled antibody is formed by binding a label capable of generating a detectable substance (for example, dye, fluorescence, light, etc.) to the antibody. Examples of the label include an enzyme, a fluorescent substance, and a luminescent substance. Etc.

  A dispensing stage 26 is provided on the right side of the reagent container stage 19. The dispensing stage 26 includes a first dispensing table 26A on which the reaction plate 16 is placed, and a second dispensing table 26B on which the sample plate 23 is mounted. The first dispensing table 26A and the second dispensing table 26B are provided with a vibration device (not shown).

  2B, the sample plate 23 is also formed in a rectangular shape like the reaction plate 16, and a plurality of (in this embodiment, 8 × 12 = 96) recesses 23A are formed in the upper portion. Has been. A specimen (liquid sample) to be inspected is placed in these recesses 23A. Further, a barcode 24 for identifying the sample plate 23 is provided on the side surface of the sample plate 23.

  On the right side of the dispensing stage 26, a disposable chip placement section 30 for placing a disposable chip box 28 is provided. The disposable chip box 28 stores a plurality of replacement disposable chips (not shown) used for a dispensing unit 38 to be described later.

  A sample plate stocker 32 for storing a plurality of sample plates 23 is provided on the right side of the disposable chip placement unit 30. The sample plate stocker 32 includes six storage units for storing the sample plates 23 before use on the left side of the apparatus, and six storage units for storing the sample plates 23 after use on the right side of the apparatus.

  A dispensing unit support rail 36 is attached to a back plate 34 provided on the back side of the housing 12 along the left-right direction of the apparatus. A guide block (not shown) is slidably supported on the dispensing unit support rail 36, and a dispensing unit 38 is attached to the guide block. In addition, a drive device (not shown) that moves the dispensing unit 38 is attached to the back plate 34.

  The dispensing unit 38 includes eight dispensing nozzles 38A that detachably support the dispensing tips at the lower end, a driving device 38B that moves the dispensing nozzle 38A in the vertical direction, vacuum suction of liquid, and vacuum suction A suction / discharge device (not shown) that discharges the liquid is provided. A dispensing tip (not shown) is attached to the tip of the dispensing nozzle 38A, and the dispensing unit 38 can vacuum-suck liquid from the disposable tip and discharge the vacuum-sucked liquid.

  A space between the first shelf plate 14 and the bottom plate 40 of the housing 12 is partitioned in the apparatus width direction by a partition wall 42, and a plurality of (12 in the present embodiment) are provided on the left side of the partition wall 42. An incubator 44 is arranged. The incubator 44 includes a heater (not shown), accommodates the reaction plate 16 and holds it at a predetermined reaction temperature.

A second shelf plate 46 that divides the first shelf plate 14 and the bottom plate 40 vertically is disposed on the right side of the partition wall 42.
Between the first shelf plate 14 and the second shelf plate 46, a reaction stop liquid dispensing unit 48, a photometric unit 50, and a cleaning unit 52 are sequentially arranged from the left side of the apparatus.

The reaction stop liquid dispensing unit 48 discharges the reaction stop liquid into the recess 16 </ b> A of the reaction plate 16.
The cleaning unit 52 discharges the cleaning liquid to the recess 16A of the reaction plate 16, and sucks the cleaning liquid discharged to the recess 16A.
The photometric unit 50 includes a light projector for projecting light of a predetermined wavelength to the concave portion 16A of the reaction plate 16, a light receiver for receiving light transmitted through the concave portion 16A, and the like. The sample is analyzed by measuring the intensity of the wavelength.

  A storage unit 55A of the analyzer 10 is provided between the second shelf plate 46 and the bottom plate 40, and a rack storage device 55 is provided in the storage unit 55A. The rack storage device 55 stores a disposable chip rack 54 that stores a plurality of (16 in this embodiment) disposable chip boxes 28 that store a plurality of disposable chips.

[Conveyor]
The configuration of the transport device 56 that transports the reaction plate 16, the sample plate 23, and the disposable chip box 28 will be described with reference to FIGS.
(Vertical movement mechanism)
The transport device 56 is provided with a vertical movement mechanism for moving a hand unit 78 described later in the vertical direction. The vertical movement mechanism will be described below.
As shown in FIGS. 3 to 5, an elevating slide rail 58 is attached to the right side wall 12 </ b> R and the left side wall 12 </ b> L on the front side of the apparatus in the vertical direction.
Between one lifting slide rail 58 and the other lifting slide rail 58, a horizontal arm 60 whose longitudinal direction is the apparatus width direction is disposed.
At both ends of the horizontal arm 60, an elevating slide block 61 that is movably supported along the elevating slide rail 58 is attached.

Further, a feed screw 62 arranged in the vertical direction is rotatably attached to the right side wall 12R and the left side wall 12L via a bearing 64 in the vicinity of the elevating slide rail 58. The feed screw 62 is supported at its upper and lower portions by a pair of bearings 64 so as not to shake during rotation.
A feed screw timing pulley 68 around which an endless elevating timing belt 66 described below is wound is attached to the lower end of the feed screw 62.

  A pair of direction changing timing pulleys 70 is arranged in the center of the bottom plate 40 in the apparatus width direction. The direction changing timing pulley 70 is rotatably supported by a shaft 71 fixed to the bottom plate 40.

  As shown in FIG. 5, at the center of the bottom plate 40 in the apparatus width direction (arrow R direction and arrow L direction), the axis of rotation (not shown) is lifted downward so as not to interfere with the disposable chip rack 54. A motor 72 is arranged on the rear side of the apparatus with respect to the disposable chip rack 54. An elevating drive timing pulley 74 is attached to the rotating shaft of the elevating motor 72.

  An elevating timing belt 66 is wound around the elevating driving timing pulley 74, the feed screw timing pulley 68, and the direction changing timing pulley 70 in a substantially T-shape. Thereby, the pair of feed screws 62 can be rotated in synchronization by rotating the lifting motor 72.

  Nut members 76 that are screwed into the feed screw 62 are attached to both ends of the horizontal arm 60. Therefore, by rotating the feed screw 62, the nut member 76 moves along the axial direction of the feed screw 62, and the horizontal arm 60 can be moved up and down.

  The horizontal arm 60 includes a hand unit 78 that grips and delivers the reaction plate 16, the sample plate 23, and the disposable chip box 28, and a left and right hand unit that moves the hand unit 78 in the arm longitudinal direction (device left-right direction). A device 80 is provided.

(Hand unit left / right moving device (horizontal moving mechanism))
Next, the configuration of the hand unit left / right moving device 80 will be described.
A slide rail 82 is attached to the upper surface of the horizontal arm 60 along the longitudinal direction of the arm. A slide block (not shown) is slidably supported on the slide rail 82 in the rail longitudinal direction, and a hand unit 78 is attached to the upper surface of the slide block.

In addition, an endless timing belt 84 spanned between a pair of timing pulleys (not shown) is disposed on the horizontal arm 60 in parallel with the slide rail 82. One timing pulley is rotated by the apparatus width direction moving motor 88.
The hand unit 78 is connected to the timing belt 84, and the hand unit 78 can be moved along the longitudinal direction of the horizontal arm 60 by driving the timing belt 84 with the apparatus width direction moving motor 88.
The hand unit 78 can move in the vertical direction and the horizontal direction by the vertical movement mechanism and the horizontal movement mechanism described above.

(Hand unit)
Next, the configuration of the hand unit 78 will be described.
As shown in FIG. 4, the hand unit 78 includes an opening / closing hand device 100, and the opening / closing hand device 100 is moved in the apparatus front-rear direction (arrow F direction and arrow B direction) by an actuator (not shown).
The open / close hand device 100 includes a pair of hands 102 that can grip the reaction plate 16, the sample plate 23, the disposable chip box 28, and the like from the side.

As shown in FIG. 6, the hand 102 includes an arm member 102A made of a metal rod having a rectangular cross section, and a gripping member 102B is attached to an end of the arm member 102A. The holding member 102B is made of a metal plate and is formed in a cross-sectional crank shape. The vertical portion 102Ba extending in the vertical direction abuts on the side of the reaction plate 16 and the like, and the lower end 102Bb extending in the horizontal direction is the reaction plate 16 and the like. It will be caught in the lower corner of the.
The gripping member 102B is formed of an elastic body such as rubber on the inner side surface of the vertical portion 102Ba (the portion where the side surfaces of the gripping object such as the reaction plate 16, the sample plate 23, and the disposable chip box 28 are in contact). A non-slip sheet 103 is attached.

As shown in FIG. 7, the hand unit 78 includes a base plate 104 attached to a slide block supported by a slide rail 82 of the horizontal arm 60.
A pair of slide rails 106 extending along the apparatus front-rear direction are attached to the upper surface of the base plate 104 on both sides in the apparatus width direction.
A slide block 108 is slidably supported on the slide rail 106, and a frame 110 formed in a substantially box shape of the opening / closing hand device 100 is attached to the slide block 108.

  A support column 112 is attached to the base plate 104 on the back side on the left side of the apparatus, and a motor 116 having a pulley 114 fixed to a rotation shaft is attached to the support column 112. The base plate 104 is provided with a support column 118 on the front side on the left side of the apparatus. A shaft 120 is fixed to the support column, and a pulley 122 is rotatably supported on the shaft 120. A timing belt 124 is bridged between the pulley 114 and the pulley 122.

  The timing belt 124 is connected to each other by the frame 110 of the opening / closing hand device 100 and a connecting metal fitting 126. When the timing belt 124 is driven, the opening / closing hand device 100 moves in the longitudinal direction of the device.

As shown in FIG. 6, two slide rails 128 extending along the apparatus width direction are attached to the lower surface of the top plate 110 </ b> A (partially omitted) of the frame 110 on both sides in the apparatus width direction. A slide block 130 is slidably supported on each slide rail 128.
Since the hand 102 is attached to the slide block 130, the hand 102 is movable in the apparatus width direction along the slide rail 128.

  A rotation shaft 132 is rotatably supported at the center of the top plate 110 </ b> A, and a first pulley 134 is attached to the upper end of the rotation shaft 132. A motor 136 is attached to the top plate 110A on the rear side of the apparatus, and a second pulley (not shown) is attached to the rotating shaft of the motor 136. A timing belt 138 is stretched around the first pulley 134 and the second pulley, and the first pulley 134 is rotated by the motor 136.

A link 140 is attached to the lower end of the rotating shaft 132, and long holes 142 are formed at both ends of the link 140.
Pin mounting brackets 144 are respectively attached to the slide block 130 of one hand 102 and the slide block 130 of the other hand 102 that are located diagonally across the rotation shaft 132. A slide pin 146 is attached to each pin mounting bracket 144, and the slide pin 146 is inserted into the long hole 142 of the link 140. As a result, when the link 140 rotates, the slide pin 146 slides inside the long hole 142, and the pair of hands 102 move in a direction in which they are brought into contact with and separated from each other.

  A pin 148 is attached to the end of each hand 102, and the pin 148 of one hand 102 and the pin 148 of the other hand 102 are connected by a tension coil spring 150. The one hand 102 and the other hand 102 are urged toward each other by the tension coil spring 150.

The frame 110 is provided with a closed position detection sensor 152 and an open position detection sensor 154 that detect the open / close position of the hand 102.
The closed position detection sensor 152 outputs a first signal at the first position when the pair of hands 102 grips the reaction plate 16 or the like, and other positions (the pair of hands 102 grip the reaction plate 16 or the like). The first signal is not output when the two hands are closer to each other than when the pair of hands 102 are separated from each other than when the pair of hands 102 are holding the reaction plate 16 or the like. Thereby, the control device 91 to be described later connected to the closed position detection sensor 152 can determine whether or not the pair of hands 102 are in positions where the reaction plate 16 and the like are gripped.

  The open position detection sensor 154 is, for example, in the second position where the pair of hands 102 are most separated (the initial position of the pair of hands 102 and the hand 102 is separated from the reaction plate 16 or the like). A signal is output, and the second signal is not output when the pair of hands 102 comes closer to each other than the second position. Accordingly, the control device 91 can determine whether or not the pair of hands 102 are most separated.

As the closed position detection sensor 152 and the open position detection sensor 154, for example, a transmissive optical sensor can be used. In the case of using a transmissive optical sensor, a light shielding plate that blocks the light beam of the optical sensor is attached to the hand 102, and the closed position detection sensor 152 and the open position detection sensor 154 are disposed at a position where the hand 102 is detected. .
In order to detect the position of the hand 102, not only a transmission type optical sensor but also a mechanical switch or the like can be used.

(Receiving tray and moving mechanism of receiving tray)
As shown in FIGS. 7 and 8, a slide rail 156 extending along the apparatus front-rear direction is attached to the center of the base plate 104 in the apparatus width direction.
A slide block 158 is slidably supported on the slide rail 156. A receiving tray 160 disposed below the hand 102 is attached to the upper surface of the slide block 158.

As shown in FIG. 7, a support column 162 is attached to the base plate 104 on the back side on the right side of the apparatus, and a motor 166 having a pulley 164 fixed to a rotating shaft is attached to the support column 162. The base plate 104 is provided with a support 168 on the front side on the right side of the apparatus. A shaft 170 is fixed to the support column, and a pulley 172 is rotatably supported on the shaft 170.
A timing belt 174 is bridged between the pulley 164 and the pulley 172.

  As shown in FIG. 9, the timing belt 174 is connected to each other by a receiving tray 160 and a connecting fitting 176, and the receiving tray 160 moves in the front-rear direction of the apparatus by driving the timing belt 174.

  The hand unit 78 is provided with a barcode reader 90 that reads the barcode 17 of the reaction plate 16 and the barcode 24 of the sample plate 23 on the top plate 110 </ b> A of the frame 110.

As shown in FIG. 1, the analyzer 10 of this embodiment includes a dispensing stage 26, a dispensing unit 38, an incubator 44, a transport device 56, a reaction stop liquid dispensing unit 48, a photometric unit 50, a washing unit 52, and the like. A control device 91 that controls the operation of each part of the device is provided.
The control device 91 is configured to include a computer or the like, and includes an input device 92 such as a keyboard for performing various settings and inputs, a display device 93 for displaying input information, the operating status of the device, and an alarm device 94 such as a buzzer. Is connected. As described above, the closed position detection sensor 152 and the open position detection sensor 154 of the hand unit 78 are connected to the control device 91. The computer stores a program for controlling each part of the apparatus.

[Action, effect]
Next, the operation and effect of this embodiment will be described.
First, when the hand unit 78 is moved in the apparatus width direction, the apparatus width direction moving motor 88 is rotated to drive the timing belt 84. Thereby, the hand unit 78 connected to the timing belt 84 can be moved in the apparatus width direction.

  On the other hand, when raising / lowering the hand unit 78, the raising / lowering motor 72 is rotated. The rotational force of the elevating motor 72 is transmitted to the feed screw 62 via the elevating drive timing pulley 74, the elevating timing belt 66, and the feed screw timing pulley 68, and the feed screw 62 rotates, whereby the hand unit. The horizontal arm 60 carrying 78 is moved up and down.

  In the analysis apparatus 10 of this embodiment, it is possible to grip and transport gripping objects such as the reaction plate 16, the sample plate 23, and the disposable chip box 28 using the transport device 56.

The procedure for transporting the reaction plate 16 will be described below as a representative.
(1) As shown in FIGS. 7 and 8, for example, the hand unit 78 is moved to the front of the reaction plate 16 placed on the first dispensing table 26A.

(2) As shown in FIGS. 9 and 10, the opening / closing hand device 100 in which the pair of hands 102 are at the second most spaced position is advanced toward the reaction plate 16, and the gripping member 102 </ b> B of the hand 102 is reacted. It is arranged on the side of the plate 16.

(3) The pair of hands 102 are brought close to each other and the reaction plate 16 is gripped by the gripping member 102B. In this state, the closed position detection sensor 152 outputs a first signal to the control device 91, and the control device 91 can determine that the reaction plate 16 has been gripped by the hand 102. Thereafter, the horizontal arm 60 is slightly raised and the reaction plate 16 is slightly lifted. Thereby, the lower end part 102Bb of the holding member 102B is caught by the corner | angular part of the reaction plate 16 (refer FIG. 11).

(4) As shown in FIGS. 12 and 13, the receiving tray 160 is moved forward and disposed below the reaction plate 16.

(5) As shown in FIGS. 14 and 15, the open / close hand device 100 and the receiving tray 160 are simultaneously retracted.

(6) After that, the hand unit 78 is moved to the front of the processing unit that performs the next processing, and the reaction plate 16 can be arranged in the next processing unit by performing the reverse operation of the above-described operation.

  In this way, after the reaction plate 16 is gripped by the hand 102, the receiving tray 160 is disposed below the reaction plate 16. Therefore, even if the reaction plate 16 is detached from the hand 102 for any reason, the receiving tray 160 is placed below the reaction plate 16. Since the arranged receiving tray 160 receives the reaction plate 16, it is possible to suppress the reaction plate 16 from falling onto the floor or the like.

  Here, when the reaction plate 16 is detached from the hand 102 (or when there is no reaction plate 16 intended to be gripped by the hand 102), as shown in FIG. The closed position detection sensor 152 does not output the first signal because the hand 102 is further closer than the state in which the reaction plate 16 is gripped. Thereby, the control device 91 can recognize that the reaction plate 16 has been detached from the hand 102.

  When the reaction plate 16 is detached from the hand 102, the control device 91 stops the operation of the transport device 56, activates the alarm device 94 to give an alarm, and notifies the operator that the reaction plate 16 has been detached. As a result, the operator can cause the hand 102 to correctly grip the reaction plate 16 that has caused the gripping failure and continue the analysis.

  The sample plate 23 can also be transported in the same manner as the reaction plate 16, and the sample plate 23 is not dropped and the sample that has entered the sample plate 23 is not spilled.

(Analysis procedure)
Next, a sample analysis procedure will be described.
First, a new reaction plate 16 in which the primary antibody is solid-phased in the recess 16A is set in the storage portion on the left side of the reaction plate stocker 18, and the storage portion on the right side of the reaction plate stocker 18 is left empty. In addition, the specimen plate 23 in which the specimen (for example, serum or the like) is placed in the recess 23A is set in the specimen plate stocker 32 in the left storage section, and the right storage section of the specimen plate stocker 32 is left empty. The labeled antibody solution is put into the reagent container 20 of the reagent container stage 19 on the left side of the apparatus, and the coloring substrate solution is put into the reagent container 22 of the reagent container stage 19 on the right side of the apparatus. A cleaning liquid is prepared in the cleaning unit 52, and a reaction stop liquid is prepared in the reaction stop liquid dispensing unit 48. Here, an example in which an enzyme-labeled antibody solution is used as the labeled antibody solution is shown.

  When various information including an ID number (for example, for identifying a person who provided a sample) for specifying the sample by operating the input device 92 is input to the control device 91, the control device 91 stores the information in advance. Process number, ID number for specifying the sample, ID number for specifying the type and various information (analysis items, etc.) of the sample plate 23 (included in the barcode 24), and the sample plate 23 Corresponding information on the correspondence between the concave portion 23A and the sample, the ID number (included in the barcode 17) for identifying the type and information of the reaction plate 16, the correspondence information on the concave portion 16A of the reaction plate 16 and the sample, etc. Then, the transfer procedure of the reaction plate 16 and the sample plate 23 corresponding to the processing step is set.

When the start button is pressed, the analyzer 10 starts the analysis as follows.
(1) The hand unit 78 moves to the left storage section of the sample plate stocker 32, takes out the sample plate 23 containing the sample from the sample plate stocker 32, and conveys it to the second dispensing table 26B.

(2) Next, the hand unit 78 moves to the left storage part of the reaction plate stocker 18, takes out the new reaction plate 16, and conveys it to the first dispensing table 26A.

(3) The dispensing unit 38 aspirates the sample placed in the recess 23A of the sample plate 23, and dispenses the sucked sample into the recess 16A of the reaction plate 16. Thereafter, the reaction plate 16 is vibrated to stir the specimen.
The dispensing unit 38 sucks and discharges a liquid such as a sample by lowering the dispensing nozzle 38A of a new disposable chip stored in the disposable chip box 28 previously arranged in the disposable chip placement unit 30. This is performed in a state where the nozzle 38A is attached to the tip end. After the discharge is finished, the used disposable tip is removed from the dispensing nozzle 38A and collected in a collection box (not shown). Thereafter, the same operation is performed when the dispensing unit 38 sucks and discharges a liquid such as a specimen.

(4) The hand unit 78 moves to the second dispensing table 26B, and transports and stores the used sample plate 23 to the storage unit on the right side of the sample plate stocker 32.

(5) The hand unit 78 moves to the first dispensing table 26A, takes out the reaction plate 16, and conveys it to the incubator 44. In the incubator 44, the reaction plate 16 is kept at a predetermined temperature for a predetermined time, and the reaction (primary reaction) between the primary antibody and the antigen in the specimen is promoted. By the primary reaction, an immune complex 1 of the primary antibody and the antigen is generated.

(6) The hand unit 78 holds the reaction plate 16 of the incubator 44 and conveys it to the cleaning unit 52. In the cleaning unit 52, the cleaning liquid is discharged from the cleaning unit 52 to the recess 16 </ b> A of the reaction plate 16, and then the mixed liquid containing the cleaning liquid is sucked from the recess 16 </ b> A to wash away unnecessary substances in the recess. This discharge and suction may be repeated a plurality of times.

(7) The hand unit 78 holds the reaction plate 16 of the cleaning unit 52 and conveys it to the first dispensing table 26A. In the first dispensing table 26A, the dispensing unit 38 sucks the enzyme-labeled antibody (labeled secondary antibody) solution from the reagent container 20, and dispenses the sucked enzyme-labeled antibody solution into the recess 16A of the reaction plate 16 (enzyme). Labeled antibody dispensing operation). Thereafter, the reaction plate 16 is vibrated to stir the enzyme-labeled antibody solution.

(8) The hand unit 78 takes out the reaction plate 16 of the first dispensing table 26A and transports it to the incubator 44. In the incubator 44, the reaction plate 16 is kept at a predetermined temperature for a predetermined time, and the reaction (secondary reaction) between the primary antibody-antigen immune complex 1 and the enzyme-labeled antibody produced by the primary reaction is promoted. By the secondary reaction, an immune complex 2 of the primary antibody, the antigen, and the enzyme-labeled antibody is generated.

(9) The hand unit 78 holds the reaction plate 16 of the incubator 44 and conveys it to the cleaning unit 52. In the cleaning unit 52, the cleaning liquid is discharged into the concave portion 16A of the reaction plate 16, and then the mixed liquid containing the cleaning liquid is sucked from the concave portion 16A to wash away unnecessary enzyme-labeled antibodies in the concave portion. This discharge and suction may be repeated a plurality of times.

(10) The hand unit 78 holds the reaction plate 16 of the cleaning unit 52 and conveys it to the first dispensing table 26A.

(11) The dispensing unit 38 aspirates the chromogenic substrate solution from the reagent container 22, and dispenses the aspirated chromogenic substrate solution into the recess 16A of the reaction plate 16 (chromogenic substrate dispensing operation). Thereafter, the reaction plate 16 is vibrated to stir the coloring substrate solution.

(12) The hand unit 78 holds the reaction plate 16 of the first dispensing table 26A and conveys it to the incubator 44.

(13) In the incubator 44, the reaction plate 16 is kept at a predetermined temperature for a predetermined time, and the reaction between the label in the immune complex 2 generated by the secondary reaction and the chromogenic substrate (coloring reaction) is promoted to develop color.

(14) The hand unit 78 holds the reaction plate 16 of the incubator 44 and conveys it to the reaction stop liquid dispensing unit 48.

(15) In the reaction stop solution dispensing unit 48, the reaction stop solution is dispensed into the recess 16A of the reaction plate 16. Thereafter, the reaction plate 16 is vibrated to stir the reaction stop solution. As a result, the reaction (labeling reaction) between the label in the immune complex 2 and the chromogenic substrate is stopped.

(16) The hand unit 78 holds the reaction plate 16 of the reaction stop liquid dispensing unit 48 and conveys it to the photometric unit 50.

(17) In the photometry unit 50, light of a predetermined wavelength is projected to the concave portion 16A of the reaction plate 16, and the absorbance of the solution in the concave portion 16A is measured to analyze the sample, that is, measure the amount of antigen in the sample. Done.

(18) After the analysis is completed, the hand unit 78 grips the reaction plate 16 of the photometry unit 50, transports it to the storage unit on the right side of the reaction plate stocker 18, and stores it. Thus, the sample analysis operation is completed.

  As described above, in the transport device 56 of the present embodiment, after gripping objects such as the reaction plate 16 and the sample plate 23 are gripped by the hand 102 of the hand unit 78, the receiving tray 160 is arranged immediately below the gripping object. Therefore, it is possible to suppress the fall of the grasped object onto the floor or the analyzer 10 when the grasped object is detached from the hand 102, and as a result, prevent contamination of the floor or the analyzer 10 with a specimen such as a biological sample. can do.

[Other Embodiments]
Although one embodiment of the present invention has been described above, the present invention is not limited to the above, and other various modifications can be made without departing from the spirit of the present invention. It is.
In the above embodiment, the receiving tray 160 for receiving the gripping objects such as the reaction plate 16 and the sample plate 23 has a plate shape. The shape may be, for example, a mesh shape, or may be formed from a plurality of rod-shaped members.

  In the above embodiment, the hand unit 78 does not hold the reaction plate 16 or the sample plate 23 when it is determined that the collated reaction plate 16 or the sample plate 23 should not be transported from now on. As long as 16 or the sample plate 23 is not transported, the hand unit 78 may hold the reaction plate 16 or the sample plate 23.

  In the above-described embodiment, an alarm is issued when the reaction plate 16 or the sample plate 23 is misplaced. However, the position of the reaction plate 16 or the sample plate 23 that is misplaced in the apparatus is displayed on the display device 93. May be.

16 Reaction plate (object to be gripped)
23 Sample plate (object to be grasped)
56 Conveying device 91 Control device 94 Alarm device 100 Opening and closing hand device (gripping device)
102 Hand (gripping member)
116 Motor (movement mechanism)
122 Pulley (movement mechanism)
124 Timing belt (moving mechanism)
126 Connecting bracket (moving mechanism)
152 Closed position detection sensor (sensor)
160 Receiving tray (receiving member)
164 Pulley (receiving member moving mechanism)
166 motor (receiving member moving mechanism)
172 Pulley (receiving member moving mechanism)
174 Timing belt (receiving member moving mechanism)
176 Connecting bracket (receiving member moving mechanism)

Claims (5)

A gripping member for gripping and gripping a gripping object containing a specimen; and
A moving mechanism for moving the gripping member in a horizontal direction that is in contact with and away from the gripping object;
A receiving member that moves below the gripping object gripped by the gripping member;
A receiving member moving mechanism for moving the receiving member;
A gripping device comprising: A sensor for detecting whether or not the gripping member is in a gripping position for gripping the gripping object;
A control device that determines that the gripping object is detached from the gripping member when a signal from the sensor is not received after the gripping member grips the gripping object;
The gripping device according to claim 1, comprising: Equipped with an alarm device for alarming,
The gripping device according to claim 2, wherein the control device issues a warning with the warning device when it is determined that the gripping object is detached from the gripping member.   The conveyance apparatus which moves the holding apparatus of any one of Claims 1-3 to an up-down direction and a horizontal direction.   The analyzer provided with the conveying apparatus of Claim 4.

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