JP2018169165A - Container conveyance mechanism and analysis apparatus having the same - Google Patents

Container conveyance mechanism and analysis apparatus having the same Download PDF

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JP2018169165A
JP2018169165A JP2017064154A JP2017064154A JP2018169165A JP 2018169165 A JP2018169165 A JP 2018169165A JP 2017064154 A JP2017064154 A JP 2017064154A JP 2017064154 A JP2017064154 A JP 2017064154A JP 2018169165 A JP2018169165 A JP 2018169165A
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container
height
transport mechanism
gripping
height detection
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JP6951854B2 (en
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進 坂入
Susumu Sakairi
進 坂入
大貫　和俊
Kazutoshi Onuki
和俊 大貫
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Hitachi High Tech Corp
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Hitachi High Tech Corp
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Abstract

To securely convey containers with different heights and containers with unknown installation height by a simple mechanism.SOLUTION: A container conveyance mechanism has a configuration capable of detecting the height or trouble and detecting the gripping state of a container, and enables reliable conveyance of the container by performing determination by combining the detection and a travel of the mechanism.SELECTED DRAWING: Figure 3

Description

本発明は、分析装置における容器搬送機構およびこれを備えた分析装置に関する。   The present invention relates to a container transport mechanism in an analyzer and an analyzer provided with the same.

検体に含まれる測定対象物を検出する分析装置において、容器内で検体と試薬を反応させて処理を行う装置が知られている。この際に、容器を所定の位置へ設置する必要があるが、搬送機構により未使用の容器を所定位置へ自動で搬送する、または使用後の容器を自動で廃棄位置へ搬送することで、オペレータの労力を軽減できる。容器の搬送は、容器を把持して持ち上げ、所定位置へ移動する機構が一般的に知られている。   2. Description of the Related Art An analyzer that detects a measurement target contained in a sample and performs processing by reacting the sample with a reagent in a container is known. At this time, it is necessary to install the container at a predetermined position, but the operator can automatically transport an unused container to a predetermined position by the transport mechanism, or can automatically transport the used container to a disposal position. Can be reduced. For transporting containers, a mechanism is generally known in which a container is gripped and lifted and moved to a predetermined position.

特開２００２−２８６７２６号公報JP 2002-286726 A 特開２０１５−８７３０６号公報Japanese Patent Laying-Open No. 2015-87306 特開２０１５−１１０２６４号公報JP, 2015-110264, A 特開２０１２−９３１３３号公報JP 2012-93133 A 特表２００９−５１０３９９号公報Special table 2009-510399 gazette

特許文献１では、反応容器を把持して搬送するためのグリップ手段に関して開示されており、障害物を検知する検知手段、およびグリップ手段が開状態か閉状態かを検知する検知手段を備えているが、装置上で１平面上に並べて設置される設置高さが固定の反応容器に対してのグリップ手段である。   Patent Document 1 discloses grip means for gripping and transporting a reaction vessel, and includes detection means for detecting an obstacle and detection means for detecting whether the grip means is in an open state or a closed state. However, it is a grip means for a reaction vessel having a fixed installation height arranged side by side on the apparatus.

特許文献２では、検体容器を把持して搬送するための移動機構に関して開示されている。障害物の検知手段を備えているが、前記特許と同様に、設置高さが固定の検体容器に対して搬送するための機構である。   Patent Document 2 discloses a moving mechanism for gripping and transporting a sample container. Although it has an obstacle detection means, it is a mechanism for transporting to a specimen container having a fixed installation height, as in the above patent.

特許文献３では、把持対象物の落下を防止できる把持装置に関して開示されている。把持対象物の把持検出手段は備えているが、前記特許と同様に、設置高さが固定の把持対象物に対しての把持装置である。   Patent Document 3 discloses a gripping device that can prevent a gripping object from falling. Although it is provided with gripping detection means for a gripping object, it is a gripping device for a gripping object with a fixed installation height, as in the above patent.

特許文献４では、検体容器を複数載置可能なアダプタを把持して移載する装置に関して開示されている。爪や位置決めピンによって、安定して把持することが可能で、把持の成功・失敗を検出できる。前記特許と同様に、アダプタの設置高さは固定である。   Patent Document 4 discloses an apparatus for holding and transferring an adapter capable of mounting a plurality of specimen containers. It is possible to grip stably with a nail or a positioning pin, and to detect the success or failure of gripping. Similar to the patent, the installation height of the adapter is fixed.

特許文献５では、蓋付きの容器を把持して搬送するグリッパ―に関して開示されている。グリッパ―の開放・閉鎖を検出する機能があるが、前記特許と同様、容器の設置高さは固定である。また、
特許文献１〜５は、いずれも設置高さが固定の対象物に対しての把持機構であり、また高さが異なる対象物に対して扱うことを言及していない。 Patent Document 5 discloses a gripper that grips and conveys a container with a lid. Although there is a function to detect the opening / closing of the gripper, the installation height of the container is fixed as in the above patent. Also,
Patent Documents 1 to 5 are all gripping mechanisms for an object having a fixed installation height, and do not mention handling of objects having different heights.

本発明では、把持対象物の容器の設置高さが不明の場合、また把持対象物の高さが異なる場合でも確実に搬送可能な容器搬送機構を提案する。   The present invention proposes a container transport mechanism capable of transporting reliably even when the installation height of the container of the gripping object is unknown or when the height of the gripping object is different.

本発明の容器搬送機構は、検体に含まれる測定対象物を検出するために、容器内で検体と試薬を混合して反応させ測定対象物を含む反応生成物を生成する分析装置に用いる容器搬送機構において、
前記処理にて使用する容器を把持する把持手段と、該把持手段を水平方向、および鉛直方向に移動させる駆動手段と、設置された容器の高さを検出する高さ検出手段と、を備え、
前記高さ検出手段は、容器上面に接触する高さ検出用部材と、該高さ検出用部材と共に鉛直方向へ移動する遮光部材と、遮光部材により遮光されるセンサと、前記高さ検出用部材を下方へ押す弾性部材とを有している。 The container transport mechanism of the present invention is a container transport used in an analyzer that generates a reaction product containing a measurement object by mixing the sample and a reagent in the container and reacting in order to detect the measurement object contained in the sample. In the mechanism,
A gripping means for gripping the container used in the processing, a driving means for moving the gripping means in the horizontal direction and the vertical direction, and a height detection means for detecting the height of the installed container,
The height detection means includes a height detection member that contacts the upper surface of the container, a light shielding member that moves in the vertical direction together with the height detection member, a sensor that is shielded by the light shielding member, and the height detection member. And an elastic member that pushes downward.

本発明によると、設置されている高さが不明の容器および高さの異なる容器を、簡便な機構で確実に搬送できる。   According to the present invention, a container with an unknown height and a container with a different height can be reliably transported with a simple mechanism.

容器の例であり、（ａ）は１個の場合、（ｂ）は積み重ねた状態を示している。It is an example of a container, (a) shows the state where it piled up, when (a) is one. 容器搬送機構を示しており、（ａ）は外観斜視図を、（ｂ）は別の角度から見た外観斜視図を示している。The container conveyance mechanism is shown, (a) has shown the external appearance perspective view, (b) has shown the external appearance perspective view seen from another angle. 容器搬送機構が容器を把持した図であり、（ａ）は容器１個を把持した状態であり、（ｂ）は容器２個の積み重ねを把持した状態である。It is the figure which the container conveyance mechanism hold | gripped the container, (a) is the state which hold | gripped one container, (b) is the state which hold | gripped the stack of two containers. 容器搬送機構が把持部材を閉じた状態の図であり、（ａ）は正面図であり、（ｂ）は右側図である。It is a figure of the state which the container conveyance mechanism closed the holding member, (a) is a front view, (b) is a right view. 容器搬送機構が把持部材を開いた状態の図であり、（ａ）正面図であり、（ｂ）右側面図である。It is a figure of the state in which the container conveyance mechanism opened the holding member, (a) It is a front view, (b) It is a right view. 容器搬送機構の把持部材に障害物が接触した状態の図であり、（ａ）は正面図であり、（ｂ）は右側面図である。It is a figure of the state which the obstruction contacted the holding member of the container conveyance mechanism, (a) is a front view, (b) is a right view. 容器搬送機構が容器１個を把持する場合の説明図（高さ検出）であり、（ａ）は正面図であり、（ｂ）は右側面図である。It is explanatory drawing (height detection) in case a container conveyance mechanism hold | maintains one container, (a) is a front view, (b) is a right view. 容器搬送機構が容器１個を把持する場合の説明図（把持部を閉じた状態）であり、（ａ）は正面図であり、（ｂ）は右側面図である。It is explanatory drawing (state which closed the holding part) when a container conveyance mechanism hold | maintains one container, (a) is a front view, (b) is a right view. 容器搬送機構が容器１個を把持する場合の説明図（上昇時）であり、（ａ）は正面図であり、（ｂ）は右側面図である。It is explanatory drawing (at the time of a raise) when a container conveyance mechanism hold | maintains one container, (a) is a front view, (b) is a right view. 容器搬送機構が容器１個を把持する場合の説明図（設置時／障害検出時）（ａ）は正面図であり、（ｂ）は右側面図である。An explanatory view (at the time of installation / at the time of fault detection) when a container conveyance mechanism grasps one container (a) is a front view, and (b) is a right side view. 容器搬送機構が容器２個積み重ねを把持する場合の説明図（高さ検出）（ａ）は左側面図であり、（ｂ）は正面図である。Explanatory drawing (a height detection) in case a container conveyance mechanism hold | maintains a stack of two containers (a) is a left view, (b) is a front view. 容器搬送機構が容器２個積み重ねを把持する場合の説明図（把持部を閉じた状態）（ａ）は左側面図であり、（ｂ）は正面図である。When the container transport mechanism grips a stack of two containers (state in which the grip portion is closed) (a) is a left side view, and (b) is a front view. 容器搬送機構が容器２個積み重ねを把持する場合の説明図（上昇時）（ａ）は左側面図であり、（ｂ）は正面図である。Explanatory drawing (when ascending) (a) is a left side view and (b) is a front view when the container transport mechanism grips a stack of two containers. 容器搬送機構が容器２個積み重ねを把持する場合の説明図（設置時／障害検出時）（ａ）は左側面図であり、（ｂ）は正面図である。An explanatory view (at the time of installation / at the time of failure detection) when a container conveyance mechanism grasps a stack of two containers (a) is a left side view, and (b) is a front view. 高さ検出遮光部材変更の説明図であり、（ａ）は容器１個を把持する場合の正面図であり、（ｂ）は、容器２個積み重ねを把持する場合の正面図である。It is explanatory drawing of a height detection light-shielding member change, (a) is a front view in the case of holding one container, (b) is a front view in the case of holding a stack of two containers.

本発明は、容器内で検体や試薬を混合して反応させて処理を行う分析装置において、容器を搬送するための容器搬送機構に関する。   The present invention relates to a container transport mechanism for transporting a container in an analyzer that performs processing by mixing and reacting specimens and reagents in the container.

容器は、分析処理の効率向上のため、１個の容器内に液体を保持可能な領域を複数持たせて、同時に複数テストを処理できるようにする場合がある。例えば、図１（ａ）に示す容器１００では９６個の液体保持領域１０１を持ち、９６テスト同時に処理可能である。以降、容器１００を用いて説明するが、液体保持領域の数１０１は任意で良い。   In order to improve the efficiency of analysis processing, a container may have a plurality of regions capable of holding liquid in one container so that a plurality of tests can be processed simultaneously. For example, the container 100 shown in FIG. 1A has 96 liquid holding regions 101 and can process 96 tests simultaneously. Hereinafter, although the description will be made using the container 100, the number 101 of the liquid holding regions may be arbitrary.

ここで、容器１００を搬送する際に、１個ずつ把持して搬送しても良いが、図１（ｂ）に示すように積み重ね可能な形状であれば、複数個を同時に把持して搬送することも想定される。このような場合、未使用の容器を積み重ねた状態で装置上に設置して、そこから取り出して処理箇所へ搬送し、処理後は、廃棄箇所に使用後の容器１００を積み重ねて廃棄することが想定される。また、容器も１種類のみでなく、例えば高さの異なる複数種類の容器を扱うことも想定される。   Here, when the containers 100 are transported, they may be gripped and transported one by one. However, as shown in FIG. 1B, a plurality of containers 100 may be gripped and transported simultaneously. It is also assumed. In such a case, it is possible to install unused containers on the apparatus in a stacked state, take them out and transport them to a processing location, and stack the used containers 100 at disposal locations after processing. is assumed. Moreover, it is assumed that not only one type of container but also a plurality of types of containers having different heights are handled.

以降、本実施例にて、容器１００を１個ずつ搬送、および容器１００を２個積み重ねて搬送する場合を中心に説明する。これは高さの異なる容器も扱うことが可能であることと同義である。   Hereinafter, in this embodiment, the description will focus on the case where the containers 100 are transported one by one and the two containers 100 are stacked and transported. This is synonymous with the ability to handle containers of different heights.

未使用状態の容器１００は、図１（ｂ）の様に積み重ねられた状態で装置に搭載し、上から１個ずつ容器搬送機構により指定位置へ搬送して使用される。積み重ねて設置される容器は、図示はしないが、倒れないように上方が開放された箱に入れて設置したり、装置上にガイドなどを設けて支えても良い。また、使用後の容器１００は、容器搬送機構により廃棄位置へ搬送される。廃棄位置でも供給位置と同様に積み重ねて廃棄される。使用後の容器は試料等が付着していることが想定され、直接接触すると感染等の恐れがあるため、例えば廃棄位置に廃棄箱を設置してその中に廃棄することで、最終的には廃棄箱ごと廃棄することで直接接触のリスクを低減できる。   The unused containers 100 are mounted on the apparatus in a stacked state as shown in FIG. 1B, and are transported one by one from the top to a designated position for use. Although not shown, the stacked containers may be installed in a box whose upper side is opened so as not to fall down, or may be supported by providing a guide or the like on the apparatus. Moreover, the container 100 after use is conveyed to a disposal position by a container conveyance mechanism. As with the supply position, they are stacked and discarded at the disposal position. Since it is assumed that the sample is attached to the container after use, and there is a risk of infection if it comes in direct contact, for example, by installing a disposal box at the disposal location and discarding it in the end, finally The risk of direct contact can be reduced by discarding the entire disposal box.

通常、分析装置では、容器搬送でアクセスする箇所は高さが一意である。その場合、装置の組立誤差等の機差があるため、あらかじめ調整作業が必要な場合はあるが、各位置での容器搬送機構の移動量は一意に決めることができる。しかし、図１（ｂ）のように、容器が積み重ねられている場合、容器がいくつ積み重ねられているか分からない場合があり、自動で処理するためには、高さを検出するための構成が必須になる。   In general, in an analyzer, the height of a portion accessed by container transportation is unique. In this case, because there are machine differences such as assembly errors of the apparatus, adjustment work may be necessary in advance, but the amount of movement of the container transport mechanism at each position can be uniquely determined. However, as shown in FIG. 1B, when containers are stacked, it may not be known how many containers are stacked, and a configuration for detecting the height is essential for automatic processing. become.

ここで、容器１００を搬送するための、容器搬送機構３００を説明する。図２（ａ）（ｂ）に容器搬送機構３００の外観を、図３（ａ）（ｂ）に容器を把持した状態の容器搬送機構３００の外観を示し、図４〜１４にて動作の詳細を説明する。   Here, the container transport mechanism 300 for transporting the container 100 will be described. 2 (a) and 2 (b) show the appearance of the container transport mechanism 300, and FIGS. 3 (a) and 3 (b) show the appearance of the container transport mechanism 300 in a state where the container is gripped. Details of the operation are shown in FIGS. Will be explained.

まず、容器搬送機構３００の構成および主要部材の機能を説明する。   First, the configuration of the container transport mechanism 300 and the functions of the main members will be described.

容器搬送機構３００は、把持部材３０１、把持部材開閉用アクチュエータ３０２、把持部材用ばね３０３、把持検出センサ３０４、把持検出センサ遮光部材３０５、把持部ベース３０６、高さ検出用部材３０７ａ、３０７ｂ、ストッパ３０８ａ、３０８ｂ、高さ検出部材用ばね３０９ａ、３０９ｂ、高さ検出／障害検出センサ３１０ａ、３１０ｂ、高さ検出／障害検出センサ遮光部材３１１ａ、３１１ｂを備える。   The container transport mechanism 300 includes a gripping member 301, a gripping member opening / closing actuator 302, a gripping member spring 303, a gripping detection sensor 304, a gripping detection sensor light shielding member 305, a gripping part base 306, height detection members 307a and 307b, and a stopper. 308a and 308b, height detection member springs 309a and 309b, height detection / fault detection sensors 310a and 310b, and height detection / fault detection sensor light shielding members 311a and 311b.

容器１００は、図１（a）に示すように、高さ検出部材３０６が接触可能な容器上面１０２、および把持部材３０１で挟み込み、下方を引掛けることが可能な切り欠きａ １０３を有している。また、容器１００は上面と下面とが嵌合して図１（ｂ）に示すように積み重ね可能である。一例として容器１００を載せているが、高さ検出部材３０６が接触可能な容器上面を有し、把持部材３０１で挟み込むことができ、下方を引掛けられるような形状で、積み重ね可能であれば、この形状に限られない。   As shown in FIG. 1A, the container 100 has a container upper surface 102 with which the height detection member 306 can contact, and a notch a 103 that can be sandwiched between the gripping members 301 and hooked downward. Yes. In addition, the container 100 can be stacked as shown in FIG. As an example, the container 100 is placed, but if the height detection member 306 has a container upper surface that can be contacted, can be sandwiched by the gripping member 301, and can be stacked in a shape that can be hooked downward, It is not limited to this shape.

図４（ａ）（ｂ）に容器搬送機構３００の把持部材３０１が閉じた状態の図を、図５（ａ）（ｂ）に容器搬送機構３００の把持部材３０１が開いた状態の図を示す。把持部材３０１は、把持部材開閉用アクチュエータ３０２の動作により、水平方向に開閉可能な構造で、把持部材開閉用ばね３０３により、常に閉じる方向への力が働いており、把持部材３０１を開いた際には把持部材３０１が開きすぎないように抑制し、容器１００を把持する際には、容器１００の側面を内側へ押さえつける力が働く。把持部材３０１が開いている際には、把持検出センサ３０４が、把持検出センサ遮光部材３０５により遮光された状態で、閉じている際には、把持検出センサ３０４から、把持検出センサ遮光部材３０５が外れる。容器１００を把持する際には、把持部材開閉用アクチュエータ３０２は閉じている状態であるが、把持検出センサ３０４から、把持検出センサ遮光部材３０５が外れないような構成としている。つまり、（１）把持部材開閉用アクチュエータ３０２が閉で把持検出センサ３０４が遮光していない場合：把持部材３０１が何も把持しておらず完全に閉じている状態、（２）把持部材開閉用アクチュエータ３０２が開で把持検出センサ３０４が遮光している場合：把持部材３０１が何も把持せずに開いた状態、（３）把持部材開閉用アクチュエータ３０２が閉で把持検出センサ３０４が遮光している場合：容器１００を把持した状態、 の３通りを区別できる。また、把持部材３０１の先端付近には突起３１２を設けており、容器１００を正常に把持した際には、突起３１２は切り欠きａ １０３に入り込み、容器１００を下側から支えて容器が落下するのを防止することができることに加え、把持した容器１００が水平方向へずれることを抑制できる。   4A and 4B show a state in which the gripping member 301 of the container transport mechanism 300 is closed, and FIGS. 5A and 5B show a state in which the gripping member 301 of the container transport mechanism 300 is open. . The gripping member 301 has a structure that can be opened and closed in the horizontal direction by the operation of the gripping member opening / closing actuator 302. The gripping member opening / closing spring 303 always applies a force in the closing direction. Therefore, when the container 100 is gripped, a force that presses the side surface of the container 100 inward acts. When the grip member 301 is open, the grip detection sensor 304 is shielded from light by the grip detection sensor light shielding member 305. When the grip detection sensor 304 is closed, the grip detection sensor light shielding member 305 is moved from the grip detection sensor 304. Come off. When grasping the container 100, the grasping member opening / closing actuator 302 is in a closed state, but the grasping detection sensor light shielding member 305 is not detached from the grasping detection sensor 304. That is, (1) When the gripping member opening / closing actuator 302 is closed and the gripping detection sensor 304 is not shielded from light: the gripping member 301 is not gripping anything and is completely closed, (2) For gripping member opening / closing When the actuator 302 is open and the grip detection sensor 304 is shielded from light: the grip member 301 is open without gripping anything, (3) the grip member opening / closing actuator 302 is closed and the grip detection sensor 304 is shielded from light If the container 100 is in a gripped state, the following three types can be distinguished. Further, a protrusion 312 is provided near the tip of the gripping member 301. When the container 100 is normally gripped, the protrusion 312 enters the notch a 103, and the container falls while supporting the container 100 from below. In addition to being able to prevent this, it is possible to suppress the grasped container 100 from being displaced in the horizontal direction.

高さ検出用部材３０７ａ、３０７ｂとストッパ３０８ａ、３０８ｂと高さ検出／障害検出センサ遮光部材３１１ａ、３１１ｂはそれぞれ結合しており、上下に可動となっているが、常に高さ検出部材用ばね３０９ａ、３０９ｂにより下方向へ押し付ける力が働いており、高さ検出用部材３０７ａ、３０７ｂに何も接触していない場合は、ストッパ３０８ａ、３０８ｂが把持部ベース３０６の上面に接触する位置まで下がっている。また、高さ検出用部材３０７ａ、３０７ｂが何かに接触した場合には、高さ検出用部材３０７ａ、３０７ｂは高さ検出部材用ばね３０９ａ、３０９ｂに逆らって上方向へ動き、高さ検出／障害検出センサ遮光部材３１１ａが、高さ検出／障害検出センサ３１０ａを遮光する。もしくは高さ検出／障害検出センサ遮光部材３１１ｂが、高さ検出／障害検出センサ３１０ｂを遮光する。さらに、把持部材３０１と把持部ベース３０６は一体で上下に可動となっており、把持部材３０１が何かに接触した場合は、図６（ａ）（ｂ）に示すように、把持部材３０１と把持部ベース３０６は一体で上方へ動き、ストッパ３０８ａ、３０８ｂも押し上げるため、高さ検出／障害検出センサ遮光部材３１１ａ、３１１ｂも一緒に上方に動き、高さ検出／障害検出センサ３１０ａを遮光する。   The height detection members 307a and 307b, the stoppers 308a and 308b, and the height detection / fault detection sensor light-shielding members 311a and 311b are coupled to each other and are movable up and down. However, the height detection member spring 309a is always provided. , 309b exerts a downward pressing force, and when there is no contact with the height detection members 307a, 307b, the stoppers 308a, 308b are lowered to a position where they come into contact with the upper surface of the gripper base 306. . Further, when the height detection members 307a and 307b come into contact with something, the height detection members 307a and 307b move upward against the height detection member springs 309a and 309b to detect height / The failure detection sensor light blocking member 311a blocks the height detection / failure detection sensor 310a. Alternatively, the height detection / fault detection sensor light shielding member 311b shields the height detection / fault detection sensor 310b. Furthermore, the gripping member 301 and the gripping portion base 306 are integrally movable up and down, and when the gripping member 301 comes into contact with something, as shown in FIGS. Since the gripper base 306 is integrally moved upward and the stoppers 308a and 308b are also pushed up, the height detection / fault detection sensor light-shielding members 311a and 311b are also moved together to shield the height detection / fault detection sensor 310a.

容器搬送機構３００が、容器１００を把持して指定位置へ設置するまでの流れを説明する。   A flow until the container transport mechanism 300 grips the container 100 and installs it at the specified position will be described.

図示は省略するが、容器搬送機構３００は水平方向および鉛直方向へ移動可能な構成であり、容器１００の供給箇所、分析処理を行う箇所、容器１００の廃棄箇所などへ自在に移動可能となっている。   Although illustration is omitted, the container transport mechanism 300 is configured to be movable in the horizontal direction and the vertical direction, and can be freely moved to a supply location of the container 100, a location where analysis processing is performed, a disposal location of the container 100, and the like. Yes.

まず、容器１００を１個搬送する場合を説明する。容器１００の設置高さが未知の場合、高さ検出を行う必要がある。容器１００の設置高さが未知の可能性がある場所は、容器が積み重ねられている場所である。容器搬送機構３００は、容器１００が積み重ねられている位置の上方まで水平移動し、把持部材開閉用アクチュエータ３０２の動作により把持部材３０１を開いた状態で、図７（ａ）（ｂ）に示すように、積み重ねて設置されている容器１００へ向かって下降する。容器上面１０２に、高さ検出用部材３０７ａ、３０７ｂが接触後、さらに下降すると、高さ検出用部材３０７ａ、３０７ｂが容器上面１０２に押されて、高さ検出／障害検出センサ遮光部材３１１ａが、高さ検出／障害検出センサ３１０ａを遮光することで、容器１００まで下降したことを確認できる。これにより、容器１００の設置高さを検出することができる。その状態で下降停止し、図８（ａ）（ｂ）に示すように、把持部材３０１を把持部材開閉用アクチュエータ３０２の動作により閉じることで、容器１００を挟む。この時、把持検出センサ３０４が遮光されたままの状態であれば、容器１００を把持したと一旦判断できる。ここでもし把持検出センサ３０４が遮光していない状態に変わった場合、容器１００を把持していないと判断でき、容器１００自体に異常があるか、間違った位置で下降して、高さ検出用部材３０７ａ、３０７ｂもしくは把持部材３０１が障害物に接触していることが想定されるため処理を停止する。   First, the case where one container 100 is conveyed will be described. When the installation height of the container 100 is unknown, it is necessary to detect the height. A place where the installation height of the container 100 may be unknown is a place where the containers are stacked. As shown in FIGS. 7A and 7B, the container transport mechanism 300 moves horizontally above the position where the containers 100 are stacked and opens the gripping member 301 by the operation of the gripping member opening / closing actuator 302. Then, it descends toward the container 100 that is stacked. When the height detection members 307a and 307b are further lowered after contacting the container upper surface 102, the height detection members 307a and 307b are pushed by the container upper surface 102, and the height detection / fault detection sensor light shielding member 311a is By shielding the height detection / fault detection sensor 310a from light, it can be confirmed that the container 100 has been lowered. Thereby, the installation height of the container 100 can be detected. In this state, the lowering is stopped, and the container 100 is sandwiched by closing the gripping member 301 by the operation of the gripping member opening / closing actuator 302 as shown in FIGS. At this time, if the grip detection sensor 304 remains shielded from light, it can be determined that the container 100 has been gripped. Here, if the grip detection sensor 304 changes to a state in which the light is not shielded, it can be determined that the container 100 is not gripped, and the container 100 itself is abnormal or descends at the wrong position to detect height. Since it is assumed that the members 307a and 307b or the gripping member 301 are in contact with the obstacle, the processing is stopped.

容器１００を把持したことを一旦判断した後、容器搬送機構３００を上昇させると、図９（ａ）（ｂ）に示すように、高さ検出部材用ばね３０９ａ、３０９ｂの力によって、高さ検出用部材３０７ａ、３０７ｂが容器１００を下方向へ押し、高さ検出／障害検出センサ遮光部材３１１ａは、高さ検出／障害検出センサ３１０ａから外れる。ここで、一度センサから外すのは、以降の搬送で、容器１００を設置する場所での高さ検知もしくは動作異常時の障害検知に備えるためである。上昇させた後、把持検出センサ３０４が遮光したままであれば、ここで最終的に容器１００を正しく把持していると判断できる。もし把持検出センサ３０４が遮光していない状態へ変わった場合は、容器１００を落としたか、下降していた際に把持部材３０１が障害物に接触していて閉じられなかったことなどが想定されるため処理を停止する。   Once it is determined that the container 100 has been gripped, when the container transport mechanism 300 is raised, as shown in FIGS. 9A and 9B, height detection is performed by the force of the springs 309a and 309b for height detection members. The members 307a and 307b push the container 100 downward, and the height detection / fault detection sensor light shielding member 311a is detached from the height detection / fault detection sensor 310a. Here, the reason why the sensor is once removed is to prepare for height detection at a place where the container 100 is installed or failure detection at the time of abnormal operation in subsequent conveyance. If the grip detection sensor 304 remains shielded after being lifted, it can be determined that the container 100 is finally gripped correctly. If the grip detection sensor 304 is changed to a state where it is not shielded from light, it is assumed that the grip member 301 is in contact with an obstacle when the container 100 is dropped or lowered and cannot be closed. Therefore, the process is stopped.

正しく容器１００を把持できたことが確認できれば、その際の下降量を記憶しておくことで、以降の処理ではその下降量に基づいて動作させることが可能となる。設置高さが未知の場合は、どこで容器１００に接触するか分からないため、接触時の衝撃を低減するために、下降時には長い距離を低速度で動作させるなどが必要であるが、容器１００を把持するための下降すべき量が定められていれば、容器１００へ接触する直前まで高速で下降し、接触するときのみ低速度とすることで、動作時間を短縮することも可能となる。   If it can be confirmed that the container 100 has been correctly gripped, the amount of lowering at that time is stored, and the subsequent processing can be performed based on the amount of lowering. When the installation height is unknown, it is unknown where the container 100 comes into contact. Therefore, in order to reduce the impact at the time of contact, it is necessary to operate a long distance at a low speed when descending. If the amount to be lowered for gripping is determined, the operation time can be shortened by lowering at a high speed until just before contact with the container 100 and by reducing the speed only at the time of contact.

容器１００を把持するための下降すべき量が定められ、下降量が正常範囲で高さ検出され、かつ容器１００の把持検出がされることで、より確実に容器１００を搬送できることが保証される。以降は容器１００の消費数に応じて下降量の正常範囲を変動させていけばよい。   The amount to be lowered to hold the container 100 is determined, the height of the lowered amount is detected in the normal range, and the container 100 is detected to ensure that the container 100 can be transported more reliably. . Thereafter, the normal range of the descent amount may be changed according to the number of containers 100 consumed.

なお、前記最初の高さ検出は、分析処理を開始する前に実施するのが望ましい。あらかじめ設置されている容器１００の数量を把握することで、容器１００が必要数量あるかどうか判断でき、足りなければ追加で設置してから、分析処理を開始すればよい。また、供給箇所が空の状態で高さ検出を行うと、容器１００が無いため、高さ検出用部材３０７ａ、３０７ｂは接触せずに、把持部材３０１が供給箇所の底面に接触して、高さ検出／障害検出センサ遮光部材３１１ａが、高さ検出／障害検出センサ３１０ａを遮光するが、この場合は、容器搬送機構３００の下降量から判断して、供給箇所は空と判断できる。   The first height detection is preferably performed before starting the analysis process. By grasping the quantity of containers 100 installed in advance, it can be determined whether or not there is a necessary quantity of containers 100. If it is not sufficient, the analysis process may be started after additional installation. Further, when height detection is performed with the supply location empty, the container 100 is not present, so that the height detection members 307a and 307b do not come into contact with each other, and the gripping member 301 comes into contact with the bottom surface of the supply location. The height detection / fault detection sensor light shielding member 311a shields the height detection / fault detection sensor 310a. In this case, it is possible to judge that the supply location is empty based on the amount of lowering of the container transport mechanism 300.

把持した容器１００を把持後、分析処理を行う箇所に設置する場合は、設置個所の高さは固定であると想定できる。図１０（ａ）（ｂ）に示すように、容器１００を把持した容器搬送機構３００を指定位置で下降させ、設置個所で容器１００が容器接地面４００に接触した後、さらに下降すると、高さ検出用部材３０７ａ、３０７ｂが容器上面１０２に押されて、高さ検出／障害検出センサ遮光部材３１１ａが、高さ検出／障害検出センサ３１０ａを遮光する。   When the container 100 that has been gripped is installed at a location where analysis processing is performed, it can be assumed that the height of the installation location is fixed. As shown in FIGS. 10 (a) and 10 (b), the container transport mechanism 300 holding the container 100 is lowered at a specified position, and after the container 100 comes into contact with the container grounding surface 400 at the installation location, the height is lowered. The detection members 307a and 307b are pushed against the container upper surface 102, and the height detection / fault detection sensor light shielding member 311a shields the height detection / fault detection sensor 310a.

この時、高さは固定であるから、容器搬送機構３００の下降量が正常範囲かを判断し、正常であれば、把持部材３０１を把持部材開閉用アクチュエータ３０２の動作により開いて把持を解除した後、容器搬送機構３００を上昇させ、把持部材３０１を把持部材開閉用アクチュエータ３０２の動作により閉じる。この時、把持検出センサ３０４が遮光したままの場合、容器１００を把持したままの状態と想定されるため処理を停止する。把持検出センサ３０４が外れていれば、容器１００を正常に設置できたと判断できる。   At this time, since the height is fixed, it is determined whether or not the descending amount of the container transport mechanism 300 is in a normal range. If it is normal, the gripping member 301 is opened by the operation of the gripping member opening / closing actuator 302 and the gripping is released. Thereafter, the container transport mechanism 300 is raised and the gripping member 301 is closed by the operation of the gripping member opening / closing actuator 302. At this time, if the grip detection sensor 304 remains shielded from light, it is assumed that the container 100 is still gripped, and the processing is stopped. If the grip detection sensor 304 is detached, it can be determined that the container 100 has been normally installed.

容器搬送機構３００の下降量が正常範囲から外れている場合は、間違った位置で下降して、障害物に接触していることが想定されるため処理を停止する。   When the descending amount of the container transport mechanism 300 is out of the normal range, the process is stopped because it is assumed that the container transport mechanism 300 descends at an incorrect position and is in contact with an obstacle.

高さが固定のとき、設置する際には、正常に動作していれば必要量下降するのみで高さ検出は必要ないが、正常量下降できたとしても、水平方向移動位置がなんらかの不具合で間違っていた場合、その位置で容器１００の把持を解除してしまうと、容器１００の落下などの不具合を起こすリスクが考えられる。そのため、高さ検出も利用することで、容器１００がより確実に設置できていることを保証できるようになる。   When the height is fixed, when installing it, if it is operating normally, the required amount will only be lowered and the height detection is not necessary, but even if it can be lowered normally, the horizontal movement position is due to some trouble. If it is wrong, if the grip of the container 100 is released at that position, there is a risk of causing a malfunction such as dropping of the container 100. Therefore, it is possible to ensure that the container 100 can be installed more reliably by using height detection.

処理を終了した容器１００を廃棄位置まで搬送するには、逆の手順で行えばよく、処理箇所で使用後の容器１００を把持して持ち上げ、廃棄位置上方まで水平移動後、下降して容器１００の把持を解除して積み重ねていけばよい。ここで、廃棄位置に容器１００がいくつ積み重なっているか分からない場合があるため、未使用の容器１００を供給する箇所と同様に、最初に高さ検出をしなければならない。方法は未使用の容器１００の場合とほぼ同じであるが、廃棄箇所が満杯だった場合や途中まで廃棄された容器１００が積み重ねられ、分析処理したい容器１００の数量を廃棄できる余裕がない場合に、廃棄余裕分を認識せずにそのまま分析を始めてしまうと、容器１００を廃棄できなくなり、分析途中で装置を停止させなければならないことが想定され、検体や試薬が無駄になるリスクがある。そのため、分析処理を開始する前に高さ検出を行い、廃棄余裕が無い場合は、あらかじめ廃棄箇所を空にするなど処置した後に、分析を開始するのがよい。また、廃棄場所が空の状態で高さ検出を行うと、容器１００が無いため、高さ検出用部材３０７ａ、３０７ｂは接触せずに、把持部材３０１が廃棄箇所の底面に接触して、高さ検出／障害検出センサ遮光部材３１１ａが、高さ検出／障害検出センサ３１０ａを遮光するが、この場合は、容器搬送機構３００の下降量から判断して、廃棄箇所は空と判断できる。   The transported container 100 may be transported to the disposal position by the reverse procedure. The used container 100 is gripped and lifted at the processing location, moved horizontally above the disposal position, and then lowered to the container 100. You can release the grips and stack them. Here, since it may not be known how many containers 100 are stacked at the disposal position, it is necessary to first detect the height in the same manner as in the place where unused containers 100 are supplied. The method is almost the same as in the case of the unused container 100, but when the disposal part is full or when the discarded containers 100 are stacked, there is no room for discarding the quantity of containers 100 to be analyzed. If the analysis is started as it is without recognizing the margin for disposal, it is assumed that the container 100 cannot be discarded, and the apparatus must be stopped during the analysis, and there is a risk that the sample and the reagent are wasted. Therefore, it is preferable to detect the height before starting the analysis processing, and to start the analysis after taking a measure such as emptying the disposal portion in advance if there is no disposal margin. Further, when the height detection is performed with the disposal place empty, since the container 100 is not present, the height detection members 307a and 307b are not in contact with each other, and the gripping member 301 is in contact with the bottom surface of the disposal place and The height detection / fault detection sensor light-shielding member 311a shields the height detection / fault detection sensor 310a. In this case, it is possible to judge that the disposal part is empty, as determined from the descending amount of the container transport mechanism 300.

次に容器１００を２個積み重ねて搬送する場合を説明する。容器１００を１個搬送する場合は、高さ検出もしくは障害検出に、高さ検出／障害検出センサ３１０ａを利用するが、容器１００を２個積み重ねて搬送する場合、高さ検出もしくは障害検出に、高さ検出／障害検出センサ３１０ｂを利用する。図１１（ａ）（ｂ）に示すように、容器搬送機構３００を下降させていくと、高さ検出用部材３０７ａ、３０７ｂが容器上面1０２に接触後、高さ検出用部材３０７ａ、３０７ｂは高さ検出部材用ばね３０９ａ、３０９ｂに逆らって上方向へ動き、高さ検出／障害検出センサ遮光部材３１１ａが、高さ検出／障害検出センサ３１０ａを遮光するが、さらに高さ検出／障害検出センサ遮光部材３１１ｂが、高さ検出／障害検出センサ３１０ｂを遮光するまで容器搬送機構３００の下降を続ける。その後の処理の流れは、容器１００を１個搬送する場合と同様で、図１２（ａ）（ｂ）、図１３（ａ）（ｂ）、図１４（ａ）（ｂ）に示す通りとなり、廃棄時も逆の手順で行えばよい。ただし、分析処理する箇所で容器１００を２個積み重ねた状態で処理を進めることは通常はあり得ず、分析処理する箇所へ容器１００を２個積み重ねたものを搬送する必要性はほぼないと考えられる。しかし、例えば未使用の容器１００の分析処理する箇所への搬送は１個ずつ行い、使用後の容器１００を分析処理する位置からずらした位置で２個積み重ねた後に、その２個を同時に廃棄位置へ搬送することは想定される。   Next, a case where two containers 100 are stacked and conveyed will be described. When transporting one container 100, the height detection / failure detection sensor 310a is used for height detection or fault detection. However, when transporting two containers 100 stacked, the height detection or fault detection is performed. The height detection / fault detection sensor 310b is used. As shown in FIGS. 11A and 11B, when the container transport mechanism 300 is lowered, the height detection members 307a and 307b become high after the height detection members 307a and 307b come into contact with the container upper surface 102. The height detection / fault detection sensor light-shielding member 311a shields the height detection / fault detection sensor 310a from the height detection / fault detection sensor 310a. The container transport mechanism 300 continues to descend until the member 311b shields the height detection / fault detection sensor 310b. The subsequent processing flow is the same as when one container 100 is transported, as shown in FIGS. 12 (a) (b), 13 (a) (b), 14 (a) (b), The reverse procedure may be followed when discarding. However, it is not normally possible to proceed with the process in which two containers 100 are stacked at the place to be analyzed, and there is almost no need to transport a stack of two containers 100 to the place to be analyzed. It is done. However, for example, the unused containers 100 are transported one by one to the place where analysis processing is performed, and after the two containers 100 after use are stacked at a position shifted from the position where analysis processing is performed, the two are simultaneously disposed at the disposal position. It is assumed that it is transported to.

前述の説明では、容器１００を１個の場合と２個積み重ねた場合の扱いとしているが、これは高さの異なる容器を扱うことが可能であることと同義である。装置で扱う容器の高さに合わせて、高さ検出／障害検出センサ３１０ａ、３１０ｂの位置関係を変える、把持部材３０１の長さを変えるなどの必要はあるが、高さが低い方の容器は高さ検出／障害検出センサ３１０ａを利用し、高さが高い方の容器は、高さ検出／障害検出センサ３１０ｂを利用することで、同様の処理が可能である。   In the above description, the case where one container 100 is stacked and the case where two containers 100 are stacked are handled. This is synonymous with the fact that containers having different heights can be handled. Although it is necessary to change the positional relationship between the height detection / failure detection sensors 310a and 310b and the length of the gripping member 301 in accordance with the height of the container handled by the apparatus, the container with the lower height is used. The same processing can be performed on the container having the higher height by using the height detection / fault detection sensor 310a and by using the height detection / fault detection sensor 310b.

実施例１では、容器１００を１個搬送する場合の高さ検出／障害検出センサ３１０ａと容器１００を２個積み重ねて搬送する場合の高さ検出／障害検出センサ３１０ｂを別センサとしているが、高さ検出／障害検出センサ遮光部材３１１ｂを図１５（ａ）（ｂ）に示す様な切り欠きのある形状とすることで、容器１００を１個搬送する場合には、図１５（ａ）に示すように高さ検出／障害検出センサ３１０ｂを１回遮光することによる高さ検出、容器１００を２個積み重ねて搬送する場合には、図１５（ｂ）に示すように高さ検出／障害検出センサ３１０ｂを２回遮光することによる高さ検出が可能で、高さ検出／障害検出センサ３１０ａは不要となり、１つのセンサに統合することもできる。   In the first embodiment, the height detection / fault detection sensor 310a for transporting one container 100 and the height detection / fault detection sensor 310b for transporting two containers 100 stacked are used as separate sensors. When the length detection / fault detection sensor light-shielding member 311b has a notch shape as shown in FIGS. 15A and 15B, when one container 100 is transported, it is shown in FIG. Thus, when the height detection / failure detection sensor 310b is shielded once to detect the height, and two containers 100 are stacked and transported, the height detection / failure detection sensor as shown in FIG. It is possible to detect the height by shading the light 310b twice, and the height detection / fault detection sensor 310a becomes unnecessary and can be integrated into one sensor.

さらに発展させると、図示はしないが、高さ検出／障害検出センサ遮光部材３１１ｂの切り欠き箇所を２箇所設け、その他把持部材３０１など関連部材の寸法等を最適に変更することにより、容器１００の３個積み重ねを扱うことも可能となる。理論上は、高さ検出／障害検出センサ遮光部材３１１ｂの切り欠き箇所をさらに増やせば、より多くの積み重ね数にも対応可能となる。なお、実施例１でも説明した通り、単に１種類の容器の積み重ねのみではなく、複数種類の高さの容器を扱えることになる。   When further developed, although not shown in the drawing, the height detection / fault detection sensor light shielding member 311b is provided with two cutout portions, and the dimensions of related members such as the gripping member 301 are optimally changed, so that It is also possible to handle a stack of three. Theoretically, if the number of cutout portions of the height detection / fault detection sensor light shielding member 311b is further increased, a larger number of stacks can be accommodated. As described in the first embodiment, it is possible not only to stack one type of container but also to handle a plurality of types of containers.

図示はしないが、把持部材３０１の開閉方向を９０°向きを変えた構成とし、把持部材３０１は容器１００の切り欠きａ １０３ではなく、切り欠きｂ １０４に引掛けて把持しても良い。   Although not shown, the opening / closing direction of the gripping member 301 may be changed by 90 °, and the gripping member 301 may be hooked and gripped on the notch b 104 instead of the notch a 103 of the container 100.

１００ 容器
１０１ 液体保持領域
１０２ 容器上面
１０３ 切り欠きａ
１０４ 切り欠きｂ
３００ 容器搬送機構
３０１ 把持部材
３０２ 把持部材開閉用アクチュエータ
３０３ 把持部材開閉用ばね
３０４ 把持検出センサ
３０５ 把持検出センサ遮光部材
３０６ 把持部ベース
３０７ａ、３０７ｂ 高さ検出用部材
３０８ａ、３０８ｂ ストッパ
３０９ａ、３０９ｂ 高さ検出部材用ばね
３１０ａ、３１０ｂ 高さ検出／障害検出センサ
３１１ａ、３１１ｂ 高さ検出／障害検出センサ遮光部材
３１２ 把持部材突起
４００ 容器接地面もしくは障害物 100 Container 101 Liquid holding region 102 Container upper surface 103 Notch a
104 Notch b
300 container transport mechanism 301 gripping member 302 gripping member opening / closing actuator 303 gripping member opening / closing spring 304 gripping detection sensor 305 gripping detection sensor light shielding member 306 gripping part bases 307a, 307b height detection members 308a, 308b stoppers 309a, 309b height Detection member springs 310a, 310b Height detection / fault detection sensors 311a, 311b Height detection / fault detection sensor light shielding member 312 Grasping member protrusion 400 Container grounding surface or obstacle

Claims (8)

検体に含まれる測定対象物を検出するために、容器内で検体と試薬を混合して反応させ測定対象物を含む反応生成物を生成する分析装置に用いる容器搬送機構において、
前記処理にて使用する容器を把持する把持手段と、該把持手段を水平方向、および鉛直方向に移動させる駆動手段と、設置された容器の高さを検出する高さ検出手段と、を備え、
前記高さ検出手段は、容器上面に接触する高さ検出用部材と、該高さ検出用部材と共に鉛直方向へ移動する遮光部材と、遮光部材により遮光されるセンサと、前記高さ検出用部材を下方へ押す弾性部材とを有していること特徴とする、容器搬送機構。 In a container transport mechanism used in an analyzer that generates a reaction product containing a measurement object by mixing a sample and a reagent in a container and reacting in order to detect the measurement object contained in the sample,
A gripping means for gripping the container used in the processing, a driving means for moving the gripping means in the horizontal direction and the vertical direction, and a height detection means for detecting the height of the installed container,
The height detection means includes a height detection member that contacts the upper surface of the container, a light shielding member that moves in the vertical direction together with the height detection member, a sensor that is shielded by the light shielding member, and the height detection member. A container transport mechanism, characterized in that it has an elastic member that pushes downward. 前記高さ検出手段は、前記遮光部材が前記センサを遮光することにより、設置された容器の高さを検知することを特徴とする、容器搬送機構。   The container transport mechanism according to claim 1, wherein the height detecting means detects the height of the installed container by the light shielding member shielding the sensor. 前記把持手段が容器を把持した後、
前記弾性部材が高さ検出用部材を下方へ押すことにより、前記遮光部材の前記センサへの遮光が解除されることを特徴とする、容器搬送機構。 After the gripping means grips the container,
The container transport mechanism according to claim 1, wherein the elastic member pushes the height detection member downward to release the light shielding of the light shielding member to the sensor. 請求項１に記載の容器搬送機構において、
前記把持手段の開閉を制御するアクチュエータと、
前記把持手段が開いた状態か閉じた状態かを検出する把持状態検出部と、を備えていることを特徴とする、容器搬送機構。 In the container conveyance mechanism according to claim 1,
An actuator for controlling opening and closing of the gripping means;
A container transport mechanism, comprising: a gripping state detection unit that detects whether the gripping means is open or closed. 請求項１に記載の容器搬送機構において、
前記遮光部材により遮光されるセンサは、複数設けられており、それぞれ高さの異なる位置に設けられていることを特徴とする、容器搬送機構。 In the container conveyance mechanism according to claim 1,
A container transport mechanism, wherein a plurality of sensors that are shielded from light by the light shielding member are provided at different heights. 請求項１に記載の容器搬送機構において、
前記把持手段は、容器を下方から支持するための突起を有していることを特徴とする、容器搬送機構。 In the container conveyance mechanism according to claim 1,
The container transport mechanism, wherein the gripping means has a protrusion for supporting the container from below. 請求項１に記載の容器搬送機構において、
前記遮光部材は、切り欠き形状を有していることを特徴とする、容器搬送機構。 In the container conveyance mechanism according to claim 1,
The said light-shielding member has a notch shape, The container conveyance mechanism characterized by the above-mentioned. 請求項１〜７のいずれかに記載の容器搬送機構を備えることを特徴とする分析装置。   An analyzer comprising the container transport mechanism according to claim 1.
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