JP5787436B2 - Preparer gripper head - Google Patents

Description

    The present invention relates to a robot hand, a robot finger, a chuck, and a gripper that can hold and release a thin small flat object so that it can be transported in a horizontal posture. Not only in the field of manufacturing and providing gripper heads that can be handled, but also in the field of providing and selling equipment and tools necessary for its transportation, storage, assembly and installation, to those materials, machinery and parts Necessary materials such as wood, stone, various fibers, plastics, various metal materials, etc., electronic components incorporated in them, control-related equipment integrated with them, various measuring instruments, In general, such as the field of power machinery that moves equipment and appliances, and the field of electricity and energy as the energy and energy source Fields collectively referred to as industrial machinery, as well as testing and researching these facilities and equipment, fields related to their display, sales, import / export, general results, and results of their use and construction Not related to the fields related to the collection and transportation of garbage debris generated by the operation of equipment and instruments, the recycling field that efficiently recycles these garbage debris, and new fields that cannot be envisaged at this time. There is no technical field.

(Points of interest)
With the development of regional medicine and telemedicine, the need for tailor-made medicine has increased in recent years, and organs, tissues, and blood obtained from patients as a new diagnostic tool to make up for the shortage of pathologists, which has become a challenge in Japan and overseas. The introduction of virtual slide preparation devices (virtual slides: registered trademarks) that produce microscopic specimens from cells, molecules, genes, etc., and supply them to optical microscopes and electron microscopes has been promoted. The process of digitizing a specimen requires approximately several minutes to several tens of minutes depending on the size of the specimen and the magnification corresponding to the intended scrutiny, but it takes a lot of time and labor. In addition, the operator has to wait in front of the equipment at all times during the shooting process, which is very inefficient.

    With such a conventional virtual slide production device (virtual slide: registered trademark), it is impossible to horizontally and safely transfer the tissue or blood placed on the slide onto the imaging stage of the microscope, making it a data conversion work. If this preparation technology can be realized, it is possible to create digital video data unattended, day or night, and create inspection data using a personal computer that stores the data. At the same time, there is a possibility that a system capable of auxiliary diagnosis can be realized.

(Conventional technology)
Reflecting this situation, proposals that can be used to overcome this situation are not unheard of.
For example, as typified by what is proposed in Patent Document 1 (1) below, a stage moving unit that moves the mounted sample (preparation) in the horizontal direction and the vertical direction is provided for the imaging unit, As shown in Patent Document 1 (2), including a microscope system having a processing unit and a recording / reproducing unit, a preparation containing a sample is sucked and held by a negative pressure from a preparation storage magazine. A slide automatic exchange device having a slide holding hand that is moved directly below the objective lens, or a lowermost glass plate of a large number of glass plates housed in the device main body as seen in Patent Document 1 (3) A glass plate automatic feeding device for a slide, which drives the roller to be fed and sends the glass plate by the frictional force between the glass plate and the roller, Et to also as described in Patent Document 1 (4), the drive mechanism is thinner gripper top and efficiently transfer robot hand apparatus which can utilize is scattered the transportation task space.

    However, in the microscope system as shown in Patent Document 1 (1) among the above, when the observation location and magnification of the sample displayed on the screen are designated, the desired site is moved to the center of the screen, Although it can be displayed at the desired magnification and the efficiency of the diagnostic work can be greatly improved, the technology for transporting the preparation on the microscope stage is conventional, and a large number of samples can be obtained. It is difficult to efficiently digitalize images, and a large number of slides are automatically and sequentially placed on the microscope stage like the automatic slide changer in Patent Document 1 (2). For those that can be transported and unloaded, suction holes are opened in the upper surface of a pair of finger portions provided in the slide holding hand. Both ends of the ratt are supported horizontally from below, and the suction hole is negatively sucked and temporarily fixed, but the finger part must be buried under the slide. A dedicated storage case that can be inserted into the fingers and a dedicated microscope stage are indispensable, and a negative pressure source such as a vacuum pump that generates negative pressure is indispensable, resulting in a large device. It will have.

And what is conveyed by the frictional force of the rollers, such as the glass plate automatic steering device for the preparation taken up in Patent Document 1 (3), is excellent in feeding efficiency, but the preparations are stored in a laminated form. In addition, it cannot be used for transporting specimens, and it remains a problem that the preparation cannot be supplied to an appropriate position on the microscope stage simply by feeding it through the slit of the storage box. In addition, in a transfer robot hand device represented by Patent Document 1 (4), a link mechanism is arranged on each of the upper left and right grippers, and opens and closes around the fulcrum of the link mechanism to perform transport. Since the object is to be gripped and detached, a space for the radial dimension corresponding to the opening / closing distance must be ensured at the top of the left and right grippers. In addition to the disadvantage of causing the body to become larger and causing problems such as buffering to the objective lens of the microscope, the left and right grippers that employ a link mechanism grip the slides of different shapes and sizes. There was also a fatal problem that could be impossible.
(1) JP-A-5-241075 (2) JP-A-2005-292725 (3) JP-A-5-61143 (4) JP-A-2000-225590

(Awareness of problems)
As described above, the various microscope systems that have been proposed up to now, the various automatic slide changers, and the automatic glass slide-out devices for the slides are all unmanned and efficient, and a large number of slides are sequentially placed on the microscope stage. It is very difficult to convert digital image data unattended while supplying and sending out. Especially, the hand devices that grip and transport the slides are indispensable, such as vacuum pumps, which are intricate in size and complicated in structure. The one that makes full use of the link mechanism leaves various drawbacks, such as the object of conveyance being limited to a substantially constant shape and size preparation, and for many years the development of image processing devices for various users, As we continue to provide digital imaging technology for microscopic images, we have received various knowledge and information from them. The preparation is transported to the narrow space on the microscope stage without interfering with the surroundings in the narrow space on the microscope stage. In addition to solving the functional problem of the above, it is possible to prevent the enlargement of the device and to improve the space efficiency, and to realize accurate and efficient data conversion from the digital imaging work process. We have come to realize the possibility of further improvement in the configuration for making it possible.

(Object of invention)
Therefore, the present invention is capable of simultaneously holding and horizontally holding a plurality of locations on the peripheral edge surface of the preparation, and is light enough to efficiently transport the preparation in a very narrow space between the microscope stage and the objective lens. Judging whether it is possible to develop a new robot hand technology that is small and thin, we started the development and research very quickly, and as a result of repeating trial and error over many years and many prototypes and experiments, this time The present invention has succeeded in realizing a gripper head for a preparation having a novel structure, and the configuration thereof will be described in detail below together with an embodiment representative of the present invention shown in the drawings.

(Structure of the invention)
As will be clearly understood from the embodiments of the present invention shown in the drawings, the preparation gripper head of the present invention basically comprises the following configuration.
That is, either a thin coil for a drive motor or a thin magnet is mounted on a concave mounting portion that is recessed so as to reach from the center between the left and right sides of the front side of the rectangular flat plate to the vicinity of the center of the rear side of the opposite side. And a base formed with left and right guide rail portions parallel to each other in a direction perpendicular to the front side and the rear side, and the bases sandwiching the concave mounting portion are provided. From the center between the left and right of the advancing / retracting frame that can face the concave mounting part on the left and right on the front side, it can be opposed to either the concave mounting part thin coil or thin magnet, and it is a thin coil for driving motor or thin magnet A movable body is formed by projecting a yoke with either one of them and extending the parallel slide pins parallel to each other from the left and right ends sandwiching the yoke of the advance / retreat frame. In order to enable either one of the thin magnets to face either the base thin coil or the thin magnet, the forward / backward frame left and right slide pins are incorporated into the base left and right guide rails so as to be able to move forward and backward. A stopper that can regulate the amount of advancement of the advance / retreat frame at an appropriate position is provided, and either the left or right end clamp pin or the center clamp pin is suspended at an appropriate position on the lower surface near the rear side of the base when in the horizontal position. The three-point clamp pin is formed by projecting and hanging down the left or right end clamp pin or the center clamp pin at the appropriate position on the lower surface of the movable body advancing and retracting frame. It is the gripper head for preparations which makes a structure a summary.

    The preparation gripper head consisting of this basic structure, if expressed differently, is recessed so that it reaches from the center between the left and right sides of the front side of the rectangular flat plate to the center of the rear side of the side opposite to this. Mount either the thin coil or thin magnet for the drive motor on the concave mounting part, and the left and right ends sandwiching the concave mounting part in the direction perpendicular to the front and rear sides, respectively. A parallel base and a base with left and right guide rails formed parallel to each other are provided. From the center between the left and right sides of the advancing / retracting frame that can face the concave mounting part on the front side of the base, the concave mounting part is either a thin coil or a thin magnet. A yoke that can be confronted with either one of the thin coils or thin magnets for the drive motor is projected, and the left and right ends sandwiching the yoke of the advancing and retracting frame are clearly visible. A movable body is formed by extending doppins parallel to each other, and the movable body advancing / retracting frame is configured so that either the thin coil or the thin magnet of the movable body advancing / retracting frame yoke can be opposed to either the base thin coil or the thin magnet. The left and right slide pins are incorporated into the left and right guide rails of the base so that they can move forward and backward, and a stopper that can regulate the amount of advancement of the forward and backward frame is provided at each right and left slide pin. Either one of the left and right end clamp pins or the center clamp pin is suspended and projected at an appropriate position on the lower surface of the side, and either the left or right end clamp pin or the center clamp pin is provided at an appropriate position on the lower surface of the movable body advancing and retracting frame. The other point is suspended and projected to form a three-point clamp pin. When the drive motor drives the movable body forward relative to the base, the three-point clamp pin is opened. A gripper head for a slide that has a configuration in which the three points on the outer periphery of the slide in a horizontal posture can be sandwiched between the three-point clamp pins when the drive motor moves backward with respect to the base. is there.

    More specifically, a thin coil for a drive motor and a power supply unit are provided on a concave mounting portion that is recessed from the center between the left and right sides of the front side of the rectangular flat plate to the vicinity of the center of the rear side of the opposite side. Provided with a base on which left and right ends sandwiching the concave mounting portion are provided with left and right guide rail portions that are parallel to each other in a direction perpendicular to the front side and the rear side, and parallel to each other. From the center between the left and right of the advancing / retracting frame that can straddle the concave mounting part on the left and right on the front side, the concave mounting part can be confronted with the thin coil, and a yoke with a thin magnet protrudes and sandwiches the yoke of the advancing / retracting frame A movable body is formed by extending the left and right slide pins parallel to each other from the end, and the left and right slide pins on the left and right sides of the base frame are arranged so that the yoke thin magnet of the movable body advancing and retracting frame can face the thin base coil. In addition to being installed in the guide rail part so that it can move forward and backward, a stopper that can regulate the amount of advancement of the advance / retreat frame is provided at each appropriate position on the left and right slide pins. Either the left or right end clamp pin or the center clamp pin is suspended and protruded, and either the left or right end clamp pin or the center clamp pin is suspended and protruded at an appropriate position on the lower surface of the movable body advancing and retracting frame. A gripper head for a preparation having a configuration in which a three-point clamp pin is formed to form the gripper head is provided.

    In addition, from the center between the left and right sides of the front side of the rectangular flat plate, the thin mounting coil for the drive motor and the power supply unit are mounted on the concave mounting part that is recessed so as to reach the vicinity of the rear side center of the opposite side of the wire. A left and right end sandwiching the concave mounting portion is provided with a base formed with left and right guide rail portions parallel to each other in a direction perpendicular to the front side and the rear side, and concave on the front side of the base. From the center between the left and right of the advancing / retracting frame that can straddle the mounting part on the left and right, it is possible to face the concave mounting part thin coil, and a yoke with a thin magnet protrudes, and the left and right ends sandwiching the yoke of the advancing / retracting frame A movable body is formed by extending the slide pins in parallel with each other, and the left and right slide pins on the left and right sides of the base frame are moved so that the yoke thin magnet of the movable body advancing / retracting frame can face the thin base coil. The left and right sides of the base concave mounting part in the horizontal position are mounted on the right and left slide pins. Left and right rear clamp pins at the lower left and right symmetrical positions that are closer to each other, and middle front clamp pins at the appropriate positions on the lower surface that is the center between the left and right sides of the movable body advancing and retracting frame, respectively, to form a three-point clamp pin It can be set as the gripper head for a preparation which consists of the structure which was made.

    Furthermore, when expressed in a different manner, the front and rear mounting parts that are recessed so as to reach from the center between the left and right sides of the front surface of the rectangular flat plate surface to the vicinity of the center of the rear side of the opposite side, A back-and-back shape with either a thin front coil or a thin front magnet and recessed from the center of the rear side of the rectangular flat plate back wall to the center of the front side of the opposite side Attach either the thin back coil for the back drive motor or the thin back magnet to the mounting part, and the left and right ends sandwiching the front / rear mounting part are orthogonal to the front and rear sides, respectively. And the left and right ends sandwiching the concave mounting portion are parallel to the directions orthogonal to the front and rear sides, respectively. Double front and back structure with back left and right guide rails parallel to each other It is possible to confront either the front / rear mounting part thin table coil or thin table magnet from the center between the left and right of the front / rear frame that allows the front / rear mounting part to straddle the front / rear side of the base. A front yoke having either the thin front coil or the thin front magnet protrudes, and the front and right slide pins are extended parallel to each other from the left and right ends sandwiching the front yoke of the front and back frame. A front yoke thin table coil or thin table magnet of the front movable frame of the front movable body can be opposed to either the base table concave mounting portion thin table coil or the thin table magnet. The front / rear frame front left / right slide pins are incorporated into the base front / left / right guide rail part so as to be able to move forward / backward, and the rear concave part is mounted on the rear side of the base so that it can be opposed to the left / right. From the center between the left and right, the back concave mounting part can be opposed to either the thin back coil or the thin back magnet, and a back yoke having either the thin back coil or the thin back magnet is protruded. A back movable body is formed by extending the back and left slide pins parallel to each other from the left and right ends sandwiching the back yoke of the back and forth frame, and whether the back yoke thin back coil or thin back magnet of the back and back frame The back and forth frame back and left and right slide pins are incorporated into the base back and left and right guide rails so that they can be opposed to either the base thin back coil or thin back coil or thin back magnet. A front and back movable body when the front and back slide pins are provided with stoppers that can regulate the amount of forward and backward projection of the front and back advance and retreat frames, respectively, and the base is in a horizontal position. Left and right clamp pins at the left and right symmetrical positions near the left and right edges of either the front / rear frame or the back movable body back / retreat frame, and either the front movable body front / rear frame or the back movable body back / reverse frame On the other hand, a gripper head for a slide having a structure in which a central clamp pin is suspended and projected at appropriate positions on the lower surface which is the center between the left and right sides to form a three-point clamp pin.

    As described above, according to the gripper head for a preparation of the present invention, unlike the conventional ones, it is sufficiently lightweight, small and thin from the characteristic features as described above, and is provided at a plurality of positions on the peripheral edge surface of the preparation. Can be held at the same time and held horizontally, and can move without interfering with the microscope stage and in the narrow space between the objective lens and it does not need to slide on the microscope stage. This makes it possible to transport horizontal preparations efficiently, quickly and quietly with high accuracy. The microscope is capable of unmanned continuous supply and discharge of a large number of preparations that were previously impossible. The excellent feature of realizing a technology for converting an image into digital video data can be obtained.

    In addition, left and right rear clamp pins at the left and right symmetrical positions on the bottom surface of the base, and mid-front clamp pins at the appropriate positions on the lower surface, which is the center between the left and right sides of the movable body advancing and retracting frame, are respectively projected and formed to form a three-point clamp pin. As compared with the case where the left and right rear clamp pins are provided on the movable body advancing / retracting frame, the movable body advancing / retracting frame is lightened, its opening / closing speed is increased, and vibration and impact at the time of opening / closing can be suppressed. In addition, the burden on the left and right guide rail portions and the left and right slide pins can be greatly reduced, and the conveyance speed, durability, and quietness can be further improved.

    Furthermore, when the base is in a horizontal position, the front and rear frames are incorporated on the front side and the back and forth frames are incorporated on the rear side. The left and right clamp pins and the center clamp pin of the three-point clamp pin move forward and backward to open and close. Therefore, it is possible to halve the forward / backward movement distance of each front / back and forward / backward frame, realize a much faster opening / closing operation, and greatly reduce the impact on the slide, making it quieter and more precise and quick. In addition, it is possible to realize stable automatic conveyance, and the base front and back concave mounting parts are mounted with thin front and back magnets, and the front and back yokes are respectively provided with thin front and back coils. Has the excellent effect that it can prevent magnetic interference between the thin front and back coils more reliably and can prevent malfunctions more reliably. Become

    An attachment part that can be attached to and detached from the tip of the robot arm is formed at an appropriate position on the base, and a cushion pipe is attached to each of the three-point clamp pins. It can be mounted and used on the robot arm, and the cushion pipe can significantly increase the contact friction force and shock absorbing performance on the peripheral edge of the slide and realize more reliable gripping performance. Wear can be greatly reduced.

In implementing the present invention having the above-described configuration, the best or desirable mode will be described.
The base makes it possible to attach the gripper head to either a robot arm or slide rail or other movable device that can not be attached or detached. In addition, the movable body can be incorporated and functions to be able to operate, respectively, and the movable body can be provided with an advancing / retreating frame on at least one of the front and rear sides of the rectangular flat plate. In addition, it must be lightweight and thin, and can be provided with outer covers that can protect the internal structure such as a drive motor, if necessary, as shown in the examples described later. Also, a thin coil for a drive motor and a concave mounting portion that is recessed so as to reach from the center between the left and right sides of the front side of the rectangular flat plate to the vicinity of the center of the rear side of the opposite side. It is assumed that the left and right ends sandwiching the concave mounting portion are formed with left and right guide rail portions that are parallel to each other and perpendicular to the front side and the rear side, respectively. Is desirable.

    In addition, a thin table magnet for the table drive motor is mounted on the table concave mounting part that is recessed from the center between the left and right sides of the front surface of the rectangular flat plate surface to the center of the rear side of the opposite side. A thin back magnet for the back drive motor is mounted on the back concave mounting part that is recessed from the center between the left and right sides of the rear side of the rectangular flat plate back wall to the front center of the opposite side. The left and right ends sandwiching the front / rear mounting portion form front and left guide rail portions that are parallel to each other and perpendicular to the front and rear sides, and the back / rear mounting It is possible to have a double-sided front and back structure in which the left and right ends sandwiching the portion are respectively formed on the left and right guide rail portions that are parallel to each other and perpendicular to the front and rear sides. Outside, the front side of the rectangular flat surface wall as shown in the examples described later A thin table coil for the front drive motor and a power supply unit for the front drive motor are wired to the front / rear mounting part that is recessed from the center of the right side to reach the center of the rear edge of the opposite side of the wire. A thin back coil for a back drive motor and a power supply section for it in a back concave mounting part that is recessed from the center between the left and right sides of the rear side of the flat plate back wall to reach the center of the front side opposite to the opposite side The left and right ends sandwiching the front and rear mounting portions are respectively formed in front and right guide rail portions that are parallel to each other in a direction perpendicular to the front and rear sides, and parallel to each other, and Each of the left and right ends sandwiching the back concave mounting portion may have a double-sided front and back structure in which back and left and right guide rail portions are formed in parallel with each other in a direction perpendicular to the front and rear sides. Is possible.

    The concave mounting portion of the base has a function of enabling wiring mounting of either a thin magnet or a thin coil for a drive motor for driving the movable body forward and backward at an appropriate position of the base, and at least one concave mounting portion Is to be recessed from the center between the left and right sides of the front side of the rectangular flat plate so as to reach the center of the rear side of the side opposite to this, as shown in the examples described later, In the case where the front and back advance / retreat frames are respectively arranged, concave and concave on the front and back walls of the rectangular flat plate from the center between the left and right sides of the front side to the center of the back side of the side opposite to this On the back wall, the back side wall is formed with a back concave mounting part that is recessed so as to reach the center of the front side of the side opposite to the opposite side. In addition, these front and back concave mounting parts are arranged in a reversed manner with respect to each other. Can be made it was.

    The left and right guide rail parts of the base guide the left and right slide pins of the movable body in parallel with each other, and have a function that allows the movable body to be incorporated into the base so that it can move forward and backward. Each of them must be formed in parallel to each other in a direction orthogonal to the front and rear sides of the base, and in parallel to each other. The left and right guide rails are formed at either the position close to the surface wall or the position exposed on the surface wall, and the surface wall is within the thickness dimension range of the base rectangular flat plate. The left and right guide rails can be formed either on the opposite side of the back wall or on the opposite side of the back wall. Low and low pin movement Reduction, and it is desirable assumed that impact absorption to become wearing the elastic material-made bearings to facilitate possible.

    The base mounting part has the function of allowing the base to be incorporated into a robot arm or slide rail that can move the gripper head itself, and attaches / detaches chuck devices, flanges, bolts / nuts, jigs, etc. It can consist of what fulfill | performs a function, or can consist of a combination with them, and can be made into a through-hole, a screw hole, or another fitting shape part etc. as shown in the Example mentioned later.

    The movable body can support at least one of the left and right rear clamp pins or the middle front clamp pin of the three-point clamp pin so that it can move forward and backward with respect to the base, and can be driven forward and backward by receiving the driving force of the drive motor. It is possible to confront the concave mounting part thin coil or thin magnet from the center between the left and right of the advancing and retreating frame that can straddle the concave mounting part on the front side of the base. A yoke having either the other or a thin magnet is projected and left and right ends sandwiching the yoke of the advancing and retracting frame are extended parallel to each other so that it can slide on the left and right guide rails of the base Must be embeddable.

    And, as shown in the examples described later, the movable body is either a thin table coil or a thin table magnet from the center between the left and right of the front and rear frame that allows the front and rear mounting parts to straddle the front and back of the base. A front yoke having either a thin table coil or a thin table magnet is protruded, and the left and right ends sandwiching the front yoke of the front / retract frame can be seen from the left and right slides. The front movable body with the pins extending in parallel with each other is used as a front movable body, and either the front yoke thin table coil or the thin front magnet of the front movable frame is either the base thin table coil or the thin table magnet. The front / rear frame front / rear slide pins are incorporated into the base front / left / right guide rail part so that they can be confronted with each other, and the back side concave mounting part can be straddled across the base rear side. From the center between the left and right sides of the back and forth frame, the back concave mounting part can be opposed to either the thin back coil or the thin back magnet, and the back yoke having either the thin back coil or the thin back magnet A back movable body that protrudes and has left and right ends sandwiching the back yoke of the back and forth frame, and back and left and right slide pins extending in parallel with each other, and the back yoke thin back coil or thin back magnet of the back movable back and back frame In order to be able to face either one of the base thin back coil or the thin back magnet, the back and forth frame back and left and right slide pins are incorporated in the base back and right and left guide rail part so as to freely move forward and backward. The front and back slide pins have stoppers that can regulate the amount of front and back protrusion of the front and back advance / retreat frame, respectively. It can be made of.

    The advance / retreat frame of the movable body has a function of integrating at least one of the yoke, the left / right slide pin, the left / right rear clamp pin of the three-point clamp pin, and the middle / front clamp pin at an appropriate position of the movable body. The concave mounting part can be installed in a posture that can be straddled across the left and right sides on at least one of the front side or the rear side of the base, and from the center between the left and right, either the concave mounting part thin coil or thin magnet A movable body that can be confronted with either one of them and has a thin coil or a thin magnet, and has a left and right slide pin extending parallel to each other from the left and right ends sandwiching the yoke of the advancing and retracting frame. And either the yoke thin coil or the thin magnet of the movable body advancement / retraction frame can be opposed to either the base thin coil or the thin magnet. The left and right slide pins of the forward / backward frame are incorporated into the base left and right guide rails so that they can freely move forward and backward, and the amount of forward / backward frame advancement (or rearward protrusion in the case of a double-sided double-sided structure) is restricted at each right and left slide pin. As shown in the examples described later, the front front side of the base movable body and the back side of the base movable body as the back and forth frame of the back movable body, as shown in the examples described later. It can be incorporated into each of the gawas so as to have a double-sided structure.

    The movable yoke is integrated with the movable body so that either the thin coil or thin magnet for the drive motor can be opposed to either the thin coil or thin magnet of the base concave mounting part. The concave mounting part extends from the center between the left and right sides of the movable body advancing / retracting frame toward the side, and either the thin coil or the thin magnet is the thin coil or thin magnet of the base concave mounting part. It should be possible to form a drive motor that can be contacted in a non-contact manner without contact, and should be of a size and shape that does not protrude outwardly from the front and back surfaces of the base. As shown in the example, it is desirable that either the thin coil or the thin magnet has a U-shaped cross-sectional shape that can be sandwiched in a non-contact manner from the front and back.

    The left and right slide pins of the movable body can be incorporated in the base left and right guide rail parts so as to be able to move forward and backward, respectively, and have the function of allowing the movable body advancement and retraction frame to be freely movable relative to the base, and are exposed on the front and back walls of the base. In addition to the dovetail-shaped left and right guide rails that can be slidably incorporated, the base can be slidably incorporated into the left and right guide rails that penetrate from the front edge of the base to the rear edge. It is made of a rod-like body such as a columnar shape, a pipe shape, or a plate shape having various cross-sectional shapes such as circular, rectangular, polygonal, L-shaped, V-shaped, H-shaped, M-shaped, etc. As shown in the embodiments to be described later, the front / rear frame front left / right slide pins are incorporated into the base front / left / right guide rail part so as to freely move back and forth, and the back / rear frame rear left / right slide pins are respectively inserted into the base back / left guide Leh Parts built retractably back and forth, it is possible to made by providing a stopper for the front and rear projecting amount each possible regulation of front and rear retractable frame to each place of the front and back each lateral slide pin.

    The movable body left and right slide pin stopper allows the amount of protrusion from the base of the movable body advancing and retracting frame to be regulated within the range where the slide can be efficiently gripped and removed, and the movable body is detached from the base by the protruding operation of the advancing and retracting frame. , It has a function to surely prevent it from falling off, it must be in the right place of the left and right slide pins and be able to be engaged in the right place of the base, as shown in the embodiments described later In addition, each end that is opposite to the forward / backward frame of the left and right slide pins can be integrated with a shape and size that are larger than the left and right guide rail portions, and each stopper, A shock-absorbing material can be attached at an appropriate position between the slide pin and / or the advance / retreat frame and the base to reduce impact, vibration, wear, deformation, etc. during opening and closing.

    The drive motor receives power from the outside, drives the movable body forward and backward with respect to the base, and bears the function of enabling the gripping and detaching operation of the horizontal posture between the three-point clamp pins. And a thin coil having a power supply section and a thin magnet facing the coil, and more specifically, from the center between the front left and right sides of the base, the opposite side Either a thin coil or a thin magnet is attached to the concave mounting part that is recessed so as to reach the center, and either the thin coil or the thin magnet provided on the yoke of the movable body advancing and retracting frame is opposed to each other. As shown in the examples to be described later, it is incorporated so as to have a double-sided structure with respect to the base. Respectively it can be made as forward and backward drivable in opposite directions of the horizontal direction.

    The thin coil of the drive motor must be able to generate a driving force in accordance with Fleming's left-hand rule with a thin magnet when an electric current is passed. For example, enameled wire or Holman wire using a tool An adhesive with excellent heat resistance that can withstand Joule heat generated during the long time preparation clamping operation after thinly forming a thin electric wire such as a thin and flat shape and removing it from the jig. The thin magnet of the drive motor can be opposed to the thin coil in a non-contact manner, and the movable body advancing / retracting frame can be formed between the thin coil and the thin coil according to Fleming's left-hand rule. It is responsible for the function of generating advancing and retracting driving force. For example, it is desirable to use a permanent magnet such as a ferrite magnet or a neodymium magnet, but this leads to an increase in size and complexity. It can be replaced to the electromagnet in the range have further as described above, it is possible to made incorporating by reversed positional relationship between the thin coil and the thin magnets.

    The power supply unit of the drive motor has a function of enabling supply of a voltage-controlled current to the thin coil, and can supply a direct current, an alternating current, a three-layer alternating current, and the like. In order to reduce the number of parts and reduce the size, weight, and thickness, it is desirable to be able to supply direct current. A switch device capable of reversing the positive and negative directions of the current is incorporated, and the movable body advancing and retracting the frame. In addition to being able to control the closing / opening operation of the forward / backward frame according to the operation of the switch device, it is possible to switch the power supply by an external control device as shown in the embodiments described later. It can be set as the power connector which can connect the power harness which can be controlled.

The three-point clamp pin has a function to enable a three-point gripper to be held and released in the vicinity of the base immediately below the base, and consists of a left and right rear clamp pin and a middle front clamp pin projecting in a hanging position. Either one of the left and right rear clamp pins or the middle front clamp pin is suspended from the appropriate position on the bottom surface of the base and protrudes, and the other is suspended from the appropriate position on the bottom surface of the movable body advancing and retracting frame. As shown in the examples described later, the front movable body front / rear frame that can be driven back and forth in the opposite direction of the horizontal direction of the base, or the back movable body back / rear frame Either one of the left and right rear clamp pins or the middle front clamp pin is suspended and projected on either one, and either the front movable body front / reverse frame or the back movable body back / retract frame, the other Left and right rear clamp pins Either the middle or front clamp pin can be hung or projecting, and the three-point clamp pin can be made elastic or highly frictional by painting, applying, etc. It is desirable that the elastic coating is formed, for example, a cushion pipe made of soft synthetic resin, natural rubber, leather, cloth, paper, wood, soft metal, etc. Is possible.
In the following, the structure of the present invention will be described in detail together with an embodiment representative of the present invention shown in the drawings.

The drawings show some typical embodiments embodying the technical idea of the gripper head for preparation according to the present invention.
It is a bottom view which shows the gripper head for preparations. It is a front view which shows the gripper head for preparations. It is a bottom view which shows the gripper head which released the preparation. It is a bottom view which shows the gripper head which clamped the preparation. It is a bottom view showing an improved gripper head. It is sectional drawing which shows an improved type gripper head. It is a front view which shows an improved gripper head. It is a side view which shows an improved gripper head. It is a bottom view which shows the improved type gripper head which released the preparation. It is sectional drawing which shows the improved type gripper head which released the preparation. It is a bottom view which shows the improved gripper head which clamped the preparation. It is sectional drawing which shows the improved gripper head which clamped the preparation.

    FIG. 1 is a bottom view of the preparation gripper head in FIG. 1, a front view of the preparation gripper head in FIG. 2, a bottom view of the gripper head in which the preparation is released, and a bottom view of the gripper head in FIG. In the example shown, the thin coil 30 is mounted on the concave mounting portion 21, the left and right ends sandwiching the concave mounting portion 21 are provided with the base 2 on which the left and right guide rail portions 24 and 24 are respectively formed, and the thin shape is provided from the advance / retreat frame 60. A movable body 6 is formed by projecting a yoke 61 having a magnet 32 and extending left and right slide pins 64, 64 from the left and right ends, so that the thin magnet 32 can be opposed to the thin coil 30. 64 are respectively incorporated in the left and right guide rail portions 24, 24 so as to be able to move forward and backward. A typical embodiment of the gripper head for a preparation P according to the present invention, in which a three-point clamp pin 9 is suspended and projected at appropriate positions on the lower surface of the movable body 6 advance / retreat frame 60, is shown. .

    As can be clearly seen from these figures, the gripper head 1 for the preparation P of the present invention has a base 2 whose center is between the front and left sides of a stainless steel rectangular plate having a front and rear width of 27 mm, a left and right width of 60 mm, and a thickness of 8 mm. Thus, the top wall is formed with a receiving groove 20 for the yoke 61 having a lateral width of 20 mm and a depth of 25 mm, and the concave mounting portion 21 having a lateral width of 35 mm and a depth of 25 mm that is connected to the receiving groove 20 for the yoke 61. The enamel wire is formed in an oval shape with a thickness of 2 mm long from side to side between the left and right stepped portions of 7.5 mm between the top wall of the concave mounting portion 21 and the housing groove 20 for the yoke 61. The wound thin coils 30, 30 are arranged so as to form a double front and back, and are fixed by varnish treatment (which can be replaced with a heat-resistant adhesive), and both ends thereof from the opening edge of the concave mounting portion 21 to the bottom wall and the side wall What Derived and connected to a power connector 31 as a power supply unit 31 (a power harness that can be controlled to switch power supply by an external control device (not shown) is detachable), and the thin coil 30 is connected through the power connector 31. , 30 can be supplied with an electric current from the outside, and in the vicinity of the center of the upper and lower wall thickness dimensions where the left and right ends sandwiching the concave mounting portion 21 are offset, respectively, the front side and the rear side, respectively. The left and right guide rail portions 24 and 24 are formed by horizontal through-holes that are parallel to the front-rear direction orthogonal to each other and parallel to each other.

    From the front side of the base 2, the movable body 6 is mounted so as to be able to move forward and backward. The movable body 6 is a stainless steel square bar-shaped body having a front-rear width of 7 mm, a left-right width of 60 mm, and a thickness of 7.2 mm. And when it is arranged on the front side of the base 2, it has an advancing / retracting frame 60 capable of facing the concave mounting part 21 across the left and right sides, and the concave mounting part 21 thin coils 30, 30 from the center between the left and right of the advancing / retracting frame 60. A side-shaped rollover U-shaped yoke 61 having a top plate portion 62 and a lower plate portion 63 that can be accommodated in a non-contact manner and can be accommodated in the concave mounting portion 21 and in the accommodating groove 20, is provided. 61. On the upper surface of the lower plate portion 63 facing the thin coils 30 and 30, a thin magnet 32 made of a thin permanent magnet that does not interfere with the thin coils 30 and 30 is integrated in a laminated manner. Driven with thin magnet 32 And the left and right ends of the reciprocating frame 60, and the left and right slide pins 64 in the form of straight bars parallel to each other from the portions facing the left and right guide rail portions 24, 24 of the base 2. 64 extends and protrudes, and the front side of the base 2 penetrates the left and right guide rail portions 24, 24 from front to back to be freely slidable, and the rear ends of the left and right guide rail portions 24, 24 project from the side. Concentric short columnar stoppers 65, 65 having a diameter larger than those of the left and right guide rail portions 24, 24 are integrated with the exposed rear ends, respectively, and the stopper 65 extends from the advancing / retracting frame 60 of each of the left and right slide pins 64, 64. , 65 is set to 36 mm, and the forward / backward movement distance of the advance / retreat frame 60 is set to 9 to 8 mm.

    When the horizontal posture is set, the left and right symmetrical clamp pins 90, 90 having a diameter of 2 mm and a height of 5 mm are respectively provided on the bottom left and right symmetrical portions where the left and right sides of the base 2 concave mounting portion 21 are closer to the rear side. In addition, a mid-front clamp pin 91 of the same shape and size is also suspended and protruded at an appropriate position on the lower surface which is the center between the left and right sides of the movable body 6 advance / retreat frame 60 to form a three-point clamp pin 9, and these three points Each of the clamp pins 9 is coated with soft synthetic resin cushion pipes 92, 92, 92 having an outer diameter of 4 mm, and as shown in FIGS. 1 and 2, the left and right full widths of the gripper head 1 for the preparation P The dimension A is 68 mm, the front and rear full width dimension B is 47 mm, and the total thickness (height) dimension C is 13 mm.

    Furthermore, it is between the concave mounting part 21 of the base 2 and the left and right guide rail parts 24, 24, and does not interfere with them, and the front, rear, left and right 4 are substantially balanced in front of the left and right rear clamp pins 90, 90. Each part is formed with a mounting portion 27, 27,... Which is a mounting hole having a diameter of 2 mm for a robot arm (not shown) penetrating in the thickness direction which is the vertical direction.

    5 is a bottom view of the improved preparation gripper head of FIG. 5, a longitudinal sectional view of the improved preparation gripper head of FIG. 6, a front view of the improved preparation gripper head of FIG. 7, and the improved preparation gripper head of FIG. 9, a bottom view of the improved gripper head with the preparation of FIG. 9 released, a longitudinal sectional view of the improved gripper head with the preparation of FIG. 10 released, a bottom view of the improved gripper head with the preparation of FIG. In the example shown in the longitudinal sectional view of the improved gripper head sandwiching the preparation of FIG. 12, the front and back (front and rear) movable bodies 7 and 8 having three-point clamp pins 9 arranged on both the front and rear sides of the base 2 are vertically stacked. In the shape and freely moving forward and backward, driving the front and back movable bodies 7 and 8 closer to each other, pinching the preparation P, and driving away Comprising the preparation P as releasable shows a another representative embodiment in the preparation P gripper head of the present invention.

    As can be clearly seen from these drawings, the improved gripper head 1 of the present invention has a base 2 from the center between the left and right sides of the front side of the surface of the metal rectangular flat plate. A thin table coil 40 for the front drive motor 4 is wired to the front / recess mounting portion 22 that is recessed so as to reach the vicinity of the center of the side. A thin back coil 50 for the back drive motor 5 is wire-mounted on a back concave mounting portion 23 that is recessed so as to reach the center of the front side, and each end of the thin front / back coils 40, 50 is connected to each front surface. The left and right outer walls of the base 2 are led out from the back concave mounting portions 22 and 23 and connected to a power connector 31 as a common power supply portion 31 so that external power can be supplied. is there.

    The base 2 forms front and left guide rail portions 25, 25 parallel to each other in a direction perpendicular to the front side and the rear side, and to the left and right ends sandwiching the front / rear mounting portion 22, In addition, the left and right ends sandwiching the back concave mounting portion 23 are respectively formed with back left and right guide rail portions 26 and 26 that are parallel to each other in a direction perpendicular to the front side and the rear side, and are parallel to each other. The front and back concave mounting portions 22 and 23 are covered with cover panels 29 and 29, respectively.

    The front movable body 7 can be opposed to the front-recessed mounting part 22 thin table coil 40 from the center between the left and right of the front / rear frame 70 that allows the front-recessed mounting part 22 to be straddled across the front side of the base 2. A front yoke 71 having a thin front magnet 33 is protruded, and left and right ends sandwiching the front yoke 71 of the front / retreat frame 70 are formed by extending front and left slide pins 72 and 72 in parallel to each other. The front and rear frame 70 front and left slide pins 72 and 72 are respectively connected to the base 2 front and left slide rails so that the front yoke 71 thin table magnet 33 of the body 7 front and rear frame 70 can be opposed to the base 2 thin table coil 40. .. Are inserted into the portions 25, 25 through sleeves b, b,... Made of synthetic resin so as to be able to move forward and backward, and stoppers 65 are provided at the rear ends of the front and left slide pins 72, 72 exposed at the rear side of the base 2. There is as equipped with a 65.

    The back movable body 8 can be opposed to the back concave mounting portion 23 thin back coil 50 from the center between the left and right sides of the back and forth frame 80 that allows the back concave mounting portion 23 to be straddled across the left and right sides of the base 2. The back yoke 81 having the thin back magnet 34 is projected, and the left and right ends sandwiching the back yoke 81 of the back and forth frame 80 are formed by extending the back left and right slide pins 82 and 82 in parallel with each other, The back movable body 8 The back yoke 81 of the back and forth frame 80 The thin back magnet 34 can be opposed to the base 2 thin back coil 50. Into the guide rails 26, 26, they are incorporated in sleeves made of synthetic resin sleeves b, b,... So that they can be moved forward and backward, and are exposed at the rear ends of the back left and right slide pins 82, 82 exposed on the front side of the base 2. Stock The it is assumed that the installed 65, 65.

    Then, when the base 2 is in a horizontal posture, the left and right clamp pins 90 from the left and right symmetrical positions near the left and right ends of the lower surface of either the front movable body 7 front / rear frame 70 or the back movable body 8 back / rear frame 80. , 90, and the front movable body 7 or the back movable body 8 or the back movable body 8 or the back forward / backward frame 80, the center clamp pin 91 is located on the same horizontal plane from the appropriate lower surface at the center between the left and right sides. The three-point clamp pins 9 are formed so as to have the same length dimension at the three-point clamp pins 9, and cushion pipes 92, 92, 92 are attached to the three-point clamp pins 9, respectively. It is assumed that attachment portions 27, 27,... Each having a large and small vertical through hole are formed in a plurality of appropriate positions that are the target arrangement balanced in the left and right and front and rear sides of the base 2.

    As shown in FIGS. 5, 7, and 8, specific dimensions of the improved gripper head 1 are as follows, and the front and rear width frame D of the base 2 is 22 mm. 70 The width dimension E between the front and rear ends up to the back and forth frame 80 is 36 mm, the left and right width dimension F of the back and forth frame 70 is 60 mm, and between the left and right axis centers of the front and back left and right slide pins 72, 72, 82 and 82. The distance G is 50 mm, the vertical thickness dimension H of the base 2 is 15 mm, the three-point clamp pin 9 is suspended from the lower surface of the base 2, the protrusion dimension J is 5 mm, and the distance K between the left and right center pins 90 and 90 is 40 mm. The distance L between the minimum clamping centers from the left and right rear clamp pins 90 to the middle front clamp pin 91 in the side view is 30 mm, and the maximum from the left and right rear clamp pins 90 to the middle front clamp pin 91 in the side view The lifting center distance M in which each set formed by a 36 mm.

(Operation / Effect of Example 1)
As shown in FIGS. 1 and 2, the preparation P gripper head 1 of the present invention having the configuration as described above is limited in its outer dimensions to a front and rear width of 27 mm, a left and right width of 60 mm, and a thickness of 8 mm. Since it is reduced to 47.5g, it is 2.2% (about 1/45) in volume ratio compared to the conventional type (for example, front and rear width 123mm, left and right width 155mm, thickness 60mm, weight 1.11kg) The weight ratio is 4.5% (approx. 1/22), which is much smaller, thinner, and lighter. It is efficient without interfering with the extremely narrow space between the microscope stage and the objective lens. It can be moved safely and safely, and the life span of the clamping operation is extended to about 10 times (it was about 100,000 times with the conventional model, but has been passed through a durability test of 1 million times). We were able to.

    Further, for example, the gripper head 1 is bolted and nut-coupled to the tip of a robot arm (not shown) via mounting portions 27, 27,... As shown in FIGS. A direct current is supplied to the motor 3 to move the movable body 6 forward (open) so that the advance / retreat frame 60 moves away from the base 2, and then, as shown by a two-dot chain line in FIG. 2 and FIG. 2 so as to arrange one preparation P accommodated in a horizontal position in a supply source box (not shown) at a location between the three-point clamp pins 9 immediately below the center of 2, A reverse direct current is supplied to the drive motor 3, and the movable body 6 is retracted (closed) so as to bring the advance / retreat frame 60 closer to the base 2 as shown in FIG. Middle front clamp pin 91, the periphery of the preparation P is sandwiched between them, and the preparation P up to about 5 to 20 g can be transported, and the supply current can be variably controlled. After the robot arm (not shown) is transported to a microscope stage (not shown), a current is supplied to the drive motor 3 to move the movable body 6 as shown in FIG. By moving forward (released), the preparation P can be positioned and placed at a predetermined position on the microscope stage.

    After moving the gripper head 1 to a position where the robot arm (not shown) is removed from the microscope stage (not shown), the digital image of the specimen is taken and recorded, and after the photographing process is completed, the robot arm The gripper head 1 is moved to the position immediately above the preparation P, and the preparation P is held in a horizontal posture by the reverse operation to that described above, and can be transported into a supply destination box (not shown). Cushion pipes 92, 92, 92 attached to the three-point clamp pin 9 significantly increase the friction force of the preparation P, greatly increase the safety and stability of the holding and transfer of the preparation P. This reduces wear and eliminates the need to slide and position the slide P on the microscope stage. PARAT® P and microscope stage around wear, also intended to significantly reduce such damage.

(Operation / Effect of Example 2)
As shown in FIGS. 9 to 12, the improved gripper head 1 for the preparation P of the present invention has the front and rear sides of the base 2 on the front movable body 7 and the rear movable body 8 and the rear movable body 80 on the front and rear frames 80, respectively. Are incorporated in such a way that they can be moved forward and backward in a circle with lower friction and higher speed through a total of eight bearings b, b,... The front movable body 7 and the back movable body 8 can be moved forward and backward simultaneously, and the slide of the slide P in the horizontal direction accompanying the gripping operation can be minimized. It is possible to reduce the wear of the preparation P and the microscope stage to the limit, to reduce the operation time required for each holding and releasing of the preparation P by half, and to reduce the vibration and shock caused by opening and closing. The enabling offset by mutual movement, more quiet and safe, quickly slide P horizontal grip, the one that can be transported.

(Conclusion)
As described above, the gripper head for a preparation of the present invention can achieve the intended purpose uniformly by its new configuration, and is easy to manufacture, and has a smaller number of parts than the conventional robot hand technology. Can be significantly reduced in size, weight, and thickness, and can be made much more economical by increasing durability, reducing costs and making specimens on a large number of preparations 24 hours a day. It can be converted to digital image data without a person, greatly improving work efficiency in various fields such as specimen management, pathological examination, image analysis, telemedicine, and drastically reducing labor costs. Since it will be possible to eliminate delays in diagnosis due to shortages, the medical industry where operators have always had to attend and work on digital data, In addition to the medical device industry that provides digital imaging technology, it is also highly regarded by the general public who wants medical care that allows early diagnosis at a lower price, and the pharmaceutical industry that wants to reduce R & D expenses for new drugs, and is widely accepted. It is expected that it will be used and spread.

1 Gripper head 2 Base
20 Housing groove for yoke
21 Same concave mounting part
22 Same concave mounting part
23 Same concave mounting part
24 Same left and right guide rail
25 Same side left and right guide rail
26 Back left and right guide rail
27 Same mounting part
28 Same-layer bulkhead
29 Same cover panel 3 Drive motor
30 Same thin coil
31 Same power connector (power supply unit)
32 Same thin magnet
33 Same thin table magnet
34 The same thin back magnet 4 Front drive motor
40 Same thin front coil 5 Back drive motor
50 Same thin back coil 6 Movable body
60 Regression slots
61 York
62 Same top plate
63 Lower plate part
64 Same left and right slide pins
65 Same stopper 7 Front movable body
70 The same retreat frame
71 Same York
72 Same front left and right slide pins 8 Back movable body
80 Back and forth frame
81 Same side yoke
82 Left and right slide pin 9 Three-point clamp pin
90 Same left and right rear clamp pin
91 Same as above Front clamp pin
92 Cushion pipe b Bearing P Preparation A Gripper head left and right full width B Movable body 6 front and rear full width C Base base thickness D D Base front and rear width E Front and rear back and forth frame F F Front and back Left and right width dimensions of each frame G Distance between left and right axis centers of front and back, left and right slide pins H Vertical thickness of base J Three-point clamp pin hanging from base bottom, protrusion dimension K Distance between left and right center of rear clamp pin L Three points Clamp pin minimum side-to-center distance M Side clamp pin maximum side-to-side center distance

Claims (6)

From the center between the front left and right sides of the rectangular flat plate in a horizontal posture, to the concave mounting part that is recessed so as to reach the vicinity of the center of the rear side of the opposite side of the rectangular plate , the horizontal spreading surface extends along the concave mounting part. Either a thin coil or a thin magnet for a drive motor with a vertical dimension that is perpendicular to the vertical direction is mounted, and the left and right ends sandwiching the concave mounting portion are respectively connected to the front and rear sides. From the center between the left and right of the advancing and retreating frame disposed so as to face the front side of the base across the concave mounting portion on the left and right sides, provided with a base formed with left and right guide rail portions parallel to a direction orthogonal to Concave mounting part A yoke with either the thin coil for the drive motor or the thin magnet can be projected and the yoke of the advancing and retracting frame can be opposed to either the thin coil or the thin magnet. Left and right A movable body is formed by extending the left and right slide pins in parallel with each other so that either the thin coil or the thin magnet of the movable body advancement / retraction frame yoke can be opposed to either the base thin coil or the thin magnet. In this case, the forward / backward frame left / right slide pins are incorporated into the base left / right guide rail part so as to be able to move forward and backward, and provided with stoppers that can regulate the amount of advancement of the forward / backward frame at appropriate positions in the left / right slide pins. Either the left or right end clamp pin or the center clamp pin is suspended and protruded at the appropriate position on the lower surface near the rear side of the base, and the right or left end clamp pin or the center clamp is positioned at an appropriate position on the lower surface of the movable body advancing and retracting frame. A gripper head for preparation, wherein either one of the pins is suspended and protruded to form a three-point clamp pin. From the center between the left and right sides of the front side of the rectangular flat plate in a horizontal posture, it extends along the concave mounting part so as to reach the vicinity of the center of the rear side of the opposite side of the side, and extends along the concave mounting part. Install either a thin coil or thin magnet for a drive motor with a thin vertical vertical dimension, and the left and right ends sandwiching the concave mounting part on each of the front and rear sides Provided with a base formed with left and right guide rails parallel to the direction perpendicular to each other, and recessed from the center between the left and right of the advancing and retracting frame arranged so as to face the front side of the base across the concave mounting part The mounting portion can be confronted with either the thin coil or the thin magnet, and a yoke with either the thin coil for the drive motor or the thin magnet mounted thereon is protruded, and the yoke of the advance / retreat frame is sandwiched Left and right ends A movable body is formed by extending the left and right slide pins parallel to each other, and either the thin coil or the thin magnet of the movable body advance / retreat frame yoke can be opposed to either the base thin coil or the thin magnet. The forward / backward frame left / right slide pins are incorporated into the base left / right guide rail part so as to be able to move forward / backward, and provided with stoppers that can regulate the advancement amount of the forward / backward frame at appropriate positions on the left / right slide pins. Either the left or right end clamp pin or the center clamp pin is suspended and protruded at the appropriate position on the lower surface near the rear side of the base, and the right or left end clamp pin or the center clamp pin is positioned at the appropriate position on the lower surface of the movable body advancement / retraction frame. One of the two is suspended and projected to form a three-point clamp pin, and when the drive motor drives the movable body forward relative to the base, the three-point clamp When the pin is opened and the drive motor drives the movable body backward with respect to the base, the three points of the outer periphery of the prepared slide in the horizontal posture can be sandwiched between the three-point clamp pins. Preparer gripper head. From the center between the left and right sides of the front side of the rectangular flat plate in a horizontal posture, it extends along the concave mounting part so as to reach the vicinity of the center of the rear side of the opposite side of the side, and extends along the concave mounting part. Mount the thin coil for the drive motor and the power supply part with a thin vertical dimension in the vertical direction. The left and right ends sandwiching the concave mounting part are perpendicular to the front and rear sides, respectively. A concave mounting part thin coil is provided from the center between the left and right of the advancing / retracting frame which is arranged so as to face the front side of the base across the left and right sides of the concave mounting part. A movable body is formed by projecting a yoke having a thin magnet, extending left and right ends sandwiching the yoke of the advancing / retracting frame and extending the left and right slide pins in parallel to each other. Thin magnet The front and rear frame left and right slide pins are incorporated into the base left and right guide rails so that they can be opposed to the base thin coil. In addition, the left and right end clamp pins or the center clamp pin are suspended and projecting at a suitable position on the lower surface near the rear side of the base in the horizontal posture. Further, a gripper head for a slide, wherein either the left or right end clamp pin or the center clamp pin is suspended and protruded to form a three-point clamp pin. From the center between the left and right sides of the front side of the rectangular flat plate in a horizontal posture, it extends along the concave mounting part so as to reach the vicinity of the center of the rear side of the opposite side of the side, and extends along the concave mounting part. Mount the thin coil for the drive motor and the power supply part with a thin vertical dimension in the vertical direction. The left and right ends sandwiching the concave mounting part are perpendicular to the front and rear sides, respectively. A concave mounting part thin coil is provided from the center between the left and right of the advancing / retracting frame which is arranged so as to face the front side of the base across the left and right sides of the concave mounting part. A movable body is formed by projecting a yoke having a thin magnet, extending left and right ends sandwiching the yoke of the advancing / retracting frame and extending the left and right slide pins in parallel to each other. Thin magnet The front and rear frame left and right slide pins are incorporated into the base left and right guide rails so that they can be opposed to the base thin coil. In addition, in the horizontal posture, the left and right rear clamp pins on the bottom left and right symmetrical places where the left and right sides of the base concave mounting part are closer to the rear side when in the horizontal posture, and the lower surface in the middle between the left and right of the movable body advancing and retracting frame A gripper head for a preparation, characterized in that a three-point clamp pin is formed by hanging and projecting a middle front clamp pin. From the center between the front left and right sides of the rectangular flat plate surface wall in a horizontal posture, spreads along the front and rear mounting parts to the front and rear mounting parts recessed so as to reach the vicinity of the rear side center of the opposite side , Attach either a thin table coil or a thin table magnet for a front drive motor with a thin vertical dimension perpendicular to the spreading surface. Contrary to the front side of the front side of the fold , the back concave mounting portion is provided so as to extend along the back concave mounting portion, and the vertical dimension perpendicular to the spreading surface is reduced . Either the thin back coil or the thin front magnet is mounted, and the left and right ends sandwiching the front / rear mounting portion are parallel to the direction perpendicular to the front and rear sides and parallel to each other. Forms front and left guide rails, and the concave mounting The s husband right and left ends that still sandwich the parallel in the direction perpendicular to the s front side and the rear side of the husband, together and providing the base of the front and back double structure formed parallel back left and right guide rail to one another, said surface concave mounting From the center between the left and right of the front / reverse frame that is placed so as to face the front side of the base straddling the left and right sides, it is possible to face either the thin concave surface coil or the thin magnetic surface magnet, and the thin front coil A front yoke having either one of the thin front magnets or a thin front magnet is formed, and a front movable body is formed by extending the front and right slide pins parallel to each other from the left and right ends sandwiching the front yoke of the front and rear frame, In order to enable either the front yoke thin table coil or the thin table magnet of the front movable body front / rear frame to face either the base table concave mounting part thin table coil or the thin table magnet. The people Shisawaku table lateral slide pins each embedded retractably longitudinal to the base table lateral guide rail, from the right and left between the center of the back retractable frame arranged so as to face to the base after the sides across the right and left backing concave mounting portion The back concave mounting portion can be opposed to either the thin back coil or the thin back magnet, and a back yoke having either the thin back coil or the thin back magnet is protruded, A back movable body is formed by extending the back left and right slide pins parallel to each other from the left and right ends sandwiching the back yoke, and either the back yoke thin back coil or the thin back magnet of the back movable body back and forth frame is attached to the other Base thin back coil The left and right slide pins on the back and back of the back and forth frame are moved back and forth on the left and right guide rails of the base so that either the thin back coil or the thin back magnet can be confronted. Removably assembled, front and back slide pins on each side of the right and left slide pins are provided in each position with a stopper that can regulate the forward and backward projection amount of the front and back advance and retract frame, and the front movable frame front and back frame when the base is in a horizontal position, The left and right clamp pins at the left and right symmetrical positions near the left and right edges of either one of the back movable body, the back and forth frame, and the left and right sides of either the front movable body or the back movable frame. A gripper head for a slide, characterized in that a central clamp pin is suspended and projected at appropriate positions on the lower surface at the center to form a three-point clamp pin.     6. The base according to any one of claims 1 to 5, wherein a base is formed with a mounting portion that can be attached to and detached from the tip of the robot arm at an appropriate position, and a cushion pipe is attached to each of the three-point clamp pins. Gripper head for slide preparation.

Images