WO2019116796A1 - ホルダ搬送装置 - Google Patents

ホルダ搬送装置 Download PDF

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Publication number
WO2019116796A1
WO2019116796A1 PCT/JP2018/041536 JP2018041536W WO2019116796A1 WO 2019116796 A1 WO2019116796 A1 WO 2019116796A1 JP 2018041536 W JP2018041536 W JP 2018041536W WO 2019116796 A1 WO2019116796 A1 WO 2019116796A1
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WO
WIPO (PCT)
Prior art keywords
holder
posture
forward movement
transport path
transport
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/041536
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English (en)
French (fr)
Japanese (ja)
Inventor
泰 三浦
祐一 高波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to US16/637,379 priority Critical patent/US11255867B2/en
Priority to CN201880052183.8A priority patent/CN111051892B/zh
Publication of WO2019116796A1 publication Critical patent/WO2019116796A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0401—Sample carriers, cuvettes or reaction vessels
    • G01N2035/0406—Individual bottles or tubes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/046—General conveyor features
    • G01N2035/0467—Switching points ("aiguillages")
    • G01N2035/047—Switching points ("aiguillages") diverging, e.g. sending carriers to different analysers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0474—Details of actuating means for conveyors or pipettes
    • G01N2035/0477—Magnetic

Definitions

  • the present invention relates to a holder transport apparatus, and more particularly to a mechanism for transporting a holder for holding a sample container.
  • sample container is a container containing a sample such as blood or urine.
  • the concept of a sample container includes a blood collection tube, and the concept includes a parent sample container and a child sample container.
  • a holder that functions as a carrier is used (see Patent Documents 1 and 2).
  • the holder is a member for transporting while holding the sample container. In the transport process, basically, the standing posture of the sample container is maintained. Usually, one sample container is held and transported by one holder.
  • the holder transport device is a device for transporting a plurality of holders.
  • the plurality of holders to be transported include the holder before holding the sample container and the holder holding the sample container.
  • the destination can be determined in holder units.
  • the holder transport apparatus is, for example, one incorporated in a sample processing apparatus.
  • the leading holder In the holder transport apparatus, it is sometimes necessary to separate the leading holder from the holder row. For example, when writing information to or reading information from an RFID tag (Radio Frequency IDentification tag) built in a holder, the leading holder follows to narrow down the communication target or to improve communication efficiency. After being separated from the holder, the leading holder is positioned directly above or in front of the communication device. The lead holder may be separated for destination control, bar code reading, and other purposes. It is desirable to realize the separation of the head holder by a simple mechanism.
  • RFID tag Radio Frequency IDentification tag
  • Patent Document 1 discloses two fan-shaped rotary plates attached to a horizontal axis and rotationally moving as a mechanism for cutting out the leading holder.
  • Patent Document 2 discloses, as a mechanism for cutting out the leading holder, a cylindrical rotating member that accommodates the entire holder holding a sample container and the whole.
  • An object of the present invention is to realize separation of a lead holder with a simple mechanism in a holder transport apparatus.
  • the holder transport apparatus disclosed in the present application rotates a transport path that applies an advancing kinetic force to a plurality of holders that transport a plurality of sample containers individually, and a rotation around a vertical rotation axis set in the vicinity of the transport path.
  • a separation mechanism having a movable member that moves. The first orientation of the movable member is formed by rotation of the movable member in one direction, and the second orientation of the movable member is formed by rotation of the movable member in the other direction.
  • the movable member retracts from the conveyance path in the first process of changing from the first posture to the second posture, and allows the n-th holder to move forward, and changes from the second posture to the first posture.
  • FIG. 1 It is a conceptual diagram which shows the structural example of the holder conveyance apparatus which concerns on embodiment. It is a perspective view which shows the 1st example of the isolation
  • FIG. 1 shows a configuration example of a sample processing system 10 provided with a holder transport apparatus 11 according to the embodiment.
  • the sample processing system 10 preprocesses a sample prior to analysis of the sample.
  • Examples of the sample include blood and urine collected from a living body. Examples of pretreatment include centrifugation, opening, dispensing, closing and the like.
  • the sample may be analyzed in the sample processing system 10.
  • the sample processing system 10 includes a plurality of units 12, 14, 16 connected in the x-direction.
  • the units 12, 14, 16 perform different processes in the illustrated example. Of course, the same processing may be performed in parallel in those units 12, 14, 16.
  • the x direction is a first horizontal direction
  • the y direction is a second horizontal direction
  • the z direction orthogonal to them is the vertical direction.
  • a holder transport device 11 is provided across the plurality of units 12, 14, 16.
  • the holder transport device 11 is a device that transports a plurality of holders 24.
  • the plurality of holders 24 include a holder holding a sample container, and an empty holder before holding the sample container.
  • Each holder 24 has a function of holding one sample container and transporting it.
  • the destination can be designated for each holder 24.
  • each holder 24 incorporates an RFID tag described later.
  • the holder transport device 11 has transport paths 18, 20 and 22.
  • the transport path 18 is a main transport path, and transports the holder 24 from left to right in FIG.
  • the conveyance path 20 is a secondary conveyance path as a return conveyance path, and conveys the holder 24 from the right side to the left side in FIG.
  • the transport paths 18 and 20 both extend parallel to the x direction.
  • the conveyance path 22 is a branch conveyance path connected to a branch point of the conveyance path 18.
  • the transport path 22 transports the holder 24 from the upper side to the lower side in FIG. 1 and is parallel to the y direction.
  • Each of the transport paths 18, 20, 22 constitutes a belt conveyor mechanism 17.
  • the substance of each of the transport paths 18, 20 and 22 is a belt which rotates at a constant speed. Forward movement is always provided to each holder 24 by the belt.
  • the holder whose forward movement is restricted by a stopper or the like slips on the belt. In addition, you may make it give each holder 24 forward
  • the holder transport device 11 has a separation mechanism 26 provided in the separation section, a branch mechanism 30 provided in the branch section, and a transfer mechanism 32 provided in the transfer section.
  • the separation mechanism 26 includes a communicator 28 that communicates with the RFID tag.
  • the communication device 28 reads ID information and the like from the RFID tag contained in the specific holder in the separated state before the branch point, or writes the ID information and the like to the RFID tag. It is. Other communication media in place of RFID tags may be used. Bar code reading or the like may be performed in the separation section. In that case, communication may or may not be performed.
  • the transfer mechanism 32 has a relay pedestal 34 provided between the two transport paths 18 and 20.
  • the respective mechanisms 26, 30, 32 are abstractly expressed in FIG. 1, and the specific contents of the respective mechanisms 26, 30, 32 will be described in detail later.
  • FIG. 2 shows a first example of the separation mechanism as a perspective view.
  • the illustrated separation mechanism 26 has a separator 42, a motor 44 as a drive source, and a shaft member 46.
  • the separator 42 is provided at a position slightly higher than the upper surface level of the transport paths 18 and 20.
  • the motor 44 is provided below the conveyance paths 18 and 20 (underground space).
  • the shaft member 46 is a vertical shaft provided in the vicinity of the conveyance path 18, and specifically, it vertically penetrates the gap between the conveyance path 18 and the conveyance path 20. The rotational force generated by the motor 44 is transmitted to the separator 42 via the shaft member 46.
  • the separator 42 has a movable piece 48 as a movable member.
  • the movable piece 48 rotates in the horizontal direction about the rotation axis.
  • the rotation shaft is constituted by the upper end portion of the shaft member 46 in the embodiment.
  • the movable piece 48 is fixed to the upper end portion of the shaft member 46 by a mounting bracket. When the shaft member 46 rotationally moves, the movable piece 48 rotationally moves accordingly.
  • the movable piece 48 is made of resin, metal or other material.
  • FIG. 2 two holders 24A, 24B being handled by the separating mechanism 26 are shown. Their configurations are identical.
  • the holder 24B has a disk-shaped lower portion 36 and a substantially cylindrical retainer 38 corresponding to the upper portion.
  • the holder 38 elastically holds the sample container inserted therein.
  • the holder 38 has, for example, four fingers. The fingers maintain the vertical posture of the sample container. If the posture is inclined, a mechanism may be added to return the posture to the vertical posture.
  • the diameter of the lower portion 36 is slightly larger than the diameter of the cage 38, and the lower portion 36 is larger than the cage 38.
  • a shoulder 40 is formed at the upper end of the lower portion 36.
  • FIG. 1 A side view of the separating mechanism 26 is shown in FIG.
  • the holders 24A, 24B hold sample containers 50A, 50B.
  • the movable piece 48 is in contact with the lower portion (specifically, the upper end portion) of each holder 24A, 24B.
  • the movable piece 48 may be in contact with the holder of each holder 24A, 24B.
  • RFID tags 52 and 54 are provided in the lower part of the holders 24A and 24B.
  • the RFID tags 52 and 54 each have a memory, a transmission / reception circuit, an antenna, and the like, are electronic circuits that operate with power obtained by the received radio waves and perform contactless communication with the communication device.
  • An active RFID tag may be used instead of a passive RFID tag.
  • the RFID tag is also sometimes referred to as an RF tag, a wireless tag, an IC tag, an electronic tag or the like.
  • the belt moving in the circumferential direction comprises an upper belt 18A and a lower belt 18B, of which the upper belt 18A constitutes a transport path.
  • a communicator 28 is provided near the communication position (a reference stop position described later). Specifically, the communication device 28 is disposed immediately below the holder 24A stopped at the communication position and between the upper belt 18A and the lower belt 18B. It is also conceivable to provide the communicator 28 at a position relatively close to the side of the holder 24A. In any case, the communicator 28 is provided in a range in which reliable communication can be performed with the holder 24A stopped at the communication position and unnecessary communication with other holders does not occur.
  • the holder 24A is separated from the following holder 24B, that is, a space is provided between them.
  • the communicator 28 communicates with the RFID tag 54 disposed inside the lower part of the holder 24A.
  • communication can be performed in a state where the holder 24A to be communicated is isolated, so that the communication object of the communication device 28 can be narrowed down (for example, false recognition and interference can be prevented), and communication efficiency can be enhanced (for example, plural RFID It is possible to prevent the communication from being established with the tag and the communication time becoming long) and the like.
  • the communicator 28 since the communicator 28 is disposed in the gap between the upper belt 18A and the lower belt 18B, it is easy to bring the communicator 28 into close proximity with the RFID tag 54 which is the other party of communication which can effectively utilize the dead space.
  • the movable piece 48 controls its forward movement such that the holder 24A is temporarily stopped at the communication position after the holder 24A to be communicated is cut out from the holder row.
  • the time required to write information to the RFID tag is, for example, one second, and the time required to read information from the RFID tag is, for example, 0.3 second.
  • Those numerical values are merely illustrative. It may be configured to perform faster communication.
  • the guide mechanism is shown in FIG.
  • the holder 24 is placed on the upper belt 18A that constitutes the transport path, and moves forward with the upper belt 18A along with the forward movement of the upper belt 18A.
  • the lower portion 36 is held from both sides by the two guide rails 56A, 56B. That is, the two guide rails 56A and 56B guide the forward movement of the holder 24.
  • the two guide rails 56A and 56B prevent the holder 24 from coming off the upper belt 18A and prevent the holder 24 from tipping over. It is a thing.
  • Each guide rail 56A, 56B has a folded configuration that wraps around the shoulder 40.
  • the movable member in contact with the holder advances above the upper belt 18A through an opening, a notch or the like formed in the guide rail 56A or 56B.
  • the guide mechanism shown in FIG. 4 is an example, and the individual holders 24 may be guided by other mechanisms.
  • the movable piece 48 is shown in FIG.
  • the movable piece 48 is a plate-like member made of metal, resin or the like. Its thickness is, for example, several mm.
  • the movable piece 48 rotates in the horizontal direction about a vertical rotation axis 58.
  • the movable piece 48 has a front arm 60 acting on the upstream side and a rear arm 62 acting on the downstream side.
  • the farthest end of the rear arm 62 from the rotational axis 58 is longer than the distance from the rotational axis 58 to the farthest end of the front arm 60.
  • the angle between the reference axis of the front arm and the reference axis of the rear arm is 90 degrees or more and 180 degrees or less, for example, in the range of 120 to 150 degrees.
  • the front arm 60 has a convex rounded or arcuate stopper edge 64.
  • the radius of curvature is constant as viewed from the center of rotation.
  • a protrusion 65 is formed adjacent to the stopper edge 64.
  • An arc-shaped depression 66 is formed on the opposite side beyond the protrusion 65 as viewed from the stopper edge 64.
  • the through holes 68 and 70 are screw holes for fixing a fitting for attaching the movable piece 48 to the shaft member.
  • the rotation shaft 58 is configured by the upper end portion of the shaft member as described above.
  • the rear arm 62 has a linear guide edge 74 extending from the front arm side and a hook 76 connected thereto.
  • the end 72 of the rear arm 62 has a J-shape and its inner edge is a hook 76 having a bowed configuration.
  • the portions of the rear arm 62 in contact with the holder are the guide edge 74 and the hook 76.
  • the form of the other parts has a degree of freedom as long as they do not interfere with their functions.
  • the movable piece 48 roughly takes three postures. That is, the first attitude (original attitude), the second attitude (accepting attitude), and the intermediate attitude (positioning attitude) are taken.
  • the longitudinal direction (axial direction) of the rear arm 62 is used as a reference, the angle in the longitudinal direction is ⁇ 0 in the first attitude, the angle in the longitudinal direction is ⁇ 1 in the second attitude, and the angle in the longitudinal direction is It becomes ⁇ 2.
  • the first attitude occurs when the movable piece 48 rotates most in the counterclockwise direction.
  • the second posture occurs when the movable piece 48 rotates most in the clockwise direction.
  • the process of change from the first posture to the second posture is the first process (see reference numeral 78), and the process of change from the second posture to the first posture is the second process (see reference numerals 79 and 80) ).
  • an intermediate posture occurs in the middle of the second process.
  • the movable piece 48 is further rotated to create a first posture.
  • the second process consists of a first partial process (see reference numeral 79) from the second attitude to the intermediate attitude and a second partial process (see reference numeral 80) from the intermediate attitude to the first attitude.
  • the forward and reverse rotational movement of the movable piece 48 is controlled so that the first attitude, the second attitude, and the intermediate attitude are cyclically formed.
  • FIG. 10 shows the operation of the separation mechanism, that is, the action of the movable piece 48 .
  • the second posture of the movable piece 48 is shown in FIG.
  • the intermediate posture of the movable piece 48 is shown in FIG.
  • FIG. 9 shows the return of the movable piece 48 to the first position.
  • the actions of the front arm and the rear arm are organized.
  • the first attitude is the original attitude, and the corresponding angle is expressed by ⁇ 0, they are for convenience.
  • the movable piece 48 has a first attitude (see ⁇ 0).
  • the rear arm 62 is in a state of being retracted from the transport path 18.
  • the second holder is the holder 84n + 1.
  • the subsequent holder 84 n + 1 flowing from the upstream collides with the stopping leading holder 84 n.
  • another subsequent holder flowing from the upstream collides with the stationary holder 84n + 1.
  • Such repeated buttings constitute the holder row 86, and the holder row grows.
  • a plurality of holders in contact may flow.
  • the stop position of the leading holder 84n is indicated by P0.
  • the reference stop position P2 is a communication position in the embodiment, and a communicator 28 is provided near the communication position (specifically, immediately below the upper belt). There is a temporary stop position between the stop position P0 and the reference stop position P2, but this is not shown in FIG.
  • symbol 82 has shown the metal fitting for attaching the movable piece 48 to a shaft member.
  • the second posture of the movable piece 48 is generated (see ⁇ 1). Specifically, the rear arm 62 advances onto the conveyance path 18, and the front arm 60 retracts from the conveyance path 18. With the retraction of the front arm 60, the stopper action of the stopper edge disappears, and the forward movement of the holder row 86 starting from the holder 84n is permitted. At this time, the holder 84n moves forward from the stop position P0. The forwardly moved holder 84 n collides with the guide edge 74 which has advanced obliquely onto the transport path 18. As a result, the forward movement of the holder 84 n is restricted, and it is slipped.
  • the stop position of the holder 84 n in that case is the temporary stop position P1.
  • the distance from the stop position P0 to the stop position P1 is a temporary movement amount when the holder 84n is received. Thereafter, the movable piece rotates in the counterclockwise direction.
  • the movable piece 48 is in the middle posture (see ⁇ 2).
  • the change from the second attitude to the intermediate attitude is shown at 79.
  • the hooks 76 of the rear arm 62 are present on the conveyance path 18, and the stopper edge 64 of the front arm 60 is advanced on the conveyance path 18.
  • the guide edge 74 of the rear arm 62 rotates counterclockwise to gradually reduce its inclination angle, and the guide edge 74 guides or leads it.
  • Holder 84 n moves forward.
  • the intermediate posture of the movable piece 48 is formed, the movement of the rear arm 62 is stopped, and the holder 84 n is captured by the hook 76 to restrict its forward movement.
  • the holder 84 n is positioned at the reference stop position P2.
  • the amount of movement of the holder 84 n at that time corresponds to the distance from the temporary stop position P1 to the reference stop position P2.
  • the amount of movement is, for example, in the range of 1 to 6 cm.
  • the end of the front arm 60 advances onto the transport path 18. That is, the projection 65 of the front arm 60 enters the V-shaped gap between the holder 84 n and the holder 84 n + 1 in the articulated state, and the stopper edge 64 strikes the second holder 84 n + 1 to restrict its forward movement. Thus, the holder 84n + 1 stops at the stop position P0. The amount of movement of the holder 84n + 1 at that time corresponds to the distance from the stop position P3 to the stop position P0.
  • the holder 84 n to be cut out is separated from the subsequent holder 84 n + 1.
  • a fixed space is inserted between the two.
  • Communication is performed between the communication device and the RFID tag in the holder 84 n in a state where the holder 84 n is separated from the subsequent holder 84 n + 1 and the like.
  • the intermediate posture returns to the first posture as described below.
  • the movable piece 48 rotates counterclockwise (see reference numeral 80), and the first attitude of the movable piece 48 is generated again (see .theta.0).
  • the catching action of the holder 84 n by the hook disappears, and the forward movement of the holder 84 n is permitted.
  • the holder 84 n is flowed from immediately above the communicator 28 (reference stop position) to the downstream side.
  • the stopping action of the holder 84n + 1 by the stopper edge 64 is maintained.
  • the holder 84n + 1 remains stopped at the stop position P0.
  • the entire holder row 86 including the holder 84n + 1 and the subsequent holder 84n + 2 remains stationary.
  • Row 90 shows the change in the angle and attitude of the movable piece
  • row 92 shows the change in the action of the front arm
  • row 92 shows the change in the action of the rear arm.
  • Column 96 shows other operations.
  • the first attitude of the movable piece is formed.
  • the front arm regulates the forward movement of the holder row starting from the nth holder.
  • the movable piece rotates in the normal direction (clockwise direction), and in S14, the second posture of the movable piece is formed.
  • the restriction on the forward movement of the holder row starting from the nth holder by the front arm disappears, and the forward movement of the holder row is permitted.
  • the rear arm advances to the conveyance path, and the forward movement of the holder row starting from the nth holder is restricted by the rear arm. At this time, the n-th holder temporarily stops at the temporary stop position.
  • the movable piece rotates in the negative direction (counterclockwise direction).
  • the end of the front arm enters between the nth holder and the n + 1th holder, and regulates the forward movement of the n + 1th holder.
  • the forward movement of the n-th holder is permitted.
  • the rotational movement of the movable piece is stopped. In that state, the n-th holder is positioned at the reference stop position by the action of the rear arm. The subsequent n + 1th holder is separated from the nth holder by a predetermined distance. In that state, communication for reading or writing information is performed on the n-th holder.
  • the movable member is further rotated in the negative direction (counterclockwise direction), and the first posture of the movable member is reformed.
  • the forward movement of the holder row starting from the n + 1 holder remains restricted by the front arm.
  • the restricting action of the rear arm disappears, and the forward movement of the n-th holder is permitted. Then, each process after S10 is repeatedly performed.
  • the leading holder can be cut out from the holder row by the simple configuration of the horizontal rotational movement of the movable piece (single plate) having the predetermined shape. Since it is only necessary to provide a vertical rotation shaft or the like in the vicinity of the transport path as a mechanism for causing the movable piece to rotate horizontally, there is no need to provide extensive equipment around the movable piece as a mechanism for operating the movable piece. You get the benefits of It is also possible to install the drive source in the underground space below the transport path, in which case the dead space can be used effectively.
  • Branching Mechanism and Transfer Mechanism Next, the branching mechanism and the transfer mechanism installed together with the separation mechanism will be described. However, any one or two of the separation mechanism, the branching mechanism, and the transfer mechanism may be incorporated into the holder transport device.
  • FIG. 11 shows a configuration example of the branching mechanism.
  • the illustrated branching mechanism 30 is a mechanism for feeding the holder (target holder) 104 from the conveyance path 18 to the conveyance path 22.
  • the branching mechanism 30 has a feed arm 100, a motor 102 as a drive source, and the like.
  • the feed arm 100 is a member that rotates horizontally around a vertical axis of rotation.
  • Reference numeral 100A indicates the feed arm after rotation.
  • FIG. 12 to 14 show the operation of the branching mechanism, that is, the operation of the feed arm 100.
  • the feed arm 100 has advanced onto the transport path 18, and specifically, traverses the transport path 18 at an angle. The condition is detected by the sensor 108 as needed.
  • the feed arm 100 has a hook 112 having a curved shape and an arc-shaped depression 110.
  • symbol 104 has shown the rotating shaft.
  • symbol 106 has shown the relay base provided between the conveyance path 18 and the conveyance path 22. As shown in FIG.
  • the object holder 104 moved on the transport path 18 hits the hook 112. Thereafter, the object holder 104 is guided toward the rotation shaft 105 by the hook 112. Thereby, as shown in FIG. 13, the object holder 104 is accommodated in the recess 110. That is, the object holder 104 is captured by the recess 110. In that state, a portion of the object holder 104 is on the transport path 18 and the remaining portion is on the relay pedestal 106. Subsequently, as shown in FIG. 14, the feed arm 100 rotationally moves in the counterclockwise direction. At that time, the object holder 104 is subjected to centrifugal force or similar force, but the depression 110 maintains the capture state of the object holder 104. Thereafter, the target holder 104 is transported by the transport path 22.
  • FIG. 15 shows an example of the configuration of the transfer mechanism.
  • the illustrated transfer mechanism 32 has a feed mechanism 120 having a feed arm 126, a motor 122 as a drive source, and a shaft member 124.
  • the shaft member 124 vertically penetrates the gap between the conveyance path 18 and the conveyance path 20.
  • a feed arm 126 is fixed to the upper end of the shaft member 124. The rotational driving force of the motor 122 is transmitted to the feed arm 126 via the shaft member 124.
  • the transfer mechanism that is, the action of the feed arm 126 will be described with reference to FIG.
  • the feed arm 126 has advanced onto the transport path 18 and diagonally traverses it. The condition may be detected by a sensor.
  • the feed arm 126 has a hook with a curved shape and a curved recess 134.
  • a target to be transferred from the transport path 18 to the transport path 20 is a target holder 136.
  • the object holder 136 is pulled toward the rotating shaft 138 by the action of the hook 130.
  • the object holder 136 is then captured by the recess 134.
  • the feed arm 126 rotates clockwise, the object holder 136 captured by the recess 134 is fed onto the relay pedestal 34 and further onto the transport path 20 (see reference numeral 126A).
  • Both of the above-mentioned branching mechanism and transfer mechanism deliver the holder in a desired direction by a single member moving horizontally. Therefore, the delivery can be realized by a simple mechanism. In particular, it is easy to install the drive source below the transport path, and it is possible to obtain the advantage that it is not necessary to provide a complicated mechanism around the member for feeding the holder.
  • the first attitude of the movable plate 142 in the separating mechanism 140 is shown in FIG.
  • the second attitude of the movable plate 142 is shown in FIG.
  • An intermediate posture of the movable plate 142 is shown in FIG.
  • FIG. 20 shows the return of the movable plate 142 to the first position.
  • the first attitude of the movable plate 142 is formed (see ⁇ 0). As described below, in the first posture, rotation, reading, imaging, and the like can be performed on the foremost holder 150 n.
  • the transport path 164 transports the holders 150 n and 150 n + 1 from the lower side to the upper side in FIG.
  • the transport path 164 is configured by a belt conveyor.
  • a rotation shaft 162 is provided on one side of the conveyance path 164 and in the vicinity of the conveyance path 164, and a movable plate 142 is fixed to an upper end portion of the rotation shaft 162.
  • the rotating shaft 162 is constituted by a shaft member rotationally driven by a motor as a drive source. The motor is installed at a position below the transport path 164.
  • the movable plate 142 has a front arm 152 and a rear arm 154.
  • the front arm 152 projects or bulges upstream of the transport path 164
  • the rear arm 154 projects or bulges downstream of the transport path 164.
  • the front arm 152 has an arcuate stopper edge 156.
  • the radius of curvature of the stopper edge 156 may be constant as viewed from the rotation shaft 162.
  • the rear arm 154 has a straight guide edge 158 and a hook 160 having a bowed configuration. In the first posture, a part of the stopper edge 156 advances onto the transport path 164.
  • the forward movement of the holder 150n is restricted by the rotary drive roller 144 and the stopper edge 156.
  • the holder 150 n is at the position P 0 and the holder 150 n is in the slip state.
  • the two pressing rollers 146 and 148 move to the rear side of the holder 150n and hit the rear side.
  • a restraining state (clamping state) of the holder 150 n is formed.
  • the rotational drive roller 144 rotationally moves, a rotational force is applied to the holder 150 n.
  • the holder 150 n rotates.
  • the barcode attached to the sample container held by the holder 150 n is read.
  • the barcode attached to the holder 150 n may be read.
  • the sample container held by the holder 150 n is imaged as needed before or after the rotation process or rotation.
  • the presence or absence of the stopper in the sample container, the type of the stopper, or the like may be determined using an optical sensor or the like.
  • the subsequent holder 150 + 1 is held by two rollers not shown and its forward movement is restricted.
  • the movable plate 142 rotates in the counterclockwise direction, thereby forming a second posture of the movable plate 142.
  • the second attitude of the movable plate 142 is shown in FIG. 18 (see ⁇ 1). Specifically, the front arm 152 is retracted from the conveyance path, and the rear arm 154 is advanced to the conveyance path. With the retraction of the front arm 152, the restriction on the forward movement of the holder 150n thereby disappears, and the holder 150n moves forward. At this time, the holder 150 n + 1 is kept held in the standby position, so that the holder 150 n is separated from the subsequent holder row. On the other hand, the guide edge 158 of the rear arm 154 diagonally crosses the transport path, and the advanced holder 150 n collides with the guide edge 158. Thereby, the holder 150n stops at the temporary stop position P1. Thereafter, the movable plate 142 is rotated clockwise to form an intermediate state.
  • FIG. An intermediate state is shown in FIG. That is, the middle posture of the movable plate 142 is shown (see ⁇ 2).
  • a part 166 of the front arm 152 gets behind the holder 150n.
  • the holder n + 1 is released and its predecessor movement is allowed.
  • the holder n + 1 strikes the stopper edge 156 of the movable plate 142 in the intermediate posture, and its forward movement is restricted.
  • the rear arm 154 moves backward, and the guide edge changes from the inclined posture to the parallel posture with respect to the conveyance path, and the forward movement of the holder 150n is permitted.
  • the holder 150n is captured at the reference stop position P2 by the hook 160, and its forward movement is restricted. In that state, communication is performed between the RFID tag in the holder 150 n and the communication device. After the communication is completed, the movable plate 142 rotates in the clockwise direction. Thereby, the first attitude of the movable plate 142 is formed again.
  • FIG. 20 shows the first attitude of the movable plate 142 (see ⁇ 0).
  • the restriction on the forward movement of the holder 150n by the rear arm 154 is released, and the forward movement of the holder 150n is permitted.
  • the regulation of the forward movement of the holder 150 n + 1 by the front arm 152 is maintained.
  • FIG. 21 shows the operation of the separation mechanism according to the second example.
  • Column 200 shows changes in the angle and attitude of the movable plate.
  • Row 202 shows the change in action of the front arm.
  • Column 204 shows the change in action of the rear arm.
  • Column 206 shows other operations.
  • the first attitude of the movable plate is formed. At this time, the forward movement of the holder row starting from the n-th holder is restricted by the front arm. In S30, the n-th holder is clamped, and then it is rotationally driven. At this time, the (n + 1) -th holder is held. In S32, the movable plate rotates in the clockwise direction. In the process, the restriction on the forward movement of the n-th holder by the front arm is released, and the n-th holder moves forward. On the other hand, in the process, the n-th holder moved forward is stopped at the temporary stop position by the rear arm. In S34, the second attitude of the movable plate is formed.
  • the movable plate is rotated clockwise.
  • a part of the front arm gets behind the n-th holder.
  • the rear arm permits the forward movement of the n-th holder, and when it reaches the reference stop position, the forward movement is restricted.
  • an intermediate posture of the movable plate is formed. Communication is performed in that state. In the process of forming the intermediate posture, the (n + 1) th holder is released, and its forward movement is restricted by the stopper edge of the movable plate.
  • the movable plate rotates clockwise. Thereby, the first posture is formed again.
  • the leading holder can be cut out from the holder row, and the leading holder in the separated state can be positioned at the reference stop position. It is also easy to install the drive source below the transport path, and there is an advantage that it is not necessary to provide a complicated mechanism around the movable member.
  • the drive source is installed below the transport path, but it is also possible to install the drive source above the transport mechanism.
  • the form of the movable member may be changed as long as the above-described arm action can be obtained.
  • the length and shape of each arm may be changed.
  • the movable member may be configured as a disc or a rectangular plate having a predetermined edge. It is also conceivable to configure the front arm and the rear arm as separate members. Alternatively, each arm may be replaceable.
  • the n-th holder is temporarily stopped at the temporary stop position, but the front arm is applied to the n + 1-th holder without temporarily stopping the n-th holder.
  • FIG. 22 shows a modification of the branching mechanism.
  • the branching mechanism 170 feeds the holder from the conveyance path 18 to the conveyance path 22.
  • the member responsible for the function is the feed arm 172.
  • the feed arm 172 comprises a main body 175 and a protrusion 176.
  • the main body 175 has the same form as the feed arm 100 shown in FIG.
  • the projecting portion 176 rotates in the same manner as the main body 175 around the rotation axis, and functions as a member for temporarily stopping the holder which linearly passes the conveyance path 18, for example.
  • the rotational state of the feed arm 172 is indicated by reference numeral 172A.
  • the rotation range is indicated by reference numeral 172.
  • the holder transport apparatus is configured such that a transport path for applying an advancing kinetic force to a plurality of holders for transporting a plurality of sample containers individually and a vertical rotation set in the vicinity of the transport path And a separation mechanism having a movable member rotationally moving about an axis.
  • the first orientation of the movable member is formed by rotation of the movable member in one direction
  • the second orientation of the movable member is formed by rotation of the movable member in the other direction.
  • the movable member has a front arm and a rear arm.
  • the front arm retracts from the conveyance path in the first process of changing from the first posture to the second posture to allow forward movement of the n-th holder, and the conveyance road in the second process of changing from the second posture to the first posture Advance to and regulate the forward movement of the n + 1 holder.
  • the rear arm is an arm provided on the downstream side of the front arm, and advances into the transport path in the first process to restrict the forward movement of the n-th holder, and retracts from the transport path in the second process to the n-th holder Allow for forward movement of
  • the n-th holder (head holder) is separated from the n + 1-th holder (following holder) by the rotational movement of the movable member in one direction and the rotational movement of the movable member in the other direction. That is, in the first process, after the forward movement of the nth holder is permitted by the front arm, the forward movement of the nth holder is restricted by the rear arm. In other words, the nth holder is delivered from the front arm to the rear arm. Thereafter, when the rear arm is retracted, a part of the front arm enters between the nth holder and the n + 1st holder, and the front arm regulates the forward movement of the n + 1st holder.
  • the n-th holder is separated from the n + 1-th holder. That is, the leading holder is cut out of the holder row.
  • the holder row is usually constituted by one or more subsequent holders. A situation may occur in which there is no following holder in the separation section.
  • the rotation axis is provided in the vicinity of the conveyance path as a vertical axis.
  • the rotation axis is perpendicular to the transport path.
  • the rotation axis may be provided in the immediate vicinity of the conveyance path, or the rotation axis may be provided at a position slightly away from the conveyance path.
  • n is 1, 2, 3,.
  • the above-described transport path is generally constituted by a member such as a belt which imparts forward movement force to a plurality of holders, and more precisely, in the member, a strip-like portion on which the plurality of holders may be placed or present It is. If the arm advances onto the strip portion, the holder comes into contact with the arm, and if the arm retracts from the strip portion, the regulation by the arm is released. .
  • the middle posture of the movable member is formed in the middle of the second process, and in the process of changing from the second posture to the middle posture, the front arm forms a state in which the forward movement of the n + 1 holder is restricted.
  • the rear arm permits the forward movement of the n-th holder to the reference stop position.
  • the separated n-th holder is positioned at the reference stop position. For example, communication, barcode reading, and the like are performed on the n-th holder paused at the reference stop position.
  • a communicator communicating with the n-th holder is provided near the reference stop position.
  • the vicinity is a concept that includes the position directly under the n-th holder temporarily stopped at the reference stop position, the side, and so on. If the communication relationship can be properly communicated with the n-th holder, the vicinity condition is It is filled.
  • a communicator preferably, a non-contact communicator such as a reader, a writer, a reader / writer, etc. that communicates with the RFID tag is provided. Since communication can be performed with respect to the n-th single holder which is separated from the subsequent holder, the communication object can be narrowed down, communication efficiency can be enhanced, and the like. It is desirable to communicate in the temporary stop state of the holder, but it is also possible to communicate while the holder is moving.
  • the rear arm is a guide edge that abuts the n-th holder during the advancing movement of the n-th holder from the temporary stopping position to the reference stopping position, and the n-th holder advancing at the reference stopping position at the intermediate posture of the movable member.
  • a hook for restricting movement During the movement of the holder from the temporary stop position to the reference stop position, the guide edge continues to hit the holder. That is, it exerts a function of guiding or leading the forward movement. In the process, a separated state is formed. The hook is in an extended state on the conveyance path in the intermediate posture of the movable member, and the hook restricts the forward movement of the nth holder. That is, the nth holder is captured.
  • the form of the individual arm that is, the form of the movable member has freedom. That is, as a form of each arm, it is not necessary to necessarily adopt a form like a human arm or an elongated form.
  • the front arm has a stopper edge that restricts the forward movement of the (n + 1) th holder by hitting the (n + 1) th holder in the process of changing from the second posture to the intermediate posture.
  • An arc-shaped edge having a constant radius from the rotation center may be employed as the stopper edge. According to the configuration, the holder stop position can be fixed during rotational movement of the movable member.
  • the holder transport device has a drive source provided at a position lower than the transport path, and a shaft member which constitutes a rotation shaft and transmits the rotational drive force generated by the drive source to the movable member. According to this configuration, the space generated below the transport path can be effectively used.
  • the holder transport device includes a rotational drive member that applies rotational motion to the nth holder in a state in which the forward movement of the nth holder is restricted. For example, when reading a barcode attached to the sample container held by the n-th holder, a rotational driving force is applied to the n-th holder by the rotation driving member.
  • the holder transport device includes a branching mechanism provided at a branch point on the transportation path, and the branching mechanism advances to the transportation path, captures the target holder, and feeds the target holder to the branch transportation path. Includes an arm.
  • the separation point is set before the branch point. That is, the separating mechanism is provided immediately before the branching mechanism.
  • the holder transport apparatus includes a transport mechanism provided at a transport location on the transport path, and the transport mechanism advances into the transport path to capture the target holder and deliver the target holder to the other transport path.
  • the separating mechanism, the branching mechanism, and the transfer mechanism all have horizontally moving members (movable members, feed arms, etc.). According to this, it becomes possible to install the drive source of each mechanism below the level in which the conveyance way is provided.

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  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Automatic Analysis And Handling Materials Therefor (AREA)
PCT/JP2018/041536 2017-12-12 2018-11-08 ホルダ搬送装置 Ceased WO2019116796A1 (ja)

Priority Applications (2)

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US16/637,379 US11255867B2 (en) 2017-12-12 2018-11-08 Holder conveying device
CN201880052183.8A CN111051892B (zh) 2017-12-12 2018-11-08 支架搬运装置

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JP2017-237709 2017-12-12
JP2017237709A JP6956617B2 (ja) 2017-12-12 2017-12-12 ホルダ搬送装置

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WO2026053607A1 (ja) * 2024-09-06 2026-03-12 株式会社日立ハイテク 搬送装置

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AU2013202805B2 (en) * 2013-03-14 2015-07-16 Gen-Probe Incorporated System and method for extending the capabilities of a diagnostic analyzer
WO2020226969A2 (en) 2019-05-03 2020-11-12 Gen-Probe Incorporated Receptacle transport system for an analytical system
EP4567430A1 (en) * 2023-12-04 2025-06-11 Roche Diagnostics GmbH Laboratory sample container carrier, laboratory sample container transport device, laboratory sample container alignment station, and laboratory sample container transport system

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WO2026053607A1 (ja) * 2024-09-06 2026-03-12 株式会社日立ハイテク 搬送装置

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CN111051892B (zh) 2023-06-09
US20210364539A1 (en) 2021-11-25
US11255867B2 (en) 2022-02-22
JP2019105509A (ja) 2019-06-27
JP6956617B2 (ja) 2021-11-02

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