WO2020031244A1

WO2020031244A1 - Transport device

Info

Publication number: WO2020031244A1
Application number: PCT/JP2018/029482
Authority: WO
Inventors: 優輝小森
Original assignee: 株式会社島津製作所
Priority date: 2018-08-06
Filing date: 2018-08-06
Publication date: 2020-02-13
Also published as: JPWO2020031244A1; CN112384342A; JP7173148B2

Abstract

This transport device (100) comprises: an air supply part (1); a holding part (2) that has a plurality of holding members (20) that include a first holding member (21) and a second holding member (22); and a switching part (3) that switches the destination of air supplied from the air supply part (1) between the first holding member (21) and the second holding member (22).

Description

Transfer device

The present invention relates to a transport device.

搬送 Conventionally, a transport device that transports a sample container (an object to be held) is known. An example of a conventional transport device is disclosed in, for example, JP-A-2003-95430.

The transfer device disclosed in JP-A-2003-95430 includes a compressed air source for supplying compressed air, and generates vacuum by supplying compressed air to the ejector from the compressed air source, and holds the vacuum in the suction cup. The target object is sucked and transported.

Further, the transfer device disclosed in Japanese Patent Application Laid-Open No. 2017-112255 generates a negative pressure by ejecting a gas, and uses a holding pad based on the Bernoulli principle of sucking and holding an object to be held in a non-contact state. The holding target is transported in a non-contact state.

JP-A-2003-95430 JP 2017-112255 A

However, although a suitable holding unit differs depending on a holding object, the holding unit of the transfer device described in JP-A-2003-95430 and the transfer unit described in JP-A-2017-112255 have a plurality of types. It does not correspond to the holding object. Therefore, the user needs to replace (switch) with a suitable holding unit according to the holding target. Further, in order to replace (switch) the holding unit, the user needs to stop the transport device, and each time, the user needs to stop the transport device to interrupt the operation.

SUMMARY An advantage of some aspects of the invention is to provide a transfer apparatus capable of switching to a holding unit suitable for a holding object without stopping the apparatus. It is to provide.

In order to achieve the above object, a transport device according to one aspect of the present invention includes an air supply unit that supplies air, and a surface of an object to be held that is suctioned and held by a negative pressure generated by air from the air supply unit. A plurality of holding members including: a first holding member to be held; and a second holding member that holds the holding object in a non-contact state by blowing air supplied from the air supply unit into a gap between the ejection port and the holding object. And a switching unit for switching the air supply destination from the air supply unit to the first holding member and the second holding member.

As described above, the transport device according to one aspect of the present invention includes a holding unit having a plurality of holding members including an air supply unit, a first holding member, and a second holding member, and air from the air supply unit. And a switching unit that switches a supply destination of the first and second holding members to a first holding member and a second holding member. Accordingly, by switching the supply destination from the air supply unit by the switching unit, it is possible to switch the holding member according to the holding target without stopping the apparatus. Therefore, the holding unit suitable for the holding target can be easily changed without interrupting the work (holding and transporting the holding target).

In the transport device according to the one aspect, preferably, the plurality of holding members include, in addition to the first holding member and the second holding member, a third holding member that has an arm that opens and closes by air pressure of air supplied from an air supply unit. A member is further included. According to this structure, the number of options of the holding member used for holding the holding target increases, so that the applicable range of the holding target can be expanded.

In this case, preferably, the transport device further includes a rotation drive mechanism that rotates the arm of the third holding member. With such a configuration, for example, when the lid is provided on the object to be held, the lid can be opened and closed by rotating the arm.

The transfer device according to the above aspect preferably further includes a plurality of flow paths for supplying air from the air supply unit to the plurality of holding members, respectively, and the switching unit includes a switching valve for switching the flow path. With this configuration, by switching the flow path using the switching valve, the holding member can be easily switched according to the holding target.

In this case, preferably, the transport device selects a predetermined holding member from the plurality of holding members based on information on the content of work using the holding member, and switches the flow path corresponding to the selected holding member to a switching valve. The control unit further includes a control unit configured to perform switching control. With this configuration, the control unit switches the switching valve, whereby air is supplied to the selected holding member, and the holding member can be switched. As a result, operations using a plurality of holding members can be performed continuously.

In this case, it is preferable that the storage unit further include a storage unit in which the operation content using the holding member and the holding member to be used for one operation selected from the plurality of holding members are stored in association with each other. A predetermined holding member is selected from the plurality of holding members based on the information of the work content using the holding members stored in the unit, and control is performed by a switching valve to switch to a flow path corresponding to the selected holding member. It is configured as follows. According to this configuration, the control unit can switch the holding member for each work content stored in the storage unit. As a result, the operation using the plurality of holding members can be automatically performed by storing the operation using the plurality of holding members in advance.

In this case, preferably, the first holding member is used to hold and transport the sample container, and the second holding member is configured to be used to hold and transport the sample. With this configuration, the holding target that can be transferred in a contact state, such as a sample container, is transferred using the first holding member, and the holding target, such as the sample, that needs to avoid contamination is the second holding target. It can be transported in a non-contact state using the holding member.

In the transport device according to the one aspect, preferably, a horizontal moving mechanism that integrally moves the plurality of holding members of the holding unit, and a vertical movement mechanism that individually moves the plurality of holding members of the holding unit in the vertical direction. A direction moving mechanism. With this configuration, the plurality of holding members can be simultaneously moved in the horizontal direction, and the holding members to be used can be moved in the vertical direction. As a result, only the holding member to be used can be brought close to the holding object, so that holding of the holding object by another unused holding member can be suppressed.

In this case, preferably, a selection mechanism for selecting a holding member to be moved vertically is further provided, and the vertical movement mechanism is configured to lower the holding member selected by the selection mechanism. With this configuration, it is possible to reliably select and use a holding member corresponding to the holding target.

According to the present invention, as described above, it is possible to provide a transport device capable of switching to a holding unit suitable for a holding target without stopping the device.

FIG. 2 is a block diagram illustrating an overall configuration of the transport device according to the present embodiment. FIG. 1 is a schematic diagram illustrating an overall configuration of a transport device according to an embodiment. It is a figure showing signs that a 1st holding member by this embodiment is holding an object to be held. It is a figure showing signs that a 2nd holding member by this embodiment is holding an object to be held. It is a figure showing signs that a 3rd holding member by this embodiment is holding an object to be held. It is a figure showing an example of a change part by this embodiment. It is a figure showing other examples of a change part by this embodiment. FIG. 9 is a diagram showing a selection screen for selecting a holding member according to the work content according to the embodiment. FIG. 3 is a diagram showing a horizontal movement mechanism according to the embodiment. FIG. 4 is a schematic diagram illustrating a vertical movement mechanism and a selection mechanism according to the embodiment. FIG. 4 is a diagram schematically illustrating a first work content according to the embodiment. FIG. 6 is a diagram schematically illustrating a second work content according to the present embodiment. It is a figure showing typically the 3rd work contents by this embodiment. It is the figure which showed typically the 4th work content by this embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

With reference to FIG. 1 to FIG. 14, the configuration of the transfer apparatus 100 according to the embodiment of the present invention will be described by taking a case where the apparatus is used for gas chromatography as an example.

As shown in FIG. 1, the transport device 100 includes an air supply unit 1, a holding unit 2, a switching unit 3, a control unit 4, and a storage unit 5. Further, as shown in FIG. 2, the transfer device 100 is attached to the analyzer 200.

As shown in FIG. 1, the air supply unit 1 supplies air to a plurality of holding members 20 constituting a holding unit 2 described later via a flow path P. The air supply unit 1 includes, for example, a compressor that compresses and supplies air and a flow rate adjustment unit that adjusts a flow rate. The flow rate adjusting unit is, for example, a mass flow controller.

The holding unit 2 has a plurality of holding members 20. The holding members 20 are a first holding member 21, a second holding member 22, and a third holding member 23.

As shown in FIG. 3, the first holding member 21 includes a vacuum ejector 21 a that generates a vacuum, and a contact portion 21 b that contacts the surface of the holding target S. The vacuum ejector 21a has an inlet 21c through which air from the air supply unit 1 flows, an outlet 21d through which air having passed through the vacuum ejector 21a is discharged, and an opening 21f connected to a through hole 21e provided in the contact part 21b. And The first holding member 21 sucks and holds the surface of the holding target S by the negative pressure generated by the air from the air supply unit 1. When air from the air supply unit 1 passes through the vacuum ejector 21a, external air is sucked in from the opening 21f, and a negative pressure is generated. The object S to be held is sucked by the generated negative pressure, so that the object S to be held comes into contact with the contact portion 21b and is held. By stopping the supply of air from the air supply unit 1, the first holding member 21 stops sucking air into the vacuum ejector 21a, and no negative pressure is generated. As a result, the holding state of the holding target S is released. The holding object S of the first holding member 21 is, for example, a sample container.

The holding part 2 may have a plurality of first holding members 21 having different sizes of the contact part 21b. By providing a plurality, the first holding member 21 according to the size of the holding object S can be selected.

As shown in FIG. 4, the second holding member 22 has a bottom surface 22a facing the object S to be held, and an ejection port 22b provided on the bottom surface 22a for ejecting air. The second holding member 22 holds the upper surface of the holding target S in a non-contact state based on Bernoulli's theorem that the pressure decreases as the flow rate of the air increases, and a negative pressure is generated. The second holding member 22 jets the air supplied from the air supply unit 1 into a gap between the ejection port 22b and the holding target S, and holds the holding target S in a non-contact state. The second holding member 22 sends the air supplied from the air supply unit 1 obliquely from the upper surface to the side surface direction of the holding object S because the ejection port 22b is provided obliquely from the center to the outside. Gushing. When the supply of air from the air supply unit 1 is stopped, the negative pressure of the second holding member 22 disappears, and the holding state of the holding target S is released.

異なり Unlike the first holding member 21, the second holding member 22 holds the holding target S in a non-contact state. Therefore, it can be used for transporting the holding target S or the high-temperature holding target S whose contamination is desired to be prevented. Further, the second holding member 22 can hold the object to be held S even when the surface of the object S has irregularities. The holding target S is, for example, a sample or a component of the device.

The holding unit 2 may include a plurality of second holding members 22 having different sizes of the bottom surface portion 22a facing the holding target S. By providing a plurality, the second holding member 22 according to the size of the holding target S can be selected.

As shown in FIG. 5, the third holding member 23 has an arm 23a sandwiching the holding target S, a spring 23b attached to the arm 23a, and an air cylinder 23c. The piston 23d in the air cylinder 23c is pushed by the air supplied from the air supply unit 1 to move the third holding member 23. The piston 23d is pressed by the pressure of the air supplied from the air supply unit 1, and the arm 23a is closed by the contraction of the spring 23b. The holding target S can be sandwiched by closing the arm 23a. Further, by stopping the supply of air from the air supply unit 1, the piston 23d returns to the original position as the spring 23b attempts to return to the original length. As a result, the arm 23a opens, and the holding state of the holding target S is released.

３The third holding member 23 includes a rotation drive mechanism 23e. The third holding member 23 rotates about a rotation axis extending in the Z direction by a rotation driving mechanism 23e. The rotation drive mechanism 23e is, for example, a motor. By the rotation driving mechanism 23e, the third holding member 23 rotates the holding target S such as a container. By rotating the holding target S, for example, a reader (not shown) may read the identification label attached to the holding target S. Further, the third holding member 23 may be used to open and close the lid.

As shown in FIGS. 6 and 7, the transport device 100 has a plurality of flow paths P between the air supply unit 1 and the holding member 20. By switching the flow path P by the switching unit 3, the transport device 100 can change the air supply destination and change the holding member 20 to be used. The flow path P is provided to be long in order to move the holding member 20. The flow path P is made of, for example, Teflon (registered trademark), stainless steel, or the like.

The switching unit 3 includes a switching valve 3a that switches the flow path P. In the case of the transport device 100 having the first holding member 21 and the second holding member 22, the switching valve 3 a connects the air supply unit 1 to the first holding member 21 or the second holding member 22 so that the flow path P Is a switchable three-way valve. As shown in FIG. 6, for example, in a three-way valve, the L-shaped flow path P rotates and switches the connection direction. Further, in the case of the transport device 100 having the first holding member 21, the second holding member 22, and the third holding member 23, the switching valve 3a is configured to switch the air supply unit 1 and the first holding member 21, the second holding member 22, or the It is a four-way valve configured to communicate one of the three holding members 23. As shown in FIG. 7, for example, the four-way valve opens the switching valve 3 a of the flow path P used among the first holding member 21, the second holding member 22, and the third holding member 23, and connects with the air supply unit 1. Then, the switching valve 3a of the flow path P with the other holding member 20 is closed and shut off.

(4) The control unit 4 selects a predetermined holding member 20 based on the content of work using the holding member 20, and performs control to switch to a flow path P corresponding to the selected holding member 20 by the switching valve 3a. When transporting the sample container using the first holding member 21, the control unit 4 selects the first holding member 21 and controls the switching unit 3 to supply air to the first holding member 21. Switch to road P. When transporting a sample using the second holding member 22, the control unit 4 selects the second holding member 22 and controls the switching unit 3 to supply air to the second holding member 22. Switch to road P. Further, when transporting the sample using the third holding member 23, the control unit 4 selects the third holding member 23 and controls the switching unit 3 to supply air to the third holding member 23. Switch to road P.

The storage unit 5 is configured to store the work content using the holding member 20 and the holding member 20 to be used for one work selected from the plurality of holding members 20 in association with each other. The user previously programs the work procedure of the routine work in the storage unit 5, first selects a work using the first holding member 21, then selects a work using the second holding member 22, and finally selects a work using the second holding member 22. By selecting an operation using the third holding member 23, the operation is stored.

Here, as shown in FIG. 2, the analyzer 200 includes a display unit 201 for displaying an analysis result, a vaporization chamber 202, a lid 203 for sealing the vaporization chamber 202, and a glass liner 204 inserted into the vaporization chamber. And The analyzer 200 is configured to heat and vaporize the sample put in the glass liner 204, and to analyze components contained in the vaporized gas.

As shown in FIG. 8, for example, a work that has been programmed in advance and a first holding member 21, a second holding member 22, and a third holding member 23 are displayed on a display unit 201 of the analyzer 200. . Then, the user selects the operation using the holding member 20 for each of the holding members 20 (the first holding member 21, the second holding member 22, and the third holding member 23), so that the work content is stored in the storage unit 5. And the holding member 20 are stored in association with each other.

As shown in FIG. 2, the transport device 100 further includes a horizontal movement mechanism 6, a vertical movement mechanism 7, and a selection mechanism 8 for moving the holding member 20.

As shown in FIGS. 2 and 9, the horizontal direction moving mechanism 6 includes a first direction moving mechanism 6a for integrally moving the holding member 20 in the X direction and a second direction moving mechanism for integrally moving the holding member 20 in the Y direction. And a direction moving mechanism 6b. Here, the Z direction indicates the direction in which the vertical movement mechanism 7 moves. The X direction is a direction in which the tray T on which the sample is placed and the analyzer 200 are arranged in a plane. The Y direction is a direction orthogonal to the X direction in a horizontal plane. The horizontal moving mechanism 6 is moved by the control unit 4 based on the information of the XY coordinates.

Specifically, the first direction moving mechanism 6a holds one end side (Y2 side) of the second direction moving mechanism 6b. The first direction moving mechanism 6a includes, for example, a linear motion mechanism such as a ball screw mechanism or a rack and pinion mechanism.

The second direction moving mechanism 6b is configured to move the first holding member 21, the second holding member 22, and the third holding member 23 in the Y direction. The holding member 20 is provided on the tray T side of the transport device 100 of the second direction moving mechanism 6b. The second direction moving mechanism 6b includes, for example, a linear motion mechanism such as a ball screw mechanism or a rack and pinion mechanism.

As shown in FIG. 10, the vertical movement mechanism 7 is provided on the first holding member 21, the second holding member 22, and the third holding member 23, respectively. Specifically, the vertical movement mechanism 7 is configured to lower the holding member 20 selected by the selection mechanism 8 described later.

The vertical moving mechanism 7 includes a moving unit 7a and a driving unit 7b. A holding member 20 is provided at one end of the moving unit 7a, and a rack is formed at the other end. The vertical movement mechanism 7 is configured to move the holding member 20 in the vertical direction by rotating the pinion by the driving unit 7b. The vertical movement mechanism 7 is a so-called rack and pinion mechanism.

As shown in FIG. 10, the selection mechanism 8 includes a first mounting portion 8a to which the vertical direction moving mechanism 7 is mounted, a second mounting portion 8b to be mounted to the horizontal direction moving mechanism 6, and a rotation mounted to the second mounting portion 8b. The unit 8c is provided. The first mounting portion 8a has, for example, a circular shape. In FIG. 10, the holding members 20 are schematically illustrated in a horizontal line, but the holding members 20 are attached at regular intervals around the circumference of the first attachment portion 8a. The second attachment portion 8b includes a portion attached to and fixed to the horizontal movement mechanism 6 and a portion that rotates as a rotation axis of the rotation portion 8c. The rotating unit 8c is, for example, a motor. The holding member 20 selected by the rotating unit 8c is arranged to face the holding target S.

Here, an example in which the transport device 100 according to the present invention is used for work will be described. First, operation 1 is an operation of opening the lid 203 of the analyzer 200. Operation 2 is an operation of taking out the glass liner 204 and replacing it with a new glass liner 204. Operation 3 is an operation of transporting a sample to be analyzed and putting it into the glass liner 204. Operation 4 is an operation of closing the lid 203 of the analyzer 200.

First, the storage unit 5 stores a series of operations and the holding member 20 in association with each other by a user operation. In this embodiment, it is assumed that the user has selected the third holding member 23 for work 1 and work 4, selected the second holding member 22 for work 2, and selected the first holding member 21 for work 3. .

When the user operates the transport device 100 to start the operation, the control unit 4 controls the switching valve 3a of the switching unit 3 so as to supply the air from the air supply unit 1 to the third holding member 23. . Further, the control unit 4 controls the selection mechanism 8 so as to select the third holding member 23. Next, the control unit 4 controls the horizontal movement mechanism 6 to horizontally move the third holding member 23 right above the lid 203 of the analyzer 200. Then, the controller 4 controls the vertical movement mechanism 7 to lower the third holding member 23. Further, the control unit 4 performs control to close the arm 23a by supplying air from the air supply unit 1 to the third holding member 23. As shown in FIG. 11, after the third holding member 23 holds the lid 203 by closing the arm 23a, the control unit 4 controls the rotation of the third holding member 23 and the elevation of the vertical movement mechanism 7 I do. Thus, the operation 1 is completed.

When the work 1 is completed, the control unit 4 starts the work 2. The control unit 4 controls the switching valve 3a of the switching unit 3 so as to supply the air from the air supply unit 1 to the first holding member 21. Further, the control unit 4 controls the selection mechanism 8 so as to select the first holding member 21. Next, the control unit 4 controls the horizontal movement mechanism 6 so that the first holding member 21 is horizontally moved so as to be directly above the vaporization chamber 202. Then, the control section 4 controls the vertical movement mechanism 7 to lower the first holding member 21. As shown in FIG. 12, after the first holding member 21 holds the glass liner 204, the control unit 4 performs control to raise the vertical movement mechanism 7.

{Circle around (4)} The control unit 4 controls the horizontal moving mechanism 6 to convey the glass liner 204 to a waste box (not shown), and moves the first holding member 21. The control unit 4 performs control to stop the supply of air from the air supply unit 1 to the first holding member 21 after the first holding member 21 moves onto the waste box. As a result, the glass liner 204 is separated from the first holding member 21 and is discarded in a waste box.

制御 Then, the control unit 4 starts the operation 3. The control unit 4 controls the horizontal moving mechanism 6 so as to move the first holding member 21 to a place where the new glass liner 204 is placed. Next, the control unit 4 controls the vertical movement mechanism 7 to lower the first holding member 21. Then, after the first holding member 21 holds the glass liner 204, the control unit 4 performs control to raise the vertical movement mechanism 7.

The controller 4 controls the horizontal moving mechanism 6 so as to transport the glass liner 204 to the vaporization chamber 202. Then, the control section 4 controls the vertical movement mechanism 7 to lower the first holding member 21. Then, in order to separate the glass liner 204 from the first holding member 21, the control unit 4 performs control to stop the supply of air from the air supply unit 1. Thereby, the glass liner 204 is inserted into the vaporization chamber 202. Thus, the operation 2 is completed.

(4) When the work 2 is completed, the control unit 4 starts the work 3. First, the control unit 4 controls the switching valve 3a of the switching unit 3 so as to supply the air from the air supply unit 1 to the second holding member 22. Further, the control unit 4 controls the selection mechanism 8 so as to select the second holding member 22. Next, the control unit 4 controls the horizontal movement mechanism 6 to horizontally move the second holding member 22 to the place where the sample S1 is placed. Then, the control unit 4 controls the vertical movement mechanism 7 to lower the second holding member 22. After the second holding member 22 holds the sample S1, the control unit 4 performs control to raise the vertical movement mechanism 7.

(13) Further, as shown in FIG. 13, the control unit 4 controls the horizontal movement mechanism 6 so as to convey the sample S1 to the glass liner 204. Then, the control unit 4 controls the vertical movement mechanism 7 to lower the second holding member 22. Then, in order to separate the sample S <b> 1 from the second holding member 22, the control unit 4 performs control to stop the supply of air from the air supply unit 1. Thereby, the sample S1 is put into the vaporization chamber 202. Thus, the operation 3 is completed.

When the operation 3 is completed, the control unit 4 controls the switching valve 3a of the switching unit 3 to supply the air from the air supply unit 1 to the third holding member 23. Further, the control unit 4 controls the selection mechanism 8 so as to select the third holding member 23. Next, the control unit 4 controls the horizontal movement mechanism 6 so as to horizontally move the third holding member 23 directly above the lid 203 of the analyzer 200. Then, as shown in FIG. 14, the control unit 4 controls the vertical movement mechanism 7 to lower the third holding member 23. Thus, the lid 203 held by the third holding member 23 is placed in the vaporization chamber 202. The control unit 4 rotates the third holding member 23 and controls the vertical movement mechanism 7 to close the lid 203. Finally, the control unit 4 performs control to stop supply of air from the air supply unit 1 to the third holding member 23. Thus, the operation 4 is completed.

In the case where the analyzer 200 has the lid automatic opening / closing mechanism, the

operations

1 and 4 are not performed. In addition, since the work 2 does not need to be performed more frequently than other works, after performing the work 1 to the work 4, the work 1, the work 3, and the work 4 may be repeated. When the analyzer 200 includes the lid automatic opening / closing mechanism, the operation 2 and the operation 3 may be performed, and then the operation 3 may be repeated.

(Effect of this embodiment)
In the present embodiment, the following effects can be obtained.

In the present embodiment, as described above, the transport device 100 includes the holding unit having the plurality of holding members 20 including the air supply unit 1, the first holding member 21, and the second holding member 22, as described above. 2 and a switching unit 3 for switching the air supply destination from the air supply unit 1 to a first holding member 21 and a second holding member 22. Accordingly, by switching the supply destination from the air supply unit 1 by the switching unit 3, it is possible to switch the holding member 20 in accordance with the holding target S without stopping the transfer device 100. Therefore, the holding unit 2 suitable for the holding target S can be easily changed without interrupting the work (holding and holding of the holding target).

Further, in the present embodiment, as described above, the plurality of holding members 20 are not only the first holding member 21 and the second holding member 22 but also the arms 23a that open and close by the air pressure of the air supplied from the air supply unit 1. And a third holding member 23 having the following. By doing so, the options of the holding member 20 used for holding the holding target S are increased, so that the applicable range of the holding target S can be expanded.

In the present embodiment, the transport device 100 further includes a rotation drive mechanism 23e that rotates the arm 23a of the third holding member 23. In this way, for example, when the lid is provided on the holding target S, the lid can be opened and closed by rotating the arm 23a.

In addition, in the present embodiment, a plurality of flow paths P for supplying air from the air supply unit 1 to the plurality of holding members 20 are further provided, and the switching unit 3 includes a switching valve 3a for switching the flow path P. In this case, by switching the flow path P using the switching valve 3a, the holding member 20 can be easily switched according to the holding target S.

Further, in the present embodiment, as described above, the transport device 100 selects a predetermined holding member 20 from the plurality of holding members 20 based on the information of the work content using the holding member 20, and The control unit 4 further includes a control unit 4 configured to perform control of switching to the flow path P corresponding to the member 20 by the switching valve 3a. In this case, the control unit 4 switches the switching valve 3a, whereby air is supplied to the selected holding member 20, and the holding member 20 can be switched. As a result, the operation using the plurality of holding members 20 can be performed continuously.

Further, in the present embodiment, as described above, the storage unit in which the work content using the holding member 20 and the holding member 20 to be used for one work selected from the plurality of holding members 20 are stored in association with each other. The control unit 4 further selects the predetermined holding member 20 from the plurality of holding members 20 based on the information of the work content using the holding member 20 stored in the storage unit 5, and selects the predetermined holding member 20. It is configured to perform control to switch to the flow path P corresponding to the holding member 20 by the switching valve 3a. In this way, the control unit 4 can switch the holding member 20 for each work content stored in the storage unit 5. As a result, the operation using the plurality of holding members 20 can be automatically performed by storing the operation using the plurality of holding members 20 in advance.

In the present embodiment, as described above, the first holding member 21 is used for holding and transporting the sample container, and the second holding member 22 is used for holding and transporting the sample. It is configured to: In this case, the holding target S that can be transferred in a contact state, such as a sample container, is transferred using the first holding member 21, and the holding target S that needs to avoid contamination, such as a sample, is placed in the second holding member 21. The holding member 22 can be used to carry the sheet in a non-contact state.

Further, in the present embodiment, as described above, the horizontal moving mechanism 6 that integrally moves the plurality of holding members 20 included in the holding unit 2 and the plurality of holding members 20 included in the holding unit 2 in the vertical direction. And a vertical movement mechanism 7 for individually moving. In this case, the plurality of holding members 20 can be simultaneously moved in the horizontal direction, and the holding members 20 to be used can be moved in the vertical direction. As a result, only the holding member 20 to be used can be brought close to the holding object S, so that holding of the holding object S by another unused holding member 20 can be suppressed.

Further, in the present embodiment, as described above, the selection mechanism 8 for selecting the holding member 20 to be vertically moved is further provided, and the vertical movement mechanism 7 is configured to lower the holding member 20 selected by the selection mechanism 8. It is configured. In this way, the holding member 20 corresponding to the holding target S can be reliably selected and used.

(Modification)
It should be understood that the embodiments disclosed this time are illustrative in all aspects and not restrictive. The scope of the present invention is defined not by the description of the above-described embodiment but by the claims, and further includes meanings equivalent to the claims and all modifications (modifications) within the scope.

For example, in the above embodiment, the example in which the holding member 20 includes the first holding member 21, the second holding member 22, and the third holding member 23 has been described, but the present invention is not limited to this. For example, the holding member 20 may include a fourth holding member of a magnet type.

In the above embodiment, the example in which the rotation drive mechanism 23e is a motor has been described, but the present invention is not limited to this. For example, the rotation drive mechanism 23e may be configured to rotate using air from the air supply unit 1.

In the above embodiment, the example in which the switching unit 3 includes the three-way valve or the four-way valve has been described, but the present invention is not limited to this. For example, the switching unit 3 may provide an on-off valve in the flow path P connected to each holding member 20. The method of controlling the flow path P of the three-way valve and the four-way valve is not particularly limited as long as it is a commonly used method.

Also, in the above embodiment, the example in which the first holding member 21 conveys the glass liner 204 has been described, but the present invention is not limited to this. For example, the second holding member 22 or the third holding member 23 may carry the glass liner 204.

Also, in the above embodiment, the example in which the third holding member 23 puts the sample into the analyzer 200 has been described, but the present invention is not limited to this. For example, when the transport device 100 includes a sample suction / discharge unit, the sample container is transported using the second holding member 22 or the third holding member 23, and the sample is charged using the sample suction / discharge unit. Is also good.

In the above embodiment, the example in which the transport device 100 is used for gas chromatography has been described, but the present invention is not limited to this. For example, it may be used for another analyzer 200 such as liquid chromatography.

Also, in the above embodiment, the example in which the transport device 100 is used for the sample analysis is described, but the present invention is not limited to this. For example, it may be used in a production line for producing a product composed of a plurality of parts.

Further, in the above embodiment, the example in which the vertical movement mechanism 7 moves the holding member 20 in the vertical direction by the rack and pinion mechanism has been described, but the present invention is not limited to this. The vertical movement mechanism 7 may have any configuration as long as the holding member 20 can be moved in the vertical direction. The vertical movement mechanism 7 may be configured by, for example, a ball screw mechanism or a belt and pulley mechanism.

In the above embodiment, the example in which the selection mechanism 8 is circular has been described, but the present invention is not limited to this. For example, it may be a polygon such as a triangle or a quadrangle. In this case, the holding member 20 may be arranged at the vertex.

DESCRIPTION OF SYMBOLS 1 Air supply part 2 Holding part 3 Switching part 4 Control part 5 Storage part 6 Horizontal moving mechanism 7 Vertical moving mechanism 8 Selection mechanism 20 Holding member 21 First holding member 22 Second holding member 23 Third holding member 100 Transporting device

Claims

An air supply unit for supplying air;
A first holding member that adsorbs and holds the surface of the holding object by the negative pressure generated by the air from the air supply unit, and ejects the air supplied from the air supply unit to a gap between the holding object and the first holding member. A holding unit having a plurality of holding members including a second holding member that holds the object to be held in a non-contact state;
A transfer device comprising: a switching unit that switches a supply destination of air from the air supply unit to the first holding member and the second holding member.
2. The plurality of holding members further include a third holding member having an arm that opens and closes with an air pressure of air supplied from the air supply unit, in addition to the first holding member and the second holding member. 3. 3. The transfer device according to claim 1.
The transport device according to claim 2, further comprising a rotation drive mechanism that rotates an arm of the third holding member.
Further comprising a plurality of flow paths for supplying air from the air supply unit to the plurality of holding members, respectively.
The transport device according to claim 1, wherein the switching unit includes a switching valve that switches the flow path.
Based on information on the content of work using the holding member, a predetermined holding member is selected from a plurality of the holding members, and control is performed by the switching valve to switch to the flow path corresponding to the selected holding member. The transport device according to claim 4, further comprising a control unit configured as described above.
The storage unit further includes a storage unit in which the operation content using the holding member and the holding member to be used for one operation selected from a plurality of the holding members are stored in association with each other,
The control unit is configured to select a predetermined holding member from a plurality of the holding members based on information of work content using the holding member stored in the storage unit, and to select the selected holding member. The transfer device according to claim 5, wherein the transfer device is configured to perform control of switching to the corresponding flow path by the switching valve.
The said 1st holding member is used for the operation | work which hold | maintains and transports a sample container, and the 2nd holding | maintenance member is comprised so that it may be used for the operation | work which hold | maintains and conveys a sample, or. 7. The transfer device according to 6.
In the horizontal direction, a horizontal moving mechanism that integrally moves the plurality of holding members of the holding unit,
The transport device according to any one of claims 1 to 7, further comprising: a vertical movement mechanism that individually moves the plurality of holding members of the holding unit in the vertical direction.
Further comprising a selection mechanism for selecting the holding member to be vertically moved,
The transport device according to claim 8, wherein the vertical movement mechanism is configured to lower the holding member selected by the selection mechanism.