JP6088791B2 - チャッキング装置 - Google Patents
チャッキング装置 Download PDFInfo
- Publication number
- JP6088791B2 JP6088791B2 JP2012239391A JP2012239391A JP6088791B2 JP 6088791 B2 JP6088791 B2 JP 6088791B2 JP 2012239391 A JP2012239391 A JP 2012239391A JP 2012239391 A JP2012239391 A JP 2012239391A JP 6088791 B2 JP6088791 B2 JP 6088791B2
- Authority
- JP
- Japan
- Prior art keywords
- test tube
- motor
- pair
- chucking device
- control device
- 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.)
- Active
Links
- 238000012360 testing method Methods 0.000 claims description 71
- 238000012545 processing Methods 0.000 description 26
- 230000032258 transport Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000020169 heat generation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L9/00—Supporting devices; Holding devices
- B01L9/06—Test-tube stands; Test-tube holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- 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
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
-
- 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
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P4/00—Arrangements specially adapted for regulating or controlling the speed or torque of electric motors that can be connected to two or more different electric power supplies
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S294/00—Handling: hand and hoist-line implements
- Y10S294/907—Sensor controlled device
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Immunology (AREA)
- Physics & Mathematics (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pathology (AREA)
- Analytical Chemistry (AREA)
- Power Engineering (AREA)
- Clinical Laboratory Science (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Manipulator (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
- Devices For Use In Laboratory Experiments (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Description
以下に、本願出願の当初の特許請求の範囲に記載された発明を付記する。
[1] 試験管を保持可能なアームと、
前記アームを開閉させる開閉機構と、
前記開閉機構を駆動するモータと、
2つの異なる供給電圧で前記モータに電力を供給する供給手段と、
を備えることを特徴とするチャッキング装置。
[2] 前記供給手段は、
前記アームによる前記試験管の保持を検出可能な検出器と、
前記異なる供給電圧のいずれかに切り替える切換手段と、
前記試験管の保持が前記検出器で検出された後、前記切換手段を切り替えて、前記モータに供給する前記電力の供給電圧を低下させる制御装置と、
を備えることを特徴とするチャッキング装置。
[3] 前記2つの異なる供給電圧は、一方が前記モータの定格電圧であって、他方が前記定格電圧よりも低い電圧であることを特徴とする[2]に記載のチャッキング装置。
Claims (2)
- 試験管を保持可能な一対のアームと、
前記一対のアームを開閉させる開閉機構と、
前記開閉機構を駆動するモータと、
2つの異なる供給電圧で前記モータに電力を供給する供給手段と、
を備え、
前記供給手段は、
前記一対のアームによる前記試験管の保持を検出可能な検出器と、
前記異なる供給電圧のいずれかに切り替える切換手段と、
前記試験管の保持が前記検出器で検出された後、前記切換手段を切り替えて、前記モータに供給する前記電力の供給電圧を低下させる制御装置と、
を具備し、
前記検出器は、前記一対のアームが前記試験管を保持可能な間隔となる位置に位置したことを検出可能に構成されることを特徴とするチャッキング装置。 - 前記2つの異なる供給電圧は、一方が前記モータの定格電圧であって、他方が前記定格電圧よりも低い電圧であることを特徴とする請求項1に記載のチャッキング装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012239391A JP6088791B2 (ja) | 2012-10-30 | 2012-10-30 | チャッキング装置 |
CA2831076A CA2831076C (en) | 2012-10-30 | 2013-10-24 | Chucking apparatus |
EP13005110.5A EP2727863B1 (en) | 2012-10-30 | 2013-10-25 | Chucking apparatus |
TW102138902A TWI530354B (zh) | 2012-10-30 | 2013-10-28 | Gripping device |
KR1020130129316A KR101527289B1 (ko) | 2012-10-30 | 2013-10-29 | 척킹 장치 |
CN201310523099.9A CN103786154B (zh) | 2012-10-30 | 2013-10-30 | 夹持装置 |
US14/066,878 US9016743B2 (en) | 2012-10-30 | 2013-10-30 | Chucking apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012239391A JP6088791B2 (ja) | 2012-10-30 | 2012-10-30 | チャッキング装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2014089118A JP2014089118A (ja) | 2014-05-15 |
JP6088791B2 true JP6088791B2 (ja) | 2017-03-01 |
Family
ID=49513710
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012239391A Active JP6088791B2 (ja) | 2012-10-30 | 2012-10-30 | チャッキング装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US9016743B2 (ja) |
EP (1) | EP2727863B1 (ja) |
JP (1) | JP6088791B2 (ja) |
KR (1) | KR101527289B1 (ja) |
CN (1) | CN103786154B (ja) |
CA (1) | CA2831076C (ja) |
TW (1) | TWI530354B (ja) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104118728A (zh) * | 2014-07-21 | 2014-10-29 | 深圳市奥特库贝科技有限公司 | 一种抓杯机构 |
US10456925B2 (en) * | 2015-10-30 | 2019-10-29 | Thermo Fisher Scientific Oy | Gripper finger and gripper |
EP3270166A1 (de) * | 2016-07-11 | 2018-01-17 | Siemens Healthcare Diagnostics Products GmbH | Greifvorrichtung zum transport von flüssigkeitsbehältern in einem automatischen analysegerät |
CN106672611A (zh) * | 2017-02-25 | 2017-05-17 | 中信戴卡股份有限公司 | 一种移栽轮毂地链托盘的装置 |
JP6551805B2 (ja) * | 2017-03-06 | 2019-07-31 | パナソニックIpマネジメント株式会社 | 部品実装装置及び部品実装方法 |
EP3388839B1 (en) * | 2017-04-10 | 2023-08-30 | F. Hoffmann-La Roche AG | Centering unit for diagnostics laboratory transporting compartment |
CN108000544A (zh) * | 2017-11-06 | 2018-05-08 | 泰州泽成生物技术有限公司 | 一种取试管抓手装置 |
GB202012042D0 (en) * | 2020-08-03 | 2020-09-16 | Ocado Innovation Ltd | Gripper |
CN112828318A (zh) * | 2021-01-25 | 2021-05-25 | 冯琳波 | 一种便于更换刀具的数控自动化车床 |
CN113218868B (zh) * | 2021-05-19 | 2022-07-29 | 东营晨丰电子科技有限公司 | 原油中含水及沉淀物的测定方法 |
CN114196528A (zh) * | 2022-01-18 | 2022-03-18 | 奥谱天成(厦门)光电有限公司 | 一种基于多光谱的pcr检测仪 |
EP4233774A3 (en) * | 2022-02-23 | 2023-12-13 | Instrumentation Laboratory Company | Managing containers in a medical diagnostic system |
Family Cites Families (27)
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JPS5728142Y2 (ja) * | 1976-10-07 | 1982-06-18 | ||
JPH059355Y2 (ja) * | 1987-01-16 | 1993-03-08 | ||
JPH029593A (ja) * | 1987-12-15 | 1990-01-12 | Hitachi Ltd | ロボットハンド |
JP2786874B2 (ja) * | 1989-03-10 | 1998-08-13 | 株式会社日立製作所 | 可動位置制御装置 |
US5102287A (en) * | 1990-09-06 | 1992-04-07 | Tekmax Inc. | Plate handling apparatus |
JPH05136254A (ja) * | 1991-11-13 | 1993-06-01 | Hitachi Ltd | 静電吸着装置 |
US5332275A (en) * | 1991-11-27 | 1994-07-26 | Microscience Group, Inc. | Microgripper |
JPH05315435A (ja) * | 1992-05-14 | 1993-11-26 | Hitachi Ltd | 試料保持装置 |
JPH05341827A (ja) * | 1992-06-09 | 1993-12-24 | Toshiba Corp | ロボット制御装置 |
JPH08256493A (ja) * | 1995-03-16 | 1996-10-01 | Toshiba Corp | モータ駆動装置 |
JP3179681B2 (ja) * | 1995-08-30 | 2001-06-25 | 日本ファウンドリー株式会社 | 自動搬送ロボット |
JP2873275B2 (ja) * | 1995-09-25 | 1999-03-24 | アロカ株式会社 | 試験管搬送装置 |
JPH11309689A (ja) * | 1998-04-28 | 1999-11-09 | Hitachi Techno Eng Co Ltd | 搬送装置 |
JP3988319B2 (ja) * | 1998-06-03 | 2007-10-10 | 株式会社セガ | 掴持装置および景品取得ゲーム装置 |
EP0995555A1 (de) * | 1998-10-15 | 2000-04-26 | Tecan AG | Robotarm |
JP4136187B2 (ja) * | 1999-05-14 | 2008-08-20 | シスメックス株式会社 | 検体移し替え装置 |
JP4117091B2 (ja) * | 1999-09-29 | 2008-07-09 | アロカ株式会社 | 試験管搬送装置 |
US6257636B1 (en) * | 2000-06-02 | 2001-07-10 | The United States Of America As Represented By The United States Department Of Energy | Self-actuating mechanical grapple for lifting and handling objects |
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JP3715266B2 (ja) * | 2002-08-30 | 2005-11-09 | 株式会社アイディエス | 検体容器チャック機構 |
US7261352B2 (en) * | 2004-07-13 | 2007-08-28 | Samsung Electronics Co., Ltd. | Electrostatically driven carbon nanotube gripping device |
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JP4737456B2 (ja) * | 2007-11-22 | 2011-08-03 | Smc株式会社 | グリッパ機構 |
JP2011013086A (ja) * | 2009-07-01 | 2011-01-20 | Aoi Seiki Kk | 検体処理装置 |
JP5659812B2 (ja) * | 2011-01-19 | 2015-01-28 | 株式会社デンソーウェーブ | ロボットコントローラ |
-
2012
- 2012-10-30 JP JP2012239391A patent/JP6088791B2/ja active Active
-
2013
- 2013-10-24 CA CA2831076A patent/CA2831076C/en active Active
- 2013-10-25 EP EP13005110.5A patent/EP2727863B1/en active Active
- 2013-10-28 TW TW102138902A patent/TWI530354B/zh active
- 2013-10-29 KR KR1020130129316A patent/KR101527289B1/ko not_active IP Right Cessation
- 2013-10-30 CN CN201310523099.9A patent/CN103786154B/zh active Active
- 2013-10-30 US US14/066,878 patent/US9016743B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN103786154A (zh) | 2014-05-14 |
JP2014089118A (ja) | 2014-05-15 |
TW201436926A (zh) | 2014-10-01 |
EP2727863B1 (en) | 2016-08-31 |
KR20140056060A (ko) | 2014-05-09 |
CA2831076C (en) | 2016-09-27 |
US9016743B2 (en) | 2015-04-28 |
CA2831076A1 (en) | 2014-04-30 |
EP2727863A1 (en) | 2014-05-07 |
CN103786154B (zh) | 2016-04-20 |
US20140117690A1 (en) | 2014-05-01 |
KR101527289B1 (ko) | 2015-06-09 |
TWI530354B (zh) | 2016-04-21 |
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