JP6472698B2

JP6472698B2 - Holder hand, holder transfer device, and holder transfer method

Info

Publication number: JP6472698B2
Application number: JP2015069719A
Authority: JP
Inventors: 剛彦永島
Original assignee: Terumo Corp
Current assignee: Terumo Corp
Priority date: 2015-03-30
Filing date: 2015-03-30
Publication date: 2019-02-20
Anticipated expiration: 2035-03-30
Also published as: JP2016187862A

Description

本発明は、保持具ハンド、保持具移載装置、及び保持具の移載方法に関する。 The present invention relates to a holder hand, a holder transfer device, and a holder transfer method.

プレフィルドシリンジは、滅菌されたシリンジ用外筒（以下単に「シリンジ」と称する）に薬液が予め充填された製品であり、薬液をシリンジに移し変える手間を省け、異物混入の可能性が低いなどの利点を有している。 A prefilled syringe is a product in which a sterilized syringe outer cylinder (hereinafter simply referred to as “syringe”) is pre-filled with a chemical solution, which eliminates the need to transfer the chemical solution to the syringe and reduces the possibility of contamination. Has advantages.

また、プレフィルドシリンジの製造ラインでは、複数のシリンジを保持するために、ネストと呼ばれる保持具が一般に利用されている（下記特許文献参照）。
保持具は、平面視四角形状の平面部と、その平面部の上面から上方に延びる複数の保持孔と、を備えている。また、保持孔の孔は平面部を貫通している。
そして、シリンジが保持孔に上方から挿入されてシリンジのフランジが保持孔の上端面に係止した状態で保持具に保持される。また、保持具はロボットアームによってラック（台車）に移載され、ラックごとに製造ライン上を移動している。 In addition, in a prefilled syringe production line, a holder called a nest is generally used to hold a plurality of syringes (see the following patent document).
The holder includes a plane part having a rectangular shape in plan view and a plurality of holding holes extending upward from the upper surface of the plane part. Moreover, the hole of the holding hole penetrates the flat portion.
Then, the syringe is inserted into the holding hole from above, and the syringe flange is held by the holding tool in a state where the syringe flange is locked to the upper end surface of the holding hole. Further, the holder is transferred to a rack (cart) by a robot arm, and moves on the production line for each rack.

特許第５４１２２７５号公報Japanese Patent No. 5412275

ところで、ロボットアームには、保持具をラックに移載する保持具ハンドとして、保持具の平面部の上面に吸着する吸着パッド（吸着部）が利用されることが多い。 By the way, the robot arm often uses a suction pad (suction part) that sucks on the upper surface of the flat part of the holder as a holder hand for transferring the holder to the rack.

しかしながら、吸着パッドを利用するためには、真空ポンプや、真空ポンプと吸着パッドとを接続する配管などの付属する設備が必要となる。
また、シリンジに薬液を充填するためのアイソレータ等の高い清浄度に保たれた高清浄度空間内で、吸着パッドを有するロボットアームを使用すると、真空ポンプや配管等から異物が発生し、高清浄度空間内の清浄度を保つことが困難となる。また、配管内の無菌性を維持する必要があり、メンテナンスに手間がかかる。
このため、簡易に保持具を移載でき、異物の発生が少なく、且つメンテナンスが容易な保持具ハンド、保持具移載装置、及び保持具の移載方法の開発が望まれている。 However, in order to use the suction pad, an attached facility such as a vacuum pump or a pipe connecting the vacuum pump and the suction pad is required.
In addition, if a robot arm with a suction pad is used in a high cleanliness space with high cleanliness, such as an isolator for filling a syringe with chemicals, foreign matter is generated from vacuum pumps and piping, resulting in high cleanliness. It is difficult to maintain cleanliness in the temperature space. Moreover, it is necessary to maintain the sterility in the piping, which requires time and effort for maintenance.
Therefore, development of a holder hand, a holder transfer device, and a holder transfer method that can easily transfer the holder, generate less foreign matter, and is easy to maintain is desired.

本発明は、このような課題を解決するために創作されたものであり、簡易に保持具をラックに移載でき、且つ異物の発生が少なく、メンテナンスが容易な保持具ハンド、保持具移載装置、及び保持具の移載方法を提供することを目的とする。 The present invention was created in order to solve such problems. A holder hand that can easily transfer a holder to a rack and that is less likely to generate foreign matter and is easy to maintain. An object of the present invention is to provide an apparatus and a method for transferring a holder.

前記課題を解決するため、第１発明に係る保持具ハンドは、ロボットアームのアーム部に取り付けられ、内部に薬剤を収納可能な薬剤容器を複数保持し、上面からの平面視が略四角形状の保持具を下方から支持する保持具ハンドであって、前記アーム部に固定される固定部と、前記固定部に連結し、前記保持具の下方に配置される底部と、前記底部から上方に延びる第１の縦壁部と、前記底部から上方に延びるとともに、前記底部を中心に前記第１の縦壁部と対向する位置に配置された第２の縦壁部と、前記第１の縦壁部の上端から、水平且つ前記底部の中心から離間する方向に延び、前記保持具の第１の辺の下面を支持可能な第１の支持部と、前記第２の縦壁部の上端から、水平且つ前記底部の前記中心から離間する方向に延び、前記保持具の前記第１の辺と対向する第２の辺の下面を支持可能な第２の支持部と、を備えることを特徴とする。 In order to solve the above problems, a holder hand according to a first invention is attached to an arm portion of a robot arm, holds a plurality of drug containers capable of storing a drug therein, and has a substantially square shape when viewed from above. A holder hand for supporting a holder from below, a fixing part fixed to the arm part, a bottom part connected to the fixing part and disposed below the holder, and extending upward from the bottom part A first vertical wall portion; a second vertical wall portion extending upward from the bottom portion; and disposed at a position facing the first vertical wall portion with the bottom portion as a center; and the first vertical wall portion From the upper end of the part, it extends in a direction that is horizontal and away from the center of the bottom part, from the first support part that can support the lower surface of the first side of the holder, and from the upper end of the second vertical wall part, Extends horizontally and away from the center of the bottom and holds Wherein the of and a second supporting portion capable of supporting a lower surface of the first side and the second opposing sides.

第１発明によれば、第１の支持部及び第２の支持部で、第１の辺の下面と、第１の辺に対向する第２の辺とを支持することができる。このため、本発明によれば、簡易な構造で保持具をラックに移載することができる。この結果、吸着パッドのように、真空ポンプ及び配管などの付属設備を設ける必要がなく、管理労力の軽減や占有スペースの狭小化を図れる。また、真空ポンプなどの駆動装置を用いることがないため、異物が発生するおそれを低減することができる。また、無菌性を維持する必要のある配管が不要なため、メンテナンスの手間を削減できる。 According to the first invention, the first support portion and the second support portion can support the lower surface of the first side and the second side facing the first side. For this reason, according to the present invention, the holder can be transferred to the rack with a simple structure. As a result, there is no need to provide additional equipment such as a vacuum pump and piping unlike the suction pad, and management labor can be reduced and the occupied space can be reduced. In addition, since a driving device such as a vacuum pump is not used, the possibility that foreign matter is generated can be reduced. Moreover, since the piping which needs to maintain sterility is unnecessary, the maintenance labor can be reduced.

また、第２発明に係る保持具移載装置は、内部に薬剤を収納可能な薬剤容器を複数保持し、上面からの平面視が略四角形状の保持具を移載する移載装置であって、前記保持具を下方から支持する保持具ハンドと、前記保持具ハンドが取り付けられたアーム部を有するロボットアームと、前記保持具を載置可能であり、水平方向に延び、かつ互いに対向する１対の水平レールを上下方向に複数有するラックと、を備え、前記１対の水平レールは、前記保持具の第１の辺の下面及び前記保持具の前記第１の辺と対向する第２の辺の下面を支持可能であり、かつ、前記保持具の第１の辺の前記下面及び前記第２の辺の前記下面のそれぞれ一部が露出するように設けられた一対の切り欠きを有し、前記保持具ハンドは、前記アーム部に固定される固定部と、前記固定部に連結し、前記保持具の下方に配置される底部と、前記底部から上方に延びる第１の縦壁部と、前記底部から上方に延びるとともに、前記底部を中心に前記第１の縦壁部と対向する位置に配置された第２の縦壁部と、前記第１の縦壁部の上端から、水平且つ前記底部の中心から離間する方向に延び、前記保持具の前記第１の辺の下面を支持可能な第１の支持部と、前記第２の縦壁部の上端から、水平且つ前記底部の前記中心から離間する方向に延び、前記保持具の前記第２の辺の下面を支持可能な第２の支持部と、を有し、前記第１の縦壁部と前記第２の縦壁部との間の間隔は、少なくとも前記第１の縦壁部の上端近傍と前記第２の縦壁部の上端近傍との間の間隔において前記一対の水平レール間の間隔よりも短く、前記第１の支持部は、前記一対の切り欠きの一方に上下方向に挿入可能であり、前記第２の支持部は、前記一対の切り欠きの他方に上下方向に挿入可能であることを特徴とする。 The holder transfer device according to the second invention is a transfer device that holds a plurality of drug containers that can store a drug therein, and transfers a holder having a substantially rectangular shape in plan view from the upper surface. A holder hand for supporting the holder from below, a robot arm having an arm portion to which the holder hand is attached, and the holder can be placed, extend in the horizontal direction, and face each other 1 A rack having a plurality of pairs of horizontal rails in the vertical direction, wherein the pair of horizontal rails is a second surface facing the lower surface of the first side of the holder and the first side of the holder. A pair of notches provided to be able to support the lower surface of the side and to expose a part of the lower surface of the first side and the lower surface of the second side of the holder; The holder hand is fixed to the arm portion. And a bottom portion connected to the fixing portion and disposed below the holder, a first vertical wall portion extending upward from the bottom portion, and extending upward from the bottom portion, and the first centered on the bottom portion. A second vertical wall portion disposed at a position opposite to the first vertical wall portion; and an upper end of the first vertical wall portion that extends horizontally and away from the center of the bottom portion; and A first support portion capable of supporting the lower surface of the first side; and an upper end of the second vertical wall portion, extending horizontally and away from the center of the bottom portion, and the second of the holder A second support part capable of supporting the lower surface of the side, and the distance between the first vertical wall part and the second vertical wall part is at least the upper end of the first vertical wall part The distance between the vicinity and the vicinity of the upper end of the second vertical wall is shorter than the distance between the pair of horizontal rails. Support of the is insertable in the vertical direction to one of the pair of notches, the second supporting portion may on the other of said pair of notches is insertable in the vertical direction.

第２発明によれば、保持具の下方に配置された保持具ハンドを上昇させて第１の支持部及び第２の支持部を一対の切り欠きに挿入すると、第１の支持部及び第２の支持部が、第１の辺の下面と第２の辺の下面とに当接する。
そして、さらに保持具ハンドを上昇させて第１の縦壁部及び第２の縦壁部の上端近傍を一対の水平レール間に挿入すると、保持具ハンドが保持具を持ち上げて保持具を支持することができる。
以上から、本発明によれば、簡易な構造で保持具をラックに移載することができる。この結果、吸着パッドのように、真空ポンプ及び配管などの付属設備を設ける必要がなく、管理労力の軽減や占有スペースの狭小化を図れる。また、真空ポンプなどの駆動装置を用いることがないため、異物が発生するおそれを低減することができる。また、無菌性を維持する必要のある配管が不要なため、メンテナンスの手間を削減できる。 According to the second invention, when the holder hand disposed below the holder is raised and the first support part and the second support part are inserted into the pair of cutouts, the first support part and the second support part are provided. The support portion is in contact with the lower surface of the first side and the lower surface of the second side.
When the holder hand is further raised and the vicinity of the upper ends of the first vertical wall portion and the second vertical wall portion is inserted between the pair of horizontal rails, the holder hand lifts the holder and supports the holder. be able to.
As described above, according to the present invention, the holder can be transferred to the rack with a simple structure. As a result, there is no need to provide additional equipment such as a vacuum pump and piping unlike the suction pad, and management labor can be reduced and the occupied space can be reduced. In addition, since a driving device such as a vacuum pump is not used, the possibility that foreign matter is generated can be reduced. Moreover, since the piping which needs to maintain sterility is unnecessary, the maintenance labor can be reduced.

また、第３発明に係る保持具の移載方法は、請求項１６に記載の移載装置を用いて、前記保持具を移載する移載方法であって、複数の前記保持具を前記ラック内に移載する際は、上方から下方に向って順に、前記保持具を前記一対の水平レールに載置し、前記ラックから複数の前記保持具を取り出す際は、下方から上方に向って順に、前記保持具を前記一対の水平レールから取り出すことを特徴とする。 Moreover, the transfer method of the holder which concerns on 3rd invention is a transfer method which transfers the said holder using the transfer apparatus of Claim 16, Comprising: A plurality of said holders are attached to the said rack. When transferring inward, the holders are placed on the pair of horizontal rails in order from the top to the bottom, and when removing the plurality of holders from the rack, the holders are sequentially from the bottom to the top. The holding tool is taken out from the pair of horizontal rails.

第３発明によれば、簡易な構造を用いて保持具をラックに移載することができ、吸着パッドのように、真空ポンプ及び配管などの付属設備を設ける必要がなく、管理労力の軽減や占有スペースの狭小化を図れる。また、真空ポンプなどの駆動装置を用いることがないため、異物が発生するおそれを低減することができる。また、無菌性を維持する必要のある配管が不要なため、メンテナンスの手間を削減できる。
さらに、一対の水平レール上に保持具を載置したり、一対の水平レール上から保持具を取り出したりする際に、下方に異物が落下するおそれがあるものの、前記する構成によれば、下方に保持具が載置されていないため、異物がシリンジに付着することがない。 According to the third invention, the holder can be transferred to the rack using a simple structure, and there is no need to provide additional equipment such as a vacuum pump and piping as in the case of the suction pad. The occupied space can be reduced. In addition, since a driving device such as a vacuum pump is not used, the possibility that foreign matter is generated can be reduced. Moreover, since the piping which needs to maintain sterility is unnecessary, the maintenance labor can be reduced.
Furthermore, when placing the holder on the pair of horizontal rails or taking out the holder from the pair of horizontal rails, there is a possibility that foreign matter may fall downward. Since the holder is not placed on the body, foreign matter does not adhere to the syringe.

本発明によれば、簡易に保持具をラックに移載でき、異物の発生が少なく、且つメンテナンスが容易な保持具ハンド、保持具移載装置、及び保持具の移載方法を提供することができる。 According to the present invention, it is possible to provide a holder hand, a holder transfer device, and a holder transfer method in which a holder can be easily transferred to a rack, less foreign matter is generated, and maintenance is easy. it can.

実施形態に係るロボットアームの保持具ハンドで保持具を支持した状態を示す側面図である。It is a side view which shows the state which supported the holder with the holder hand of the robot arm which concerns on embodiment. 分離された保持具ハンドと保持具とを斜視した斜視図である。It is the perspective view which looked at the holding tool hand and holding tool which were isolate | separated. （ａ）は保持具ハンドを平面視した平面図であり、（ｂ）は保持具を支持した状態の保持具ハンドを側面視した側面図である。(A) is the top view which looked at the holder hand planarly, (b) is the side view which looked at the holder hand of the state which supported the holder side. 実施形態に係るラックを斜視した斜視図である。It is the perspective view which looked at the rack which concerns on embodiment. 図４のラックを水平方向に切った場合を上方から視た平面図であるIt is the top view which looked at the case where the rack of FIG. 4 is cut | disconnected in a horizontal direction from upper direction. ロボットアームで保持具をラックに載置する場合をラックの後方から視た背面図であり、その第１工程を示す図である。It is the rear view which looked at the case where a holder is mounted in a rack with a robot arm from the back of a rack, and is a figure which shows the 1st process. ロボットアームで保持具をラックに載置する場合をラックの後方から視た背面図であり、その第２工程を示す図である。It is the rear view which looked at the case where a holder is mounted in a rack with a robot arm from the back of a rack, and is a figure which shows the 2nd process. ロボットアームで保持具をラックに載置する場合をラックの後方から視た背面図であり、その第３工程を示す図である。It is the rear view which looked at the case where a holder is mounted in a rack with a robot arm from the back of a rack, and is a figure which shows the 3rd process. ロボットアームで保持具をラックに載置する場合をラックの後方から視た背面図であり、その第４工程を示す図である。It is the rear view which looked at the case where a holder is mounted in a rack with a robot arm from the back of a rack, and is a figure which shows the 4th process. 変形例に係る保持具ハンドと、変形例に係る一対のレールとを上方から視た平面図である。It is the top view which looked at the holder hand which concerns on a modification, and a pair of rail which concerns on a modification from upper direction.

つぎに本発明の実施形態について説明する。最初に、内部に薬剤を収納可能な薬剤容器であるシリンジ８０を保持する保持具７０と、その保持具７０を収容するラック６０とを説明する。 Next, an embodiment of the present invention will be described. First, a holder 70 that holds a syringe 80 that is a medicine container that can contain a medicine therein, and a rack 60 that houses the holder 70 will be described.

図２に示すように、保持具７０は、複数のシリンジ８０（図３（ｂ）参照）を保持する樹脂製の保持具である。保持具７０は、平面視四角形状の平板部７１と、平板部７１の上面から上方に延びる円筒状の保持孔７２とを備えている。
保持孔７２内にシリンジ８０を上方から挿入すると、シリンジ８０のフランジ８１が保持孔７２の上端面に係止されてシリンジ８０が保持具７０に保持される。
図３（ｂ）に示すように、保持孔７２を貫通するシリンジ８０は、平板部７１の下面よりも下方に突出している。 As shown in FIG. 2, the holder 70 is a resin holder that holds a plurality of syringes 80 (see FIG. 3B). The holder 70 includes a flat plate portion 71 having a rectangular shape in plan view, and a cylindrical holding hole 72 extending upward from the upper surface of the flat plate portion 71.
When the syringe 80 is inserted into the holding hole 72 from above, the flange 81 of the syringe 80 is locked to the upper end surface of the holding hole 72 and the syringe 80 is held by the holder 70.
As shown in FIG. 3B, the syringe 80 that penetrates the holding hole 72 projects downward from the lower surface of the flat plate portion 71.

図２に示すように、保持孔７２は、複数形成されている。この複数の保持孔７２は、平板部７１の中央部に集まっている。このため、平板部７１の各端辺（前端辺７３、後端辺７４、左端辺７５、右端辺７６）には設けられていない。
なお、前端辺７３は請求項に記載される「第１の辺」に相当し、後端辺７４は請求項に記載される「第２の辺」に相当し、左端辺７５は請求項に記載される「第３の辺」に相当し、右端辺７６は第４の辺に相当する。 As shown in FIG. 2, a plurality of holding holes 72 are formed. The plurality of holding holes 72 are gathered at the central portion of the flat plate portion 71. For this reason, it is not provided on each end side (front end side 73, rear end side 74, left end side 75, right end side 76) of the flat plate portion 71.
The front end side 73 corresponds to the “first side” described in the claims, the rear end side 74 corresponds to the “second side” described in the claims, and the left end side 75 corresponds to the claims. This corresponds to the “third side” described, and the right end side 76 corresponds to the fourth side.

図４、図５に示すように、ラック６０は、一対の水平レール５０を有している。そして、ラック６０は、一対の水平レール５０上に保持具７０を載置し、保持具７０に保持されたシリンジ８０を滅菌室内に搬送するための器具である。
以下、一対の水平レール５０が離間している方向を前後方向と称し、水平レール５０が延びる方向を左右方向と称する。 As shown in FIGS. 4 and 5, the rack 60 has a pair of horizontal rails 50. The rack 60 is an instrument for placing the holder 70 on the pair of horizontal rails 50 and transporting the syringe 80 held by the holder 70 into the sterilization chamber.
Hereinafter, the direction in which the pair of horizontal rails 50 are separated is referred to as the front-rear direction, and the direction in which the horizontal rail 50 extends is referred to as the left-right direction.

本実施形態のラック６０は、図４に示すように、上記した一対の水平レール５０を複数備えており、複数の保持具７０を収容し、複数の保持具７０をまとめて搬送できるようになっている。
具体的には、ラック６０は、上下方向及び前後方向に配列された複数の一対の水平レール５０と、複数の一対の水平レール５０を支持する複数の支柱６１と、複数の支柱６１の下部を支持する土台部６２と、複数の支柱６１の上方に固定される屋根６３と、を備えている。 As shown in FIG. 4, the rack 60 of the present embodiment includes a plurality of the pair of horizontal rails 50 described above, accommodates the plurality of holding tools 70, and can transport the plurality of holding tools 70 together. ing.
Specifically, the rack 60 includes a plurality of pairs of horizontal rails 50 arranged in the vertical direction and the front-rear direction, a plurality of columns 61 that support the plurality of pairs of horizontal rails 50, and lower portions of the plurality of columns 61. The base part 62 to support and the roof 63 fixed above the some support | pillar 61 are provided.

土台部６２において左側に位置する土台構成部品６２ａには、左側を向いて開口する位置決め溝６２ｂが複数形成されている。各位置決め溝６２ｂは、複数の支柱６１間に対して略中央に、言い換えると一対の水平レール５０間の略中央に位置している。
そして、この位置決め溝６２ｂに、ロボットアーム１００の固定部２１付近に設けられた位置決め機構が嵌ると、一対の水平レール５０間の略中央にロボットアーム１００が位置決めされるようになっている。この結果、ロボットアーム１００のアーム部２０を一対の水平レール５０間に位置させつつ、一対の水平レール５０に沿って直線的に挿入することができる。 A plurality of positioning grooves 62b that open toward the left side are formed in the base component 62a located on the left side of the base portion 62. Each positioning groove 62b is located approximately at the center with respect to the plurality of columns 61, in other words, approximately at the center between the pair of horizontal rails 50.
When the positioning mechanism provided in the vicinity of the fixed portion 21 of the robot arm 100 is fitted in the positioning groove 62b, the robot arm 100 is positioned approximately at the center between the pair of horizontal rails 50. As a result, the arm portion 20 of the robot arm 100 can be linearly inserted along the pair of horizontal rails 50 while being positioned between the pair of horizontal rails 50.

屋根６３は、一対の水平レール５０上に載置された複数の保持具７０の上方を覆っている（図９参照）。これによれば、ラック６０が滅菌室内に搬入されてシリンジ８０がオートクレーブ滅菌処理されている場合に、滅菌室内の結露がラック６０の上方から落ちてきても屋根６３に付着するようになり、シリンジ８０への付着を防止できる。
つぎに、一対の水平レール５０の詳細について説明する。 The roof 63 covers the upper part of the plurality of holders 70 placed on the pair of horizontal rails 50 (see FIG. 9). According to this, when the rack 60 is carried into the sterilization chamber and the syringe 80 is autoclave sterilized, even if dew condensation in the sterilization chamber falls from the upper side of the rack 60, it adheres to the roof 63. Adhesion to 80 can be prevented.
Next, details of the pair of horizontal rails 50 will be described.

図５に示すように、一対の水平レール５０は、左右方向に平行に延びている。また、一対の水平レール５０は、ラック６０において、前後方向に４列設けられている。 As shown in FIG. 5, the pair of horizontal rails 50 extend in parallel in the left-right direction. The pair of horizontal rails 50 are provided in four rows in the front-rear direction in the rack 60.

一対の水平レール５０は、前後方向に間隔Ｌ１を空けながら配置されている（図５の第１列目参照）。この間隔Ｌ１は、保持具７０の前後方向の長さＬ２よりも小さい（図５の第４列目参照）。このため、一対の水平レール５０で保持具７０の前端辺７３と後端辺７４とを下方から支持すること、言い換えると一対の水平レール５０上に保持具７０を載置することができる。 The pair of horizontal rails 50 are arranged with a gap L1 in the front-rear direction (see the first row in FIG. 5). This interval L1 is smaller than the length L2 of the holder 70 in the front-rear direction (see the fourth row in FIG. 5). For this reason, the front end side 73 and the rear end side 74 of the holder 70 can be supported from below by the pair of horizontal rails 50, in other words, the holder 70 can be placed on the pair of horizontal rails 50.

一対の水平レール５０の左右方向の長さＬ３は、２つの保持具７０を左右方向に並べた場合の長さよりも大きく形成されている（図５の第１列目参照）。このため、一対の水平レール５０上には、２つの保持具７０を載置することができる（図５の第４列目参照）。 The length L3 in the left-right direction of the pair of horizontal rails 50 is formed to be larger than the length when the two holders 70 are arranged in the left-right direction (see the first row in FIG. 5). For this reason, two holders 70 can be placed on the pair of horizontal rails 50 (see the fourth row in FIG. 5).

一対の水平レール５０には、一対の切り欠き５１，５１が形成されている。
この一対の切り欠き５１，５１は、一対の水平レール５０上に保持具７０を載置した場合、保持具７０の前端辺７３の中央部７３ａと、後端辺７４の中央部７４ａとのそれぞれに対応する位置に形成されている（図５の第４列目参照）。
このため、一対の水平レール５０上に保持具７０が載置された場合、保持具７０の前端辺７３の下面の一部と後端辺７４の下面の一部とが一対の切り欠きから露出する。
なお、一対の切り欠き５１，５１が形成された部位における一対の水平レール５０間の間隔はＬ４になっている。また、切り欠き５１の左右方向の長さは、Ｌ５に形成されている。 A pair of notches 51 and 51 are formed in the pair of horizontal rails 50.
When the holder 70 is placed on the pair of horizontal rails 50, the pair of cutouts 51, 51 are respectively formed in a central portion 73 a of the front end side 73 and a central portion 74 a of the rear end side 74. (See the fourth column in FIG. 5).
Therefore, when the holder 70 is placed on the pair of horizontal rails 50, a part of the lower surface of the front end side 73 and a part of the lower surface of the rear end side 74 of the holder 70 are exposed from the pair of cutouts. To do.
In addition, the space | interval between a pair of horizontal rails 50 in the site | part in which the pair of notches 51 and 51 were formed is L4. Further, the length of the notch 51 in the left-right direction is formed at L5.

一対の水平レール５０の上面には、上方に突出する複数の位置決め部５２が形成されている。位置決め部５２は、一対の水平レール５０上に保持具７０が載置された場合、保持具７０の周端辺に当接するように設けられている。このため、保持具７０が位置ずれしないようになっている。
また、一対の水平レール５０の上面には、小さな突起（不図示）が複数設けられており、保持具７０はこれらの突起の上に載置される。これにより、一対の水平レール５０の上面と保持具７０の下面との間に隙間が形成され、オートクレーブ滅菌時に、水平レール５０の上面と保持具７０の下面との間の乾燥性が向上する。 A plurality of positioning portions 52 projecting upward are formed on the upper surfaces of the pair of horizontal rails 50. The positioning part 52 is provided so as to contact the peripheral edge of the holder 70 when the holder 70 is placed on the pair of horizontal rails 50. For this reason, the holder 70 is not displaced.
A plurality of small protrusions (not shown) are provided on the upper surfaces of the pair of horizontal rails 50, and the holder 70 is placed on these protrusions. Thereby, a clearance gap is formed between the upper surface of a pair of horizontal rail 50, and the lower surface of the holder 70, and the drying property between the upper surface of the horizontal rail 50 and the lower surface of the holder 70 improves at the time of autoclave sterilization.

そのほか、図４に示すように、ラック６０に設けられる複数の一対の水平レール５０のうち最下段に位置する一対の水平レール５０は、底面から上方に比較的大きく離間している。これによれば、最下段の一対の水平レール５０に載置された保持具７０と底面との間に空間が確保され、その空間に後述する保持具ハンド１を配置することができるようになる。 In addition, as shown in FIG. 4, the pair of horizontal rails 50 located at the lowermost stage among the plurality of pairs of horizontal rails 50 provided in the rack 60 are relatively far apart upward from the bottom surface. According to this, a space is secured between the holder 70 placed on the pair of lowermost horizontal rails 50 and the bottom surface, and the holder hand 1 described later can be disposed in the space. .

つぎに、実施形態に係る保持具ハンド１について説明する。
図２に示すように、保持具ハンド１は、後述するロボットアーム１００の手首部２６に固定される基部２と、基部２の下部側から水平方向に延びる水平部３と、水平部３の上面に固定される底部４と、底部４の端縁から上方に延びる４つの手指部５〜８と、を備えている。 Next, the holder hand 1 according to the embodiment will be described.
As shown in FIG. 2, the holder hand 1 includes a base portion 2 fixed to a wrist portion 26 of a robot arm 100 described later, a horizontal portion 3 extending in the horizontal direction from the lower side of the base portion 2, and an upper surface of the horizontal portion 3. And 4 finger portions 5 to 8 extending upward from the edge of the bottom portion 4.

基部２は、板状を呈している。また、基部２には、図示しないボルト貫通孔が形成されている。そして、基部２は、ボルト貫通孔を貫通して手首部２６の雌ねじ（不図示）に螺合する大径ボルトＢにより締め付けられて手首部２６に取り付けられている。
水平部３は、上方に配置される底部４及び手指部５〜８を支持するための部位である。このため、水平部３には、左右方向に延在するリブ３ａ、３ｂが二つ形成され、高い剛性を有している。
また、基部２と水平部３との前後方向の長さは、一対の水平レール５０間の間隔Ｌ１よりも小さい。
なお、本実施形態の基部２と水平部３とは一体に形成されている。また、基部２と水平部３とが一体に形成したものが特許請求の範囲に記載される「固定部」に相当する。 The base 2 has a plate shape. Further, a bolt through hole (not shown) is formed in the base portion 2. The base 2 is attached to the wrist 26 by being fastened by a large-diameter bolt B that passes through the bolt through hole and is screwed into a female screw (not shown) of the wrist 26.
The horizontal part 3 is a part for supporting the bottom part 4 and the finger parts 5 to 8 arranged above. For this reason, two ribs 3a and 3b extending in the left-right direction are formed in the horizontal portion 3, and have high rigidity.
The length in the front-rear direction between the base portion 2 and the horizontal portion 3 is smaller than the distance L1 between the pair of horizontal rails 50.
In addition, the base 2 and the horizontal part 3 of this embodiment are integrally formed. Moreover, what formed the base 2 and the horizontal part 3 integrally is equivalent to the "fixed part" described in a claim.

底部４は、肉抜きされた中央部から前方、後方、左方、右方のそれぞれに突出する突出片４ａ〜４ｄを有し、平面視略十字形状に形成されている。 The bottom part 4 has projecting pieces 4a to 4d projecting forward, rearward, leftward, and rightward from the thinned central part, and is formed in a substantially cross shape in plan view.

４つの手指部５〜８は、底部４を中心に四方（前後左右）に配置されている。
４つの手指部５〜８のうち底部４の前側に位置する第１の手指部５は、底部４の突出片４ａの前端縁から上方に延びて保持具７０の下面に当接する第１の縦壁部５ａと、第１の縦壁部５ａの上端から水平且つ底部４の中心から離間するように前方に延びる第１の支持部５ｂと、第１の支持部５ｂの前端縁（外縁）から上方に延びる第１のガイド部５ｃと、を備えている。 The four finger portions 5 to 8 are arranged in four directions (front and rear, left and right) with the bottom portion 4 as the center.
Of the four fingers 5 to 8, the first finger 5 located on the front side of the bottom 4 extends upward from the front edge of the protruding piece 4 a of the bottom 4 and contacts the lower surface of the holder 70. From the wall portion 5a, the first support portion 5b that extends horizontally from the upper end of the first vertical wall portion 5a and away from the center of the bottom portion 4, and the front end edge (outer edge) of the first support portion 5b A first guide portion 5c extending upward.

４つの手指部５〜８のうち底部４の後側に位置する第２の手指部６は、底部４の突出片４ｂの後端縁から上方に延びて保持具７０の下面に当接する第２の縦壁部６ａと、第２の縦壁部６ａの上端から水平且つ底部４の中心から離間するように後方に延びる第２の支持部６ｂと、第２の支持部６ｂの後端縁（外縁）から上方に延びる第２のガイド部６ｃと、を備えている。 Of the four fingers 5 to 8, the second finger 6 located on the rear side of the bottom 4 extends upward from the rear edge of the protruding piece 4 b of the bottom 4 and comes into contact with the lower surface of the holder 70. Vertical wall portion 6a, a second support portion 6b that extends horizontally from the upper end of the second vertical wall portion 6a and is spaced apart from the center of the bottom portion 4, and a rear edge of the second support portion 6b ( And a second guide portion 6c extending upward from the outer edge.

４つの手指部５〜８のうち底部４の左側に位置する第３の手指部７は、底部４の突出片４ｃの左端縁から上方に延びて保持具７０の下面に当接する第３の縦壁部７ａと、第３の縦壁部７ａの上端から水平且つ底部４の中心から離間するように左方に延びる第３の支持部７ｂと、第３の支持部７ｂの左端縁（外縁）から上方に延びる第３のガイド部７ｃと、を備えている。 The third finger part 7 located on the left side of the bottom part 4 among the four finger parts 5 to 8 extends upward from the left end edge of the protruding piece 4c of the bottom part 4 and abuts against the lower surface of the holder 70. A wall 7a, a third support portion 7b extending leftward from the upper end of the third vertical wall portion 7a and horizontally away from the center of the bottom portion 4, and a left end edge (outer edge) of the third support portion 7b And a third guide portion 7c extending upward from the first guide portion.

４つの手指部５〜８のうち底部４の右側に位置する第４の手指部８は、底部４の突出片４ｄの右端縁から上方に延びて保持具７０の下面に当接する第４の縦壁部８ａと、第４の縦壁部８ａの上端から水平且つ底部４の中心から離間するように右方に延びる第４の支持部８ｂと、第４の支持部８ｂの右端縁（外縁）から上方に延びる第４のガイド部８ｃと、を備えている。 The fourth finger part 8 located on the right side of the bottom part 4 among the four finger parts 5 to 8 extends upward from the right edge of the projecting piece 4d of the bottom part 4 and contacts the lower surface of the holder 70. A wall portion 8a, a fourth support portion 8b extending horizontally from the upper end of the fourth vertical wall portion 8a and spaced apart from the center of the bottom portion 4, and a right edge (outer edge) of the fourth support portion 8b. 4th guide part 8c extended upwards from.

図３（ｂ）に示すように、第１の縦壁部５ａと第２の縦壁部６ａと第３の縦壁部７ａと第４の縦壁部８ａとのそれぞれは、板状を呈している。
また、第１の縦壁部５ａと第２の縦壁部６ａと第３の縦壁部７ａと第４の縦壁部８ａとのそれぞれの上下方向（垂直方向）の長さＤ１は、保持具７０の下面から下方に突出するシリンジ８０の長さ（保持具７０の下面からシリンジ８０の下面までの長さ）Ｄ２よりも長く形成されている。これにより、第１の支持部５ｂと第２の支持部６ｂと第３の支持部７ｂと第４の支持部８ｂとで保持具７０を支持した場合、シリンジ８０が底部４に接触しないようになっている。 As shown in FIG.3 (b), each of the 1st vertical wall part 5a, the 2nd vertical wall part 6a, the 3rd vertical wall part 7a, and the 4th vertical wall part 8a exhibits plate shape. ing.
Further, the length D1 in the vertical direction of each of the first vertical wall 5a, the second vertical wall 6a, the third vertical wall 7a, and the fourth vertical wall 8a is maintained. The length of the syringe 80 protruding downward from the lower surface of the tool 70 (the length from the lower surface of the holder 70 to the lower surface of the syringe 80) D2 is formed longer. Thereby, when the holder 70 is supported by the first support portion 5b, the second support portion 6b, the third support portion 7b, and the fourth support portion 8b, the syringe 80 does not come into contact with the bottom portion 4. It has become.

図３（ａ）に示すように、第１の縦壁部５ａと第２の縦壁部６ａと第３の縦壁部７ａと第４の縦壁部８ａとのそれぞれは、保持具７０の平面部において保持孔７２が設けられる領域（図３（ａ）の破線Ｒを参照）よりも外側に位置している。これにより、第１の縦壁部５ａと第２の縦壁部６ａと第３の縦壁部７ａと第４の縦壁部８ａとのそれぞれが、保持具７０に保持されるシリンジ８０に接触しないようになっている。 As shown in FIG. 3A, each of the first vertical wall 5a, the second vertical wall 6a, the third vertical wall 7a, and the fourth vertical wall 8a In the plane part, it is located outside the region where the holding hole 72 is provided (see the broken line R in FIG. 3A). Thereby, each of the 1st vertical wall part 5a, the 2nd vertical wall part 6a, the 3rd vertical wall part 7a, and the 4th vertical wall part 8a contacts the syringe 80 hold | maintained at the holder 70. It is supposed not to.

第１の支持部５ｂと第２の支持部６ｂと第３の支持部７ｂと第４の支持部８ｂのそれぞれは、水平な板状を呈し、保持具７０の各端辺の中央部（７３ａ、７４ａ、７５ａ、７６ａ。図５の第３列目と第４列目参照）を下方から支持するための部分である。 Each of the 1st support part 5b, the 2nd support part 6b, the 3rd support part 7b, and the 4th support part 8b exhibits a horizontal plate shape, and the center part (73a of each edge of the holder 70 is shown. 74a, 75a, 76a (refer to the third and fourth rows in FIG. 5) from below.

第１のガイド部５ｃと第２のガイド部６ｃと第３のガイド部７ｃと第４のガイド部８ｃとのそれぞれは、上方に向うにつれて外側（底部４から離間する側）に傾斜している。これにより、保持具７０の各端辺７３〜７６が第１のガイド部５ｃ〜第４のガイド部８ｃのいずれに乗り上げた場合に、保持具７０が斜面に沿って底部４の中央に近づくようにガイドされ、第１の支持部５ｂ〜第４の支持部８ｂに支持されるようになる。
また、第１の支持部５ｂ〜第４の支持部８ｂで保持具７０を支持している状態において、第１のガイド部５ｃと第２のガイド部６ｃと第３のガイド部７ｃと第４のガイド部８ｃとは、保持具７０が水平方向に移動して保持ハンドから落ちることを防止している。 Each of the first guide portion 5c, the second guide portion 6c, the third guide portion 7c, and the fourth guide portion 8c is inclined outward (side away from the bottom portion 4) as it goes upward. . Thereby, when each end 73-76 of the holder 70 rides on any of the first guide part 5c to the fourth guide part 8c, the holder 70 approaches the center of the bottom part 4 along the slope. To be supported by the first support portion 5b to the fourth support portion 8b.
Further, in a state where the holding tool 70 is supported by the first support portion 5b to the fourth support portion 8b, the first guide portion 5c, the second guide portion 6c, the third guide portion 7c, and the fourth guide portion 5b. The guide portion 8c prevents the holder 70 from moving in the horizontal direction and falling off the holding hand.

図３（ａ）に示すように、底部４と４つの縦壁部（５ａ，６ａ，７ａ，８ａ）と第３の支持部７ｂと第４の支持部８ｂとで占める前後方向の長さＤ３は、言い換えると、第１の縦壁部５ａの前面から第２の縦壁部６ａの後面までの長さＤ３は、一対の水平レール５０間の間隔Ｌ１（図５参照）よりも短く形成されている。 As shown in FIG. 3A, the length D3 in the front-rear direction occupied by the bottom portion 4, the four vertical wall portions (5a, 6a, 7a, 8a), the third support portion 7b, and the fourth support portion 8b. In other words, the length D3 from the front surface of the first vertical wall portion 5a to the rear surface of the second vertical wall portion 6a is formed shorter than the distance L1 between the pair of horizontal rails 50 (see FIG. 5). ing.

図３（ａ）に示すように、第１のガイド部５ｃの最上端から第２のガイド部６ｃの最上端までの長さＤ４は、一対の切り欠き５１，５１間の間隔Ｌ４（図５参照）よりも短く形成されている。
さらに、第１の支持部５ｂ及び第１のガイド部５ｃの左右方向の長さＤ５は、切り欠き５１の左右方向の長さＬ５（図５参照）よりも短く形成されている。
同様に、第２の支持部６ｂ及び第２のガイド部６ｃの左右方向の長さＤ５は、切り欠き５１の左右方向の長さＬ５（図５参照）よりも短く形成されている。 As shown in FIG. 3A, the length D4 from the uppermost end of the first guide portion 5c to the uppermost end of the second guide portion 6c is an interval L4 between the pair of notches 51, 51 (FIG. 5). Shorter than the reference).
Furthermore, the left-right direction length D5 of the 1st support part 5b and the 1st guide part 5c is formed shorter than the length L5 (refer FIG. 5) of the left-right direction of the notch 51. As shown in FIG.
Similarly, the length D5 in the left-right direction of the second support portion 6b and the second guide portion 6c is shorter than the length L5 in the left-right direction of the notch 51 (see FIG. 5).

つぎに、保持具ハンド１で保持具７０を支持する方法について説明する。
最初に、保持具７０の下方に保持具ハンド１を配置し、第１の支持部５ｂ及び第１のガイド部５ｃと、第２の支持部６ｂ及び第２のガイド部６ｃとが、一対の切り欠き５１，５１と上下方向に重なるように位置合わせする（図５の第３列目を参照）。
そして、保持具ハンド１を上昇させることで、第１の支持部５ｂ及び第１のガイド部５ｃと、第２の支持部６ｂ及び第２のガイド部６ｃとが一対の切り欠き５１，５１内を移動しながら、保持具ハンド１が一対の水平レール５０間を通過することができる。 Next, a method for supporting the holder 70 with the holder hand 1 will be described.
First, the holder hand 1 is disposed below the holder 70, and the first support portion 5b and the first guide portion 5c, and the second support portion 6b and the second guide portion 6c are paired. Align so as to overlap the notches 51, 51 in the vertical direction (see the third row in FIG. 5).
Then, by raising the holder hand 1, the first support portion 5 b and the first guide portion 5 c, and the second support portion 6 b and the second guide portion 6 c are in the pair of notches 51 and 51. The holder hand 1 can pass between the pair of horizontal rails 50 while moving.

そして、一対の水平レール５０間を通過する際、第１の支持部５ｂが保持具７０の前端辺７３の中央部７３ａを支持し、第２の支持部６ｂが後端辺７４の中央部７４ａを支持する。また、第３の支持部７ｂが保持具７０の左端辺７５の中央部７５ａを支持し、第４の支持部８ｂが右端辺７６の中央部７６ａを支持するようになり、保持具７０が保持具ハンド１に支持される。 And when passing between a pair of horizontal rails 50, the 1st support part 5b supports the center part 73a of the front end side 73 of the holder 70, and the 2nd support part 6b is the center part 74a of the rear end side 74. Support. Further, the third support portion 7b supports the center portion 75a of the left end side 75 of the holder 70, and the fourth support portion 8b supports the center portion 76a of the right end side 76, so that the holder 70 holds. Supported by the tool hand 1.

なお、保持具ハンド１で支持した保持具７０を一対の水平レール５０上に載置する場合には、一対の水平レール５０間の上方に配置し、第１の支持部５ｂ及び第１のガイド部５ｃと、第２の支持部６ｂ及び第２のガイド部６ｃとを一対の切り欠き５１，５１内を移動するように下方へ移動させて、一対の水平レール５０間を通過させる。これによれば、一対の水平レール５０間を通過する際に、保持具７０の前端辺側と後端辺側とが一対の水平レール５０に引っ掛かり、一対の水平レール５０上に載置されるようになる。 When the holder 70 supported by the holder hand 1 is placed on the pair of horizontal rails 50, the holder 70 is disposed above the pair of horizontal rails 50, and the first support portion 5b and the first guide. The portion 5c, the second support portion 6b, and the second guide portion 6c are moved downward so as to move in the pair of notches 51, 51, and pass between the pair of horizontal rails 50. According to this, when passing between the pair of horizontal rails 50, the front end side and the rear end side of the holder 70 are hooked on the pair of horizontal rails 50 and placed on the pair of horizontal rails 50. It becomes like this.

つぎに、実施形態に係るロボットアーム１００について説明する。
図１に示すように、ロボットアーム１００は、保持具７０を支持し、図示しないコンベアで搬送されるラック６０内に保持具７０を収容するための装置である。
本実施形態のロボットアーム１００は、ラック６０の左側に位置している。そして、ラック６０の左側からラック６０内に進入して（図５〜図を参照）、保持具７０をラック６０に収容したり、保持具７０をラック６０から収容したりするための装置である。
ロボットアーム１００は、保持具７０を下方から支持する保持具ハンド１と、保持具ハンド１を保持し、保持具ハンド１を移動させるアーム部２０と、を備えている。
なお、ロボットアーム１００は、ラック６０の左側からラック６０内に進入する際に土台部６２の位置決め溝６２ｂ（図４参照）に嵌る図示しない位置決め機構を有し、一対の水平レール５０に対して前後方向に位置ずれしないようになっている。 Next, the robot arm 100 according to the embodiment will be described.
As shown in FIG. 1, the robot arm 100 is a device for supporting the holder 70 and accommodating the holder 70 in a rack 60 that is conveyed by a conveyor (not shown).
The robot arm 100 of this embodiment is located on the left side of the rack 60. And it is an apparatus for entering the rack 60 from the left side of the rack 60 (see FIG. 5 to FIG. 5) and accommodating the holder 70 in the rack 60 or accommodating the holder 70 from the rack 60. .
The robot arm 100 includes a holder hand 1 that supports the holder 70 from below, and an arm unit 20 that holds the holder hand 1 and moves the holder hand 1.
The robot arm 100 has a positioning mechanism (not shown) that fits in the positioning groove 62 b (see FIG. 4) of the base portion 62 when entering the rack 60 from the left side of the rack 60. The position is not shifted in the front-rear direction.

アーム部２０は、敷地２００に固定される固定部２１と、第１関節２２を介して回動自在に固定部２１に支持される第１直線部２３と、第２関節２４を介して回動自在に第１直線部２３に支持される第２直線部２５と、第２直線部２５の先端側に回動自在に設けられた手首部２６と、を備えている。
また、第１関節２２、第２関節２４及び手首部２６は、水平軸回りに回動自在に連結する部材である。このアーム部２０によれば、手首部２６に連結される保持具ハンド１の水平を保持しながら、保持具ハンド１を上下方向及び左右方向に移動することができる。
また、図５に示すように、第２直線部２５及び手首部２６の前後方向の長さは、一対の水平レール５０間の間隔Ｌ１よりも短い。このため、一対の水平レール５０間で、第２直線部２５及び手首部２６が上下方向及び左右方向に移動することができる。 The arm unit 20 is rotated through a fixed unit 21 fixed to the site 200, a first linear unit 23 supported by the fixed unit 21 through a first joint 22, and a second joint 24. A second linear portion 25 that is freely supported by the first linear portion 23 and a wrist portion 26 that is rotatably provided on the distal end side of the second linear portion 25 are provided.
Further, the first joint 22, the second joint 24, and the wrist 26 are members that are rotatably connected around a horizontal axis. According to the arm portion 20, the holder hand 1 can be moved in the up-down direction and the left-right direction while maintaining the level of the holder hand 1 connected to the wrist portion 26.
In addition, as shown in FIG. 5, the lengths of the second linear portion 25 and the wrist portion 26 in the front-rear direction are shorter than the distance L 1 between the pair of horizontal rails 50. For this reason, the 2nd linear part 25 and the wrist part 26 can move to the up-down direction and the left-right direction between a pair of horizontal rails 50.

以上、実施形態に係るロボットアーム１００の構成を説明したが、前記した保持具ハンド１と、この保持具ハンド１を備えたロボットアーム１００と、ラック６０と、を組み合わせたシステムが、特許請求の範囲に記載される「保持具移載装置」に相当するものである。
つぎに、保持具移載装置を用いた保持具７０の移載方法について図６〜図９を用いて説明する。最初にラック６０に保持具７０を収容する場合について説明する。 The configuration of the robot arm 100 according to the embodiment has been described above, but a system in which the above-described holder hand 1, the robot arm 100 including the holder hand 1, and the rack 60 are combined is claimed. This corresponds to the “holding device transfer device” described in the range.
Next, a method for transferring the holder 70 using the holder transfer device will be described with reference to FIGS. First, a case where the holder 70 is accommodated in the rack 60 will be described.

なお、図６に示すように、ラック６０には、上下方向に複数の一対の水平レール５０が設けられており、一対の水平レール５０においても、ロボットアーム１００から視て奥側（右側）と手前側との２か所で保持具７０を載置できるようになっている。
よって、説明の都合上、保持具７０を載置する場所において、最上段に位置する一対の水平レール５０の奥側を第１の位置５０Ａと称し、最下段に位置する一対の水平レール５０の奥側を第２の位置５０Ｂと称する。
また、最上段に位置する一対の水平レール５０の手前側を第３の位置５０Ｃと称し、最下段に位置する一対の水平レール５０の手前側を第４の位置５０Ｄと称する。 As shown in FIG. 6, the rack 60 is provided with a plurality of pairs of horizontal rails 50 in the vertical direction, and the pair of horizontal rails 50 also has a rear side (right side) as viewed from the robot arm 100. The holder 70 can be placed at two positions on the front side.
Therefore, for convenience of explanation, in the place where the holder 70 is placed, the back side of the pair of horizontal rails 50 positioned at the uppermost stage is referred to as the first position 50A, and the pair of horizontal rails 50 positioned at the lowermost stage is The back side is referred to as a second position 50B.
Further, the front side of the pair of horizontal rails 50 positioned at the uppermost stage is referred to as a third position 50C, and the front side of the pair of horizontal rails 50 positioned at the lowermost stage is referred to as a fourth position 50D.

図６に示すように、ラック６０において最上段に位置する一対の水平レール５０上であって、ロボットアーム１００から視て奥側（右側）、つまり、第１の位置５０Ａに保持具７０を載置する。
次いで、上から２段目の一対の水平レール５０上であって、ロボットアーム１００から視て奥側（右側）の方に載置する。
次いで、上から３段目の一対の水平レール５０上であって、ロボットアーム１００から視て奥側（右側）の方に載置する。
このようにして、一対の水平レール５０の奥側に、上方から下方に向って順に保持具７０を載置し、図７に示すように、最下段の一対の水平レール５０の奥側である第２の位置５０Ｂに保持具７０を載置する。 As shown in FIG. 6, the holder 70 is mounted on the pair of horizontal rails 50 positioned at the uppermost stage in the rack 60 and on the back side (right side) as viewed from the robot arm 100, that is, at the first position 50 A. Put.
Next, it is placed on the pair of horizontal rails 50 in the second stage from the top and on the back side (right side) as viewed from the robot arm 100.
Next, it is placed on the pair of horizontal rails 50 at the third level from the top and on the back side (right side) as viewed from the robot arm 100.
In this way, the holders 70 are placed in order from the upper side to the lower side on the back side of the pair of horizontal rails 50, and as shown in FIG. 7, the back side of the bottom pair of horizontal rails 50. The holder 70 is placed at the second position 50B.

そして、一対の水平レール５０の奥側の全てに保持具７０を載置した後、つぎに、その奥側の一つ手前側に保持具７０を上方から下方に向って順に載置していく。つまり、図８、図９に示すように、第３の位置５０Ｃから第４の位置５０Ｄに向って一つずつ順に保持具７０を載置していく。 Then, after the holders 70 are placed on all of the back sides of the pair of horizontal rails 50, the holders 70 are then placed in order from the top to the bottom on the one front side of the back side. . That is, as shown in FIGS. 8 and 9, the holders 70 are placed one by one from the third position 50C toward the fourth position 50D.

一方で、ラック６０から保持具７０を取り出す場合は、保持具７０をラック６０内に収容した場合と逆の順番で、保持具７０を取り出す。
つまり、最初に、図９に示すように、最下段の一対の水平レール５０の手前側の第４の位置５０Ｄから保持具７０を取り出す。次いで、最下段の一つ上に位置する一対の水平レール５０から保持具７０を取り出す。このように下方から上方に向って順に手前側に位置する保持具７０を取り出して行く（図８参照）。そして、第３の位置５０Ｃから保持具７０を取り出して手前側の保持具７０を全て取り出した後、次に手前側から一つ奥側に位置する保持具７０を取り出す。
また、奥側の保持具７０を取り出す際においても下方から上方に向って取り出す。つまり、図７に示すように、第２の位置５０Ｂに載置された保持具７０を取り出し、次いで、下方から上方に向って順に奥側に位置する保持具７０を順々に取り出す。
そして、図６に示すように、第１の位置５０Ａ上に載置される保持具７０を取り出して終了する。 On the other hand, when the holder 70 is taken out from the rack 60, the holder 70 is taken out in the reverse order to the case where the holder 70 is accommodated in the rack 60.
That is, first, as shown in FIG. 9, the holder 70 is taken out from the fourth position 50 D on the near side of the pair of lowermost horizontal rails 50. Next, the holder 70 is taken out from the pair of horizontal rails 50 located one above the lowest level. Thus, the holders 70 positioned on the near side are taken out in order from the bottom to the top (see FIG. 8). Then, after removing the holding tool 70 from the third position 50C and taking out all the holding tools 70 on the near side, the holding tool 70 positioned on the back side is then taken out from the near side.
Moreover, when taking out the holder 70 on the back side, it is taken out from below toward the top. That is, as shown in FIG. 7, the holder 70 placed at the second position 50 B is taken out, and then the holders 70 located on the back side are sequentially taken out from the bottom to the top.
Then, as shown in FIG. 6, the holder 70 placed on the first position 50 A is taken out and the process ends.

ここで、一対の水平レール５０上に保持具７０を載置したり、一対の水平レール５０上から保持具７０を取り出したりする際に、下方に異物が落下するおそれがあるものの、上記する手順によれば、図６〜図９に示すように、載置したり又は取り出したりする保持具７０の下方には、他の保持具７０が存在しない。このため、保持具７０に保持されるシリンジに異物が付着するおそれを低減することができる。 Here, when the holder 70 is placed on the pair of horizontal rails 50 or when the holder 70 is taken out from the pair of horizontal rails 50, there is a possibility that foreign matter may fall downward, but the above-described procedure. As shown in FIGS. 6 to 9, there is no other holding tool 70 below the holding tool 70 to be placed or taken out. For this reason, a possibility that a foreign material may adhere to the syringe hold | maintained at the holder 70 can be reduced.

以上、実施形態の保持具ハンド１、保持具移載装置、及び保持具７０の移載方法について説明したが、本発明は、実施形態で説明した例に限定されていない。
たとえば、本発明の保持具ハンドは、ガイド部（第１のガイド部５ｃ、第２のガイド部６ｃ、第３のガイド部７ｃ、第４のガイド部８ｃ）を備えていなくてもよい。
また、ガイド部を備えていない場合には、第１の支持部の前端縁から第２の支持部の後端縁までの長さを、一対の切り欠き５１，５１間の間隔Ｌ４よりも短く形成すればよい。このような変形例の保持具ハンドによっても、一対の水平レール５０間を上下方向に通過することができる。 As described above, the holder hand 1, the holder transfer device, and the transfer method of the holder 70 of the embodiment have been described, but the present invention is not limited to the examples described in the embodiment.
For example, the holder hand of the present invention may not include the guide portions (the first guide portion 5c, the second guide portion 6c, the third guide portion 7c, and the fourth guide portion 8c).
When the guide portion is not provided, the length from the front end edge of the first support portion to the rear end edge of the second support portion is shorter than the distance L4 between the pair of notches 51, 51. What is necessary is just to form. The holder hand of such a modification can also pass between the pair of horizontal rails 50 in the vertical direction.

また、実施形態では、第１の縦壁部５ａと第２の縦壁部６ａとが上下方向に延びているが、本発明は、第１の縦壁部と第２の縦壁部とが底部４から上方に延びるにつれて互いに離間するように傾斜していてもよい。 In the embodiment, the first vertical wall portion 5a and the second vertical wall portion 6a extend in the vertical direction. However, in the present invention, the first vertical wall portion and the second vertical wall portion are separated from each other. You may incline so that it may mutually space apart as it extends upwards from the bottom part 4. FIG.

また、実施形態では、第１の縦壁部５ａと第２の縦壁部６ａとの間の幅Ｄ３（図３参照）において、上端近傍の幅と下端近傍の幅とが、ともに一対の水平レール５０間の間隔Ｌ１（図５参照）よりも短く形成され、第１の縦壁部５ａと第２の縦壁部６ａとの全体が一対の水平レール５０間を通過可能に形成されているが、本発明はこれに限定されない。
本発明は、第１の縦壁部と第２の縦壁部との間の幅において、上端近傍の幅のみが一対の水平レール５０間の間隔Ｌ１（図５参照）よりも短く形成されて、少なくても上端近傍が一対の水平レール５０間に挿入可能にしてもよい。
そして、このような変形例の保持具ハンドで保持具７０を支持する場合、第１の支持部と第２の支持部とを保持具７０の各端辺の下面に下方から当接させた後に保持具ハンドを上昇させて、第１の縦壁部と第２の縦壁部との上端近傍側のみ一対の水平レール５０間に挿入する。これにより、保持具７０が持ち上がる。そして、一対の水平レール５０に沿うように、保持具ハンドを水平方向に移動させることで、一対の水平レール５０間から保持具ハンドと保持具７０とを取り出すことができる。
なお、上記する変形例の場合、第３の縦壁部の前後方向の長さと第４の縦壁部の前後方向の長さにおいて、上端近傍の長さが一対の水平レール５０間の間隔Ｌ１（図５参照）よりも短く形成し、第３の縦壁部及び第４の縦壁部の少なくとも上方近傍が一対の水平レール５０間に挿入可能にしてもよい。 In the embodiment, in the width D3 (see FIG. 3) between the first vertical wall portion 5a and the second vertical wall portion 6a, the width near the upper end and the width near the lower end are both a pair of horizontal. The first vertical wall portion 5a and the second vertical wall portion 6a are formed so as to be able to pass between the pair of horizontal rails 50, which is shorter than the interval L1 between the rails 50 (see FIG. 5). However, the present invention is not limited to this.
In the present invention, in the width between the first vertical wall portion and the second vertical wall portion, only the width in the vicinity of the upper end is formed shorter than the distance L1 between the pair of horizontal rails 50 (see FIG. 5). At least, the vicinity of the upper end may be inserted between the pair of horizontal rails 50.
And when supporting the holder 70 with the holder hand of such a modification, after making the 1st support part and the 2nd support part contact | abut on the lower surface of each edge of the holder 70 from the downward direction The holder hand is raised and inserted between the pair of horizontal rails 50 only on the vicinity of the upper ends of the first vertical wall portion and the second vertical wall portion. Thereby, the holder 70 is lifted. The holder hand and the holder 70 can be taken out from between the pair of horizontal rails 50 by moving the holder hand in the horizontal direction along the pair of horizontal rails 50.
In the case of the above-described modification, the length in the vicinity of the upper end in the length in the front-rear direction of the third vertical wall and the length in the front-rear direction of the fourth vertical wall is the distance L1 between the pair of horizontal rails 50. (See FIG. 5), the third vertical wall portion and the fourth vertical wall portion may be inserted between the pair of horizontal rails 50 at least in the vicinity of the upper side.

また、実施形態の保持具ハンドは、４つ手指部（第１の手指部５、第２の手指部６、第３の手指部７、第４の手指部８）を備えているが、本発明では少なくても第１の手指部と第２の手指部とを備えていればよい。
第１の手指部と第２の手指部とを備えている保持具ハンドであれば、保持具７０の前端辺７３の中央部と後端辺７４の中央とを、言い換えれば保持具７０の一組の対辺を支持して保持具７０を支持することができる。
なお、この場合、第１の手指部及び第２の手指部から第１のガイド部および第２のガイド部を省略してもよい。すなわち、第１の手指部は、第１の縦壁部と第１の支持部とを有し、第２の手指部は、第２の縦壁部と第２の支持部とを有する。
なお、本発明においては、第１の手指部５と第２の手指部６との他に、第１の手指部５と第２の手指部６とは異なる位置に配置された第３の手指部又は第４の手指部を備えることが好ましい。これにより、保持具ハンドで保持具７０を確実に支持できる。
最も好ましくは、実施形態（図２参照）で示したように保持具ハンド１が４つ手指部（第１の手指部５、第２の手指部６、第３の手指部７、第４の手指部８）を備え、第１の縦壁部と第２の縦壁部とが底部を中心に対向し、第３の縦壁部と第４の縦壁部とが底部を中心に対向している場合である。これにより、保持具ハンドで保持具７０をより確実に支持できる。 In addition, the holder hand of the embodiment includes four finger parts (first finger part 5, second finger part 6, third finger part 7, and fourth finger part 8). In the invention, at least the first finger portion and the second finger portion may be provided.
In the case of a holder hand provided with a first finger part and a second finger part, the center of the front end side 73 and the center of the rear end side 74 of the holder 70, in other words, The holder 70 can be supported by supporting the opposite sides of the set.
In this case, the first guide part and the second guide part may be omitted from the first finger part and the second finger part. In other words, the first finger part has a first vertical wall part and a first support part, and the second finger part has a second vertical wall part and a second support part.
In the present invention, in addition to the first finger part 5 and the second finger part 6, the first finger part 5 and the second finger part 6 are arranged at different positions. It is preferable to provide a part or a 4th finger part. Thereby, the holder 70 can be reliably supported by the holder hand.
Most preferably, as shown in the embodiment (see FIG. 2), the holder hand 1 has four finger parts (first finger part 5, second finger part 6, third finger part 7, and fourth finger part. A finger portion 8), the first vertical wall portion and the second vertical wall portion are opposed to each other centering on the bottom portion, and the third vertical wall portion and the fourth vertical wall portion are opposed to each other centering on the bottom portion. It is a case. Thereby, the holder 70 can be more reliably supported by the holder hand.

また、実施形態における底部４は、突出片４ａ〜４ｄを有し、平面視略十字形状に形成されているがこれに限定されない。例えば、図１０に示す底部１０４のように、平面視で四角形状に形成されていてもよい。 Moreover, although the bottom part 4 in embodiment has protrusion piece 4a-4d and is formed in planar view substantially cross shape, it is not limited to this. For example, like the bottom part 104 shown in FIG. 10, you may form in quadrangle | tetragon shape by planar view.

また、実施形態において、第１の手指部５と、底部４を中心に第１の手指部５と対向する位置に配置された第２の手指部６と、が前後方向に重なるように形成され、第３の手指部７と、底部４を中心に第３の手指部７と対向する位置に配置された第４の手指部８と、が左右方向に重なるように形成されているが、本発明はこれに限定されない。
例えば、図１０に示す変形例の保持具ハンド１Ａのように、底部１０４に対して、第１の縦壁部１０５ａを右寄りに設け、第２の縦壁部１０６ａを左寄りに設け、第１の支持部１０５ｂが保持具７０の前端辺７３の右側を支持し、第２の支持部１０６ｂが保持具７０の後端辺７４の左側を支持するようにしてもよい。この場合、第１の縦壁部１０５ａの内面と第２の縦壁部１０６ａの内面とは、反対方向を向いている。すなわち、第１の縦壁部１０５ａと第２の縦壁部１０６ａとは、底部を中心に対向している。
また、これに合わせて、図１０に示すように、ラック１６０において、一対の水平レール１５０のそれぞれに設けられた一対の切り欠き１５１は、一方が右寄り、他方が左寄りに位置している。
また、底部１０４に対して、第３の縦壁部１０７ａを後寄りに設け、第４の縦壁部１０８ａを前寄りに設け第３の支持部１０７ｂが保持具７０の左端辺７５の後側を支持し、第４の支持部１０８ｂが保持具７０の右端辺７６の前側を支持するようにしてもよい。
なお、このような変形例においても、第１の手指部１０５は、第１の支持部１０５ｂと第１のガイド部１０５ｃを有し、第２の手指部１０６は、第２の支持部１０６ｂと第２のガイド部１０６ｃを有し、第３の手指部１０７は、第３の支持部１０７ｂと第３のガイド部１０７ｃを有し、第４の手指部１０８は、第４の支持部１０８ｂと第４のガイド部１０８ｃを有している。 In the embodiment, the first finger part 5 and the second finger part 6 disposed at a position facing the first finger part 5 with the bottom part 4 as the center are overlapped in the front-rear direction. The third finger part 7 and the fourth finger part 8 arranged at a position facing the third finger part 7 with the bottom part 4 as the center are formed so as to overlap in the left-right direction. The invention is not limited to this.
For example, as in the holder hand 1A of the modified example shown in FIG. 10, the first vertical wall portion 105a is provided on the right side and the second vertical wall portion 106a is provided on the left side with respect to the bottom portion 104. The support part 105 b may support the right side of the front end side 73 of the holder 70, and the second support part 106 b may support the left side of the rear end side 74 of the holder 70. In this case, the inner surface of the first vertical wall portion 105a and the inner surface of the second vertical wall portion 106a face in opposite directions. That is, the first vertical wall portion 105a and the second vertical wall portion 106a face each other centering on the bottom portion.
In accordance with this, as shown in FIG. 10, in the rack 160, one of the pair of notches 151 provided in each of the pair of horizontal rails 150 is located on the right side and the other is located on the left side.
In addition, the third vertical wall portion 107 a is provided rearward with respect to the bottom portion 104, and the fourth vertical wall portion 108 a is provided forward, and the third support portion 107 b is behind the left end side 75 of the holder 70. The fourth support portion 108b may support the front side of the right end side 76 of the holder 70.
Also in such a modification, the first finger part 105 includes the first support part 105b and the first guide part 105c, and the second finger part 106 includes the second support part 106b. It has a second guide part 106c, the third finger part 107 has a third support part 107b and a third guide part 107c, and the fourth finger part 108 has a fourth support part 108b. A fourth guide portion 108c is provided.

また、実施形態の保持具７０は、シリンジ８０を保持するためのものであったが、本発明は内部に薬剤を収納可能な薬剤容器であればよく、特にシリンジ８０に限定されない。 Moreover, although the holder 70 of embodiment was for hold | maintaining the syringe 80, this invention should just be a chemical | medical agent container which can accommodate a chemical | medical agent inside, and is not limited to the syringe 80 in particular.

１，１Ａ保持具ハンド
２基部（固定部）
３水平部（固定部）
４，１０４底部
５，６，７，８，１０５，１０６，１０７，１０８手指部（第１の手指部，第２の手指部，第３の手指部，第４の手指部）
５ａ，６ａ，７ａ，８ａ，１０５ａ，１０６ａ，１０７ａ，１０８ａ縦壁部（第１の縦壁部，第２の縦壁部，第３の縦壁部，第４の縦壁部）
５ｂ，６ｂ，７ｂ，８ｂ，１０５ｂ，１０６ｂ，１０７ｂ，１０８ｂ支持部（第１の支持部，第２の支持部，第３の支持部，第４の支持部）
５ｃ，６ｃ，７ｃ，８ｃ，１０５ｃ，１０６ｃ，１０７ｃ，１０８ｃガイド部（第１のガイド部，第２のガイド部，第３のガイド部，第４のガイド部）
５０，１５０一対の水平レール
５１，１５１切り欠き
６０，１６０ラック
７０保持具
７１平板部
７２保持孔
７３前端辺（第１の辺）
７４後端辺（第２の辺）
７５左端辺（第３の辺）
７６右端辺（第４の辺）
８０シリンジ
８１フランジ
１００ロボットアーム 1,1A Holder hand 2 Base (fixed part)
3 Horizontal part (fixed part)
4,104 Bottom 5,6,7,8,105,106,107,108 Finger part (first finger part, second finger part, third finger part, fourth finger part)
5a, 6a, 7a, 8a, 105a, 106a, 107a, 108a Vertical wall portion (first vertical wall portion, second vertical wall portion, third vertical wall portion, fourth vertical wall portion)
5b, 6b, 7b, 8b, 105b, 106b, 107b, 108b support part (first support part, second support part, third support part, fourth support part)
5c, 6c, 7c, 8c, 105c, 106c, 107c, 108c Guide portion (first guide portion, second guide portion, third guide portion, fourth guide portion)
50, 150 A pair of horizontal rails 51, 151 Notch 60, 160 Rack 70 Holder 71 Flat plate portion 72 Holding hole 73 Front end side (first side)
74 Rear edge (second edge)
75 Left edge (third edge)
76 Right edge (4th edge)
80 Syringe 81 Flange 100 Robot arm

Claims

A holder hand that is attached to the arm portion of the robot arm, holds a plurality of drug containers that can store a drug therein, and supports a holder having a substantially rectangular shape in plan view from above, from below,
A fixing part fixed to the arm part;
A bottom portion connected to the fixing portion and disposed below the holder;
A first vertical wall extending upward from the bottom;
A second vertical wall portion that extends upward from the bottom portion and is disposed at a position facing the first vertical wall portion around the bottom portion;
A first support portion that extends from the upper end of the first vertical wall portion in a direction that is horizontal and away from the center of the bottom portion, and that can support the lower surface of the first side of the holder;
The second vertical wall extends from the upper end of the second vertical wall in a direction that is horizontal and away from the center of the bottom, and is capable of supporting the lower surface of the second side that faces the first side of the holder. A support part;
A holder hand characterized by comprising:

The holder hand is
A first guide portion extending upward from an outer edge of the first support portion and capable of guiding the first side of the holder to the first support portion;
A second guide portion extending upward from an outer edge of the second support portion and capable of guiding the second side of the holder to the second support portion;
The holder hand according to claim 1, further comprising:

The holder is plate-shaped having a plurality of holding holes into which the medicine container can be inserted,
The vertical length of the first vertical wall portion and the second vertical wall portion is longer than the length from the lower surface of the holder to the lower surface of the drug container inserted into the holding hole. The holder hand according to claim 1 or 2.

The holder hand is
A third vertical wall portion extending upward from the bottom portion and disposed at a position different from the first vertical wall portion and the second vertical wall portion;
A third support portion that extends from the upper end of the third vertical wall portion in a direction that is horizontal and away from the center of the bottom portion, and is capable of supporting the lower surface of the third side of the holder;
The holder hand according to any one of claims 1 to 3, further comprising:

The holder hand is
5. The apparatus according to claim 4, further comprising a third guide portion extending upward from an outer edge of the third support portion and capable of guiding the third side of the holder to the third support portion. The holder hand described.

The holder hand is
A fourth vertical wall portion extending upward from the bottom portion and disposed at a position facing the third vertical wall portion around the bottom portion;
A fourth support that extends from the upper end of the fourth vertical wall in a direction that is horizontal and away from the center of the bottom, and that can support the lower surface of the fourth side that faces the three sides of the holder. And
The holder hand according to claim 4 or 5, further comprising:

The holder hand is
7. The apparatus according to claim 6, further comprising a fourth guide portion extending upward from an outer edge of the fourth support portion and capable of guiding the fourth side of the holder to the fourth support portion. The holder hand described.

The said fixing | fixed part has a horizontal part which supports the said bottom part from the bottom, and the base part extended upwards from the said horizontal part, and can be connected with the said arm part, The any one of Claim 1-7 characterized by the above-mentioned. The holder hand according to Item 1.

It is a transfer device that holds a plurality of drug containers that can store a drug inside, and transfers a holder having a substantially rectangular shape in plan view from the top surface,
A holder hand for supporting the holder from below;
A robot arm having an arm portion to which the holder hand is attached;
A rack on which the holder can be placed, and which has a plurality of a pair of horizontal rails in the vertical direction extending in the horizontal direction and facing each other;
With
The pair of horizontal rails can support the lower surface of the first side of the holder and the lower surface of the second side opposite to the first side of the holder, and the first of the holders A pair of notches provided so that each of the lower surface of one side and the lower surface of the second side is exposed;
The holder hand is
A fixing part fixed to the arm part;
A bottom portion connected to the fixing portion and disposed below the holder;
A first vertical wall extending upward from the bottom;
A second vertical wall portion that extends upward from the bottom portion and is disposed at a position facing the first vertical wall portion around the bottom portion;
A first support portion that extends from the upper end of the first vertical wall portion in a direction that is horizontal and away from the center of the bottom portion, and is capable of supporting the lower surface of the first side of the holder;
A second support portion that extends from the upper end of the second vertical wall portion in a direction that is horizontal and away from the center of the bottom portion, and is capable of supporting the lower surface of the second side of the holder;
Have
The interval between the first vertical wall portion and the second vertical wall portion is at least the interval between the vicinity of the upper end of the first vertical wall portion and the vicinity of the upper end of the second vertical wall portion. Shorter than the distance between the pair of horizontal rails,
The first support portion can be inserted vertically into one of the pair of notches,
The holding device transfer apparatus, wherein the second support part can be inserted vertically into the other of the pair of cutouts.

The holder hand is
It extends upward from the outer edge of the first support part, can be inserted vertically into the one of the pair of notches, and guides the first side of the holder to the first support part. A possible first guide part;
It extends upward from the outer edge of the second support part, can be inserted vertically into the other of the pair of notches, and guides the second side of the holder to the second support part. A possible second guide part;
The holder transfer device according to claim 9, further comprising:

The holder hand is
A third vertical wall portion extending upward from the bottom portion and disposed at a position different from the first vertical wall portion and the second vertical wall portion;
A third support portion that extends from the upper end of the third vertical wall portion in a direction that is horizontal and away from the center of the bottom portion, and is capable of supporting the lower surface of the third side of the holder;
Further comprising
The holder transfer device according to claim 9 or 10, wherein at least the vicinity of the upper end of the third vertical wall portion can be inserted between the pair of horizontal rails.

The holder hand extends upward from an outer edge of the third support portion, can be inserted between the pair of horizontal rails, and the third side of the holder is connected to the third support portion. The holder transfer device according to claim 11, further comprising a third guide portion that can be guided.

The holder hand is
A fourth vertical wall portion extending upward from the bottom portion and disposed at a position facing the third vertical wall portion around the bottom portion;
A fourth support portion that extends from an upper end of the fourth vertical wall portion in a direction that is horizontal and away from the center of the bottom portion, and that can support the lower surface of the fourth side of the holder;
Further comprising
The holder transfer device according to claim 11 or 12, wherein at least the vicinity of the upper end of the fourth vertical wall portion can be inserted between the pair of horizontal rails.

The holder hand extends upward from an outer edge of the fourth support portion, can be inserted horizontally between the pair of horizontal rails, and the fourth side of the holder is the fourth side. The transfer device according to claim 13, further comprising a fourth guide portion that can be guided by the support portion.

The pair of horizontal rails can mount a plurality of the holding tools in the horizontal direction,
The said arm part, the said fixing | fixed part, and the said bottom part can be inserted between a pair of said horizontal rails, The holder transfer apparatus of any one of Claims 9-14 characterized by the above-mentioned.

16. The rack according to claim 9, further comprising an insertion space into which the holder hand can be inserted below the pair of horizontal rails positioned at the lowest level. The holder transfer device described.

A transfer method for transferring the holder using the transfer device according to claim 16,
When transferring a plurality of the holders into the rack, the holders are placed on the pair of horizontal rails in order from the top to the bottom,
When removing a plurality of the holders from the rack, the holder is transferred from the pair of horizontal rails in order from the bottom to the top.

A transfer method for transferring the holder using the transfer device according to claim 15,
The rack further has an insertion space into which the holder hand can be inserted below the pair of horizontal rails located at the lowest level,
When the plurality of holders are transferred into the rack, the holders are sequentially moved from the uppermost and innermost first position toward the lowermost and innermost second position. Next, the holder is placed on the rails in order from the third position, which is the uppermost and one nearest from the back, to the fourth position, which is the lowermost and one from the back. Placed on a horizontal rail,
When removing a plurality of the holders from the rack, the holders are taken out from the pair of horizontal rails in order from the fourth position toward the third position, and then from the second position to the second position. A method of transferring a holder, wherein the holder is taken out from the pair of horizontal rails in order toward the position 1.