Gripping Device and Automatic Analyzer

A gripping device, comprising:

• a gripping unit gripping a gripping object by sandwiching the gripping object with two or more members that are opened/closed by an actuator;
• a first sensor including a first light projecting unit and a first light receiving unit, the first light projecting unit projecting first detection light, the first light receiving unit receiving the first detection light;
• a second sensor including a second light projecting unit and a second light receiving unit, the second light projecting unit projecting second detection light, the second light receiving unit receiving the second detection light;
• a determination unit that executes determination related to three states of a state that the member opens without gripping the gripping object, a state that the member closes without gripping the gripping object, and a state that the member grips the gripping object, based on detection information of the first sensor and the second sensor;
• a first light-shielding member that is interlocked with the actuator;
• and
• a second light-shielding member that is interlocked with either one or more of the members, wherein the first sensor detects either of a state that the actuator is in an operation of opening the member or a state that the actuator is in an operation of closing the member, by shielding the first detection light in a manner that the first light-shielding member enters between the first light projecting unit and the first light receiving unit, and the second sensor detects either of a state that the member is closed or a state that the member is opened or grips the gripping object, by shielding the second detection light in a manner that the second light-shielding member enters between the second light projecting unit and the second light receiving unit.

A gripping device, comprising:

• a gripping unit gripping a gripping object by sandwiching the gripping object with two or more members that are opened/closed by an actuator;
• a first sensor including a first light projecting unit and a first light receiving unit, the first light projecting unit projecting first detection light, the first light receiving unit receiving the first detection light;
• a second sensor including a second light projecting unit and a second light receiving unit, the second light projecting unit projecting second detection light, the second light receiving unit receiving the second detection light;
• a determination unit that executes determination related to three states of state that the member opens without gripping the gripping object, a state that the member closes without gripping the gripping object, and a state that the member grips the gripping object, based on detection information of the first sensor and the second sensor;
• a first light-shielding member that is interlocked with the actuator;
• and
• a second light-shielding member that is interlocked with either one or more of the members, wherein opening/closing operation of the gripping unit is executed by rotating operation of the actuator and rotating operation of the member that is interlocked with the rotating operation of the actuator, the first light projecting unit and the first light receiving unit are disposed so that the first detection light is shielded by the first light-shielding member when the actuator rotates by a first angle, and the second light projecting unit and the second light receiving unit are disposed so that the second detection light is shielded by the second light-shielding member when the member rotates by a second angle.

A gripping device, comprising:

• a gripping unit gripping a gripping object by sandwiching the gripping object with two or more members that are opened/closed by an actuator;
• a first sensor including a first light projecting unit and a first light receiving unit, the first light projecting unit projecting first detection light, the first light receiving unit receiving the first detection light;
• a second sensor including a second light projecting unit and a second light receiving unit, the second light projecting unit projecting second detection light, the second light receiving unit receiving the second detection light;
• a determination unit that executes determination related to three states of a state that the member opens without gripping the gripping object, a state that the member closes without gripping the gripping object, and a state that the member grips the gripping object, based on detection information of the first sensor and the second sensor;
• a first light-shielding member that is interlocked with the actuator;
• and
• a second light-shielding member that is interlocked with either one or more of the members, wherein opening/closing operation of the gripping unit is executed by rotating operation of the actuator and rotating operation of the member that is interlocked with the rotating operation of the actuator, the first light projecting unit and the first light receiving unit are disposed so that the first detection light is shielded by the first light-shielding member when the actuator rotates by a first angle, and the second light projecting unit and the second light receiving unit are disposed so that the second detection light is shielded by the second light-shielding member when the member rotates by a second angle.