Gripping mechanism
The gripping mechanism is a gripping mechanism for gripping a cuvette T, the gripping mechanism comprising: a sandwiching section 50 for holding the cuvette T in a laterally sandwiching manner; a pressing section 60 for pressing downward an upper end surface of the cuvette T held in a sandwiching manner by the sandwiching section 50 , wherein the pressing section 60 is arranged such that, with the cuvette T being held in a sandwiching manner by the sandwiching section 50 , a central axis of the cuvette T along a vertical direction coincides mutually with a central axis of the pressing section 60 in the vertical direction.
1. A gripping mechanism for gripping a gripping object, the gripping mechanism comprising:
sandwiching section configured for holding the gripping object in a laterally sandwiching manner;
pressing section configured for pressing downward an upper end surface of the gripping object held in a sandwiching manner by the sandwiching section,
wherein the pressing section is arranged such that, with the gripping object being held in a sandwiching manner by the sandwiching section, a central axis of the gripping object along a vertical direction coincides mutually with a central axis of the pressing section in the vertical direction,
wherein the pressing section is further arranged such that an operation of canceling gripping of the gripping object by the gripping mechanism enables the pressing section to push the gripping object downward, and
wherein the sandwiching section further comprises:
a pair of rod-like arm portions provided at an interval between the arm portions, the arm portions each rotating around a rotating shaft provided in a part of the arm portion other than an end of each of the arm portions;
one pawl portion connected to an end of a corresponding arm portion of one of the pair of arm portions, with the end being closer to the gripping object and the one pawl portion being in abutting contact with the gripping object, and
two pawl portions each connected to an end of a corresponding arm portion of the other one of pair of arm portions, with the end being closer to the gripping object and the two pawl portions being in abutting contact with the gripping object.
2. The gripping mechanism according to claim 1 , wherein
the one pawl portion and the two pawl portions are arranged such that, with the gripping object being held in a sandwiching manner by the sandwiching section, a central position of a virtual circle is located on the central axis of the gripping object along the vertical direction, the virtual circle being formed substantially along a part of each of the one pawl portion and the two pawl portions, which is in abutting contact with the gripping object, and circumscribing the one pawl portion and the two pawl portions.
3. The gripping mechanism according to claim 1 , wherein the pressing section is formed such that a part of the pressing section that is in abutting contact with the gripping object is similar to a part of the gripping object that is in abutting contact with the pressing section.
4. The gripping mechanism according to claim 1 , wherein
the gripping mechanism comprises a wedge portion that switches a tilt state of the pair of arm portions by being inserted into an insertion part between the pair of the arm portions that extends from ends of the arm portions opposite to the ends of the arm portions closer to the gripping object to the rotating shafts, and
based on an amount of insertion of the wedge portion into the insertion part of the arm portions, the wedge portion enables the tilt state of the pair of the aim portions to be switched between a first state where the interval between the one pawl portion and the two pawl portions connected to the pair of the arm portions is larger than a width of the gripping object and a second state where the interval between the one pawl portion and the two pawl portions connected to the pair of arm portions is substantially equal to the width of the gripping object.