| 摘要 |
PROBLEM TO BE SOLVED: To hold and lift a test tube in a rack in proper condition of standing straight up in a device to hold and carry the test tube. SOLUTION: A holding unit has 2 holding fingers facing each other, and the finger part 14 of each folding finger has abutting parts 15 of V shape which is forked into two toward the direction of a test tube 200. Total four pressure sensors 30 are provided in one finger part 14, one in each of top and bottom of two abutting parts 15. When two holding fingers are closed, any one of total eight pressure sensors detects the contact with the test tube 200. Depending on which sensor detects the contact, the inclination or displacement of the test tube can be discriminated. In accordance with the result of the discrimination, the holding unit is moved very slightly to correct the inclination or displacement of the test tube 200.
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