| 摘要 |
PROBLEM TO BE SOLVED: To hold and carry both of a hard test tube and a soft test tube steadily with a sufficient holding power without causing any excessive deformation. SOLUTION: A pressure sensor 16 is provided on the surface abutting to a test tube 200 in a holding finger 12. When the test tube 200 is fastened by the closing action of the holding finger 12, a control device monitors the output signal level of the pressure sensor 16. Then the discrimination is made to decide the test tube under the object of holding is whether a hard test tube or a soft test tube depending on the rising degree of the level of output signal. The rising degree for the soft test tube is smaller than the one for the hard test tube. Based on the discrimination result of this hardness, in the case of the soft test tube, the holding finger 12 is closed with smaller force at smaller velocity than in case of the hard test tube to prevent the excessive deformation of the test tube 200.
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