Patent Publication Number: US-2015068627-A1

Title: Direction of motion conversion mechanism, actuator device using the same, and reagent manufacturing apparatus

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims the priority of Japanese Patent Application No. 2013-186757, filed on Sep. 9, 2013, which is incorporated herein by reference in its entirety. 
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention relates to a direction of motion conversion mechanism, an actuator device, and a reagent manufacturing apparatus, and especially relates to a direction of motion conversion mechanism, an actuator device, and a reagent manufacturing apparatus that rotate a cock of a stopcock that diverts a passage of a liquid. 
     2. Description of the Related Art 
     In the medical field, three-way stopcocks are often used for diverting a passage of a reagent solution. 
     The three-way stopcock is a part that selects a connection port among three connection ports by rotating an external cock connected to a valve in which passages are partitioned in a T-shaped manner and partitions passages among three connection ports inside the passages at positions 90 degrees away from each other in a T-shaped manner. Positions where the cock is rotated and stopped are 0 degrees, 90 degrees, 180 degrees, and 270 degrees, and it is necessary to stop at any of four positions at every 90 degrees. Further, regarding a direction into which the cock is rotated, there are cases where a rotation angle goes and returns within 270 degrees, and where the direction is restricted to one of right rotation and left rotation. 
     The three-way stopcocks are supposed to be used in a disposable manner for prevention of infectious diseases, and are available in a sterilized state at a reasonably low cost. Therefore, the three-way stopcocks are used inside the passages for synthesis or dispensation of reagents in reagent manufacturing systems for positron emission tomography (PET) in a disposable manner with limited usage. 
     When a three-way stopcock is used, typically, in the medical field, a cock is rotated by hand to divert the passage. However, in the PET reagent manufacturing system, a reagent that emits high-intensity radiation is used, and thus an actuator device that rotates the cock performs the function, instead of a manual operation. However, the actuator device has a concern, such as deterioration of an insulation material due to radiation, and malfunction of a semiconductor, and thus it is necessary to use an actuator device using air pressure rather than electric motors. 
     As a drive source of the actuator device using air pressure, a translatory-type pneumatic cylinder or an oscillation-type pneumatic rotary actuator device is typically used. When a pneumatic rotary actuator device is used as the drive source, the cock of the three-way stopcock is connected to an output shaft of the pneumatic rotary actuator device so that the output shaft can be rotated. However, when a translatory-type pneumatic cylinder is used as the drive source, it is necessary to convert translatory motion into rotary motion in some sort of system to rotate the cock of the three-way stopcock. 
     In either case, the drive source performs reciprocating movement with full stroke. Therefore, there is a problem that it is necessary to employ a method of adding a mechanism to stop the movement in the middle of the stroke, or to employ a combination of a plurality of drive sources in order to handle the four positions of the direction of cock rotation. 
     Note that, as a first example of a valve opening/closing device using a translatory-type pneumatic cylinder as the drive source, there is JP-2010-84847-A. In JP-2010-84847-A, a cam is used to convert the translatory motion into the rotary motion. In JP-2010-84847-A, the cam having a groove processed in a flat plate performs reciprocating translatory movement, and thus the converted rotary motion performs a reciprocating rotary motion, and a seat of a valve attached to the axis of rotation performs a reciprocating open/close operation by the reciprocating translatory movement. JP-2010-84847-A has problems that only the reciprocating rotary motion is realized as described above, and the device cannot be stopped at an arbitrary angle in every 90 degrees. 
     As a second example, there is JP-3331553-B as the actuator device that converts the translatory motion into the rotary motion using a translatory-type pneumatic cylinder as the drive source. Even in JP-3331553-B, a cam is used to convert the translatory motion in to the rotary motion. In JP-3331553-B, a spline that serves as an output shaft is rotated by a reciprocating translatory motion along the connected spline by a lead groove (corresponding to a cam) side formed in a piston, and rotation using an engaged ball (corresponding to a cam follower) as a reference. That is, the cam performs both of the reciprocating motion and the rotary motion to convert the translatory motion into the rotary motion. Therefore, there is a problem of structural difficulty in assembly. Further, in JP-3331553-B, a linear portion has a deep groove, and the groove is gradually shallower from a bending portion of the lead groove to the other end side. Thus, there is problem that it is necessary to process the lead groove to gradually change the depth, and the processing is difficult. 
     When considering the mechanism that converts the translatory motion into the rotary motion as the actuator device that rotates a cock of a three-way stopcock other than the above two known technologies, use of an input and an output of the mechanism that converts the rotary motion into the translatory motion in a reverse manner can be considered. As the mechanism that converts the rotary motion into the translatory motion, there is JP-2010-151206-A. 
     JP-2010-151206-A has a structure in which a cylindrical cam is continuously rotated, so that a contact (corresponds to a cam follower) continuously performs reciprocating movement in an axial direction of the cylindrical cam. Conversion of the translatory motion into the rotary motion can be considered by using of the structure in a reverse manner. If the contact of JP-2010-151206-A is moved in the axial direction of the cylindrical cam using a translatory-type pneumatic cylinder, or the like, the cylindrical cam is rotated. However, when the translatory motion is converted into the rotary motion with the structure of JP-2010-151206-A, the contact is moved into one direction, and the contact reaches the peak at a bending portion of the cam groove. Then, when the contact is tried to move into an opposite direction, whether the contact is moved into a first linear portion of the cam groove or into a second linear portion cannot be accurately selected. 
     If the reciprocating motion is continuously performed, the reciprocating motion may be able to be converted into continuous rotation by inertia force of the cylindrical cam. However, the purpose is not the continuous rotation of the cock of the three-way stopcock but stop of the cock at an arbitrary position. Therefore, if the direction into which the contact is moved cannot be selected, the purpose cannot be achieved by use of the structure of JP-2010-151206-A in a reverse manner. Note that, in JP-2010-151206-A, angles of the first linear portion and the second linear portion of the groove cam seem different. As a result, when the contact is moved into an opposite direction after the contact reaches the peak, whether the contact is moved into the first linear portion or to the second linear portion of the cam groove may be able to be selected. 
     However, there is a problem that malfunction occurs if a substantial difference is not given to a difference in the angles of the first linear portion and the second linear portion of the cam groove. The malfunction occurs due to frictional force between the cam groove and the contact, or a movement error occurring from a gap due to dimensional tolerance of parts. 
     SUMMARY OF THE INVENTION 
     In the medical field, especially in a system of manufacturing a PET reagent, the cock needs to be rotated and stopped at an arbitrary position of the four positions at every 90 degrees, regarding the actuator device used for rotating the cock of the three-way stopcock to divert passages of the reagent solution. There are following problems to satisfy the condition that the actuator device can handle both of the case where a rotation angle goes and returns within 270 degrees and the case where the direction is restricted to one of right rotation and left rotation, and furthermore, the actuator device needs to use a drive force by air pressure having a less adverse effect of radiation. 
     Typically, to handle the four positions of the direction of cock rotation by the drive force by air pressure that performs reciprocating motion with full stroke, there is a problem that measures using a method of adding a mechanism to stop the movement in the middle of the stroke, or a combination of a plurality of drive sources are necessary. Further, when the reciprocating motion of a cam with a groove processed in a flat plate is converted into the rotary motion, there are problems that the reciprocating motion needs to be converted into not only the reciprocating rotation but also an arbitrary rotation direction into which the cock can be rotated, and the movement needs to be stopped in the middle of the stroke at an arbitrary angle. 
     Further, in a case of a mechanism using a gear, even if rotational force other than the drive force is applied, idle running needs to be avoided. In a case of a mechanism in which the cam performs both of the reciprocating motion and the rotary motion, the actuator device needs to be easily assembled. In a case where the lead groove needs to be processed such that the depth is gradually changed, the structure needs to be easily processed. Further, in a case where the mechanism that converts the rotary motion into the translatory motion is used in a reverse manner, a direction of rotation needs to be accurately selected without having malfunction. 
     An objective of the present invention is to provide a technology to enable selection of a direction of cam rotation in diversion of a passage using a stopcock, and enables easy processing/assembly of an actuator device. 
     The above and other objectives and new characteristics of the present invention will be made clear from description of the present specification and appended drawings. 
     An outline of a representative invention from among the inventions disclosed in the present application will be described as follows. 
     A direction of motion conversion mechanism according to the present invention includes a translatory mechanism unit including a cam follower that moves along a groove in a cylindrical surface of a cam, and performs translatory motion, and a rotation mechanism unit in which the cam performs rotary motion. Further, the groove of the direction of motion conversion mechanism includes a first groove having a first inclination angle, a second groove having a second inclination angle, a third groove having a third inclination angle, and a fourth groove having a fourth inclination angle, and the first, second, third, and fourth grooves have a linked shape. Further, in the direction of motion conversion mechanism, direction of inclinations of the first groove and the third groove are opposite with respect to a central axis of rotation, and directions of inclinations of the second groove and the fourth groove are opposite with respect to the central axis of rotation. 
     An actuator device according to the present invention includes a translatory mechanism unit including a pin that moves along a groove in a cylindrical surface of a cam to which a three-way stopcock is connected, a rotation mechanism unit in which the cam performs rotary motion, and a pin drive unit that causes the pin to perform translatory motion along an extending direction of the cam. Further, the groove of the cam of the actuator device includes a first groove having a first inclination angle, a second groove having a second inclination angle, a third groove having a third inclination angle, and a fourth groove having a fourth inclination angle, and the first, second, third, and fourth grooves have a linked shape. In the groove of the cam of the actuator device, directions of inclinations of the first groove and the third groove are opposite with respect to a central axis of rotation, and directions of inclinations of the second groove and the fourth groove are opposite with respect to the central axis of rotation. 
     A reagent manufacturing apparatus according to the present invention includes an actuator device including a translatory mechanism unit including a pin that moves along a groove in a cylindrical surface of a cam to which the three-way stopcock is connected, and performs translatory motion. Further, the reagent manufacturing apparatus includes a rotation mechanism unit in which the cam performs rotary motion, piping to which a plurality of the three-way stopcocks is connected, and a control unit that diverts passages of the three-way stopcocks by causing the pin to perform the translatory motion along an extending direction of the cam, and to rotate the cam. Further, in the reagent manufacturing apparatus, the groove includes a first groove having a first inclination angle, a second groove having a second inclination angle, a third groove having a third inclination angle, and a fourth groove having a fourth inclination angle, and the first, second, third, and fourth grooves have a linked shape. Further, in the reagent manufacturing apparatus, directions of inclinations of the first groove and the third groove are opposite with respect to a central axis of rotation, and directions of inclinations of the second groove and the fourth groove are opposite with respect to the central axis of rotation, and the control unit controls timing to divert the passages of the three-way stopcocks. 
     Effects obtained from the representative invention from among the inventions disclosed in the present application will be briefly described as follows. 
     Selection of a direction of cam rotation in diversion of a passage using a stopcock is possible, and rotation/stop of the cam by every 90 degrees can be reliably performed. In addition, processing/assembly of an actuator device can be easily performed. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a partial configuration diagram illustrating an example of a piping system in reagent manufacturing system of a first embodiment of the present invention; 
         FIGS. 2A ,  2 B, and  2 C are partial configuration diagrams illustrating a part of the reagent manufacturing system illustrated in  FIG. 1 , where the part is enlarged; 
         FIG. 3  is a side view illustrating a configuration of a three-way stopcock diversion actuator device of a first embodiment of the present invention, where a part of the configuration is broken; 
         FIGS. 4A ,  4 B, and  4 C are cross sectional views illustrating a structure of the actuator device illustrated in  FIG. 3 , and  FIG. 4A  illustrates positions of limit (rotation position detection) switches,  FIG. 4B  illustrates positions of pins, and  FIG. 4C  illustrates positions of anti-rotation pins; 
         FIG. 5  is a side view illustrating a structure of a cam of the actuator device of  FIG. 3 , where a part of the structure is broken; 
         FIG. 6  is a developed diagram of an outer periphery of the cam illustrated in  FIG. 5 ; 
         FIG. 7  is a configuration diagram for describing a principle of rotation of the cam illustrated in  FIG. 5 ; 
         FIGS. 8A ,  8 B, and  8 C are partial plan views illustrating examples of a connection portion of a second groove and a third groove illustrated in  FIG. 7 ; 
         FIG. 9  is a side view illustrating a structure of a cam of a modification of the first embodiment of the present invention, where a part of the structure is broken; 
         FIG. 10  is a developed diagram of an outer periphery of the cam illustrated in  FIG. 9 ; 
         FIG. 11  is a configuration diagram for describing a principle of rotation of the cam illustrated in  FIG. 9 ; 
         FIG. 12  is a side view of a configuration of a three-way stopcock diversion actuator device of a second embodiment of the present invention; 
         FIG. 13  is a partial cross sectional view illustrating a configuration of a cylinder of the actuator device of  FIG. 12 ; 
         FIG. 14  is a side view illustrating a structure of a cam of the actuator device of  FIG. 13 , where a part of the structure is broken; 
         FIG. 15  is a developed diagram of an outer periphery of the cam illustrated in  FIG. 14 ; 
         FIG. 16  is a configuration diagram for describing a principle of rotation of the cam illustrated in  FIG. 14 ; 
         FIG. 17  is a side view illustrating a structure of a cam of a modification of the second embodiment of the present invention, where a part of the structure is broken; 
         FIG. 18  is a developed diagram of an outer periphery of the cam illustrated in  FIG. 17 ; 
         FIG. 19  is a configuration diagram for describing a principle of rotation of the cam illustrated in  FIG. 17 ; 
         FIG. 20  is a configuration diagram illustrating an example of a connection state of a pneumatic cylinder, piping, control solenoid valves, and an air pressure source in the actuator device illustrated in  FIG. 12 ; 
         FIG. 21  is a configuration diagram illustrating an example of a reagent manufacturing apparatus of a third embodiment of the present invention; and 
         FIG. 22  is an enlarged partial perspective view illustrating the A portion illustrated in  FIG. 21 , where a part of the A portion is broken. 
     
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     In the following embodiments, description of the same or similar portions is basically not repeated unless otherwise especially needed. 
     Further, if such description is needed in the following embodiments as a matter of convenience, the description will be given by being divided into a plurality of sections or embodiments. The sections or embodiments are not unrelated to each other, and there is a relationship that one is a modification, details, or supplementary explanation of a part or whole of the other unless otherwise especially indicated. 
     Further, in the following embodiments, when referring to the number of an element (including a numerical value, an amount, and a range), the number of an element is not limited to a specific number, and the number may be larger/smaller than the specific number unless otherwise especially indicated, or the number is apparently limited to the specific number in principle. 
     Further, in the following embodiments, a configuration element (including an element step) is not necessarily essential unless otherwise especially indicated, or the configuration element is apparently essential in principle. 
     Further, in the following embodiments, when referring to a configuration element or the like, it is apparent that the wording of “X made of A”, “X formed of A”, “X having A”, or “X including A” does not exclude elements other than A, except the case of especially stating that there is only the element. Similarly, in the following embodiments, when referring to a shape of a configuration element, or a positional relationship, or the like, matters substantially approximating or similar to the shape or the like are included, unless otherwise especially stated, or the matter seems clearly improper in principle. The same applies to the numerical values and ranges. 
     Hereinafter, embodiments of the present invention will be described in details with reference to the drawings. Note that members having the same function are denoted with the same reference signs in all of the drawings for describing the embodiments, and repetitive description is omitted. Further, hatching may be provided even to a plan view for making the drawing to easier understand. 
     First Embodiment 
       FIG. 1  is a partial configuration diagram illustrating an example of a piping system in a reagent manufacturing system of a first embodiment of the present invention, and  FIGS. 2A ,  2 B, and  2 C are partial configuration diagrams illustrating the reagent manufacturing system illustrated in  FIG. 1 , where a part of the system is enlarged. 
     First, an operation of a PET reagent manufacturing system will be described with reference to  FIGS. 1 , and  2 A to  2 C. In the reagent manufacturing system that synthesizes and dispenses a reagent, an undiluted solution of a reagent that emits high-intensity radiation is synthesized with a diluent, concentration tuning is performed, and mixed liquor is dispensed into individual containers.  FIG. 1  illustrates a piping system  100  before a stage of dispensing the mixed liquor into individual containers. The piping system  100  includes an undiluted solution intake port  101  that takes in an undiluted solution, a nitrogen gas intake port  102  that takes in a purge nitrogen gas in the piping, and an outlet  103  for sending a reagent after the concentration tuning to individual dispensation piping that is a next process. 
     Further, the piping system  100  includes an undiluted solution collection container  104  for collecting the undiluted solution, a diluent container  105  that stores the diluent, and a diluent collection container  106  for collecting the diluent. Further, the piping system  100  includes two types of syringe pumps  107  that suck/discharge collected undiluted solution or diluent in the piping, a waste collection container  108 , a synthesis container  109 , and another waste collection container  110 . These pumps and containers are connected by a plurality of lines of piping  112  through respective three-way stopcocks  111 . 
     Each of the three-way stopcocks  111  is illustrated in the drawing such that three triangles face one another in a circle. The triangles are rotated in the circle. Each of the three-way stopcock  111  is illustrated to allow distribution only in a direction corresponding to the piping  112  inside the three-way stopcock  111 . Note that a total of twelve three-way stopcocks  111  including BV-0 to BV-2, and SV-0 to SV-8 are illustrated in  FIG. 1 . A plurality of three-way stopcocks  111  is used in the individual dispensation piping that is the next process (not illustrated in  FIG. 1 ). For downsizing of the system, it is necessary to downsize the actuator device that rotates the cocks of the three-way stopcocks  111 , especially, to downsize the magnitude of the direction projected on the sheet of  FIG. 1 . 
     Most of parts illustrated in the piping system  100  of  FIG. 1 , and most of parts used for the individual dispensation piping system in the next process are supplied in a state of being sterilized for prevention of infectious diseases. Further, these parts are used disposable of one time or several times, and are attached to the PET reagent manufacturing system before the start of an operation. Although not illustrated, a plurality of filters for securing sterility is attached to a plurality of places in the piping, and bent filters are attached to all of the containers except the diluent container  105 . 
     Next, an operation in a portion of the PET reagent manufacturing system illustrated in  FIG. 1  will be described. Note that the three-way stopcocks  111  are rotated and diverted each time. 
     When an operation is started, the undiluted solution enters through the undiluted solution intake port  101  into the piping  112 , the undiluted solution passes through BV-0, SV-0, and SV-1 of the three-way stopcocks  111 , and is collected in the undiluted solution collection container  104 . At this time, the weight of the undiluted solution collected in the undiluted solution collection container  104 , and the intensity of radiation inside the container are measured by measuring devices (not illustrated). 
     Next, to purge the undiluted solution remained in the piping  112  in the process, a nitrogen gas is introduced through the nitrogen gas intake port  102  into the piping, passes through BV-1, BV-0, and SV-0, and is collected in the waste collection container  108 . 
     While it has been described that the three-way stopcocks  111  are rotated and diverted each time, it is important to divert the cocks of the three-way stopcocks  111  in right rotation or in left rotation. Restriction is given to the direction of rotation at the time of diverting the three-way stopcocks  111  in subsequent several processes including at the time of collecting the undiluted solution, and thus description will be given taking this process as an example. 
       FIGS. 2A to 2C  are diagrams in which only the portions of BV-0, BV-1, and SV-0 are extracted from  FIG. 1 .  FIGS. 2A  to  2 C illustrate actual directions of the three-way stopcocks  111 , and illustrate the piping  112  to which pressure is applied by a thick line. 
     In  FIGS. 1 and 2A , the undiluted solution enters the undiluted solution intake port  101  with certain pressure. At the first cock position of BV-0 of the three-way stopcock  111  in  FIG. 1 , the undiluted solution does not enter the piping  112 , and is dammed up by BV-0 of the three-way stopcock  111 . 
     Next, BV-0 of the three-way stopcock  111  is rotated rightward by 90 degrees on the sheet, and SV-0 of the three-way stopcock  111  is rotated leftward by 90 degrees on the sheet. When the three-way stopcocks  111  are set like  FIG. 2B , the undiluted solution enters the piping  112  through the undiluted solution intake port  101 , passes through BV-0 and SV-0 of the three-way stopcocks  111 , and is collected in the undiluted solution collection container  104 , as described above. 
     At this time, when BV-0 of the three-way stopcock  111  is rotated leftward by 270 degrees on the sheet, and SV-0 of the three-way stopcock  111  is rotated rightward by 270 degrees on the sheet, as illustrated in  FIG. 2B , the three-way stopcocks  111  pass through the directions as illustrated in  FIG. 2C  in the middle of the rotation. Then, the undiluted solution flows into the range illustrated by the thick lines of the piping  112 , as illustrated in  FIG. 2C , which causes a problem. To avoid the problem, it is necessary to pay attention to the directions of rotation of the three-way stopcocks  111 , and it is of course necessary that the actuator device that drives the three-way stopcocks  111  can select an arbitrary direction of rotation. 
     The operation in the portion in the PET reagent manufacturing system illustrated in  FIG. 1  will be continuously described. After the undiluted solution is connected in the undiluted solution collection container  104 , or in parallel processing, the nitrogen gas is introduced through the nitrogen gas intake port  102  to the diluent container  105  through BV-1 and BV-2 of the three-way stopcocks  111 . Then, with the pressure, the diluent in the diluent container  105  is transferred to the diluent collection container  106  through SV-3 of the three-way stopcock  111 . 
     Next, the undiluted solution having a predetermined amount in the undiluted solution collection container  104  is sucked in the syringe pump  107  through SV-1, SV-2, SV-4, and SV-5 of the three-way stopcocks  111 . Following that, the total amount of the undiluted solution sucked in the syringe pump  107  is discharged into the synthesis container  109  through SV-5, SV-6, and SV-7 of the three-way stopcocks  111 . Then, after the undiluted solution having the predetermined amount is discharged and collected in the synthesis container  109 , the nitrogen gas is introduced through the nitrogen gas intake port  102  into the piping, passes through BV-1, BV-2, SV-8, SV-7, SV-6, SV-5, SV-4, and SV-2, and flows into the waste collection container  110 . Further, the undiluted solution remained in the piping  112  is purged, and collected in the waste collection container  110 . At this time, the weight of the undiluted solution collected in the synthesis container  109 , and the intensity of radiation of the undiluted solution in the container are measured by measuring devices (not illustrated). 
     Next, the diluent having a predetermined amount in the diluent collection container  106  is sucked in the syringe pump  107  through SV-4 and SV-5 of the three-way stopcocks  111 . Following that, the diluent sucked in the syringe pump  107  and having a predetermined amount is discharged into the synthesis container  109  through SV-5, SV-6, and SV-7 of the three-way stopcocks  111 , and mixed and synthesized with the undiluted solution collected in the synthesis container  109  in advance. At this time, the weight of the undiluted solution and the diluent mixed in the synthesis container  109 , and the intensity of radiation of the undiluted solution inside the container are measured by the measuring devices, and the diluent in the syringe pump  107  is discharged into the synthesis container  109  until the weight and the intensity of radiation reach predetermined reference values. 
     Then, the weight and the intensity of radiation in the synthesis container  109  reach the predetermined reference values, the diluent remained in the syringe pump  107  is disposed to the waste collection container  110  through SV-5, SV-4, and SV-2 of the three-way stopcocks  111 . Further, the nitrogen gas is introduced through the nitrogen gas intake port  102  into the piping, passes through BV-1, BV-2, SV-8, SV-7, SV-6, SV-5, SV-4, and SV-2, and flows into the waste collection container  110 . Following that, a residual liquid remained in the piping  112  is purged and collected in the waste collection container  110 , and the synthesis operation is terminated. 
     An outline of the synthesis operation in the portion illustrated in  FIG. 1  has been described. A subsequent operation is moved onto the individual dispensation, which is the next process. However, description is omitted here. 
     Next, a three-way stopcock diversion actuator device using a direction of motion conversion mechanism that converts the translatory motion into the rotary motion according to the present invention will be described with reference to  FIGS. 3 to 11 .  FIG. 3  is a side view illustrating a configuration of a three-way stopcock diversion actuator device, illustrating a cross section obtained such that an upper half is cut in a vertical direction, and a lower half is cut in an oblique direction of about 45 degrees, based on the axis of rotation of the actuator device.  FIGS. 4A ,  4 B, and  4 C are cross sectional views obtained such that  FIG. 3  is cut in a direction perpendicular to the axis of rotation and as viewed from a right direction of  FIG. 3 . Regarding the position of the cross section of each drawing,  FIG. 4A  illustrates positions of limit (rotation position detection) switches  224 ,  FIG. 4B  illustrates positions of pins  214 , and  FIG. 4C  illustrates positions of anti-rotation pins  215 . 
     A three-way stopcock diversion actuator device  200  illustrated in  FIG. 3  is a portion except a three-way stopcock  201 , an installation panel  202 , and a fixing bolt  203 . A main body of the three-way stopcock  201  is held in a holder  204 , and a cock  201   a  is held by an output shaft  205 . There are four cuts (not illustrated) in the held portion of the cock of the output shaft  205 , and one of the four cuts has a different shape from others. Then, a position of a direction of rotation of the cock  201   a  with respect to the main body of the three-way stopcock  201  is uniquely determined by a position of a direction of rotation that can be confirmed by a rotation position detection mechanism described below. 
     The output shaft  205  interposes an inner race of a radial bearing  207  between the output shaft  205  and the cam  206 , and a position of a direction of rotation is determined by a positioning pin  208 . The output shaft  205  is fixed by a bolt  209 . A housing  210  interposes an outer race of the radial bearing  207 , and is fixed by the holder  204  and the fixing bolt  203 . The output shaft  205  integrated with the cam  206  is rotatable inside the holder  204  and the housing  210  around a central axis  211  through the radial bearing  207 . 
     Two pins  214  that are cam followers fixed to a slider  213  are meshed with a groove  212  of the cam  206  (see  FIGS. 3 and 4B ). The pins  214  have a columnar shape having a central axis perpendicular to (intersecting with) the central axis  211 , and the diameter of the pins is slightly smaller than the groove  212 . The slider  213  is capable of rotating around the central axis  211  and sliding in the axial direction of the central axis  211 , along an inner diameter of the housing  210 . However, movement of the anti-rotation pin  215  fixed to the slider  213  is restricted to movement along an anti-rotation groove  216  processed parallel to the central axis  211  in the housing  210 . As a result, the slider  213  is not rotated, and is capable of performing only movement into the axis direction of the central axis  211  (see  FIG. 4C ). 
     Further, as illustrated in  FIG. 3 , a pneumatic cylinder (pin drive unit)  219  is fixed to a flange  217  by a bolt  218 , and is fixed to a right side of the housing  210  by a bolt (not illustrated) through the flange  217 . 
     Further, a tip screw portion of a piston rod  220  of the pneumatic cylinder  219  is screwed into the slider  213 , and is fixed by an anti-loosening nut  221 . As a result of this configuration, by supplying of air pressure is supplied to a port (intake and exhaust port)  222  at a pushing side of the pneumatic cylinder  219  and a port (intake and exhaust port)  223  at a pulling side, the slider  213  is moved in the axial direction of the central axis  211 . Further, the pins  214  fixed to the slider  213  push a wall surface of the groove  212  formed in the cam  206 , thereby to rotate the output shaft  205  to rotate the cock  201   a  of the three-way stopcock  201 . 
     To smoothly perform this operation, a translatory axis of the translatory motion of the pins (translatory mechanism unit)  214  and the central axis  211  of the rotation of the cam (rotation mechanism unit)  206  are parallel or on the same straight line. 
     While details will be described below, the groove  212  formed in an outer periphery of the cylindrical surface of the cam  206  is constant in depth. Further, as illustrated in  FIG. 4B , four sets of the grooves  212  are formed in a circumferential direction of the cam  206 . One set of the groove  212  has a shape of rotating the cam  206  by 90 degrees in one reciprocating motion of the pneumatic cylinder  219 . Note that, in the three-way stopcock diversion actuator device  200  of the present invention, the pulling side of the piston rod  220  of the pneumatic cylinder  219  ( FIG. 3  is a state where the piston rod  220  is at the pushing side) is a reference position. 
     To detect the position of the cock  201   a  with respect to the main body of the three-way stopcock  201 , as illustrated in  FIGS. 3 and 4A , a limit switch  224  is attached to the housing  210  by a bolt  225 . Two limit switches  224  each, as a total of four, as illustrated in  FIG. 3 , are attached to upper and lower point symmetrical positions, as illustrated in  FIG. 4A . Two grooves  226  are formed in positions corresponding to the limit switches  224  illustrated in  FIG. 3  in the outer periphery of the cam  206 . Further, a protrusion  227  for pushing up levers of the limit switches  224  is formed in one position of each of the grooves  226 . 
     The protrusions  227  formed in the grooves  226  have a phase difference by 90 degrees in the direction of rotation of the central axis  211 , and the position of the direction of rotation corresponds to the groove  212  formed in the cam  206 . Therefore, the four limit switches  224  correspond to 0 degrees, 90 degrees, 180 degrees, and 270 degrees, and when the piston rod  220  of the pneumatic cylinder  219  is at the pulling side, which is the reference position, only one of the four limit switches  224  is in an ON state. Accordingly, the position of the direction of rotation of the cock  201   a  with respect to the main body of the three-way stopcock  201  can be obtained. 
     In the three-way stopcock diversion actuator device  200  of the first embodiment, as illustrated in  FIG. 3 , and as described below, a part of the groove  212  formed in the cam  206  passes to a right end surface of the cam  206  in the drawing. Further, the anti-rotation groove  216  formed in the housing  210  also passes to a right end surface of the housing  210 . Therefore, when the parts such as the cam  206  are assembled in the housing  210  from the right side of  FIG. 3 , by inserting of the pneumatic cylinder  219  to which the slider  213  is attached from the right side of  FIG. 3 , the three-way stopcock diversion actuator device  200  can be easily assembled. 
     Next, the cam  206  of the first example and the groove  212  formed in the cam  206  in the first embodiment, and a principle of rotation of the cam  206  by the translatory motion of the pin  214  will be described. The side view of  FIG. 5  illustrates a structure of the cam  206  of the first example, where only the cam  206  is taken out from  FIG. 3 .  FIG. 6  illustrates the groove  212  of the cam  206  illustrated in  FIG. 5  by developing the outer periphery of the cam  206 .  FIG. 7  illustrates a positional relationship between the groove  212  and the pin  214 . 
     As illustrated in  FIG. 5 , the groove  212  is formed in the entire right-side outer periphery of the cam  206 . 
     While, in  FIG. 5 , a wall surface  228  of the groove  212  can be seen,  FIG. 6  is a developed diagram and thus the wall surface  228  is illustrated by a line. Therefore, all of portions (the walls of the groove) illustrated by the solid lines in  FIG. 6  can be said to be the wall surfaces  228 .  FIG. 6  illustrates the central axis  211  illustrated in  FIG. 5  by every 90 degrees. 
     In  FIG. 6 , in the groove  212 , a groove line made of a first groove  229  illustrated in the position of 270 degrees in the drawing as a starting point, a second groove  230 , a third groove  231 , and a fourth groove  232  is formed in four places in a peripheral direction with a 90-degree pitch, and the four groove lines go around the outer periphery of the cam  206  once and are connected. That is, the first groove  229 , the second groove  230 , the third groove  231 , and the fourth groove  232  are linked (in a loop manner), and four sets of the grooves  212  made of the first groove  229 , the second groove  230 , the third groove  231 , and the fourth groove  232  are provided in the circumferential direction of the cylindrical surface of the cam  206 . Further, the four sets of the grooves  212  are linked in the circumferential direction. 
     Note that a relief portion  233  of the pins  214  slightly extending from the connection portion of the third groove  231  and the second groove  230  to the left side in the axial direction of the central axis  211  is formed in the third groove  231 . 
     Further, a cutout regio  234  extending from the connection portion of the first groove  229  and the fourth groove  232  to the right side in the axial direction of the central axis  211 , and reaching a right-side termination of the cam  206  is formed in the first groove  229 . The relief portion  233  and the cutout regio  234  perform a function to absorb an extra value even if the stroke of the pneumatic cylinder  219  exceeds a predetermined value. Therefore, an effect of performing formation with low stroke accuracy can be obtained if the stroke of the pneumatic cylinder  219  is formed slightly long. 
     Further, smaller inclination angles of the groove  212  with respect to the central axis  211 , of the first groove  229  and the third groove  231 , and the second groove  230  and the fourth groove  232 , are 0 degrees (parallel). Further, the cutout regio (one end)  234  extending in the axial direction of the central axis  211  beyond a connection position of the groove  212  of the smaller inclination angles and an inclined portion of the groove  212  of larger inclination angles extends (is formed) to reach an end portion of the cylinder (cam  206 ). 
     Accordingly, the pneumatic cylinder  219  to which the slider  213  is attached can be inserted from the end portion side (the right side of  FIG. 3 ) of the cam  206 , and the three-way stopcock diversion actuator device  200  can be easily assembled. 
     Next, a principle of rotation of the cam  206  in the first embodiment by the translatory motion of the pin  214  will be described with reference to  FIG. 7 . In the first embodiment, actually, the cam  206  performs only rotation, and the pin  214  perform only translatory reciprocating motion in the axial direction of the central axis  211 . However, in  FIG. 7 , the cam  206  is fixed, and the translatory reciprocating motion along the axial direction of the central axis  211  of the pin  214 , and movement in the up and down direction on the sheet corresponding to the direction of rotation of the cam  206  are combined, and movement on a two-dimensional plane is described. 
     Further, in  FIG. 7 , movement of only one of the pins  214  is illustrated and the other is omitted because the drawing becomes complicated. However, as illustrated in  FIG. 4B , the two pins  214  are used in the first embodiment, and the other pin  214  exists at a 180-degree opposite side to the position illustrated in  FIG. 7  in the direction of rotation. Similarly, for reference, two anti-rotation pins  215  are used as illustrated in  FIG. 4C . 
     In  FIG. 7 , the pin  214  performs reciprocating movement by the pneumatic cylinder  219  from a position illustrated by A, which is a reference position and is also a start position (start reference position) of this description, toward the left side in the axial direction of the central axis  211 , as illustrated in  FIG. 3 . Accordingly, as illustrated in  FIG. 7 , the pin  214  proceeds in the first groove  229 , the second groove  230 , the third groove  231 , and the fourth groove  232  in the direction illustrated by the small arrows P through positions illustrated by B, C, and D, and reaches a position E. When the pin  214  is moved from the position A to the position E, that is, from the position of 270 degrees to the position of 180 degrees illustrated in  FIG. 7 , the cam  206  is actually rotated by 90 degrees that is a difference from the position of 270 degrees to the position of 180 degrees in the direction of the large arrow Q of  FIG. 7 . 
     In other words, the pin  214  that is a translatory mechanism unit performs one-round translatory motion, starting from the connection position of the fourth groove  232  and the first groove  229  as the start reference position, toward one of the axial direction using the central axis  211  as a reference, to reach the connection position of the second groove  230  and the third groove  231 , whereby the cam  206  that is the rotation mechanism unit performs the rotary motion of ¼ times (90 degrees). This direction of rotation is right rotation when  FIG. 3  is viewed from the right side, and the three-way stopcock diversion actuator device  200  at that time is a right-rotation actuator device. 
     In the first embodiment, regarding a direction of inclination of each groove with respect to the central axis  211 , the directions of inclinations of the second groove  230  and the fourth groove  232  are opposite, and the inclination angles are 30 degrees with respect to the central axis  211 . Further, the first groove  229  and the third groove  231  are parallel to the central axis  211  (the inclination angle is 0 degrees). Note that, regarding the direction of inclination of each groove with respect to the central axis  211 , the directions of inclinations of the first groove  229  and the third groove  231  are made opposite and the inclination angles are 30 degrees, and the second groove  230  and the fourth groove  232  are made parallel to the central axis  211  (the inclination angle is 0 degrees). In this case, the three-way stopcock diversion actuator device  200  is a left-rotation actuator device. 
     In other words, each of the first, second, third, and fourth inclination angles is 45 degrees or less, and in 45 degrees, the second and fourth inclination angles are made larger than the first and third inclination angles, respectively. Accordingly, the direction of rotation of the cam  206  of the three-way stopcock diversion actuator device  200  is determined to be a predetermined direction, that is, the right rotation. 
     Further, in 45 degrees or less, the second and fourth inclination angles are made smaller than the first and third inclination angles, respectively, whereby the direction of rotation is determined to be a direction opposite to the predetermined direction, that is, the left direction, for example. 
     Further, while, in  FIGS. 6 and 7 , the first groove  229  and the third groove  231  are parallel to the central axis  211 , these grooves may not be parallel as long as the inclination angles are sufficiently smaller than the inclination angles of the second groove  230  and the fourth groove  232 . In that case, the inclination angles of the first groove  229  and the third groove  231  may be favorably opposite to the inclination angles of the second groove  230  and the fourth groove  232 . Even if the inclination angles of the first groove  229  and the third groove  231  are the same as the inclination angles of the second groove  230  and the fourth groove  232 , if the inclination angles of the first groove  229  and the third groove  231  are sufficiently smaller than the inclination angles of the second groove  230  and the fourth groove  232 , the rotation can be performed without any problem. However, during reciprocation of the pin  214 , the cam  206  is rotated in a reverse direction with respect to a proper direction of rotation in the middle of the rotation, and thus becomes less efficient. 
     Note that a reason of why the inclination angles of the first groove  229  and the third groove  231  are favorably sufficiently smaller than the inclination angles of the second groove  230  and the fourth groove  232  is as follows. 
     Hereinafter, description will be given using the second groove  230  and the third groove  231  side. However, the same applies to the first groove  229  and the fourth groove  232  side. That is, after the pin  214  that performs reciprocating movement only in the axial direction of the central axis  211  is pushed by the pneumatic cylinder  219 , and is moved from the position A illustrated in  FIG. 7  to the position C through the position B, the direction of the movement of the pneumatic cylinder  219  is reversed. Then, when the pin  214  is pulled by the pneumatic cylinder  219 , whether the pin  214  proceeds to the direction of the position B or the direction of the position D that is the next through-position is determined by which wall surface  228  of the groove  212  the pin  214  pulled by the pneumatic cylinder  219  hits on. In this case, the angle of the third groove  231  to the central axis  211  is smaller than that of the second groove  230 , and thus the pin  214  pulled by the pneumatic cylinder  219  proceeds to the third groove  231  side. 
       FIGS. 8A ,  8 B, and  8 C illustrate examples of the connection portion of the second groove  230  and the third groove  231 . In  FIG. 8A , θ1 is larger between θ1 made by the second groove  230  and the central axis  211 , and θ2 made by the third groove  231  and the central axis  211 . Then, an angle  236  made by connection of the inner-side wall surfaces  228  of the connection portion of the second groove  230  and the third groove  231  is positioned above a central axis  235  parallel to the central axis  211 , of the central axes of the pin  214 , in  FIG. 8A . Therefore, when the pin  214  is pulled by the pneumatic cylinder  219  in the right direction of  FIG. 8A , the pin  214  proceeds to the third groove  231  side. When θ2 is larger than θ1, the pin  214  proceeds to the second groove  230  side, and the three-way stopcock diversion actuator device  200  is a left-rotation actuator device when  FIG. 3  is viewed from the right light. However, as illustrated in  FIG. 8B , if a difference between the angles θ1 and θ2 is small, the direction into which the pin  214  proceeds is unsettled, and it becomes in an unstable state where to which direction the rotation is performed is unknown. 
     Further, as illustrated in  FIG. 8C , if a large round is given when the wall surface  228  at the outside of the connection portion of the grooves  212  is formed, friction between the pin  214  and the wall surface  228 , looseness of the parts that configures the actuator device, and the like become large. Therefore, there is a possibility that the pin  214  does not proceed from the round to the far left side of the drawing. Even in that case, the direction into which the pin  214  proceeds is unsettled, and it becomes in an unstable state where to which direction the rotation is performed is unknown. 
     To cause the pin  214  to stably proceed to a desired direction, it is necessary to cause a distance (the distance d illustrated in  FIG. 8A ) between the central axis  235  parallel to the central axis  211 , of the central axes of pin  214 , and the central axis  211  that passes through the angle  236  made by the connection of the inner-side wall surfaces  228  of the connection portion of the second groove  230  and the third groove  231  to be sufficiently large, as illustrated in  FIG. 8A . That is, it is necessary to give the angles θ1 and θ 2  a substantial difference. To be specific, the distance d is desirably ½ of the radius R of the pin  214  of  FIG. 8A . To enable a more smooth operation, the distance d is desirably ⅔ of the radius R of the pin  214 . 
     Next, the cam  206  of the second example of the first embodiment and the groove  212  formed in the cam  206  will be described. The principle of the rotation of the cam  206  by the translatory motion of the pin  214 , and the like are the same as the first example of using the cam  206 , and thus description is omitted. 
       FIG. 9  illustrates the cam  206  of the second example (modification), where only the cam  206  is taken out from  FIG. 3 .  FIG. 10  illustrates the groove  212  of the cam  206  by developing the outer periphery of the cam  206 .  FIG. 11  illustrates a positional relationship between the groove  212  and the pin  214 . 
     As illustrated in  FIG. 9 , the groove  212  is formed in the entire right-side outer periphery of the cam  206 . In the groove  212 , a groove line made of the first groove  229  illustrated in the position of 270 degrees in  FIG. 10  as a starting point, the second groove  230 , the third groove  231 , and the fourth groove  232  is formed in four places with a 90-degree pitch, and the four groove lines go around the outer periphery of the cam  206  once and are connected, which is also similar to the first example. Further,  FIG. 10  is a developed diagram, and thus the wall surface  228  of  FIG. 9  is illustrated by a line and all of portions (the walls of the groove) illustrated by the solid lines in  FIG. 10  can be said to be the wall surfaces  228 , which is also similar to the first example. A difference of the groove  212  of the second example from the groove  212  of the first example is that the wall surfaces  228  forming inner-side corners, of corners of the groove  212  made by the connection from the first groove  229  to the fourth groove  232 , and a corner of the groove  212  made by the connection of the fourth groove  232  and the first groove  229 , are eliminated, and round wall surfaces  280  are newly formed. 
     That is, the inner-side wall surfaces  228  that form the corners are eliminated, and the new round wall surfaces  280  are formed, the inner-side wall surfaces  228  being of the both-side wall surfaces  228  of the groove  212 , and the corners being the corner of the grooves made by the connection of the second groove  230  and the third groove  231 , and the corner of the grooves made by the connection of the fourth groove  232  and the first groove  229 . The eliminated wall surfaces  228  are illustrated by the eight eliminated portions  237  having bird-beak shapes (sharp corner portions) with the narrow dashed lines in  FIG. 10 . 
     The eliminated portions  237  are the portions having a length B illustrated in  FIG. 10 , and having a width between the lower-side wall surface of the first groove  229  in the drawing and the upper-side surface of the third groove  231  in the drawing, and a width between the lower-side wall surface of the third groove  231  in the drawing and the upper-side surface of the first groove  229  in the drawing. Therefore, the magnitude of the round (R) of the round wall surfaces  280  is such that the radius R illustrated in  FIG. 10  is ½ or less of the length B so that the round wall surfaces  280  do not stick out to the second groove  230  and the fourth groove  232 . 
       FIG. 11  illustrates the positional relationship between the groove  212  and the pin  214 . In the second example, the relationship is the same as the relationship between the groove  212  formed in the cam  206  of the first example and the pin  214  in the first embodiment of  FIG. 7 , and thus description is omitted. In both examples of  FIGS. 7 and 11 , when the pneumatic cylinder  219  is at the pushing side, the pin  214  is at the position C, and when the pneumatic cylinder  219  is at the pulling side, the pin  214  is at the position A (E). That is, the pin  214  is fit in the relief portion  233 , or the cutout regio  234 , and thus the output shaft  205  is not rotated even if force in the direction of rotation is applied to the output shaft  205  from an outside. 
     According to the direction of motion conversion mechanism and the three-way stopcock diversion actuator device  200  according to the first embodiment, the respective angles of the grooves  212  that configure the groove lines are made different with respect to the central axis  211  of the direction of rotation when the cylindrical surface of the cam  206  is developed, whereby the direction of rotation of the right rotation/left rotation can be accurately selected. Further, the four sets of the groove lines are provided in the direction of rotation of the cylindrical surface of the cam  206 , whereby ¼ rotation (90 degrees) can be realized by the one-round translatory movement of the pneumatic cylinder. 
     Further, in the three-way stopcock diversion actuator device  200 , the cam  206  has a structure of performing rotation only, and the pins  214  have a structure of performing reciprocating motion. Therefore, the parts can be easily decomposed in the axial direction of the central axis  211 . Therefore, the three-way stopcock diversion actuator device  200  can be easily assembled. 
     Further, the grooves  212  formed in the cylindrical surface of the cam  206  have a structure established with respect to the radial direction of the cylinder of the cam  206  with approximately the same depth, and thus the cam  206  can be easily processed. 
     That is, in the three-way stopcock diversion actuator device  200  that diverts passages of an agent that emits high-intensity radiation, such as a device of manufacturing a PET reagent, an actuator device that can be easily processed and assembled, and enables selection of the direction of rotation of the cam  206  can be realized. Further, an actuator device that reliably enables rotation/stop at even 90 degrees can be realized. 
     Second Embodiment 
     Next, a three-way stopcock diversion actuator device  300  using a direction of motion conversion mechanism that converts translatory motion into rotary motion according to the present invention will be described with reference to  FIGS. 12 to 16 . 
     Note that, while the three-way stopcock diversion actuator device described in the first embodiment is an actuator device for right rotation or for left rotation, the three-way stopcock diversion actuator device to be described in the second embodiment is an actuator device that can freely perform the right rotation and the left rotation. 
     Then, to realize the rotation into the both directions, parts having different structures from the structures of the first embodiment are a cam  306  against the cam  206 , a housing  310  against the housing  210 , a slider  313  against the slider  213 , a pneumatic cylinder (pin drive unit)  319  against the pneumatic cylinder  219 . A total of four members have different structures, and other members are exactly the same. 
     Therefore, in the second embodiment, description of the same portions as the first embodiment is omitted, and differences of the four members will be described, so that the actuator device capable of feely performing both of the right rotation and the left rotation will be described. 
       FIGS. 12 and 13  are side view and a partial cross sectional view illustrating a configuration of the three-way stopcock diversion actuator device, the cross section being obtained such that an upper half is cut in a vertical direction, and a lower half is cut in an oblique direction of about 45 degrees, based on an axis of rotation of an actuator device, similarly to the first embodiment. 
     The cross section of  FIG. 12 , which is cut in the direction perpendicular to a central axis  211 , is a diagram as viewed from a right direction of  FIG. 12 , which is also the same as that of the first embodiment. The diagram cut at a position of limit (rotation position detection) switches  224  is the same as  FIG. 4A , which is the diagram cut at the same position in  FIG. 3 , the diagram cut at positions of pins  214  is the same as  FIG. 4B , which is the diagram cut at the same positions in  FIG. 3 , and the diagram cut at positions of anti-rotation pins  215  is also the same as  FIG. 4C , which is the diagram cut at the same positions in  FIG. 3 . 
     A portion of the three-way stopcock diversion actuator device  300  according to the second embodiment is extended for the purpose of comparison with the actuator device of the first embodiment with the same scale, and the extended portion is divided into  FIGS. 12 and 13  and illustrated. 
     The cam  306  of the first example and the groove  312  of  FIG. 14  formed in the cam  306  in the second embodiment, and a principle of rotation of the cam  306  by translatory motion of the pin  214  will be described. The side view of  FIG. 14  illustrates the cam  306  of the first example, where only the cam  306  is taken out from  FIG. 12 .  FIG. 15  illustrates the groove  312  of the cam  306  illustrated in  FIG. 14  by developing an outer periphery of the cam  306 .  FIG. 16  illustrates a positional relationship between the groove  312  and the pin  214 . 
     As illustrated in  FIG. 14 , the groove  312  is formed in the entire outer periphery of at ⅔ from the right side of the cam  306  in the longitudinal direction. 
     While, in  FIG. 14 , a wall surface  228  of the groove  312  can be seen,  FIG. 15  is a developed diagram and thus the wall surface  228  is illustrated by a line. Therefore, all of portions (the walls of the groove) illustrated by the solid lines in  FIG. 15  can be said to be the wall surfaces  228 .  FIG. 15  illustrates the central axis  211  illustrated in  FIG. 14  by every 90 degrees. 
     In  FIG. 15 , in the groove  312 , a groove line made of a first groove  229  illustrated in the position of 270 degrees in the drawing as a starting point, a second groove  230 , a third groove  231 , and a fourth groove  232  is formed in four places in a peripheral direction with a 90-degree pitch, and the four groove lines go around the outer periphery of the cam  306  once and are connected. Further, the third groove  231  slightly extends from a connection portion of the third groove  321  and the second groove  230  to a left side of the central axis  211  in an axial direction to form a relief portion  233  of the pins  214 , and the first groove  229  extends from a connection portion of the first groove  229  and the fourth groove  232  to a right side of the central axis  211  in the axial direction. 
     Up to here, the groove  312  is approximately the same as the groove  212  of the first embodiment. However, in the second embodiment, the groove lines formed in four places in a peripheral direction with a 90-degree pitch and going around the outer periphery of the cam  306  and connected is called a first groove line  238 . Then, the first groove line  238  is duplicated in a point-symmetrical manner based on an intersection  240  of a division line  239  illustrated in  FIG. 15  and a central axis  311 , of the central axes  211 , the central axis  311  being positioned at the 180 degrees that is an angle of the direction of rotation, and the duplicated line is arranged as a second groove line  241 . Further, the respective first grooves  229  of the first groove line  238  and the second groove line  241  are connected by a fifth groove  242 . Further, the third groove  231  of the second groove line  241  extends from the connection portion of the third groove  231  and the second groove  230  of the second groove line  241  to the right side of the central axis  211  in the axial direction to form a cutout regio  334  that reaches the right end portion of the cam  306 . 
     In other words, in the groove shape of  FIG. 15 , first, the first groove line  238  made of the first groove  229 , the second groove  230 , the third groove  231 , and the fourth groove  232 , and the second groove line  241  having a similar shape to the first groove line  238  are arranged at point-symmetric positions based on an arbitrary point in a plan view. Then, the first groove line  238  and the second groove line  241  are arranged at moved positions by the rotation with respect to the first groove line  238  based on the central axis  211  before the development, and the movement in the axial direction based on the central axis  211 . Further, the respective connection positions of the first groove line  238  and the second groove line  241  are connected by the fifth groove  242  in the axial direction of the central axis  211 . 
     Further, inclination angles with respect to the central axis  211 , of one of the first groove  229  and the third groove  231 , and the second groove  230  and the fourth groove  232 , of the first groove line  238  and the second groove line  241 , are 0 degrees (here, the inclination angles of the first groove  229  and the third groove  231  are 0 degrees). Then, one of the second groove  230  and the third groove  231  extends in the axial direction of the central axis  211  beyond the connection position of the second groove  230  and the third groove  231 . Further, inclination angles with respect to the central axis  211 , of one of the first groove  229  and the third groove  231 , and the second groove  230  and the fourth groove  232 , of the second groove line  241  are 0 degrees (here, the inclination angles of the first groove  229  and the third groove  231  are 0 degrees). Then, one of the first groove  229  and the third groove  231 , and the second groove  230  and the fourth groove  232  extends in the axial direction of the central axis  211  beyond the connection position of the second groove  230  and the third groove  231 , and any groove of the first groove line  238  and the second groove line  241  extends to reach the end portion of the cylinder (cam  306 ). 
     Next, a principle of rotation of the cam  306  in the second embodiment by translatory motion of the pin  214  will be described with reference to  FIG. 16 . Similarly to the first embodiment, in the second embodiment, actually, the cam  306  performs only rotation, and the pin  214  perform translatory reciprocating motion in the axial direction of the central axis  211 . In  FIG. 16 , the cam  306  is fixed, and the translatory reciprocating motion in the axial direction of the central axis  211  of the pin  214 , and movement in the up and down direction on the sheet corresponding to the direction of rotation of the cam  306  are combined, and movement on a two-dimensional plane is described. Further, in  FIG. 16 , movement of only one of the pins  214  is illustrated and the other is omitted because the drawing becomes complicated. However, the two pins  214  are used in the second embodiment, and the other pin  214  exists at a 180-degree opposite side to the position illustrated in  FIG. 16  in the direction of rotation. 
     In  FIG. 16 , first, the pin  214  performs reciprocating movement by the pneumatic cylinder  319  of  FIG. 12  from a position illustrated by A, which is a reference position and is also a first start position (start reference position) of this description, toward the left side in the axial direction of the central axis  211 . Then, the pin  214  proceeds in the first groove  229 , the second groove  230 , the third groove  231 , and the fourth groove  232  of  FIG. 15  in the direction illustrated by the void small arrows P through positions illustrated by B, C, and D, and reaches a position E. When the pin  214  is moved from the position A to the position E, that is, from the position of 270 degrees to the position of 180 degrees illustrated in  FIG. 16 , the cam  306  is relatively rotated by 90 degrees that is a difference from the position of 270 degrees to the position of 180 degrees, in the direction of the void large arrow Q illustrated in the left side of  FIG. 16 . This direction of rotation is the right rotation when  FIG. 16  is viewed from the right side. That is, the three-way stopcock diversion actuator device  300  according to the second embodiment performs the right rotation. 
     In other words, the pin  214  that is the translatory mechanism unit performs one-round translatory motion starting from the fifth groove  242  of  FIG. 15  as the start reference position in one direction that is a direction of the first groove line  238  in the axial direction based on the central axis  211  to reach the connection position of the second groove  230  and the third groove  231  of the first groove line  238 , whereby the cam  306  performs rotary motion of ¼ times. Further, the pin  214  performs one-round translatory motion from the start reference position in the other direction that is a direction of the second groove line  241  in the axial direction based on the central axis  211  to reach the connection position of the first inclined portion and the fourth inclined portion of the second groove line  241 . Accordingly, the cam  306  performs rotary motion of ¼ times in a direction opposite to the case of the one-round translatory motion in the one direction. 
     Next, in  FIG. 16 , the pin  214  performs a reciprocating movement by the pneumatic cylinder  319  of  FIG. 12  from the position E that is the reference position and is also a second start position (start reference position) of the present description, to the right side of the axial direction of the central axis  211 . Accordingly, the pin  214  proceeds in the first groove  229 , the second groove  230 , the third groove  231 , and the fourth groove  232 , in the direction illustrated by the small arrow R with hatching through the positions F, G, and H, and reaches the position A. Then, when the pin  214  is moved from the position E to the position A, that is, from the position of 180 degrees to the position of 270 degrees illustrated in  FIG. 16 , the cam  306  is relatively rotated by 90 degrees that is a difference from the position of 180 degrees to the position of 270 degrees, in the direction illustrated by the large arrow S with hatching on the right side of  FIG. 16 . This direction of rotation is the left rotation when  FIG. 16  is viewed from the right side, that is, the three-way stopcock diversion actuator device  300  according to the second embodiment performs the left rotation. 
     Even in the second embodiment, similarly to the first embodiment, direction of inclination with respect to the central axis  211  between the second groove  230  and the fourth groove  232  are opposite, and the inclination angles are about 30 degrees, and inclinations of the first groove  229  and the third groove  231  are parallel to the central axis  211 . When the inclinations with respect to the central axis  211 , of the first groove  229  and the third groove  231  are made opposite and the inclination angles are about 30 degrees, and the second groove  230  and the fourth groove  232  are made parallel to the central axis  211 , and the pneumatic cylinder  319  is caused to perform reciprocating movement to the left, the actuator device performs the left rotation. Meanwhile, when the pneumatic cylinder  319  is caused to perform reciprocating movement to the right side, the actuator device performs the right rotation. However, the three-way stopcock diversion actuator device  300  of the second embodiment can perform rotation into both directions. Therefore, either is fine. 
     Note that, similarly to the first embodiment, each of the first, second, third, and fourth inclination angles in the first groove line  238  or in the second groove line  241  is 45 degrees or less, for example, and in 45 degrees or less, the second inclination angle and the fourth inclination angle are made larger than the first inclination angle and the third inclination angle, respectively. Accordingly, the direction of rotation of the cam  306  of the three-way stopcock diversion actuator device  300  is determined to be a predetermined direction, for example, the right rotation. 
     Further, in the 45 degrees or less, the second inclination angle and the fourth inclination angle are made smaller than the first inclination angle and the third inclination angle, respectively, so that the direction of rotation is determined to a direction opposite to the predetermined direction, for example, the left rotation. 
     Here, in the second embodiment, the rest of the parts having different structure from the first embodiment are the housing  310  against the housing  210 , the slider  313  against the slider  213 , and the pneumatic cylinder  319  against the pneumatic cylinder  219 . The housing  310  and the slider  313  become longer because the movement range of the pin  214  becomes large. As for the pneumatic cylinder  319 , while the pneumatic cylinder  219  of the first embodiment is a typical pneumatic cylinder that performs reciprocating movement, the pneumatic cylinder  319  has a structure in which two pneumatic cylinder having different strokes are connected in series. The structure and a method of use will be described below. 
     Next, the cam  306  of the second example in the second embodiment, and first groove line  238  and the second groove line  241  that are the groove  312  processed in the cam  306  will be described. A principle of rotation of the cam  306  freely in the both directions of rotation by the translatory motion of the pin  214 , and the like are the same as the case of using the cam  306  of the first example in the second embodiment, and thus description is omitted. 
       FIG. 17  illustrates the cam  306  of the second example (modification) of the second embodiment, where only the cam  306  is taken out from  FIG. 12 .  FIG. 18  illustrates a developed outer periphery of the cam  306 , such as the first groove line  238  and the second groove line  241  illustrated in  FIG. 17 .  FIG. 19  illustrates a positional relationship between the groove  312  and the pin  214 . 
     As illustrated in  FIG. 17 , the first groove line  238  and the second groove line  241 , which are the groove  312 , are formed in the entire outer periphery of at ⅔ from the right side of the cam  306  in the longitudinal direction. The first groove line  238  and the second groove line  241  are formed such that a groove line made of the first groove  229  illustrated in the position of 270 degrees of  FIG. 18  as a starting point, the second groove  230 , the third groove  231 , and the fourth groove  232  is formed in four places in a peripheral direction with a 90-degree pitch, and the four groove lines go around the outer periphery of the cam  306  once and are connected. Further, the first groove line  238  is duplicated in a point-symmetrical manner based on the intersection  240 , and the duplicated groove line is arranged as the second groove line  241 . The respective first grooves  229  of the first groove line  238  and the second groove line  241  are connected by the fifth groove  242 . The above process is the same as the second example of the second embodiment. Further, the third groove  231  of the second groove line  241  extends from the connection portion of the third groove  231  and the second groove  230  of the second groove line  241  to the right side of the axial direction of the central axis  211  to form the cutout regio  334  that reaches the right end portion of the cam  306 , which is also the same as the second example of the second embodiment. 
     Differences of the first groove line  238  and the second groove line  241  of the second example of the second embodiment from the first groove line  238  and the second groove line  241  of the first example are corners of the groove  212  made by the connection from the respective first grooves  229  to the fourth grooves  232 , of the first groove line  238  and the second groove line  241 , further, corners of the groove made by the connection of the second grooves  230  and the third grooves  231 , and corners of the groove made by the connection of the fourth grooves  232  and the first grooves  229 , of corners of the groove  212  made by the connection of the fourth grooves  232  and the first grooves  229 . With respect to the corners, the inner-side wall surfaces  228  that form the corners, of the wall surfaces  228  existing at both sides of the groove  212 , are eliminated, and round wall surfaces  280  and round wall surfaces  380  are newly formed. The above eliminated wall surfaces  228  are illustrated by eight eliminated portions  237  and  337  having bird-beak shapes (sharp corner portions) with the narrow dashed lines in  FIG. 18 . 
     In other words, the groove shape illustrated in  FIG. 18  is formed such that, in each of the first groove line  238  and the second groove line  241 , the corner of the grooves made by the connection from the first groove  229  to the fourth groove  232  are formed by an arc having a radius R that is ½ or more of the distance B between the first groove  229  and the third groove  231 . Further, each of the inner-side corner of the groove made by the connection of the second groove  230  and the third groove  231 , and the inner-side corner of the groove made by the connection of the fourth groove  232  and the first groove  229 , of the corners of the groove made by the connection of the fourth groove  232  and the first groove  229 , is formed by an arc having a radius R that is ½ or more of the distance B between the first groove  229  and the third groove  231   
     Note that details of the eliminated portions  237  and  337  are the same as the example of the description of the groove  212  of the second example of the first embodiment, and thus description is omitted here. 
       FIG. 19  illustrates a positional relationship between the first groove line  238  and the second groove line  241  of  FIG. 18 , and the pin  214 . The second example of the second embodiment is also the same as the relationship between the first groove line  238  and the second groove line  241  formed in the cam  306  of the first example and the pin  214  in the second embodiment of  FIG. 16 , and thus description is omitted. However, in both of the examples of  FIGS. 16 and 19 , the pin  214  is at the position C when the pneumatic cylinder  319  is at the pushing side, the pin  214  is at the position A (E) when the pneumatic cylinder  319  performs intermediate stop, and the pin  214  is at the position G when the pneumatic cylinder  319  is at the pulling side. Therefore, the pin  214  is fit in the relief portion  233 , the cutout regio  234 , or the fifth groove  242 , and thus the output shaft  205  is not rotated even if force in the direction of rotation is applied to the output shaft  205  from an outside. 
     Next, the pneumatic cylinder  319  used in the second embodiment will be described.  FIG. 20  schematically illustrates a structure of the pneumatic cylinder  319  illustrated in  FIG. 13  used in the second embodiment, to which piping, control solenoid valves, and an air pressure source are added. 
     While the pneumatic cylinder  219  is a typical pneumatic cylinder that simply reciprocates, the pneumatic cylinder  319  has a structure in which two pneumatic cylinders having different strokes are connected in series, and is typically called multi-position pneumatic cylinder. That is, the pneumatic cylinder  319  is mainly configured from a first cylinder  243 , a first head cover  244 , a first piston  245 , a first piston rod  246 , a first rod cover  247 , a second cylinder  248 , a second head cover  249 , a second piston  250 , a piston rod  220 , and a second rod cover  251 . The pneumatic cylinder  319  is arranged on approximately the same axis as the central axis  211 . 
     Further, the pneumatic cylinder  319  has three ports (intake and exhaust ports), which are a port (intake and exhaust port)  252 , and a port (intake and exhaust port)  253 , and a port (intake and exhaust port)  254 , respectively. Each of the ports (intake and exhaust ports) of the pneumatic cylinder  319  is connected with a solenoid valve  255 , a solenoid valve  256 , a solenoid valve  257 , and an air pressure source  258  with piping  259  as illustrated in  FIG. 20 . Although description is omitted, a screw is formed at a tip of the piston rod  220  on the left side of the drawing, as illustrated in  FIG. 12 . Further, the first piston  245  and the first piston rod  246  are integrally moved, the second piston  250  and the piston rod  220  are integrally moved, and the first rod cover  247  and the second head cover  249  are common. 
     In  FIG. 20 , the solenoid valve  255 , the solenoid valve  256 , and the solenoid valve  257  are in an OFF state where no electricity is supplied. In this state, the air pressure supplied from the air pressure source  258  is supplied to the port (intake and exhaust port)  252  and the port (intake and exhaust port)  254  through the solenoid valve  255  and the solenoid valve  257 , and the first piston rod  246  is in a state of being pushed, pulls the second piston  250 , and stops in a way point. 
     Next, when the solenoid valve  256  is turned OFF after the solenoid valve  256  is turned ON and the piston rod  220  is fully pushed out, the piston rod  220  performs a reciprocation motion between the state of being fully pushed out and the way point, and then returns to the way point illustrated in  FIG. 20 . Next, after the solenoid valve  255  is turned ON and the piston rod  220  is fully pulled, the solenoid valve  257  is turned ON, the solenoid valve  255  is turned OFF, and finally the solenoid valve  257  is turned OFF. When the solenoid valve  257  is turned OFF, the piston rod  220  performs reciprocating motion between the state of being fully pulled and the way point, and then returns to the way point illustrated in  FIG. 20 . Since the piston rod  220  finally moves the pin  214  in the axial direction of the central axis  211 , the three-way stopcock diversion actuator device  300  is rotated to the right by 90 degrees with the operation of the solenoid valve  256 . Meanwhile, the three-way stopcock diversion actuator device  300  can be rotated to the left by 90 degrees with the operation of the solenoid valve  255  and the solenoid valve  257 . 
     According to the three-way stopcock diversion actuator device  300  of the second embodiment, when the cylindrical surface of the cam  306  is developed, four sets of the groove lines with respect to the central axis  211  of rotation is provided with respect to the direction of rotation of the cylindrical surface of the cam  306 , and the second groove line  241  in which the four sets of the groove lines are arranged to face on the central axis  211  is arranged and connected with the first groove line  238 , and the pins  214  is allowed to go back and forth between the first groove line  238  and the second groove line  241 , whereby the normal rotation and the reverse rotation of the cam  306  can be made selectable. 
     That is, both of the normal rotation and the reverse rotation of the rotation of the cock  201   a  in the three-way stopcock  201  can be performed. 
     Note that other effects obtained by the three-way stopcock diversion actuator device  300  of the second embodiment are the same as the effects obtained by the three-way stopcock diversion actuator device  200  of the first embodiment, and thus repetitive description is omitted. 
     Third Embodiment 
     Next, an operation of a PET reagent manufacturing system (reagent manufacturing apparatus) using the three-way stopcock diversion actuator devices of the first and second embodiments will be described with reference to  FIGS. 21 and 22 . 
       FIG. 21  is a configuration diagram illustrating an example of a PET reagent manufacturing system (reagent manufacturing apparatus). The PET reagent manufacturing system (reagent manufacturing apparatus) is configured from a mixing unit  400 , a dispensing unit  401 , and a control unit  405  that controls these units. Although illustration is omitted, these units are accommodated in a chamber (not illustrated) that protects these units from radiation. Among the units, the function of the mixing unit  400  has been described as a piping system  100  in the first embodiment up to the stage before mixed liquor is dispensed in individual containers, and thus repetitive description is omitted. Here, description will be started from when the weight and the intensity of radiation in a synthesis container  109  have reached predetermined reference values. 
     A filter  402  for removing bacteria or impurities if contained, and collection containers  403  (here, six containers) for collecting a PET reagent adjusted to have a predetermined concentration after the weight and the intensity of radiation have reached the predetermined reference values are provided inside the dispensing unit  401 . Further, three-way stopcocks  404  (here, six three-way stopcocks) for diverting passages into the collection containers  403  at the time of collecting the PET reagent are furnished as described in the drawing. 
     To dispense the adjusted PET reagent in the synthesis container  109  into the respective collection containers  403 , the adjusted PET reagent of a predetermined amount in the synthesis container  109  is sucked by a syringe pump  107 , and the sucked PET reagent is dispensed to the collection container  403 . At that time, the passage is determined by diverting of the three-way stopcocks  404  in the middle of piping  406  that connects the syringe pump  107  and the collection containers  403 , in accordance with the suction and discharging. The device that diverts the three-way stopcocks  404  is a three-way stopcock diversion actuator device  200  (or  300 ) described in the first embodiment. 
       FIG. 22  is an enlarged partial perspective view illustrating an enlarged A portion of  FIG. 21 , where a part of an installation panel  202  is broken. The three-way stopcock diversion actuator device  200  is installed at a back surface of the installation panel  202  and at a position corresponding to each three-way stopcock  404 , the piping  406  that connects the three-way stopcock actuator devices and the three-way stopcocks  404  and the containers are attached from a front surface of the installation panel  202 . Such an installation form is employed in both of the mixing unit  400  and the dispensing unit  401 , and the actuator devices and the syringe pump  107  are controlled by the control unit  405 . That is, the control unit  405  causes the pins  214  to perform translatory motion along an extending direction of the cam  206 , and rotates the cam  206  with respect to the central axis  211  of rotation, thereby to control diversion of the passages of the three-way stopcocks  404 . Further, the control unit  405  controls timing to divert the passages of the three-way stopcocks  404 . 
     As described in the first embodiment, the three-way stopcock diversion actuator device  200  is arranged according to an optimum rotation system that is different due to restriction of the direction of rotation of each three-way stopcock  404 , and the like. That is, the three-way stopcock diversion actuator device is selected from the right-rotation three-way stopcock diversion actuator device  200  of the first embodiment, the left-rotation three-way stopcock diversion actuator device  200  of the first embodiment, and the three-way stopcock diversion actuator device  300  of the second embodiment capable of being rotated in the both directions. Of course, all actuator devices can be the three-way stopcock diversion actuator device  300  of the second embodiment capable of being rotated in the both directions. 
     According to the reagent manufacturing apparatus (reagent manufacturing system) of the third embodiment, by use of the three-way stopcock diversion actuator device  200  or  300  of the first or second embodiment, even if a reagent that emits high-intensity radiation is used, the cock can be automatically rotated/stopped at every 90 degrees by the actuator device using air pressure. 
     Accordingly, even if a reagent having high-intensity radiation is used, mixture and dispensation can be reliably performed. 
     While the invention made by the inventor has been specifically described based on the embodiments, the present invention is not limited to the embodiments, and various modifications can be made without departing from the gist of the invention. 
     Note that the present invention is not limited to the above-described embodiments, and includes various modifications. For example, the embodiments have been described for explaining the present invention in ways easy to understand, and the present invention is not limited to one including all of the described configurations. 
     Further, a part of the configuration of a certain embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of a certain embodiment. Further, addition, deletion, or replacement of another configuration can be made with respect to a part of the configuration of each embodiment. Note that the members and the relative sizes described in the drawings are simplified and idealized for describing the present invention in ways easy to understand. Thus, when implemented, the members have more complicated shapes. 
     Further, in the above-described embodiments, the three-way stopcocks are assumed. However, two-way stopcocks or multi-way stopcocks are applicable. Therefore, the embodiments of the present invention are applicable not only to the three-way stopcocks but also to other passage diversion valves and rotation diversion devices. 
     Further, in the above-described embodiments, the case where the reagent manufacturing apparatus includes both of the mixing device (mixing unit) and the dispensing device (dispensing unit) has been described. However, the reagent manufacturing apparatus may be a single manufacturing device of the mixing device or the dispensing device.