WO2007148675A1 - Cap mounting device, cap demounting device, cap mounting method, and cap demounting method - Google Patents

Cap mounting device, cap demounting device, cap mounting method, and cap demounting method Download PDF

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Publication number
WO2007148675A1
WO2007148675A1 PCT/JP2007/062281 JP2007062281W WO2007148675A1 WO 2007148675 A1 WO2007148675 A1 WO 2007148675A1 JP 2007062281 W JP2007062281 W JP 2007062281W WO 2007148675 A1 WO2007148675 A1 WO 2007148675A1
Authority
WO
WIPO (PCT)
Prior art keywords
cap
engagement member
tube
engagement
engaging
Prior art date
Application number
PCT/JP2007/062281
Other languages
French (fr)
Japanese (ja)
Inventor
Yukito Yamasaki
Original Assignee
Is Technology Japan, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Is Technology Japan, Inc. filed Critical Is Technology Japan, Inc.
Publication of WO2007148675A1 publication Critical patent/WO2007148675A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B7/00—Closing containers or receptacles after filling
    • B65B7/16—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons
    • B65B7/28—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by applying separate preformed closures, e.g. lids, covers
    • B65B7/2821—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by applying separate preformed closures, e.g. lids, covers applying plugs or threadless stoppers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
    • B67B7/00—Hand- or power-operated devices for opening closed containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
    • B67B7/00—Hand- or power-operated devices for opening closed containers
    • B67B7/02—Hand- or power-operated devices for opening closed containers for removing stoppers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0401—Sample carriers, cuvettes or reaction vessels
    • G01N2035/0403—Sample carriers with closing or sealing means
    • G01N2035/0405—Sample carriers with closing or sealing means manipulating closing or opening means, e.g. stoppers, screw caps, lids or covers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/028—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations having reaction cells in the form of microtitration plates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1065—Multiple transfer devices
    • G01N35/1074—Multiple transfer devices arranged in a two-dimensional array

Definitions

  • the present invention relates to a cap attaching device, a removing device, an attaching method, and a removing method for attaching and detaching a cap to a container containing a reagent, a compound, a specimen, and the like.
  • FIG. 1 shows a rack 11, which has eight wells 12 and twelve horizontals.
  • the tube shown in Fig. 15 has a test tube shape with a diameter of about 8 mm and a height of about 45 mm, and is made of a thermoplastic elastomer.
  • the thermoplastic elastomer has an intermediate property between plastic and rubber. Due to this property, the tube 15 has the property of being easily processed like a soft plastic like rubber.
  • a two-dimensional barcode (not shown) is affixed to 16 so that reagent type information and the like can be managed.
  • a cap 20 is inserted into the upper opening of the tube 15 to close the contents of the tube 15.
  • FIG. 2 is a vertical sectional view of the cap 20.
  • the cap 20 has a flange portion 21 (a flange portion), a height of about 4 mm, and an insertion portion 22 that can be inserted into the tube 15.
  • Reference numeral 23 denotes a contact portion with the inner wall of the tube 15.
  • the center of the upper surface of the cap 20 has a cylindrical recess (hereinafter referred to as cap recess 24), and the overall shape is a shape in which the cap is turned upside down.
  • the cap recess 24 is thinner than the upper part of the wall thickness near the lower portion of the inner wall surface of the cap recess 24 (hereinafter, this portion is referred to as the inner wall recess 25), and the cap described later
  • the engaging means 31 (32) of the mounting / removing device is inserted, the flange 33 of the engaging means 31 (32) and the inner wall recess 25 are engaged.
  • the cap 20 is made of an elastic material such as a resin, and can be easily deformed by applying an external force.
  • Patent Document 1 is a prior art regarding a removing device that automatically removes the cap 20. This system will be described below with reference to FIG.
  • Reference numeral 80 denotes a dispensing system provided with a cap attaching / detaching device 81 and a dispensing device 83 adjacent to each other. In this dispensing system 80, the compound stored in the tube 15 is dispensed onto the microplate 82.
  • a cap mounting / removing device 81 shown in FIG. 13 will be described below with reference to FIG.
  • the cap mounting / removal device 81 inserts and holds the retainer 85 of the cap 20 into the cap recess, and then tilts the retainer 85 to release the gas inside the tube 15 and is stored in the rack 11.
  • the cap 20 is removed from the tube 15 to be removed.
  • This cap mounting / removal device 81 includes a holder 85 that holds the cap 20 from the upper surface side, an alignment mechanism 86 that aligns the cap 20 and the opening of the tube 15, and an inclination of the holder 85 in a vertical posture.
  • a holder tilting mechanism 87 that allows the posture to be taken and a holder lifting mechanism 88 that lifts and lowers the holder 85 relative to the tube 15 are provided.
  • the valve mechanism (suction means) 89 needs to be vacuum-sucked.
  • FIG. 15 is a side view showing a state before and after operating the holder tilting mechanism 87.
  • Fig. 15 (a) shows the state before operating the holder tilting mechanism 88 and before tilting the holder 85
  • Fig. 15 (b) shows the state after operating the holder tilting mechanism 88.
  • Retainer 85 It is a figure which shows the state which inclined.
  • Patent Document 1 Japanese Patent Laid-Open No. 2005-3423
  • the conventional dispensing system 80 includes the cap attaching / detaching device 81 adjacent to the dispensing device 83, the cap attaching 'removing device 81 removes the cap 20 from the tube 15 to the dispensing device 83. It is transported and dispensing work is performed. For this reason, there are problems such as dust mixing into the tube 15 from which the cap 20 has been removed, problems in which the powder compound inside the tube 15 flies, problems in which the liquid compound evaporates, and the like. Therefore, it is desirable to remove the cap 20 on the dispensing device 83 where the dispensing operation is performed so that the rack 11 is not transported after the cap is removed!
  • the cap 20 In the conventional cap mounting / removal device 81, in order to remove the cap 20 that is in close contact with the tube 15, the cap 20 is removed by inclining the cap 20 in a horizontal state force.
  • the operating range of the removal operation of the cap attachment / removal device 81 is widened, it is stored in rows and columns within a narrow area (the tube 15 that can currently be accommodated in the rack 11 is 96).) It was difficult to remove all caps 20 from the tube 15 at a time, and at present, the caps 20 could only be removed one row at a time.
  • the suction means 89 is fixed by suction for secure fixing, and then the holding tool 85 is tilted. Remove the cap 20 and remove it.
  • the size of the holder 85 can be increased so that the holder 85 can be easily abutted if the holder 85 is tilted. Is slightly smaller than the size of the cap recess 24. For this reason, when removing the holding tool 85 from the cap recess 24, there may be a problem that the cap is pulled and pulled out.
  • the cap mounting / removal device of the present invention is a device for removing a cap made of elastic material force attached to the upper surface of a tube having a test tube shape housed in a rack, and is inserted into a recess at the top of the cap.
  • the engaging means for engaging with the cap and the raising / lowering means for moving the engaging means up and down are engaged, and the concave portion having a circular planar shape is deformed to be elliptical by the operation of the engaging means.
  • the lifting means is for lifting and lowering the tube relative to the rack, whether for lifting the tube or for lowering the rack.
  • the engaging means includes the first engaging member and the second engaging member, and the first engaging member and the second engaging member are in opposite directions. However, it can be moved horizontally or rotated to engage with the cap.
  • the mechanism for rotating the first engagement member and the second engagement member in opposite directions is a mechanism similar to scissors (hereinafter referred to as the scissor mechanism), that is, the first engagement.
  • a linear moving means comprising a screw shaft coupled to the rotation support shaft of the motor.
  • first engagement member and the second engagement member are respectively provided with the above-described linear movement means as a mechanism for linearly moving the first engagement member and the second engagement member in opposite directions.
  • first engagement member and the second engagement member can be operated in conjunction with each other via a link 'cam' gear or the like by the line moving means.
  • the linear moving means is an air cylinder
  • the linear moving means is an air cylinder
  • the gripping position the engagement portion and the cap are in contact with each other and the tube and cap do not fall due to the frictional force.
  • state and removal position (state in which the cap is deformed by the pinching mechanism spreading beyond the gripping position). Accordingly, the tube can be reliably removed by reciprocating the gripping position and the detaching position once or a plurality of times.
  • the engagement means includes a first engagement member, a second engagement member, a first engagement member, and a second engagement member.
  • a support shaft that penetrates and supports the shaft, and is provided around or around the support shaft.
  • One end of the support shaft is provided on one side of the first engagement member and the second engagement member, and the other end is provided.
  • This cap attaching / detaching device stakes the first engaging member and the second engaging member downward by the operation of the movable member to pile it on the elastic body and rotates the first second engaging member. Cap can be held or removed.
  • the elastic body may be a spring, a panel, or a hanger panel, and by attaching an O-ring to the outer peripheral side surfaces of the first engagement member and the second engagement member, The state force where the contact portion of the second engagement member and the cap does not overlap is also overlapped (the scissor-shaped first engagement member and the second engagement member are opened, the state is closed). Thus, it can be replaced with a member that applies force.
  • the cap removal device of the present invention is suitable for removing a large number of caps.
  • the first engagement member and the second engagement member are combined into a set in the same horizontal plane, and the movable member presses the upper force first engagement member and the second engagement member, A simple structure capable of giving a driving force to the first engagement member and the second engagement member more uniformly and accurately than in one direction can be obtained.
  • a simple structure capable of giving a driving force to the first engagement member and the second engagement member more uniformly and accurately than in one direction can be obtained.
  • by providing a plurality of drive sources and by dividing the movable member into one row or area it can be operated in one row or area.
  • the cap removing device of the present invention includes a long groove-shaped guide means at the position of the first engaging member and the movable member that comes into contact with the second engaging member in order to ensure accurate and accurate operation. It is good. Also, by cutting two grooves in a ring shape on the support shaft and attaching a C-ring to the groove so as to sandwich the first engagement member and the second engagement member appropriately, the first engagement member and the second engagement member The engagement member can be operated with high accuracy while reducing backlash.
  • the engaging means is inserted into the concave portion on the top of the cap. It is possible to remove the cap by engaging the concave portion having a circular planar shape so as to be deformed into an elliptical shape and lifting the engaging means upward by the elevating means.
  • a method of lifting the tube there are a method of lifting the tube together with the cap and a method of lowering the rack for storing the tube.
  • the first engagement member and the second engagement member are repeated in a closed state and an open state, whereby an elliptical shape that is a planar shape of the cap The length of the major axis can be changed, and the cap can be securely removed.
  • the cap mounting device of the present invention is a device for mounting the cap removed by the cap removing device described above on the tube again, and an engaging means for holding the cap so as to be elliptical, and holding And an elevating means for elevating and lowering the cap above the opening of the tube.
  • the cap can be attached to the tube by inserting the cap into the tube opening by the elevating means and releasing the holding state so that the cap shape changes from an ellipse to a circle by the engaging means. .
  • the cap which has been removed by the above-described method, is attached to the tube again. Therefore, the cap held so as to be elliptical by the engaging means is lowered from above the opening of the tube by the lifting means, and the holding state is released so that the cap shape becomes circular from the ellipse.
  • the cap can be attached with.
  • the cap mounting / removal device of the present invention eliminates the sticking phenomenon by forming a gap in the contact portion between the cap and the tube so that the cap becomes an ellipse.
  • the cap can be easily removed by shifting the contact position between the tube portion and the inner wall of the tube by a small amount and making the insertion portion of the cap have an inclination to make it slippery.
  • by lifting the cap together to apply external force in the direction of removing the tube a vertical downward external force is applied due to its own weight, making it easier to remove the cap.
  • the cap is not tilted and removed by force unlike the conventional example, so that the cap can be attached and detached with a small driving force, and the cap and tube can be removed even after repeated attaching and detaching operations.
  • the cap can be removed without generating even more tiny dust that will not be damaged.
  • the engaging means can be operated simultaneously only by pressing from above, and there is no holder tilting mechanism as compared with the conventional device.
  • the number of drive shafts (number of drive sources) that can be moved with a narrow movable range is reduced.
  • a plurality of (96) tube forces can be removed at a time.
  • multiple (96) tubes can be removed at the same time, eliminating the need for a positioning mechanism like conventional devices.
  • the engagement means can reduce play and ensure accurate and accurate operation.
  • the cap recess shape is significantly smaller.
  • the first engagement member is small enough to insert the first engagement means or the like without contacting the inner wall of the cap recess, so that the first engagement member can be held in contact with the cap and vacuum-sucked and held as before. This is caused by a malfunction that pushes the tube into the tube due to the insertion / removal operation, or because the vacuum is not released sufficiently due to vacuum suction.
  • the tube floats slightly from the tube opening and can be plugged to prevent problems.
  • a part of the dispensing device of the dispensing system can be replaced with a cap mounting and removal device, and in this case, the dispensing operation can be performed without moving the rack after removing the cap. If it is a powdery compound, a liquid compound that does not soar can reduce the amount of evaporation, prevent dust from entering the tube, and dispense the compound, etc. into the microplate.
  • FIG. 1 is a perspective view showing a rack for storing tubes.
  • FIG. 2 is a sectional view of the cap.
  • FIG. 3 is a perspective view showing a dispensing system including a cap mounting 'removing device.
  • FIG. 4 is a cross-sectional view showing a dispensing head.
  • FIG. 5 is a cross-sectional view showing the cap attaching / detaching device of the present invention.
  • FIG. 6 is a cross-sectional view for explaining the operation method of the engaging means. It is a side view for demonstrating the operation
  • FIG. 7 is a perspective view for explaining a support method of the support shaft.
  • FIG. 8 is a perspective view showing an engaging means including a plurality of sets of first engaging means and the like.
  • FIG. 9 is a perspective view showing an engaging means different from the engaging means of FIG.
  • FIG. 10 is an explanatory diagram for explaining a method of attaching a cap with a cap attachment (removal) device.
  • FIG. 11 is a perspective view showing a state in which the cap has an oval shape.
  • FIG. 12 is a cross-sectional view for explaining a cap attachment procedure.
  • FIG. 13 is a plan view showing a conventional dispensing system.
  • FIG. 14 is a side view showing a conventional cap attaching / detaching device.
  • FIG. 15 is an operation explanatory diagram of a conventional cap attaching / detaching device.
  • Tip removal means Tip mounting part Plate material
  • the dispensing system 1 including the cap attaching / detaching device 3 of the present invention will be described with reference to FIG.
  • This dispensing system 1 is a microplate on the dispensing table 46 by sucking the liquid mixture in the tube 15 with a dispensing tip 50, which will be described later, attached below the dispensing heads 2a and 2b. It is a device for subdividing and transferring to 45.
  • the dispensing system 1 includes two dispensing heads 2a and 2b that can operate independently.
  • the dispensing heads 2a and 2b are provided between two struts 47 straddling the top of the dispensing table 46, and can be linearly moved in the X direction by the X-axis moving means 40 provided on the upper part of the dispensing system 1.
  • the dispensing heads 2a and 2b can be linearly moved in the Y direction by the Y-axis moving means 41 provided in the support 47.
  • Z-axis moving means 42 for moving in the Z direction with respect to the column 47 is provided inside the dispensing heads 2a and 2b.
  • FIG. 4 is a vertical sectional view showing the dispensing head 2a in FIG.
  • a movable base 51 is attached to a support 47 through a Y-axis moving mechanism 41.
  • the movable base 57 is moved up and down relative to the base 51 when the dispensing head 2a itself is moved in the Z direction with respect to the support 47 or when the tab 50 is attached.
  • Z axis moving means 42 to be moved, and tip lifting means 56 to move up and down to operate the tip removing means 53 are provided.
  • the dispensing head 2a has a plurality of tip mounting portions 54 that are vertically and horizontally aligned and project downward and have a tube shape. This tip mounting portion 54 is inserted into the opening of the tip 50 and connected.
  • the tip detaching means 53 is a plate member 55 having a plurality of holes aligned in the vertical and horizontal directions (vertical 8 rows ⁇ horizontal 12 columns), and is provided in the detachable movable member 69 via the column 64.
  • the hole of the plate member 55 penetrates the tab mounting portion 54 and is large enough not to come into contact with the tip mounting portion 54 when the tip removing means 53 is moved up and down by the operation of the lifting and lowering means 56.
  • the elevating means 56 is powered by a motor 58a provided on the base 57, a pulley 59a provided on the rotation shaft of the motor 58a, and a shaft 6la connected via the pulley 59b and the benolet 60a.
  • 62a and 62b are linear guide means for guiding the movement of the screw shaft 61a in the linear direction.
  • a procedure for removing the tip 50 from the tip mounting portion 54 by the tip removing means 53 will be described below.
  • the plate material 55 is located above the point where the tip mounting portion 54 contacts the tip 50, and when the tip is removed, the lifting / lowering means 56 is operated to move downward. In this way, the tip 50 can be removed from the tip mounting portion 54 in contact with the tip 50.
  • a Z-axis moving means 42 for elevating and lowering the entire dispensing head 2a is provided.
  • the Z-axis moving means 42 includes a motor 58b provided in the dispensing head 2a, a pulley 59c provided on a rotating shaft of the motor 58b, and a screw shaft 6 lb connected via the pulley 59d and the belt 60b.
  • the movable part 63 of the screw shaft 61b is attached to the movable base 51, and the movable base 51 moves up and down by the operation of the motor 58b.
  • 62c and 62d are linear guide means for guiding the movement of the screw shaft 61b in the linear direction.
  • the movable base 51 is attached to the column 47 via the movable part of the Y-axis moving means 41.
  • FIG. 5 is a perspective view showing the removing device 3 for removing the cap 20 attached to the lower end of the dispensing head 2b.
  • This dispensing head 2b is obtained by replacing the tip removing means 53 of the dispensing head 2a shown in FIG.
  • the plate 55 and the support 64 shown in FIG. 4 are removed, and an engagement means 66 is provided instead.
  • the engagement means 66 uses the elevating means 56 that has moved the plate 55 up and down in the dispensing head 2b of FIG. 4 to press the movable member 67 of the engagement means 66 against the support plate 68.
  • the cap 20 can be properly gripped.
  • FIG. 5 and FIG. 4 the same reference numerals indicate the same items.
  • FIG. 6 is a vertical sectional view showing the engaging means 66.
  • Fig. 6 (a) is a side view showing a state before the movable member 67 is operated
  • Fig. 6 (b) is a state after the movable member is pressed in the direction of the white arrow in the upper part of the figure.
  • FIG. 31 and 32 are a first engagement member and a second engagement member having a “ ⁇ ” shape.
  • a hole 70 is provided between the first engagement member 31 and the second engagement member 32 (below the bent portion of the engagement member).
  • stable operation is possible by increasing the distance to the support shaft that is the one-end force fulcrum of the first engagement member 31 or the like that is the power point.
  • a mainspring panel 73 which is an elastic body is provided around the side surface of the support shaft 72.
  • One end of the mainspring panel 73 is hooked on one side of the first engagement member 31 and the second engagement member 32, and the other end is hooked on the other side. 6 (b) from the left and right (white arrow) directions of the side of the first engagement member 31 and the like in the lower part of FIG. 6 (b) due to the pressing force (force in the direction of the white arrow) of FIG. 6 (b).
  • Panel power will be strong.
  • the 68 is a flat plate-like support plate, and this support plate 68 is provided with a vertical through hole 74 so that an upward force can be passed through the first engagement member 31 and the second engagement member 32 and the vertical through hole is provided.
  • two concave long grooves 75 are provided in order to support both ends of the support shaft 72 at the edge of 74.
  • the two guide members 76 provided near both edge portions of the support plate 68 are provided for guiding the movable member 67 in parallel with the support plate 68.
  • a stopper 77 is provided at the upper end of the guide member 76 to limit the operating range of the movable member 67 in the height direction.
  • the movable member 67 is in contact with the upper ends of the first engagement member 31 and the second engagement member 32 mounted on the support plate 68.
  • the motor 58b of the dispensing head 2b described above is operated, the movable member 67 can be interlocked to push the first engagement member 31 and the second engagement member 32 toward the support plate 68.
  • the first engagement member 31 and the second engagement member 32 are rotated in different directions around the support shaft 72, respectively, to change from the state of FIG. 6A to the state of FIG. 6B. Operate.
  • the above-described operation makes contact with the inner wall of the cap recess 24, and further the planar shape of the cap 20. Can be deformed into a circular force ellipse, and the cap can be removed.
  • FIG. 7 is a perspective view showing the engaging means.
  • FIG. 7 (a) is a perspective view showing a state before the first engagement member 31 and the like are inserted into the support plate 68.
  • FIG. 7B is a perspective view showing a state after the first engagement member 31 and the like are inserted.
  • the support plate 68 of the engaging means is provided with a long groove 75 for inserting and supporting the support shaft 72 into the edge portion of the vertical through hole 74.
  • the support shaft 72 is provided through the first engagement member 31 and the like, but a member that also presses down the lateral force of the support shaft 72 attached to the first engagement member 31 and the second engagement member 32,
  • a member that also presses down the lateral force of the support shaft 72 attached to the first engagement member 31 and the second engagement member 32 For example, it is possible to provide a structure in which two grooves are provided in the support shaft 72 and the left and right end forces of the support shaft 72 provided through the first engagement member 31 and the like are pressed by a C ring or the like.
  • FIG. 9 is a perspective view showing an embodiment including a plurality of sets of first engaging members 31 and the like in the engaging means of FIG. Since the first engagement member 31 and the second engagement member 32 in the figure are thin rod-shaped members, there is a problem that the cap cannot be removed properly if there is a backlash near the support shaft 72. There is.
  • a structure that can receive a force that suppresses the backlash greater than the power point on the support shaft 72 by suppressing the backlash at the power point will be described below.
  • a guide groove 78 is provided in the movable member 67 that comes into contact with the first engagement means 31 or the like that is the power point. By sliding and pressing the first engagement member 31 and the second engagement member 32 in the guide groove 78, the side wall of the guide groove 78 becomes a guide, and the operation can be performed with greatly reduced rattling.
  • FIG. 9 is a perspective view showing an engaging means different from FIG. A pair of comb-shaped first engaging member 31 and second engaging means 32 are operated in a linear direction opposite to air cylinders 79a and 79b, respectively, so that the cap 20 is gripped and removed. is there.
  • FIG. 10 is a view for explaining a method of removing the cap 20 by the cap attaching / detaching device 3 of the present invention.
  • the first engagement member 31 and the second engagement member 32 are placed on the cap 20 from above the cap 20 (the cap recess 24).
  • the first engagement member 31 and the like are separated by a distance S that does not contact).
  • the side force of the first engagement member 31 and the like has a gap of T as far as the inner wall of the cap recess 24, and can be inserted without contact.
  • the scissor-shaped force is adjusted so that the cap recess 24, the first engagement member 31, and the second engagement member 32 come into contact with each other so that the state force in FIG. 10 (b) also becomes the state in FIG. 10 (c).
  • the first engagement member 31 and the second engagement member 32 are opened.
  • the Y-axis moving means 41 is operated to lift the cap 20 together with the tube 15 from the rack 11 so that the state shown in FIG. 10 (c) is changed to the state shown in FIG. 10 (d).
  • the first engaging member 31 and the second engaging member 32 are inserted from the vertical direction of the cap engaging portion 31 and the second engaging member 32 so that the state force of FIG. 10 (d) also becomes the state of FIG. 10 (e).
  • the shape of the cap 20 is deformed into a normal circular force ellipse, and when the tube 15 that can no longer bear its own weight falls, the cap 15 is removed from the tube 15. The dropped tube 15 is stored in the rack 11 again.
  • cap 20 cannot be removed by performing the cap removal procedure described above once, remove the cap securely by repeating the states of Fig. 10 (d) and Fig. 10 (e) multiple times. Can do.
  • FIGS. Ll (a) and (b) are perspective views showing the states of FIGS. 10 (d) and 10 (e).
  • the cap recess 24 is deformed into an oval shape from the cap 20 to the state shown in FIG. 11 (b).
  • FIG. 12 is an explanatory diagram showing an operation procedure when the cap 20 removed by the above-described method is mounted again. The removed cap 20 is moved above the opening of the tube 15 so that the state shown in FIG. Thereafter, the first engagement member 31 and the like are lowered by the operation of the Y-axis moving means 41 (not shown) so that the state shown in FIG. 12 (a) is changed to the state shown in FIG. 12 (b).
  • the cap 20 is attached while making a gap between the tube 15 and the insertion portion 22 of the cap 20 by gradually closing the second engaging member 32 and the second engaging member 32. Thereafter, the first engagement member 31 and the second engagement member 32 are closed until the first engagement member 31 and the second engagement member 32 are overlapped so that the state force of FIG. 12 (b) is also in the state of FIG. 12 (c). If it rises, the mounting operation is completed. As in FIG. 10 (a), there is a gap T between the first engagement means 31 and the like and the inner wall of the cap recess 24, and when the first engagement means 31 and the like are raised, they do not come into contact with the cap. Prevents accidental lifting of the cap 20.

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Abstract

A cap demounting device comprises an engagement means to be engaged with a cap and a lifting means for lifting the engagement means. The cap is engaged with the engagement means and its recess of a circular shape in the plane is deformed into an elliptic shape by operating the engagement means, and the cap is raised by the lifting means. Thereby, the cap can be demounted from a tube.

Description

キャップの装着装置、取り外し装置、装着方法並びに取り外し方法 技術分野  Cap installation device, removal device, installation method and removal method
[0001] 本発明は、試薬、化合物、検体等が入った容器にキャップを着脱するキャップ装着 装置、取り外し装置、装着方法、並びに取り外し方法に関する。  [0001] The present invention relates to a cap attaching device, a removing device, an attaching method, and a removing method for attaching and detaching a cap to a container containing a reagent, a compound, a specimen, and the like.
背景技術  Background
[0002] 創薬スクリーニング分野、バイオテクノロジー分野等の生化学分野にお 、ては、物 質の生化学反応テストなどの各種試験が行われる。これらの試験においては、培養 や生化学反応を行わせるための液状または粉状等のサンプル試薬や化合物や検体 等を収納する容器の運搬'保管は、蒸発'内容物の漏れ (舞い上がり） 'ゴミの混入を 防止するためにチューブに収納し、その上面開口部をキャップで密封したものを容器 (ラック）の縦横に複数規則的に並んだ正方形の孔部（ゥエル）に収納されて行われる  [0002] In the field of biochemistry such as drug discovery screening and biotechnology, various tests such as biochemical reaction tests of substances are performed. In these tests, transport or storage of containers containing sample reagents, compounds, specimens, etc. in liquid or powder form for culturing or biochemical reactions is not allowed to evaporate. In order to prevent contamination, it is stored in a tube, and the top opening sealed with a cap is stored in square holes (wells) that are regularly arranged vertically and horizontally in a container (rack).
[0003] 図 1はラック 11を示しており、このラック 11ではゥエル 12が縦 8個、横 12個備えられ ている。 15に示すチューブは直径 8ミリ程度、高さ 45ミリ程度の試験管形状をしてお り、熱可塑性エラストマ一等により形成されている。（ここで、熱可塑性エラストマ一は 、プラスチックとゴムの中間的性質を有する。この性質によりチューブ 15は、ゴムのよ うに柔らかぐプラスチックのように加工しやすい性質を有している。）チューブ底面 1 6には図示しない 2次元バーコードが貼り付けられており、これにより試薬の種類情報 等の管理をすることができる。 20はキャップであり、チューブ 15の上部開口部に挿入 してチューブ 15の内容物を閉栓するためのものである。 [0003] FIG. 1 shows a rack 11, which has eight wells 12 and twelve horizontals. The tube shown in Fig. 15 has a test tube shape with a diameter of about 8 mm and a height of about 45 mm, and is made of a thermoplastic elastomer. (Here, the thermoplastic elastomer has an intermediate property between plastic and rubber. Due to this property, the tube 15 has the property of being easily processed like a soft plastic like rubber.) A two-dimensional barcode (not shown) is affixed to 16 so that reagent type information and the like can be managed. A cap 20 is inserted into the upper opening of the tube 15 to close the contents of the tube 15.
[0004] 図 2は、キャップ 20の垂直断面図である。キャップ 20は、フランジ部 21 (鍔部）を有 し、高さ 4ミリ程度、チューブ 15内に挿入できる挿入部 22を有する。 23はチューブ 15 の内壁との当接部である。キャップ 20の上面中央には円柱形の凹部（以下、キャップ 凹部 24と称する。）を有しており、全体の形状は帽子を上下ひっくり返した形状となつ ている。キャップ凹部 24は、キャップ凹部 24の内壁面の下部付近の肉厚力 上部に 比べて薄くなつており（以下、この箇所を内壁凹部 25と称する。）、後述するキャップ 装着'取り外し装置の係合手段 31 (32)が挿入された際に係合手段 31 (32)の鉤部 3 3と該内壁凹部 25とが係合する。このキャップ 20は榭脂ゃゴム等の弾性のある材料 により形成されており、外力が力かることにより容易に変形させることができる。 FIG. 2 is a vertical sectional view of the cap 20. The cap 20 has a flange portion 21 (a flange portion), a height of about 4 mm, and an insertion portion 22 that can be inserted into the tube 15. Reference numeral 23 denotes a contact portion with the inner wall of the tube 15. The center of the upper surface of the cap 20 has a cylindrical recess (hereinafter referred to as cap recess 24), and the overall shape is a shape in which the cap is turned upside down. The cap recess 24 is thinner than the upper part of the wall thickness near the lower portion of the inner wall surface of the cap recess 24 (hereinafter, this portion is referred to as the inner wall recess 25), and the cap described later When the engaging means 31 (32) of the mounting / removing device is inserted, the flange 33 of the engaging means 31 (32) and the inner wall recess 25 are engaged. The cap 20 is made of an elastic material such as a resin, and can be easily deformed by applying an external force.
[0005] 前述のチューブ 15には常時キャップ 20が取り付けられており、チューブ 15の内容 物である試薬等を使用する際には、人手により若しくは取り外し装置によりチューブ 1 5を密封しているキャップ 20を取り外す必要がある。特許文献 1は、キャップ 20の取り 外しを自動で行う取り外し装置についての先行技術である。このシステムについて図 13を参照に以下に説明する。 80はキャップ装着 '取り外し装置 81と分注装置 83とが 隣接して備える分注システムを示すものである。この分注システム 80は、チューブ 15 に収納される化合物をマイクロプレート 82に分注作業を行うものである。  [0005] A cap 20 is always attached to the tube 15 described above, and when using a reagent or the like that is the contents of the tube 15, a cap 20 that seals the tube 15 manually or by a removal device. Need to be removed. Patent Document 1 is a prior art regarding a removing device that automatically removes the cap 20. This system will be described below with reference to FIG. Reference numeral 80 denotes a dispensing system provided with a cap attaching / detaching device 81 and a dispensing device 83 adjacent to each other. In this dispensing system 80, the compound stored in the tube 15 is dispensed onto the microplate 82.
[0006] 図 13に示すキャップ装着 ·取り外し装置 81について図 14を参照に以下に説明する 。このキャップ装着'取り外し装置 81は、キャップ 20の保持具 85をキャップ凹部に揷 入して保持した後、保持具 85を傾斜することでチューブ 15内部の気体を開放して、 ラック 11に収納されるチューブ 15からキャップ 20を取り外すものである。このキャップ 装着'取り外し装置 81は、キャップ 20を上面側より保持する保持具 85と、キャップ 20 とチューブ 15の開口部とを位置合わせする位置合わせ機構 86と、保持具 85を垂直 姿勢で及び傾斜姿勢をとりえるようにする保持具傾斜機構 87と、保持具 85をチュー ブ 15に対して昇降させる保持具昇降機構 88とを備える。さらに、キャップを保持具に 安定して固定するにはバルブ機構 (吸着手段) 89により真空吸着する必要がある。  A cap mounting / removing device 81 shown in FIG. 13 will be described below with reference to FIG. The cap mounting / removal device 81 inserts and holds the retainer 85 of the cap 20 into the cap recess, and then tilts the retainer 85 to release the gas inside the tube 15 and is stored in the rack 11. The cap 20 is removed from the tube 15 to be removed. This cap mounting / removal device 81 includes a holder 85 that holds the cap 20 from the upper surface side, an alignment mechanism 86 that aligns the cap 20 and the opening of the tube 15, and an inclination of the holder 85 in a vertical posture. A holder tilting mechanism 87 that allows the posture to be taken and a holder lifting mechanism 88 that lifts and lowers the holder 85 relative to the tube 15 are provided. Furthermore, in order to stably fix the cap to the holder, the valve mechanism (suction means) 89 needs to be vacuum-sucked.
[0007] このキャップ装着 ·取り外し装置 81ではラック 11に縦横に並んで収納されるチュー ブ 15のキャップ 20のうち、一列ずつ取り外すものである。このため、キャップ 20を保 持する保持具 85を一列分の個数に対応して備えている（図 14においては 12個備え る)。図 15は、保持具傾斜機構 87を作動する前後の状態を示す側面図である。図 1 5 (a)は保持具傾斜機構 88を作動する前であって、保持具 85を傾斜する前の状態を 示しており、図 15 (b)は保持具傾斜機構 88を作動した後の保持具 85がひ。 傾斜し た状態を示す図である。  [0007] This cap attaching / detaching device 81 removes one cap at a time from the cap 20 of the tube 15 stored in the rack 11 side by side. For this reason, the holders 85 for holding the caps 20 are provided corresponding to the number of one row (12 pieces are provided in FIG. 14). FIG. 15 is a side view showing a state before and after operating the holder tilting mechanism 87. Fig. 15 (a) shows the state before operating the holder tilting mechanism 88 and before tilting the holder 85, and Fig. 15 (b) shows the state after operating the holder tilting mechanism 88. Retainer 85. It is a figure which shows the state which inclined.
特許文献 1：特開 2005 - 3423号公報  Patent Document 1: Japanese Patent Laid-Open No. 2005-3423
発明の開示 発明が解決しょうとする課題 Disclosure of the invention Problems to be solved by the invention
[0008] 従来の分注システム 80ではキャップ装着 ·取り外し装置 81を分注装置 83に隣接し て備えることから、キャップ装着 '取り外し装置 81によりチューブ 15からキャップ 20を 取り外した後に分注装置 83へと運搬され分注作業が行われる。このため、キャップ 2 0が取り外されているチューブ 15にゴミが混入する不具合、チューブ 15の内部の粉 状化合物が舞う不具合、液状化合物が蒸発する不具合等が生じている。このため、 キャップ取り外し後にはラック 11を運搬しないように、分注作業が行われる分注装置 83上でキャップ 20を取り外すことが望まれて!/、る。  [0008] Since the conventional dispensing system 80 includes the cap attaching / detaching device 81 adjacent to the dispensing device 83, the cap attaching 'removing device 81 removes the cap 20 from the tube 15 to the dispensing device 83. It is transported and dispensing work is performed. For this reason, there are problems such as dust mixing into the tube 15 from which the cap 20 has been removed, problems in which the powder compound inside the tube 15 flies, problems in which the liquid compound evaporates, and the like. Therefore, it is desirable to remove the cap 20 on the dispensing device 83 where the dispensing operation is performed so that the rack 11 is not transported after the cap is removed!
[0009] また、従来のキャップ装着'取り外し装置 81では、チューブ 15に密着するキャップ 2 0を取り外すのに、キャップ 20を水平状態力も傾斜させることでキャップ 20を取り外し ていた。しかし、このような取り外し方法では、キャップ装着 '取り外し装置 81の取り外 し動作の稼働範囲が広くなるため、狭い面積内に縦横列をなして収納 (現在、ラック 1 1が収容できるチューブ 15は数 96本である。）するチューブ 15から一度に全てのキヤ ップ 20を取り外すことが困難であり、現状では一列分ずつキャップ 20を取り外すしか なかった。このため、取り外したキャップ 20を一時他の場所へ保管する力 列ごとに 各種処理が行われるのを待って再びチューブ 15に装着するまでの間、保持具 85に より保持し続ける必要があつたため、次行程の分注作業の作業時間が長くなつてしま う不具合が生じていた。  [0009] In the conventional cap mounting / removal device 81, in order to remove the cap 20 that is in close contact with the tube 15, the cap 20 is removed by inclining the cap 20 in a horizontal state force. However, in such a removal method, since the operating range of the removal operation of the cap attachment / removal device 81 is widened, it is stored in rows and columns within a narrow area (the tube 15 that can currently be accommodated in the rack 11 is 96).) It was difficult to remove all caps 20 from the tube 15 at a time, and at present, the caps 20 could only be removed one row at a time. For this reason, it is necessary to keep holding the removed cap 20 with the retainer 85 until various treatments are performed for each power train that temporarily stores the cap 20 in another place, and before it is attached to the tube 15 again. However, there was a problem that the work time of the dispensing work in the next process was prolonged.
[0010] ラック 11に収容される全てのチューブ 15を一度に取り外すには、 96個の機構が密 集する狭いスペースにキャップを取り外す機構を納める必要があり、このため、 1つ 1 つがシンプルで、小さくて、高精度な機構であり、駆動源の数自身も少ないことが望 まれている。また、 96個の係合手段を同時に動作させるには、 1個の時に比べて駆 動力が 96倍要し、設置スペースも 96倍要する事となる。また、キャップは縦横整然と 並んで備える。さらにラック 11はプラスチック成形品であり、ラック 11のゥエル 12はチ ユーブ 15と多少の隙間を有するように備えるため、チューブ 15の位置がその隙間の 分だけ多少位置ずれが生じることがある。これらのことから、一度に複数個の係合手 段を動作させるには、係合手段に均等で安定した駆動力を与えて、均等で精密に動 作させる必要がある。 [0011] 従来のキャップ装着 ·取り外し装置 81では、キャップ凹部 24の大きさより一回り小さ い保持具 85を挿入した後、確実に固定するため吸着手段 89により吸着固定した後、 保持具 85を傾斜させてキャップ 20を取り外して 、る。 [0010] To remove all the tubes 15 contained in the rack 11 at once, it is necessary to place the mechanisms for removing the caps in a confined space where 96 mechanisms are congested. It is hoped that this mechanism is small and highly accurate, and that the number of drive sources itself is small. Also, operating 96 engagement means simultaneously requires 96 times the driving force and 96 times the installation space compared to the single engagement means. Caps should be arranged side by side. Further, since the rack 11 is a plastic molded product and the well 12 of the rack 11 is provided with a slight gap with the tube 15, the position of the tube 15 may be slightly displaced by the gap. For these reasons, in order to operate a plurality of engaging means at a time, it is necessary to apply an equal and stable driving force to the engaging means and to operate it evenly and precisely. [0011] In the conventional cap attachment / removal device 81, after inserting the holding tool 85, which is slightly smaller than the size of the cap recess 24, the suction means 89 is fixed by suction for secure fixing, and then the holding tool 85 is tilted. Remove the cap 20 and remove it.
[0012] さらに、従来のキャップ装着'取り外し装置 81では、キャップ 20を傾斜して取り外す 方法を採用することから、保持具 85を傾斜すればキャップに当接しやすいように、保 持具 85の大きさがキャップ凹部 24の大きさより一回り小さい大きさとなっている。この ため、キャップ凹部 24から保持具 85を取り外す際に、キャップがつられて引き抜かれ る不具合が生じることがある。  [0012] Further, since the conventional cap mounting and removal device 81 employs a method of tilting and removing the cap 20, the size of the holder 85 can be increased so that the holder 85 can be easily abutted if the holder 85 is tilted. Is slightly smaller than the size of the cap recess 24. For this reason, when removing the holding tool 85 from the cap recess 24, there may be a problem that the cap is pulled and pulled out.
課題を解決するための手段  Means for solving the problem
[0013] 本発明のキャップ装着 ·取り外し装置は、ラックに収納される試験管形状を有するチ ユーブの上面に取り付けられた弾性材料力 なるキャップを取り外す装置であって、 キャップ上部の凹部に挿入して、キャップと係合する係合手段と、係合手段を昇降動 作させる昇降手段とを備え、係合手段の作動により平面形状が円形の凹部を楕円形 となるように変形させて係合するとともに、昇降手段によりキャップを持ち上げることで チューブからキャップを取り外す。また、昇降手段は、チューブを持ちあげるためのも のであっても、ラックを降下させるためのものであってもよぐラックに対してチューブ を相対的に昇降動作させるものである。  [0013] The cap mounting / removal device of the present invention is a device for removing a cap made of elastic material force attached to the upper surface of a tube having a test tube shape housed in a rack, and is inserted into a recess at the top of the cap. The engaging means for engaging with the cap and the raising / lowering means for moving the engaging means up and down are engaged, and the concave portion having a circular planar shape is deformed to be elliptical by the operation of the engaging means. At the same time, remove the cap from the tube by lifting the cap by lifting means. The lifting means is for lifting and lowering the tube relative to the rack, whether for lifting the tube or for lowering the rack.
[0014] 本発明のキャップ装着 ·取り外し装置は、係合手段が、第一係合部材と第二係合部 材とからなり、第一係合部材と第二係合部材とを相反する方向であって水平移動もし くは回動させてキャップと係合することができる。第一係合部材と第二係合部材とを 相反する方向であって回動させる機構として、はさみと同様の機構 (以下、はさみ機 構と称する。）であって、つまり、第一係合部材と第二係合部材とを支軸により貫通し て回動可能として、第一係合部材と第二係合部材との一端を押圧する (支持板に向 けて押しつける）ために、モータと、モータの回転支軸に連結されるネジ軸とからなる 直線移動手段を備えることで可能である。また、直線移動手段としてエアシリンダ等 の公知の機構をそなえることが可能である。また、第一係合部材と第二係合部材とを 相反する方向であって直線移動させる機構として前述の直線移動手段を第一係合 部材と第二係合部材とにそれぞれ備えることにより同期動作して、若しくは一つの直 線移動手段によりリンク 'カム'歯車等を介して連動して、第一係合部材と第二係合部 材を動作させることができる。 [0014] In the cap mounting / removing device of the present invention, the engaging means includes the first engaging member and the second engaging member, and the first engaging member and the second engaging member are in opposite directions. However, it can be moved horizontally or rotated to engage with the cap. The mechanism for rotating the first engagement member and the second engagement member in opposite directions is a mechanism similar to scissors (hereinafter referred to as the scissor mechanism), that is, the first engagement. In order to press the one end of the first engagement member and the second engagement member (pressing toward the support plate) so that the member and the second engagement member can be rotated through the support shaft and rotated. And a linear moving means comprising a screw shaft coupled to the rotation support shaft of the motor. Further, it is possible to provide a known mechanism such as an air cylinder as the linear moving means. Further, the first engagement member and the second engagement member are respectively provided with the above-described linear movement means as a mechanism for linearly moving the first engagement member and the second engagement member in opposite directions. Working or one straight The first engagement member and the second engagement member can be operated in conjunction with each other via a link 'cam' gear or the like by the line moving means.
[0015] また、直線移動手段がエアシリンダである場合においても、停止位置が以下の三点 備えることにより後述するように把持したキャップの (楕円の長径)を変化させることが できる。なお、停止位置の三点とは、待機位置 (はさみ機構が閉じた状態)、把持位 置 (係合部とキャップが当接して、その摩擦力によりチューブとキャップとが落下しな い程度の状態）、取り外し位置 (把持位置以上に挟み機構が広がってキャップが変形 した状態)の三点である。これにより、把持位置と取り外し位置とを一回もしくは複数 回往復運動させることで、チューブを確実に取り外すことができる。  [0015] Further, even when the linear moving means is an air cylinder, it is possible to change the (ellipse major axis) of the gripped cap as described later by providing the following three stop positions. The three stop positions are the standby position (when the scissor mechanism is closed) and the gripping position (the engagement portion and the cap are in contact with each other and the tube and cap do not fall due to the frictional force). State) and removal position (state in which the cap is deformed by the pinching mechanism spreading beyond the gripping position). Accordingly, the tube can be reliably removed by reciprocating the gripping position and the detaching position once or a plurality of times.
[0016] 具体的には、本発明のキャップ装着 ·取り外し装置は、係合手段が、第一係合部材 と、第二係合部材と、第一係合部材と第二係合部材とを貫通して回動可能に支持す る支軸と、支軸の周辺もしくは周囲に卷 、て備えるとともにその一端を第一係合部材 と第二係合部材の一方の側部に、他端を他方の側部に掛設する弾性体と、第一係 合部材と第二係合部材とを回動可能に支持する支持板と、第一係合部材と第二係 合部材とを作動する可動部材とを備える。このキャップ装着 ·取り外し装置は、可動部 材の作動により第一係合部材と第二係合部材を下方に押付けることで弾性体に杭し て第一第二係合部材を回動させてキャップを保持又は取り外し動作をすることができ る。  [0016] Specifically, in the cap attachment / detachment device of the present invention, the engagement means includes a first engagement member, a second engagement member, a first engagement member, and a second engagement member. A support shaft that penetrates and supports the shaft, and is provided around or around the support shaft. One end of the support shaft is provided on one side of the first engagement member and the second engagement member, and the other end is provided. Actuates an elastic body hanging on the other side, a support plate rotatably supporting the first engagement member and the second engagement member, and the first engagement member and the second engagement member A movable member. This cap attaching / detaching device stakes the first engaging member and the second engaging member downward by the operation of the movable member to pile it on the elastic body and rotates the first second engaging member. Cap can be held or removed.
[0017] 第一係合部材と第二係合部材の先端部の凹部分が、第一係合部材と第二係合部 材の回動動作によりキャップと当接した際に鉤状つまり、キャップの凹部壁面に備え る壁面凹部を引っかける形状となっている。これにより容易にキャップを保持又は取り 外し動作をすることができる。  [0017] When the concave portions of the distal end portions of the first engagement member and the second engagement member are brought into contact with the cap by the rotation of the first engagement member and the second engagement member, It is shaped to hook the wall recess provided on the recess wall of the cap. As a result, the cap can be easily held or removed.
[0018] ここで、弾性体は、ぜんま 、パネ、つるまきパネでもよくまた、第一係合部材と第二 係合部材との外周側面に Oリングを取り付けることで第一係合部材と第二係合部材と のキャップとの当接部分が重なっていない状態力も重なった状態（はさみ形状をなす 第一係合部材と第二係合部材とが開いた状態力 閉じた状態)となるように力がかか る部材に置き換える事ができる。  [0018] Here, the elastic body may be a spring, a panel, or a hanger panel, and by attaching an O-ring to the outer peripheral side surfaces of the first engagement member and the second engagement member, The state force where the contact portion of the second engagement member and the cap does not overlap is also overlapped (the scissor-shaped first engagement member and the second engagement member are opened, the state is closed). Thus, it can be replaced with a member that applies force.
[0019] 本発明のキャップの取り外し装置は、多数のキャップを取り外す場合においても前 記第一係合部材と前記第二係合部材とを一組として複数組を同一水平面内に備え 、前記可動部材により上方力 第一係合部材と第二係合部材を押圧することで、第 一係合部材と第二係合部材に対して一方向より均等で精度良く駆動力を与えること ができる簡素な構造とすることができる。また、複数の駆動源を備えて、また、可動部 材を一列ごともしくはエリアごとに区分してそなえることにより一列、若しくはエリアごと に動作させることができる。 [0019] The cap removal device of the present invention is suitable for removing a large number of caps. The first engagement member and the second engagement member are combined into a set in the same horizontal plane, and the movable member presses the upper force first engagement member and the second engagement member, A simple structure capable of giving a driving force to the first engagement member and the second engagement member more uniformly and accurately than in one direction can be obtained. In addition, by providing a plurality of drive sources and by dividing the movable member into one row or area, it can be operated in one row or area.
[0020] 本発明のキャップの取り外し装置は、精度良く正確な動作を保証するために第一 係合部材及び第二係合部材と当接する可動部材の箇所に長溝状の案内手段を備 える構成としてもよい。また、支軸にリング状に 2つの溝を切って、第一係合部材と第 二係合部材とを適度に挟み込むべく溝に Cリングを取り付けることにより、第一係合部 材と第二係合部材を、ガタを軽減して精度良く動作させることができる。  [0020] The cap removing device of the present invention includes a long groove-shaped guide means at the position of the first engaging member and the movable member that comes into contact with the second engaging member in order to ensure accurate and accurate operation. It is good. Also, by cutting two grooves in a ring shape on the support shaft and attaching a C-ring to the groove so as to sandwich the first engagement member and the second engagement member appropriately, the first engagement member and the second engagement member The engagement member can be operated with high accuracy while reducing backlash.
[0021] 本発明のキャップの取り外し装置により試験管形状を有するチューブの上面に取り 付けられた弾性材料力もなるキャップを取り外すには、係合手段をキャップ上部の凹 部に挿入して、キャップの平面形状が円形の凹部を楕円形となるように変形するよう に係合し、昇降手段により係合手段を上方へ持ち上げることでキャップを取り外すこ とができる。ここで、チューブを持ちあげる方法として、キャップごとチューブを持ちあ げる方法と、チューブを収納するラックを降下する方法とがある。  [0021] In order to remove the cap having elastic material force attached to the upper surface of the tube having the test tube shape by the cap removing device of the present invention, the engaging means is inserted into the concave portion on the top of the cap. It is possible to remove the cap by engaging the concave portion having a circular planar shape so as to be deformed into an elliptical shape and lifting the engaging means upward by the elevating means. Here, as a method of lifting the tube, there are a method of lifting the tube together with the cap and a method of lowering the rack for storing the tube.
[0022] また、前述の方法によりキャップを取り外す動作を行った後、第一係合部材と第二 係合部材とを閉じた状態と開いた状態とで繰り返すことによりキャップの平面形状で ある楕円の長径の長さを変化させることができ、確実にキャップを取り外すことができ る。  [0022] In addition, after performing the operation of removing the cap by the above-described method, the first engagement member and the second engagement member are repeated in a closed state and an open state, whereby an elliptical shape that is a planar shape of the cap The length of the major axis can be changed, and the cap can be securely removed.
[0023] 本発明のキャップの装着装置は、前述のキャップの取り外し装置により取り外された キャップを再びチューブに装着するものであって、キャップを楕円形となるように保持 する係合手段と、保持したキャップをチューブの開口部上方で昇降動作する昇降手 段とを備える。このキャップの装着装置では、昇降手段によりキャップをチューブ開口 部に挿入するとともに、係合手段によりキャップ形状が楕円から円形となるように保持 状態を解除することでキャップをチューブに装着することができる。  [0023] The cap mounting device of the present invention is a device for mounting the cap removed by the cap removing device described above on the tube again, and an engaging means for holding the cap so as to be elliptical, and holding And an elevating means for elevating and lowering the cap above the opening of the tube. In this cap attachment device, the cap can be attached to the tube by inserting the cap into the tube opening by the elevating means and releasing the holding state so that the cap shape changes from an ellipse to a circle by the engaging means. .
[0024] また、前述の方法によりキャップを取り外されたキャップを再びチューブに装着する ために、係合手段により楕円形となるように保持したキャップを、昇降手段によりチュ ーブの開口部上方から降下するとともに、キャップ形状が楕円から円形となるように保 持状態を解除することでキャップの取り付けることができる。 [0024] The cap, which has been removed by the above-described method, is attached to the tube again. Therefore, the cap held so as to be elliptical by the engaging means is lowered from above the opening of the tube by the lifting means, and the holding state is released so that the cap shape becomes circular from the ellipse. The cap can be attached with.
発明の効果  The invention's effect
[0025] 本発明のキャップ装着 ·取り外し装置では、キャップが楕円となるようキャップとチュ ーブとの接触部分に隙間を形成することでくっつき現象を解消 ·内部気体の開放し、 キャップの当接部とチューブの内壁との当接位置を微量ずらすこと、及び、キャップ の挿入部が斜度をなすようにしたことにより滑りやすくすることで容易にキャップを取り 外すことができる。また、それと共に、チューブを取り外す方向に外力を与えるべくキ ヤップごと持ちあげた事により自重による鉛直下向きの外力がかかり、より容易にキヤ ップを取り外すことができる。この装置によれば、従来例のようにキャップを力ずくで傾 斜して取り外すことがないため、小さな駆動力でキャップの脱着が可能であり、繰り返 し着脱動作を行ってもキャップやチューブを破損させることが無ぐさらに微小なゴミ を発生させることも無くキャップを取り外すことができる。  [0025] The cap mounting / removal device of the present invention eliminates the sticking phenomenon by forming a gap in the contact portion between the cap and the tube so that the cap becomes an ellipse. The cap can be easily removed by shifting the contact position between the tube portion and the inner wall of the tube by a small amount and making the insertion portion of the cap have an inclination to make it slippery. At the same time, by lifting the cap together to apply external force in the direction of removing the tube, a vertical downward external force is applied due to its own weight, making it easier to remove the cap. According to this device, the cap is not tilted and removed by force unlike the conventional example, so that the cap can be attached and detached with a small driving force, and the cap and tube can be removed even after repeated attaching and detaching operations. The cap can be removed without generating even more tiny dust that will not be damaged.
[0026] 複数の係合手段を同一水平面内に備え、上方から押圧するだけで該係合手段が 同時に作動することでき、従来の装置と比較して保持具傾斜機構を有さないことから 構造がシンプルであり、可動範囲が狭くてよぐ駆動軸数 (駆動源の数)が少なくなる 。これにより複数（96本)のチューブ力もキャップを一度に取り外すことができる。さら に、複数（96本)のチューブを同時に取り外すことができるので従来装置のように位 置決め機構が不要となる。  [0026] Since a plurality of engaging means are provided in the same horizontal plane, the engaging means can be operated simultaneously only by pressing from above, and there is no holder tilting mechanism as compared with the conventional device. However, the number of drive shafts (number of drive sources) that can be moved with a narrow movable range is reduced. As a result, a plurality of (96) tube forces can be removed at a time. In addition, multiple (96) tubes can be removed at the same time, eliminating the need for a positioning mechanism like conventional devices.
[0027] 本発明のキャップ装着 ·取り外し装置では、可動部材に案内手段を備えるため、係 合手段を、ガタを軽減して精度良く正確な動作を保証することができる。  [0027] In the cap mounting / removal device of the present invention, since the movable member is provided with the guide means, the engagement means can reduce play and ensure accurate and accurate operation.
[0028] 本発明の第一係合部材と第二係合部材とが重なった状態（はさみ機構を閉じた状 態)でキャップに挿入するので、キャップ凹部形状に対して大幅に小さい。これにより 、キャップ凹部の内壁に接触することなく第一係合手段等を挿入できる程度に小さい ため、従来のようにキャップと当接し、さらに真空吸着して保持することがなぐ第一係 合部材等を抜き差しする動作により、チューブ内に押し込んでしまう不具合若しくは、 真空吸着したことにより真空状態を解除が不十分であったために生じていた、キヤッ プがチューブ開口部から少し浮 、て栓が出来て 、な 、不具合を防止できる。 [0028] Since the first engagement member and the second engagement member of the present invention are inserted into the cap in a state where they overlap (the scissor mechanism is closed), the cap recess shape is significantly smaller. As a result, the first engagement member is small enough to insert the first engagement means or the like without contacting the inner wall of the cap recess, so that the first engagement member can be held in contact with the cap and vacuum-sucked and held as before. This is caused by a malfunction that pushes the tube into the tube due to the insertion / removal operation, or because the vacuum is not released sufficiently due to vacuum suction. The tube floats slightly from the tube opening and can be plugged to prevent problems.
[0029] 分注システムの分注装置の一部をキャップ装着'取り外し装置に置き換えて備える こともでき、この場合、キャップ取り外し後にラックを移動することなく分注作業を行うこ とができるため、粉状ィ匕合物なら舞い上がることなぐ液状化合物なら蒸発量を減少 することができ、チューブ内にゴミ混入を防止でき、化合物等をチューブ力もマイクロ プレートへ分注作業することができる。 [0029] A part of the dispensing device of the dispensing system can be replaced with a cap mounting and removal device, and in this case, the dispensing operation can be performed without moving the rack after removing the cap. If it is a powdery compound, a liquid compound that does not soar can reduce the amount of evaporation, prevent dust from entering the tube, and dispense the compound, etc. into the microplate.
図面の簡単な説明  Brief Description of Drawings
[0030] [図 1]チューブを収納するラックを示す斜視図である。 FIG. 1 is a perspective view showing a rack for storing tubes.
[図 2]キャップの断面図である。  FIG. 2 is a sectional view of the cap.
[図 3]キャップ装着 '取り外し装置を含む分注システムを示す斜視図である。  FIG. 3 is a perspective view showing a dispensing system including a cap mounting 'removing device.
[図 4]分注ヘッドを示す断面図である。  FIG. 4 is a cross-sectional view showing a dispensing head.
[図 5]本発明のキャップ装着 ·取り外し装置を示す断面図である。  FIG. 5 is a cross-sectional view showing the cap attaching / detaching device of the present invention.
[図 6]係合手段の動作方法を説明するための断面図である。係合部がキャップを取り 外す動作を説明するための側面図である。  FIG. 6 is a cross-sectional view for explaining the operation method of the engaging means. It is a side view for demonstrating the operation | movement which an engaging part removes a cap.
[図 7]支軸の支持方法を説明するための斜視図である。  FIG. 7 is a perspective view for explaining a support method of the support shaft.
[図 8]第一係合手段等を複数組備える係合手段を示す斜視図である。  FIG. 8 is a perspective view showing an engaging means including a plurality of sets of first engaging means and the like.
[図 9]図 8の係合手段と異なる係合手段を示す斜視図である。  FIG. 9 is a perspective view showing an engaging means different from the engaging means of FIG.
[図 10]キャップ装着 (取り外し)装置によりキャップを装着する方法を説明するための 説明図である。  FIG. 10 is an explanatory diagram for explaining a method of attaching a cap with a cap attachment (removal) device.
[図 11]キャップを楕円形にした様子を示す斜視図である。  FIG. 11 is a perspective view showing a state in which the cap has an oval shape.
[図 12]キャップの装着手順を説明するための断面図である。  FIG. 12 is a cross-sectional view for explaining a cap attachment procedure.
[図 13]従来の分注システムを示す平面図である。  FIG. 13 is a plan view showing a conventional dispensing system.
[図 14]従来のキャップ装着 ·取り外し装置を示す側面図である。  FIG. 14 is a side view showing a conventional cap attaching / detaching device.
[図 15]従来のキャップ装着 ·取り外し装置の動作説明図である。  FIG. 15 is an operation explanatory diagram of a conventional cap attaching / detaching device.
符号の説明  Explanation of symbols
[0031] 1 分注システム [0031] 1 dispensing system
2a、 2b 分注ヘッド  2a, 2b dispensing head
3 キャップ装着 '取り外し装置 ラック 3 Cap mounting 'Removal device rack
ゥエル  Uel
チューブ  Tube
チューブ底面  Tube bottom
キャップ  Caps
フランジき  Flange
挿入部  Insertion section
当接部  Contact part
キャップ凹部  Cap recess
内壁凹部  Inner wall recess
第一係合部材 第二係合部材 鉤部  First engaging member Second engaging member
X軸移動手段  X axis moving means
Y軸移動手段  Y axis moving means
Z軸移動手段  Z axis moving means
マイクロプレート 分注台  Microplate dispensing stand
支柱  Prop
ティップ  Tip
可動基台  Movable base
ティップ取り外し手段 ティップ装着部 板材  Tip removal means Tip mounting part Plate material
昇降手段  Lifting means
基台 Base
a, 58b モータa, 58b motor
a, 59b、 59c、 59d プーリ 60a、 60b ベル卜 a, 59b, 59c, 59d Pulley 60a, 60b bell
61a, 61b ネジ軸 61a, 61b Screw shaft
62a, 62b、 62c、 62d 直線案内手段 62a, 62b, 62c, 62d Linear guide means
63 可動部 63 Moving parts
64 支柱  64 props
66 係合手段  66 Engagement means
67 可動部材  67 Movable parts
68 支持板  68 Support plate
69 取り外し用可動部材  69 Movable parts for removal
70 孔部 70 hole
72 支軸 72 spindle
73 ぜんまいパネ（弾性体）  73 Mainspring panel (elastic body)
74 垂直貫通穴 74 Vertical through hole
75 長溝 (案内手段） 75 Long groove (Guide means)
76 案内部材 76 Guide members
77 ストッパ 77 Stopper
78 案内溝 78 Guide groove
79a, 79b エアシリンダ  79a, 79b Air cylinder
80 (従来の）分注システム  80 (conventional) dispensing system
81 キャップ装着装置，取り外し装置 81 Cap attaching device, removing device
82 マイクロプレート 82 microplate
83 分注装置  83 dispensing equipment
85 保持具  85 Holder
86 位置合わせ機構  86 Alignment mechanism
87 保持具傾斜機構  87 Holder tilt mechanism
88 保持具昇降機構  88 Holder lifting mechanism
89 バルブ機構 (吸着手段） 発明を実施するための最良の形態 [0032] 本発明のキャップ装着 ·取り外し装置 3を含む分注システム 1につ 、て図 3を参照に 説明する。この分注システム 1は、分注ヘッド 2a、 2b下部に取り付けられた後述する 分注ティップ 50によりチューブ 15内の液状ィ匕合物をー且吸引して分注台 46上にあ るマイクロプレート 45へ小分けにして移し変えるための装置である。この分注システム 1においては、 2つの分注ヘッド 2a、 2bをそれぞれ独立して動作可能に備える。この 分注ヘッド 2a、 2bは分注台 46の上方をまたぐ 2本の支柱 47の間に備えており、分注 システム 1上部に備える X軸移動手段 40により X方向に直線移動できる。また、分注 ヘッド 2a、 2bは支柱 47内部に備える Y軸移動手段 41により Y方向に直線移動可能 である。さらに分注ヘッド 2a、 2b内部には、支柱 47に対して Z方向へ移動するための Z軸移動手段 42を備える。 89 Valve mechanism (Suction means) BEST MODE FOR CARRYING OUT THE INVENTION The dispensing system 1 including the cap attaching / detaching device 3 of the present invention will be described with reference to FIG. This dispensing system 1 is a microplate on the dispensing table 46 by sucking the liquid mixture in the tube 15 with a dispensing tip 50, which will be described later, attached below the dispensing heads 2a and 2b. It is a device for subdividing and transferring to 45. The dispensing system 1 includes two dispensing heads 2a and 2b that can operate independently. The dispensing heads 2a and 2b are provided between two struts 47 straddling the top of the dispensing table 46, and can be linearly moved in the X direction by the X-axis moving means 40 provided on the upper part of the dispensing system 1. The dispensing heads 2a and 2b can be linearly moved in the Y direction by the Y-axis moving means 41 provided in the support 47. Furthermore, Z-axis moving means 42 for moving in the Z direction with respect to the column 47 is provided inside the dispensing heads 2a and 2b.
[0033] 図 4は、図 3中の分注ヘッド 2aを示す垂直断面図である。この分注ヘッド 2aは、可 動基台 51を、 Y軸移動機構 41を介して支柱 47に取り付けられている。この分注へッ ド 2a内部には、支柱 47に対して分注ヘッド 2a自身を Z方向へ移動させる場合や、テ イッブ 50を取り付ける場合に基台 51に対して可動基台 57を昇降動作させる Z軸移動 手段 42と、ティップ取り外し手段 53を作動させるために昇降する昇降手段 56を備え る。また、この分注ヘッド 2a下部には、縦横整列して、下方に突出して管形状を有す るティップ装着部 54を複数備える。このティップ装着部 54はティップ 50の開口部に 挿入して連結するものである。  FIG. 4 is a vertical sectional view showing the dispensing head 2a in FIG. In the dispensing head 2a, a movable base 51 is attached to a support 47 through a Y-axis moving mechanism 41. Inside the dispensing head 2a, the movable base 57 is moved up and down relative to the base 51 when the dispensing head 2a itself is moved in the Z direction with respect to the support 47 or when the tab 50 is attached. Z axis moving means 42 to be moved, and tip lifting means 56 to move up and down to operate the tip removing means 53 are provided. The dispensing head 2a has a plurality of tip mounting portions 54 that are vertically and horizontally aligned and project downward and have a tube shape. This tip mounting portion 54 is inserted into the opening of the tip 50 and connected.
[0034] ティップ取り外し手段 53は、縦横 (縦 8行 X横 12列）に整列した複数の穴を備える 板材 55であり、支柱 64を介して取り外し用可動部材 69に備える。板材 55の穴は、テ イッブ装着部 54を貫通しており、昇降手段 56の作動によりティップ取り外し手段 53を 昇降動作した際にティップ装着部 54と接触しない程度に大きいものである。  The tip detaching means 53 is a plate member 55 having a plurality of holes aligned in the vertical and horizontal directions (vertical 8 rows × horizontal 12 columns), and is provided in the detachable movable member 69 via the column 64. The hole of the plate member 55 penetrates the tab mounting portion 54 and is large enough not to come into contact with the tip mounting portion 54 when the tip removing means 53 is moved up and down by the operation of the lifting and lowering means 56.
[0035] 昇降手段 56は、基台 57上に備えるモータ 58aとこのモータ 58aの回転軸に備える プーリ 59aと、プーリ 59bとべノレト 60aを介して連結する ジ軸 6 laと力らなる。 62a, 6 2bはネジ軸 61 aによる移動を直線方向に案内するための直線案内手段である。  [0035] The elevating means 56 is powered by a motor 58a provided on the base 57, a pulley 59a provided on the rotation shaft of the motor 58a, and a shaft 6la connected via the pulley 59b and the benolet 60a. 62a and 62b are linear guide means for guiding the movement of the screw shaft 61a in the linear direction.
[0036] このティップ取り外し手段 53によりティップ装着部 54からティップ 50を取り外す手順 を以下に説明する。通常時は、板材 55は、ティップ装着部 54のティップ 50と当接す る箇所より上方にあり、ティップ取り外し時に昇降手段 56を作動して下方へ移動する ことでティップ 50と当接して、ティップ装着部 54からティップ 50を取り外すことができ る。 A procedure for removing the tip 50 from the tip mounting portion 54 by the tip removing means 53 will be described below. Normally, the plate material 55 is located above the point where the tip mounting portion 54 contacts the tip 50, and when the tip is removed, the lifting / lowering means 56 is operated to move downward. In this way, the tip 50 can be removed from the tip mounting portion 54 in contact with the tip 50.
[0037] 昇降手段 56の上方には、分注ヘッド 2a全体を昇降動作させる Z軸移動手段 42を 備える。この Z軸移動手段 42は、分注ヘッド 2a内に備えるモータ 58bと、このモータ 5 8bの回転軸に備えるプーリ 59cと、プーリ 59dとベルト 60bを介して連結するネジ軸 6 lbとを備える。ネジ軸 61bの可動部 63が可動基台 51に取り付けられており、モータ 5 8bの作動により可動基台 51が昇降動作する。 62c、 62dはネジ軸 61bによる移動を 直線方向に案内するための直線案内手段である。可動基台 51は、 Y軸移動手段 41 の可動部を介して支柱 47に取り付けられる。  [0037] Above the elevating means 56, a Z-axis moving means 42 for elevating and lowering the entire dispensing head 2a is provided. The Z-axis moving means 42 includes a motor 58b provided in the dispensing head 2a, a pulley 59c provided on a rotating shaft of the motor 58b, and a screw shaft 6 lb connected via the pulley 59d and the belt 60b. The movable part 63 of the screw shaft 61b is attached to the movable base 51, and the movable base 51 moves up and down by the operation of the motor 58b. 62c and 62d are linear guide means for guiding the movement of the screw shaft 61b in the linear direction. The movable base 51 is attached to the column 47 via the movable part of the Y-axis moving means 41.
[0038] 図 5は、分注ヘッド 2bの下端に取り付けられたキャップ 20の取り外し装置 3を示す 斜視図である。この分注ヘッド 2bは、図 4に示す分注ヘッド 2aのティップ取り外し手 段 53を係合手段 66に置き換えたものである。このため図 4の板材 55と支柱 64等を 取り外し、これに代えて係合手段 66を備える。ここで係合手段 66は、図 4の分注へッ ド 2bにおいて板材 55を昇降動作させていた昇降手段 56を使用して、係合手段 66の 可動部材 67を支持板 68に押しつけることで適正にキャップ 20を把持する動作を行う ことができる。なお、図 5と図 4中において、同一符号のものは同じものを指す。  FIG. 5 is a perspective view showing the removing device 3 for removing the cap 20 attached to the lower end of the dispensing head 2b. This dispensing head 2b is obtained by replacing the tip removing means 53 of the dispensing head 2a shown in FIG. For this purpose, the plate 55 and the support 64 shown in FIG. 4 are removed, and an engagement means 66 is provided instead. Here, the engagement means 66 uses the elevating means 56 that has moved the plate 55 up and down in the dispensing head 2b of FIG. 4 to press the movable member 67 of the engagement means 66 against the support plate 68. The cap 20 can be properly gripped. In FIG. 5 and FIG. 4, the same reference numerals indicate the same items.
[0039] 図 6は、係合手段 66を示す垂直断面図である。図 6 (a)は可動部材 67を動作させ る前の状態を示す側面図であり、図 6 (b)は、図の上部に記載の白抜き矢印方向に 可動部材を押しつけた後の状態を示す側面図である。 31、 32は、「く」の字形状を有 する第 1係合部材と第 2係合部材である。この第 1係合部材 31、第 2係合部材 32の 中間 (係合部材の屈曲箇所より下方）に孔部 70を備える。ここで、力点である第一係 合部材 31等の一端力 支点である支軸までの距離を長くすることで安定した動作が 可能である。該孔部 70に 1つの支軸 72を貫通して取り付けることで、同芯状で回動 可能に支持することができる。また、この支軸 72の側面周辺に弾性体であるぜんまい パネ 73を備える。ぜんまいパネ 73の一端は第一係合部材 31と第二係合部材 32と の一方の側部に掛止しており、他端は他方側部に引っかけて備えている。これにより 、図 6 (b)上部の上方力もの押しつける力（白抜き矢印方向の力）により、図 6 (b)下部 の第一係合部材 31等の側部左右（白抜き矢印)方向からパネ力が力かることとなる。 68は平板形状の支持板であり、この支持板 68は、垂直貫通穴 74を備えることで第 一係合部材 31と第二係合部材 32とを上方力も通すことができるとともに、垂直貫通 穴 74の縁部に支軸 72の両端部を支持するため、（後述する）凹形状の長溝 75を 2つ 備える。この支持板 68の両縁部付近に備える 2つの案内部材 76は、支持板 68に対 して可動部材 67を平行に移動を案内するために備える。案内部材 76の上端にはス トツパ 77を備えており、可動部材 67の高さ方向の動作範囲を制限している。この可 動部材 67は、支持板 68上に取り付けられた第一係合部材 31と第二係合部材 32の 上端と当接している。これにより、前述した分注ヘッド 2bのモータ 58bを作動した際に 可動部材 67が連動して第一係合部材 31と第二係合部材 32とを支持板 68にむけて 押すことができる。この結果、第一係合部材 31と第二係合部材 32は、それぞれ支軸 72を中心に互いに異なる方向に回動して図 6 (a)の状態から図 6 (b)の状態へと動作 する。第一係合部材 31と第二係合部材 32の下端をキャップ 20の上面凹部 24に挿 入して後、前述の動作により、キャップ凹部 24の内壁と当接してさらに、キャップ 20の 平面形状を円形力 楕円に変形させて保持及びキャップの取り外しをすることができ る。 FIG. 6 is a vertical sectional view showing the engaging means 66. Fig. 6 (a) is a side view showing a state before the movable member 67 is operated, and Fig. 6 (b) is a state after the movable member is pressed in the direction of the white arrow in the upper part of the figure. FIG. 31 and 32 are a first engagement member and a second engagement member having a “<” shape. A hole 70 is provided between the first engagement member 31 and the second engagement member 32 (below the bent portion of the engagement member). Here, stable operation is possible by increasing the distance to the support shaft that is the one-end force fulcrum of the first engagement member 31 or the like that is the power point. By attaching a single support shaft 72 through the hole 70, it can be supported concentrically and rotatably. Further, a mainspring panel 73 which is an elastic body is provided around the side surface of the support shaft 72. One end of the mainspring panel 73 is hooked on one side of the first engagement member 31 and the second engagement member 32, and the other end is hooked on the other side. 6 (b) from the left and right (white arrow) directions of the side of the first engagement member 31 and the like in the lower part of FIG. 6 (b) due to the pressing force (force in the direction of the white arrow) of FIG. 6 (b). Panel power will be strong. 68 is a flat plate-like support plate, and this support plate 68 is provided with a vertical through hole 74 so that an upward force can be passed through the first engagement member 31 and the second engagement member 32 and the vertical through hole is provided. In order to support both ends of the support shaft 72 at the edge of 74, two concave long grooves 75 (described later) are provided. The two guide members 76 provided near both edge portions of the support plate 68 are provided for guiding the movable member 67 in parallel with the support plate 68. A stopper 77 is provided at the upper end of the guide member 76 to limit the operating range of the movable member 67 in the height direction. The movable member 67 is in contact with the upper ends of the first engagement member 31 and the second engagement member 32 mounted on the support plate 68. Thus, when the motor 58b of the dispensing head 2b described above is operated, the movable member 67 can be interlocked to push the first engagement member 31 and the second engagement member 32 toward the support plate 68. As a result, the first engagement member 31 and the second engagement member 32 are rotated in different directions around the support shaft 72, respectively, to change from the state of FIG. 6A to the state of FIG. 6B. Operate. After the lower ends of the first engagement member 31 and the second engagement member 32 are inserted into the upper surface recess 24 of the cap 20, the above-described operation makes contact with the inner wall of the cap recess 24, and further the planar shape of the cap 20. Can be deformed into a circular force ellipse, and the cap can be removed.
[0040] 図 7は係合手段を示す斜視図である。図 7 (a)は、第一係合部材 31等を支持板 68 に挿入する前の状態を示す斜視図である。図 7 (b)は、第一係合部材 31等を挿入し た後の状態を示す斜視図である。この係合手段の支持板 68には、垂直貫通穴 74の 縁部に支軸 72をその内部に挿入して支持する長溝 75を備える。本実施例では、支 軸 72は第一係合部材 31等を貫通して備えるが、第一係合部材 31と第二係合部材 3 2に取り付けられた支軸 72の左右力も押さえ込む部材、例えば支軸 72に溝を 2っ設 けて第一係合部材 31等に貫通して備える支軸 72の左右端力も Cリング等で押さえ 込む構造とするもことができる。  FIG. 7 is a perspective view showing the engaging means. FIG. 7 (a) is a perspective view showing a state before the first engagement member 31 and the like are inserted into the support plate 68. FIG. FIG. 7B is a perspective view showing a state after the first engagement member 31 and the like are inserted. The support plate 68 of the engaging means is provided with a long groove 75 for inserting and supporting the support shaft 72 into the edge portion of the vertical through hole 74. In the present embodiment, the support shaft 72 is provided through the first engagement member 31 and the like, but a member that also presses down the lateral force of the support shaft 72 attached to the first engagement member 31 and the second engagement member 32, For example, it is possible to provide a structure in which two grooves are provided in the support shaft 72 and the left and right end forces of the support shaft 72 provided through the first engagement member 31 and the like are pressed by a C ring or the like.
[0041] 図 8の係合手段では、複数組の第一係合部材 31等を備える実施例を示す斜視図 である。図中の第一係合部材 31と第二係合部材 32は、細い棒状の部材であること から、支軸 72付近でのガタつきがあれば適当にキャップは取り外せない不具合が生 じる事がある。本実施例では、力点においてガタつきを抑えることで、支軸 72におい て力点より大きなガタつきを抑える力受けることができる構造について以下に説明す る。本実施例は、力点である第一係合手段 31等と当接する可動部材 67に案内溝 78 を備える。第一係合部材 31と第二係合部材 32とを案内溝 78内で滑らせて押圧する ことで案内溝 78の側壁がガイドとなり、ガタつきを大幅に抑えて動作させることができ る。 [0041] FIG. 9 is a perspective view showing an embodiment including a plurality of sets of first engaging members 31 and the like in the engaging means of FIG. Since the first engagement member 31 and the second engagement member 32 in the figure are thin rod-shaped members, there is a problem that the cap cannot be removed properly if there is a backlash near the support shaft 72. There is. In the present embodiment, a structure that can receive a force that suppresses the backlash greater than the power point on the support shaft 72 by suppressing the backlash at the power point will be described below. The In the present embodiment, a guide groove 78 is provided in the movable member 67 that comes into contact with the first engagement means 31 or the like that is the power point. By sliding and pressing the first engagement member 31 and the second engagement member 32 in the guide groove 78, the side wall of the guide groove 78 becomes a guide, and the operation can be performed with greatly reduced rattling.
[0042] 図 9は、図 8と異なる係合手段を示す斜視図である。 1組の櫛歯状の第一係合部材 31と第二係合手段 32とをそれぞれエアシリンダ 79a、 79bとを相対する直線方向に 作動させることで、キャップ 20を把持及び取り外し動作するものである。  FIG. 9 is a perspective view showing an engaging means different from FIG. A pair of comb-shaped first engaging member 31 and second engaging means 32 are operated in a linear direction opposite to air cylinders 79a and 79b, respectively, so that the cap 20 is gripped and removed. is there.
[0043] 図 10は、本発明のキャップ装着 ·取り外し装置 3によりキャップ 20を取り外す方法を 説明するためのものである。図 10 (a)の状態から図 10 (b)の状態となるように、キヤッ プ 20の上方からキャップ 20に、第一係合部材 31と第二係合部材 32とを (キャップ凹 部 24の底面と第一係合部材 31等とが接触しない距離 Sだけ隔てた程度)挿入する。 図 10 (b)の状態では、第一係合部材 31等の側部力もキャップ凹部 24の内壁までの 距離は Tだけ隙間を有しており、接触することなく挿入することができる。その後、図 1 0 (b)の状態力も図 10 (c)の状態となるように、キャップ凹部 24と第一係合部材 31と 第二係合部材 32とが当接する程度まで、はさみ形状の第一係合部材 31と第二係合 部材 32とが開く。その後、図 10 (c)の状態から図 10 (d)の状態となるように、 Y軸移 動手段 41を作動してチューブ 15ごとキャップ 20をラック 11から持ち上げる。その後、 図 10 (d)の状態力も図 10 (e)の状態となるように、第一係合部材 31と第二係合部材 32を、キャップの挿入部 22が鉛直方向から 。 傾斜するまで開くことで、キャップ 20 の形状を通常時円形力 楕円に変形して、さらに、自重に耐え切れなくなったチュー ブ 15が落下することでチューブ 15からキャップが取り外される。落下したチューブ 15 は、再びラック 11へと収納される。  FIG. 10 is a view for explaining a method of removing the cap 20 by the cap attaching / detaching device 3 of the present invention. From the state of FIG. 10 (a) to the state of FIG. 10 (b), the first engagement member 31 and the second engagement member 32 are placed on the cap 20 from above the cap 20 (the cap recess 24). ) And the first engagement member 31 and the like are separated by a distance S that does not contact). In the state of FIG. 10 (b), the side force of the first engagement member 31 and the like has a gap of T as far as the inner wall of the cap recess 24, and can be inserted without contact. Thereafter, the scissor-shaped force is adjusted so that the cap recess 24, the first engagement member 31, and the second engagement member 32 come into contact with each other so that the state force in FIG. 10 (b) also becomes the state in FIG. 10 (c). The first engagement member 31 and the second engagement member 32 are opened. Thereafter, the Y-axis moving means 41 is operated to lift the cap 20 together with the tube 15 from the rack 11 so that the state shown in FIG. 10 (c) is changed to the state shown in FIG. 10 (d). Thereafter, the first engaging member 31 and the second engaging member 32 are inserted from the vertical direction of the cap engaging portion 31 and the second engaging member 32 so that the state force of FIG. 10 (d) also becomes the state of FIG. 10 (e). By opening until it tilts, the shape of the cap 20 is deformed into a normal circular force ellipse, and when the tube 15 that can no longer bear its own weight falls, the cap 15 is removed from the tube 15. The dropped tube 15 is stored in the rack 11 again.
[0044] また、前述のキャップ取り外し手順を一回行っただけではキャップ 20が取り外せなか つた場合は図 10 (d)と図 10 (e)の状態を複数回繰り返すことにより確実にキャップを 取り外すことができる。  [0044] If the cap 20 cannot be removed by performing the cap removal procedure described above once, remove the cap securely by repeating the states of Fig. 10 (d) and Fig. 10 (e) multiple times. Can do.
[0045] 図 l l (a)、（b)は、図 10 (d)、（e)の状態を示した斜視図である。第一係合部材 31 と第二係合部材とを作動することによりキャップ 20が図 11 (a)から図 11 (b)の状態へ とキャップ凹部 24が楕円形に変形している。 図 12は、前述の方法により取り外したキャップ 20を再び装着する際の動作手順を 示す説明図である。図 12 (a)の状態となるように、取り外したキャップ 20をチューブ 1 5の開口部の上方に移動する。その後、図 12 (a)の状態から図 12 (b)の状態となるよ うに、図示しない Y軸移動手段 41の作動により第一係合部材 31等を降下すると共に 、第一係合部材 31と第二係合部材 32とを徐々に閉じていくことでチューブ 15とキヤ ップ 20の挿入部 22との間に隙間を作りながらキャップ 20を装着する。その後、図 12 (b)の状態力も図 12 (c)の状態となるように、第一係合部材 31と第二係合部材 32と が重なるまで閉じて、第一係合部材 31等を上昇すれば、装着動作は完了する。図 1 0 (a)と同様に第一係合手段 31等とキャップ凹部 24の内壁との間には隙間 Tがあり、 第一係合手段 31等を上昇する際にキャップと接触しないため、キャップ 20を誤って 持ちあげる不具合を防止できる。 FIGS. Ll (a) and (b) are perspective views showing the states of FIGS. 10 (d) and 10 (e). By operating the first engaging member 31 and the second engaging member, the cap recess 24 is deformed into an oval shape from the cap 20 to the state shown in FIG. 11 (b). FIG. 12 is an explanatory diagram showing an operation procedure when the cap 20 removed by the above-described method is mounted again. The removed cap 20 is moved above the opening of the tube 15 so that the state shown in FIG. Thereafter, the first engagement member 31 and the like are lowered by the operation of the Y-axis moving means 41 (not shown) so that the state shown in FIG. 12 (a) is changed to the state shown in FIG. 12 (b). The cap 20 is attached while making a gap between the tube 15 and the insertion portion 22 of the cap 20 by gradually closing the second engaging member 32 and the second engaging member 32. Thereafter, the first engagement member 31 and the second engagement member 32 are closed until the first engagement member 31 and the second engagement member 32 are overlapped so that the state force of FIG. 12 (b) is also in the state of FIG. 12 (c). If it rises, the mounting operation is completed. As in FIG. 10 (a), there is a gap T between the first engagement means 31 and the like and the inner wall of the cap recess 24, and when the first engagement means 31 and the like are raised, they do not come into contact with the cap. Prevents accidental lifting of the cap 20.

Claims

請求の範囲 The scope of the claims
[1] 試験管形状のチューブの上端面に取り付けられる凹部を有する弾性材料力 なるキ ヤップに、前記凹部の横断面形状を円形から楕円形に変形させて係合する係合手 段と、  [1] An engaging means for engaging a cap having an elastic material force having a concave portion attached to an upper end surface of a test tube-shaped tube by deforming the cross-sectional shape of the concave portion from a circular shape to an elliptical shape, and engaging the cap.
前記係合手段によって変形させて係合されたキャップを持ち上げて、前記キャップを 前記チューブから取り外す昇降手段とを備えたキャップの取り外し装置。  A cap detaching device comprising lifting and lowering means for lifting the cap deformed and engaged by the engaging means and removing the cap from the tube.
[2] 前記係合手段が、支軸によって回動可能に支持された第一係合部材と第二係合部 材とからなり、第一係合部材と第二係合部材とを、前記支軸を中心に互いに異なる方 向に回動させてキャップと係合することを特徴とする請求項 1に記載のキャップの取り 外し装置。 [2] The engagement means includes a first engagement member and a second engagement member that are rotatably supported by a support shaft, and the first engagement member and the second engagement member are 2. The cap removing device according to claim 1, wherein the cap removing device is engaged with the cap by rotating in directions different from each other about the support shaft.
[3] 前記係合手段が、第一係合部材と第二係合部材とからなり、第一係合部材と第二係 合部材とを、相対する方向に水平移動させてキャップと係合することを特徴とする請 求項 1に記載のキャップの取り外し装置。  [3] The engagement means includes a first engagement member and a second engagement member, and the first engagement member and the second engagement member are horizontally moved in opposite directions to engage with the cap. The cap removal device according to claim 1, wherein
[4] 前記係合手段が、前記支軸の周囲、または、第一係合部材および第二係合部材の 外周に備えられる弾性部材と、第一係合部材と第二係合部材とを回動可能に支持 する支持板と、第一係合部材と第二係合部材を下方に押付けて、第一係合部材およ び第二係合部材を回動させてキャップを把持又は取り外す可動部材とを備えている ことを特徴とする請求項 2に記載のキャップの取り外し装置。  [4] The engagement means includes an elastic member provided around the support shaft or on the outer periphery of the first engagement member and the second engagement member, and the first engagement member and the second engagement member. The support plate, which is rotatably supported, the first engagement member and the second engagement member are pressed downward, and the first engagement member and the second engagement member are rotated to grasp or remove the cap. The cap removing device according to claim 2, further comprising a movable member.
[5] 前記係合手段が、前記第一係合部材と前記第二係合部材とを一組とする複数組を 備えていることを特徴とする請求項 4に記載のキャップの取り外し装置。  5. The cap removing device according to claim 4, wherein the engaging means includes a plurality of sets in which the first engaging member and the second engaging member are set as one set.
[6] 前記可動部材が、第一係合部材及び第二係合部材と当接する箇所に長溝状の案 内手段を備えていることを特徴とする請求項 4又は 5に記載のキャップの取り外し装 置。  [6] The removal of the cap according to claim 4 or 5, wherein the movable member is provided with a long groove-like guide means at a position where the movable member comes into contact with the first engagement member and the second engagement member. Equipment.
[7] 凹部を有する弾性材料力 なるキャップの前記凹部の横断面形状を円形力 楕円形 に変形させて係合する機能と、係合した状態から、係合を解いて前記キャップの形状 を楕円形から円形に復帰させる機能を備えた係合手段と、  [7] An elastic material force having a recess The function of engaging the cap by deforming the cross-sectional shape of the recess into a circular force elliptical shape, and releasing the engagement from the engaged state, the shape of the cap is elliptical An engagement means having a function of returning from a shape to a circle;
前記キャップを試験管形状のチューブの上端面に挿入して、前記キャップをチュー ブに装着する昇降手段とを備えたキャップの装着装置。 A cap mounting device comprising: elevating means for inserting the cap into an upper end surface of a test tube-shaped tube and mounting the cap on a tube.
[8] 試験管形状のチューブの上端面に凹部を有する弾性材料力 なるキャップを取り付 け、 [8] Attach a cap made of elastic material having a recess on the upper end surface of the test tube shape tube,
前記凹部を有する弾性材料力 なるキャップに、前記凹部の横断面形状を円形から 楕円形に変形させて係合し、  An elastic material force cap having the recess is engaged by deforming the cross-sectional shape of the recess from a circle to an ellipse,
変形させて係合されたキャップを上方に持ち上げて、前記キャップを前記チューブか ら取り外すステップを備えたキャップの取り外し方法。  A method of removing a cap, comprising: lifting the deformed and engaged cap upward and removing the cap from the tube.
[9] 前記凹部の横断面形状を円形力 楕円形に変形させるときに、楕円形の長径の長さ を変化させる、請求項 8に記載のキャップの取り外し方法。 9. The method for removing a cap according to claim 8, wherein when the cross-sectional shape of the concave portion is deformed into a circular force ellipse, the length of the major axis of the ellipse is changed.
[10] 試験管形状のチューブの上端面力 取り外された凹部を有する弾性材料力 なるキ ヤップの前記凹部に、横断面形状を円形力 楕円形に変形させて係合し、 変形され係合されたキャップを、前記チューブの上端面の上方から下方に向かって 降下して前記チューブに挿入し、 [10] Force of upper end surface of tube having test tube shape Elastic material force having recessed portion removed. Engaged with the recessed portion of the cap by deforming the cross-sectional shape into a circular force oval, deformed and engaged. The cap is lowered from above the upper end surface of the tube and inserted into the tube,
係合を解いて前記キャップの形状を楕円形力 円形に復帰させるステップを備えた キャップの取り付け方法。  A method of attaching a cap, comprising the step of releasing the engagement to return the shape of the cap to an elliptical force circle.
PCT/JP2007/062281 2006-06-20 2007-06-19 Cap mounting device, cap demounting device, cap mounting method, and cap demounting method WO2007148675A1 (en)

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JP2006170333A JP2009120200A (en) 2006-06-20 2006-06-20 Apparatus for mounting cap, apparatus for removing, method for mounting and method for removing
JP2006-170333 2006-06-20

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Cited By (2)

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EP2192042A1 (en) * 2008-11-28 2010-06-02 Eskiss Packaging Method and device for filling several vials intended to receive a specified dose of a product
TWI817625B (en) * 2022-07-25 2023-10-01 致茂電子股份有限公司 Test tube capping apparatus

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JP5757927B2 (en) * 2012-11-02 2015-08-05 株式会社椿本チエイン Cap mounting device
EP2871031B1 (en) * 2013-10-18 2018-04-25 Pall Life Sciences Belgium BVBA Disposable production line for filling and finishing a product
JP5971783B1 (en) * 2015-11-25 2016-08-17 株式会社椿本チエイン Cap picking device

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JP2003231588A (en) * 2002-02-07 2003-08-19 Nippon Support System Kk Unsealing apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2192042A1 (en) * 2008-11-28 2010-06-02 Eskiss Packaging Method and device for filling several vials intended to receive a specified dose of a product
TWI817625B (en) * 2022-07-25 2023-10-01 致茂電子股份有限公司 Test tube capping apparatus

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