WO2007148675A1

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

Info

Publication number: WO2007148675A1
Application number: PCT/JP2007/062281
Authority: WO
Inventors: Yukito Yamasaki
Original assignee: Is Technology Japan, Inc.
Priority date: 2006-06-20
Filing date: 2007-06-19
Publication date: 2007-12-27
Also published as: JP2009120200A

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

Cap installation device, removal device, installation method and removal method

[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.

Background

[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] 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.

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] 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.

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] 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.

Patent Document 1: Japanese Patent Laid-Open No. 2005-3423

Disclosure of the invention Problems to be solved by the invention

[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] 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] 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] 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.

Means for solving the problem

[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] 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] 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] 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] 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] 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] 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] 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] 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] 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] 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] 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 invention's effect

[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] 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] 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] 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] 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.

Brief Description of Drawings

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 | movement which an engaging part removes a cap.

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.

Explanation of symbols

[0031] 1 dispensing system

2a, 2b dispensing head

3 Cap mounting 'Removal device rack

Uel

Tube

Tube bottom

Caps

Flange

Insertion section

Contact part

Cap recess

Inner wall recess

First engaging member Second engaging member

X axis moving means

Y axis moving means

Z axis moving means

Microplate dispensing stand

Prop

Tip

Movable base

Tip removal means Tip mounting part Plate material

Lifting means

Base

a, 58b motor

a, 59b, 59c, 59d Pulley 60a, 60b bell

61a, 61b Screw shaft

62a, 62b, 62c, 62d Linear guide means

63 Moving parts

64 props

66 Engagement means

67 Movable parts

68 Support plate

69 Movable parts for removal

70 hole

72 spindle

73 Mainspring panel (elastic body)

74 Vertical through hole

75 Long groove (Guide means)

76 Guide members

77 Stopper

78 Guide groove

79a, 79b Air cylinder

80 (conventional) dispensing system

81 Cap attaching device, removing device

82 microplate

83 dispensing equipment

85 Holder

86 Alignment mechanism

87 Holder tilt mechanism

88 Holder lifting mechanism

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.

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.

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] 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. 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] 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.

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.

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.

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] 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.

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. 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] 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.

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

The scope of the claims

[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.

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] 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] 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] 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. 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] 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] 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;

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] Attach a cap made of elastic material having a recess on the upper end surface of the test tube shape tube,

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,

A method of removing a cap, comprising: lifting the deformed and engaged cap upward and removing the cap from the tube.

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] 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,

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.