JP2003014770A - Plug opening device and partially injecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To open a plug in correspondence to both of a force plug and a screw plug in a partially injecting device. SOLUTION: At a first plug opening mode, in a state that a test tube 12 is held by a container holding mechanism 49, a plug 16 is seized by a manipulator 40, and the plug 16 is horizontally reciprocated and simultaneously pulled upward. At a second plug opening mode, similarly, in a state that a test tube 14 is held by the container holding mechanism 49, a plug 18 is seized by the manipulator 40, and a rotation mechanism 46 is operated, thereby driving to rotate the plug 18. When an overload sensor 52 detects an overload, the first plug opening mode is switched to the second plug opening mode, and when an overload sensor 56 detects an overload, the second plug opening mode is switched to the first plug opening mode.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cap opening device and a dispensing device equipped with the cap opening device, and more particularly to opening of a pushing plug and a screw cap.

[0002]

2. Description of the Related Art A dispensing device is a device for sucking a liquid (sample, reagent, etc.) in a test tube (tube) as a container and discharging it in small amounts into another test tube. For example, the sample can include blood and urine. The test tube is provided with a stopper if necessary, and it is necessary to open the stopper before removing the liquid when dispensing the liquid. Therefore, some conventional dispensing devices have an opening mechanism (see, for example, Japanese Patent Laid-Open No. 8-91488).

The stopper of the test tube may be, for example, a simple stopper such as a rubber stopper, and such a push-in stopper can be opened basically by pulling it upward. . A similar stopper can be opened by holding the stopper and pulling the test tube downward. There has also been proposed an opening device that slightly swings (reciprocates) the plug horizontally when removing the push plug.

Further, examples of the stopper of the test tube include a screw stopper having a threaded portion. That is, a threaded portion is formed on the inner surface or outer surface of the upper portion of the test tube, and both threaded portions are screwed together.

The conventional dispensing device is equipped with a dedicated opening mechanism corresponding to the type of the stopper of the test tube to be inserted. That is, a mechanism for pulling the stopper upward is mounted on the push-in stopper, and a mechanism for rotating the stopper is mounted on the screw stopper.

[0006]

By the way, various test tubes (including blood collection tubes and other tubes) are handled in clinical laboratories and the like, and test tubes provided with push-in stoppers and screw stoppers are provided. It would be very convenient if the test tubes could be mixed and put into the dispensing device. However, conventionally, it has not been possible to sufficiently meet such a demand. Further, even if both types of plugs can be dealt with, if an erroneous determination of the type or the like occurs, an excessive load is applied because the drive mechanism performs an improper operation. For example, if the operation of the dispensing device is stopped due to an excessive load, the dispensing work efficiency is significantly adversely affected. Such a problem can be similarly pointed out in the case of opening a plurality of types of stoppers in devices other than the dispensing device.

The present invention has been made in view of the above conventional problems, and an object of the present invention is to make it possible to open a stopper corresponding to a push-in stopper and a screw stopper.

Another object of the present invention is to ensure an appropriate opening operation even if an erroneous determination of the type of the stopper occurs.

[0009]

(1) In order to achieve the above object, the present invention provides a container holding means for holding an upright container and a plug holding means for holding a stopper provided in an opening of the container. With respect to the container held by the container holding means,
Conveying means for relatively separating the stopper held by the stopper holding means, rotating means for rotating the stopper held by the stopper holding means relative to the container held by the container holding means, A means for controlling the operation of the conveying means and the rotating means, wherein in the first uncapping mode for a push-in stopper, the conveying means is operated to execute control for removing the stopper from the container, In a second uncapping mode, the control means operates the rotating means to control the removal of the stopper from the container, and performs the opening corresponding to both the push-in stopper and the screw stopper. It is characterized by obtaining.

According to the above-mentioned structure, the first plug corresponding to the push-in plug is provided.
When the uncapping mode is selected, the operation of pulling the stopper away from the container is performed, while when the second uncapping mode corresponding to the screw stopper is selected, the operation of rotating the stopper with respect to the container Is executed. In this way, since the cap opening mode can be switched according to the plug type, it is not necessary to prepare a dedicated cap opening device for each plug type.

The container holding means holds the movement of the container at least when the stoppers are relatively separated and when the stoppers are relatively rotated. For example, when a container such as a test tube is stored in a rack, the container may be held with the container pulled up from the rack, or the container may be held in the rack. You may go. Relative pulling separates at least one of the container and the stopper from the other. Relative rotation is the rotation of at least one of the container and the stopper with respect to the other. The cap opening mode may be selected based on the judgment result by judging the cap type (or the container type if there is a correspondence between the cap and the container), or based on the separately input data. You may choose.

Preferably, the control means includes an overload detection means for detecting at least one of an overload at the time of separation by the transport means and an overload at the time of rotation by the rotation means. When the load is detected, the opening mode is switched. According to this configuration, one of the opening modes can be executed first, and if the operation is defective, it can be switched to the other opening mode, so that it is possible to cope with an erroneous setting of the opening mode, or An appropriate opening mode can be selected on a trial basis without determining the type of the stopper.

(2) Further, in order to achieve the above object,
The present invention is a container holding means for holding an upright container, a plug holding means for holding a stopper provided in the opening of the container,
The container held by the container holding means is held by the stopper holding means with respect to the carrying means for relatively separating the stopper held by the stopper holding means and the container held by the container holding means. Rotating means for relatively rotating the stopper, first overload detecting means for detecting an overload when the conveying means is separated, and second overload detecting means for detecting an overload when the rotating means rotates. A means for controlling the operation of the conveying means and the rotating means, wherein in the first uncapping mode for a push-in stopper, the conveying means is operated to execute control for removing the stopper from the container, Control means for operating the rotating means to perform control to remove the stopper from the container in the second opening mode for the stopper, wherein the control means is in the execution of the first opening mode. smell When the first overload detection means detects an overload, the opening mode is switched from the first opening mode to the second opening mode, and the second opening mode is executed during execution of the second opening mode. When the load detecting means detects an overload, the opening mode is switched from the second opening mode to the first opening mode.

According to the above construction, when an overload is detected during execution of one of the opening modes, it is judged that the opening mode is selected incorrectly or is not appropriate, and one opening mode is changed to the other opening mode. The opening mode is switched to the opening mode of.
In this way, an appropriate opening mode can be selected by utilizing the simple method of overload detection.

Desirably, the container includes a determination means for determining the type of the stopper provided on the container prior to the opening operation, and the control means first selects the stopper according to the type of the stopper determined by the determination means. Determine the mode. This determination means determines the type of the stopper from the captured image, the output of the optical sensor group, and other information. The stopper itself may be the detection target, or the correspondence relationship between the stopper and the container is clear. If so, the type of the stopper may be indirectly determined by using the container as the determination target.

[0016] Preferably, in the first opening mode, the control means executes control to relatively separate the stopper from the container while horizontally reciprocating the stopper. With this configuration, the push-in plug can be pulled out of the container more smoothly. The horizontal reciprocating motion includes rocking motion and the like.

Preferably, the control means rotates the stopper relative to the container in a state in which the vertical holding force of the stopper is reduced in the second opening mode.
When the screw stopper is rotated, the stopper itself moves in the detaching direction due to the meshing action of the screws. The stopper is vertically free or semi-free so as not to restrict its movement.

(3) In order to achieve the above object,
The present invention provides a test tube holding means for holding a test tube containing a liquid to be dispensed, a plug holding means for holding a plug provided in an opening of the test tube, and a test tube holding means. The transport means for separating the stopper held by the stopper holding means relative to the test tube, and the stopper held by the stopper holding means relative to the test tube held by the test tube holding means. A rotation means for rotating the feeding means and a means for controlling the operation of the carrying means and the rotating means. In the first uncapping mode for a push-in stopper, the carrying means is operated to remove the stopper from the test tube. In the second opening mode for the screw stopper, the rotating means is operated to remove the stopper from the container, and the liquid in the test tube after opening is divided. Injecting nozzle mechanism, Even if the push plug is provided is a test tube and screw stopper provided tubes are mixed up, characterized in that may perform unplugging according to the type of plug.

Desirably, a first overload detecting means for detecting an overload when the stopper is separated by the conveying means, and a second overload detecting means for detecting an overload when the stopper is rotating by the rotating means, When the first overload detection means detects an overload during execution of the first opening mode, the control means opens the first opening mode to the second opening mode. If the second overload detection means detects an overload during the execution of the second cap opening mode, the cap opening mode is changed from the second cap opening mode to the first cap opening mode. Switch.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing the entire structure of the dispensing apparatus according to the present invention. This dispensing device has a cap opening function.

A rack 10 is placed on the dispensing table of the dispensing apparatus, and the rack is transported by a rack transport mechanism (not shown). The rack 10 holds a plurality of test tubes 12 and 14 upright. Test tube 12,14
Is a container containing a sample such as blood or urine,
This container may be a blood collection tube or the like.

The test tubes 12 and 14 are provided with stoppers 16 and 18, respectively, on their upper portions. Where the test tube 12
A stopper 16 is attached to the upper opening of the stopper 16.
Is a push stopper such as a rubber stopper. Specifically, the upper opening 1
The upper opening 12A is sealed with the protruding portion 16A of the stopper 16 being inserted into 2A. Further, in the test tube 14, the stopper 18 provided in the upper opening is a screw stopper. The screw stopper has a main body that is widened in the horizontal direction and a screw portion that extends in a cylindrical shape downward from the peripheral edge thereof, and a screw portion 18A is formed on the inner surface of the screw portion. The screw portion 14A is also provided on the upper portion (outer surface) of the test tube 14.
Is formed, and the plug 18 is attached to the upper portion of the test tube 14 by engaging these screw portions 18A and 14A.

In the dispensing apparatus of the present embodiment, as described above, it is possible to mix test tubes (plugs) having different types and to put them in. By the mechanism as described below, Appropriate opening operation can be performed for each type of stopper.

In FIG. 1, the dispensing apparatus has an opening unit 20, a dispensing unit 22, a type determining unit 24 and a system controller 26 in this embodiment. As will be described later, the cap opening unit 20 includes a mechanism that supports both a first cap opening mode corresponding to a push cap and a second cap opening mode corresponding to a screw cap. The dispensing unit 22 is a unit that sucks the liquid from the test tube 12 ′ after opening the cap and discharges the liquid to another container. The type determination unit 24 is a unit for automatically recognizing the type of test tube or the type of stopper.
The system controller 26 has a type determination unit 32 and a cap opening control unit 34, which will be described later, and controls the overall operation of this device.

The units 20, 22, 24 will be described in detail below. First, the type determining unit 24 will be described. The type determining unit 24 is a unit for automatically determining the type of the test tube or the stopper as described above, and in the present embodiment, the CCD image pickup device 30.
have. The CCD image pickup device 30 picks up an image of the upper part of the test tubes 12 and 14 conveyed from the lateral direction and outputs the picked-up image data to the system controller 26. As a result, the system controller 2
The type determination unit 32 provided in 6 performs image recognition,
Determine the type of test tube or stopper. of course,
Instead of the CCD image pickup device 30 as described above, a plurality of optical sensors or other sensors may be arranged. Alternatively, when a barcode label or the like is attached to the test tubes 12 and 14 and the label contains information indicating the type of the stopper, the barcode label is optically read and the stopper is read from the read result. The type may be determined. As another method, for example, a sensor for detecting the length, thickness, color, etc. of the test tube may be provided and the type may be determined based on the information. By the way, in the present embodiment, even if there is an error in the determination of such a plug type, such a determination error can be dealt with by the opening mode switching control described later.

Next, the opening unit 20 will be described. The cap opening unit 20 has a manipulator 40, a rotation mechanism 46, and the like. The manipulator 40 includes a finger portion 42 and a finger driving portion 44, and the finger portion 42 includes a pair of fingers 42A and 42B. By driving the pair of fingers 42A, 42B to open and close by the finger drive unit 44, the plugs 16, 1
You can grab the 8 or release it. In the present embodiment, the side end surfaces of the plugs 16 and 18 are held by the pair of fingers 42A and 42B.
Of course, various methods can be used for the grasping method. The manipulator 40 is rotationally driven by the rotating mechanism 46. In this case, since it corresponds to the screw stopper, it may be rotationally driven in one direction or may be rotationally driven in both directions. When the rotating mechanism 46 is operated, the manipulator 40 rotates, and as a result, the plugs 16 and 18 held by the fingers 42A and 42B also rotate.

The cap opening unit 20 has a container holding mechanism 49. The container holding mechanism 49 includes a pair of gripping pieces 49.
A and 49B, and a pair of gripping pieces 49 thereof.
By opening and closing A and 49B, the test tube 12,
It is possible to grab 14 or release it. When holding the test tubes 12 and 14, the gripping pieces 49A and 49B are inserted above the rack 10. On the other hand, at the stage when the opening operation is completed, the pair of gripping pieces 49A and 49B are attached to the rack 10. Retreat horizontally from above. Of course, various configurations can be adopted as the container holding mechanism 49, and for example, a mechanism for holding the test tube 12 in a state where the test tube 12 is pulled up by the manipulator 40 may be used. Other mechanisms may be used.

The manipulator carrying mechanism 48 is a mechanism for carrying the cap opening unit 20 in the vertical and horizontal directions, and is provided with a drive mechanism for each direction. While holding the test tubes 12 and 14 by the container holding mechanism 49, and by the manipulator 40
If the manipulator transport mechanism 48 pulls up the cap opening unit 20 in the state of holding the plugs 6 and 18, the plug 16 that is the push plug can be removed, and such pulling up does not take place. And the rotation mechanism 46
By operating, the plug 18 which is a screw plug can be removed.

Incidentally, in the present embodiment, in the first opening mode in which the pushing plug 16 is opened, the manipulator transfer mechanism 48 pulls the plug 16 upward and the plug 16 moves horizontally. It is reciprocatingly driven, and a smooth removal of the stopper 16 is achieved by such a combined operation. Further, in the second opening mode in which the screw stopper is opened, the holding force of the manipulator transport mechanism 48 in at least the Z direction (vertical direction) is reduced, that is, the current in the servo control is cut, and the vertical direction is changed. In the extremely free state, the rotation mechanism 46 rotationally drives the stopper 18, which is a screw stopper.

The drive circuit 50 is a circuit controlled by the opening control section 34, and a drive signal is output from the drive circuit 50 to the manipulator transport mechanism 48. In this case, servo control is executed. Overload sensor 52
Is a sensor that monitors a drive signal in the drive circuit 50 and detects an overload based on the magnitude of the signal. Of course, the overload may be detected by another method. The same applies to the overload sensor 56 described later. When the overload sensor 52 detects an overload, a detection signal is output to the opening control section 34.

The drive circuit 54 is a circuit that supplies a drive signal to the rotating mechanism 46.
Is controlled by the opening control unit 34. Overload sensor 5
6 is a drive circuit 54 similar to the overload sensor 52 described above.
Is a sensor that monitors a drive signal, which is an output signal of, and detects an overload based on the magnitude of the signal. When an overload is detected, a detection signal from the overload sensor 56 is output as the opening control unit 3
4 is output. The drive circuit 58 is a circuit that supplies a drive signal to the finger drive unit 44, and the drive circuit 60 is a circuit that supplies a drive signal to the container holding mechanism 49. The drive circuits 58 and 60 are the above-mentioned opening control section 3
Controlled by 4.

Explaining the dispensing unit 22, the dispensing unit 22 roughly includes a dispensing nozzle 66, a dispensing pump 62, and a nozzle transport mechanism 64. The dispensing nozzle 66 is a resin or metal nozzle, and is a device for sucking and discharging the liquid. In FIG. 1, a rack 10 ′ that has been conveyed below the dispensing unit 22 is shown, and a plurality of test tubes 12 ′ and 14 ′ are held upright in the rack 10 ′.

A dispensing pump 62 is connected to the dispensing nozzle 66 via an air tube or the like, and the dispensing pump 62 generates a discharge force and a suction force. The nozzle transport mechanism 64 is similar to the conventional dispensing device in that the dispensing nozzle 6
This is a mechanism for freely transporting 6 in three-dimensional directions. The operations of the dispensing pump and the nozzle transport mechanism 64 are controlled by the system controller 26.

As described above, the system controller 26 has the type determination unit 32 for determining the type of container (plug) for each test tube 12, 14, and the determination result is stored in the opening control unit 34. It has been passed. The cap opening control unit 34 is a unit that controls the cap opening operation, and the cap opening control unit 34 is a first unit.
The operation control mode includes an opening mode and a second opening mode. Incidentally, the system controller 26 is provided with a memory for storing information of the determined type for each test tube 12, 14. Of course, such type of information may be supplied as data from an external main system instead of being automatically recognized.

Next, a specific control operation example of the opening control section 34 shown in FIG. 1 will be described with reference to FIG.

First, in S101, the target test tube 1
The manipulator 40 positioned above 2 is pulled down by the manipulator transport mechanism. S
At 102, when the plug 16 is detected by an optical sensor (not shown) or the like, the manipulator 40 stops descending at that position. Then, in S103, the pair of fingers 42A, 42B are closed to hold and hold the plug 16 from its lateral direction.
At the same time, the test tube 12 is also gripped and held.

In S104, the system controller 26
Reference is made to the test tube 12 registered above, specifically the type of stopper 16. Here, if the stopper 16 is a push stopper, the steps after S105 are executed, while if the stopper 16 is a screw stopper, the steps after S111 are executed. Here, for convenience, the following description will be made assuming that the plug 16 is a push plug.

At S105, the manipulator transport mechanism 4
By the action of 8, the operation of pulling up the plug 16 while reciprocating the plug 16 grasped by the pair of fingers 42A and 42B in the horizontal direction by, for example, several mm is started. In S106, it is determined whether or not an overload is detected during execution of such a first uncapping mode. Here, when a detection signal is output from the overload sensor 52,
The control shifts to the step S111 which is the second opening mode.

On the other hand, if such an overload is not detected, the stopper 16 is opened in S107, and then the stopper 16 is pulled up by a predetermined amount. Here, the rising distance is, for example, several cm. The Z movement speed at this time may be higher. This improves the processing capacity of the entire system. Further, the left and right reciprocating motion may be stopped after the opening.

Next, in S108, the manipulator 40
The manipulator 40 is positioned above the waste box when the stopper 16 is gripped by the. Before or after that, the test tube 12 is grasped and released. And
In S109, by opening the pair of fingers 42A and 42B, the grasped plug 16 is grasped and released, and it is dropped into the waste box. In S110,
The manipulator is transported to the origin position. In S116, it is determined whether or not there is a next test tube, and if there is a next test tube, the above-described steps from S101 are repeatedly executed.

On the other hand, in S104, when it is determined that the stopper attached to the target test tube is the screw stopper,
The second uncapping mode is executed, that is, in S111, the Z-direction servo control in the manipulator transport mechanism 46 is stopped, whereby the uncapping unit 20 or the manipulator 40 is set in the vertical free state. Then, in S112, the manipulator 40 is rotationally driven by the rotating mechanism 46, and thereby the plug grasped by the pair of fingers 42A and 42B is rotationally driven in one direction. In this case, when an overload is detected by the overload sensor 56 in S113, the cap opening mode is switched from the second cap opening mode to the first cap opening mode. Specifically, the process proceeds to S105. . On the other hand, S
If the overload is not detected in 113, S114 is executed, the plug grasped after the cap is opened is further pulled up by a predetermined distance, and then the above-described steps of S108 transition are executed.

As described above, according to the present embodiment, even if the incorrect opening mode is selected by the detection of the overload (see S106 and S113), it is possible to switch to the correct opening mode. Since it is possible, even if the accuracy of the type determination described above is low or the determination is erroneous, there is an advantage that the opening operation can be appropriately performed by coping with it. If there is any error, the overload is detected in both S106 and S113, but in that case, the error is determined in S115 and the operation of the apparatus is forcibly stopped.

As described above, the dispensing device according to this embodiment has an advantage that it can automatically perform an appropriate opening operation by automatically responding to both the pushing plug and the screw plug. Furthermore, since it is possible to put a test tube having a stopper having such a plurality of types into a dispensing device,
There is an advantage that convenience can be improved.

[0045]

As described above, according to the present invention,
The opening can be performed corresponding to both the push stopper and the screw stopper.

[Brief description of drawings]

FIG. 1 is a block diagram showing a preferred embodiment of a dispensing device according to the present invention.

FIG. 2 is a flowchart showing an operation example of an opening control section shown in FIG.

[Explanation of symbols]

10 racks, 12,14 test tubes, 16,18 stoppers,
20 opening unit, 22 dispensing unit, 24 type judging unit, 26 system controller.

Claims (8)

[Claims] 1. A container holding means for holding an upright container, a stopper holding means for holding a stopper provided in an opening of the container, and a container held by the container holding means for the stopper holding means. Conveying means for relatively separating the held stopper, rotation means for relatively rotating the stopper held by the stopper holding means with respect to the container held by the container holding means, the conveying means and the rotation A means for controlling the operation of the means, wherein in the first uncapping mode for a push-in stopper, a control for activating the transporting means to remove the stopper from the container is executed to target a screw stopper. 2 In the uncapping mode, a control unit that operates the rotating unit to execute control to remove the cap from the container is included, and the cap can be opened corresponding to both the push cap and the screw cap. To open apparatus. 2. The apparatus according to claim 1, further comprising overload detection means for detecting at least one of an overload at the time of separation by the transport means and an overload at the time of rotation by the rotation means, and the control means. A cap opening device that switches the cap opening mode when the overload detection unit detects an overload. 3. A container holding means for holding an upright container, a stopper holding means for holding a stopper provided at an opening of the container, and a container held by the container holding means for the stopper holding means. A conveying means for relatively separating the held stopper, a rotating means for relatively rotating the stopper held by the stopper holding means with respect to the container held by the container holding means, and a separating means by the conveying means First to detect the overload of
Overload detection means, second overload detection means for detecting overload at the time of rotation by the rotation means, means for controlling the operations of the transport means and the rotation means, and which is directed to a push-plug 1 In the uncapping mode, the transfer means is operated to control to remove the stopper from the container, and in the second uncapping mode for screw stoppers, the rotating means is operated to remove the stopper from the container. A control unit that executes control, wherein the control unit is configured to change the first opening mode from the first opening mode when the first overload detection unit detects an overload during execution of the first opening mode. When the second opening mode is switched to the second opening mode and the second overload detection means detects an overload during execution of the second opening mode, the second opening mode is changed to the first opening mode. Open mode Cap removal apparatus characterized by switching the mode. 4. The apparatus according to claim 3, further comprising a determination unit that determines the type of the stopper provided on the container prior to the opening operation, and the control unit determines the type of the stopper determined by the determination unit. The opening device is characterized in that the opening mode to be selected first is determined according to. 5. The apparatus according to claim 3, wherein the control means, in the first opening mode, performs control to relatively separate the stopper from the container while reciprocating the stopper in a horizontal direction. An opening device, which is characterized by being executed. 6. The apparatus according to claim 3, wherein in the second opening mode, the control unit relatively moves the stopper relative to the container in a state in which the vertical holding force of the stopper is reduced. A cap opening device characterized by being rotated to. 7. A test tube holding means for holding a test tube containing a liquid to be dispensed, a plug holding means for holding a plug provided in an opening of the test tube, and the test tube holding means. Conveying means for separating the stopper held by the stopper holding means relative to the held test tube, and the stopper held by the stopper holding means relative to the test tube held by the test tube holding means. And a rotation means for rotating the transfer means and a means for controlling the operation of the transfer means and the rotation means. In the first uncapping mode for a push-in stopper, the transfer means is operated to move the stopper from the test tube. To remove the stopper from the container by operating the rotating means in the second opening mode for the screw stopper, and the liquid in the test tube after opening. With a nozzle mechanism for dispensing Hints, even if the push plug is provided is a test tube and screw stopper provided tubes are mixed up, the dispensing apparatus characterized by capable of performing unplugging according to the type of plug. 8. The apparatus according to claim 7, wherein first overload detection means detects an overload when the stopper is separated by the conveying means, and overload when the rotation means rotates the stopper. Two
An overload detecting unit; and the control unit, when the first overload detecting unit detects an overload during execution of the first opening mode, sets the first opening mode from the first opening mode. If the second overload detection means detects an overload during execution of the second opening mode, the second opening mode is switched to the second opening mode. Dispensing device characterized by switching the opening mode to the mode.