JP2023030516A - Lid closing device and inspection system - Google Patents

Abstract

To provide a lid closing device that can close the lid of a container without requiring a skilled worker to teach how to close a lid.SOLUTION: A lid closing device 100 includes: a positioning unit 10 having a hole part 11 in which a tube 200 is to be inserted, the positioning unit positioning the tube 200 inserted in the hole part 11; a lid closing unit 20 for closing a lid 201 by moving a lid 201 so that the lid will cover an opening end 203 of the tube 200; a driving unit 21 for linearly moving the lid closing unit 20; and a control unit 30 for controlling the movement of the lid closing unit 20 by the driving unit 21.SELECTED DRAWING: Figure 15

Description

The present disclosure relates to a lid-closing device and inspection system, and more particularly to a lid-closing device and inspection system for closing container lids.

Conventionally, robots for closing container lids have been disclosed. For example, Patent Literature 1 discloses a robot that closes a lid of a composite container containing a specimen. The robot consists of a vertical articulated robot. The robot includes an arm and a hand attached to the tip of the arm. Two fingers are arranged on the hand. A composite container is made of a resin material. A composite container includes a tubular body in which a specimen is contained. The lid is connected to the body by an elastically deformable strip-shaped strap. The lid includes a plate-like flange and a fitting part that protrudes from the flange and is fitted to the tubular body. The robot pushes the outside of the lid with one finger of the hand to move the lid, thereby inserting the fitting portion of the lid into the opening of the main body. The robot further pushes the outside of the lid with one finger of the hand to fit the fitting portion of the lid into the opening of the main body. This closes the lid of the composite container.

Japanese Patent No. 6413972

Here, when the lid of the composite container is closed by the vertical articulated robot as in Patent Document 1, it is necessary to teach the robot an operation for closing the lid of the composite container. On the other hand, the composite container is made of a resin material, and generally has flexibility, although it is not specified in Patent Document 1. Teaching accuracy is required to teach the robot how to work with such a flexible composite container. Therefore, a skilled operator is required to teach the robot. Therefore, there is a demand for a lid closing device and an inspection system that can close the lid of a container without being taught by a skilled operator.

SUMMARY OF THE DISCLOSURE The present disclosure provides a lid closing apparatus and inspection system that can close container lids without instruction by a trained operator.

A lid-closing device according to a first aspect of the present disclosure is a lid-closing device for closing a lid connected to an open end of a flexible container in which at least one of a specimen and a reagent is contained, wherein the container is inserted a positioning portion for positioning the container inserted into the hole; a lid closing portion for moving the lid so as to cover the open end of the container to close the lid; and a linear movement for the lid closing portion. A drive unit and a control unit that controls movement of the lid closing unit by the drive unit are provided.

In the lid closing device according to the first aspect of the present disclosure, as described above, the lid closing portion is driven by the drive portion that linearly moves the lid closing portion. Here, since the drive unit performs relatively simple linear movement, there is no need for a skilled operator to teach complicated movements, unlike in the case of a vertical multi-joint robot. Moreover, since the container is positioned by the positioning portion, it is not displaced by the operation of the lid closing portion driven by the driving portion. These allow the container lid to be closed without instruction by a trained operator.

A testing system according to a second aspect of the present disclosure is a testing system that collects a sample from a subject, measures the collected sample, and tests the sample. 1 unit, a second unit that preprocesses the collected sample before measurement, and a third unit that performs sample measurement for measuring the preprocessed sample. the third unit includes a lid-closing device for closing a lid connected to an open end of a flexible container in which at least one of a specimen and a reagent is accommodated, wherein the lid-closing device is inserted into the container. A positioning part that has a hole and positions the container inserted into the hole, a lid closing part that moves the lid so as to cover the open end of the container and closes the lid, and a driving part that linearly moves the lid closing part. and a control section for controlling movement of the lid closing section by the driving section.

In the inspection system according to the second aspect of this disclosure, as described above, the lid closing portion is driven by the driving portion that linearly moves the lid closing portion. Here, since the drive unit performs relatively simple linear movement, there is no need for a skilled operator to teach complicated movements, unlike in the case of a vertical multi-joint robot. Moreover, since the container is positioned by the positioning portion, it is not displaced by the operation of the lid closing portion driven by the driving portion. With these, it is possible to provide an inspection system capable of closing the lid of the container without teaching by a skilled operator.

According to the present disclosure, the container lid can be closed without instruction by a trained operator.

BRIEF DESCRIPTION OF THE DRAWINGS It is the figure which showed the outline of the whole structure of the test|inspection system by 1st Embodiment. It is a figure showing a concrete composition of the whole inspection system composition by a 1st embodiment. It is the figure which showed the structure of the 1st unit of the test|inspection system by 1st Embodiment. FIG. 2 is a diagram showing a sample collection container of the inspection system according to the first embodiment; FIG. 4 is a diagram showing a disinfectant bath of the inspection system according to the first embodiment; FIG. 4 is a diagram showing a sample collection container transport section of the inspection system according to the first embodiment; FIG. 4 is a diagram showing a configuration for performing the unplugging dispensing process and the inactivating process of the second unit of the inspection system according to the first embodiment; FIG. 4 is a diagram showing a configuration for performing nucleic acid extraction processing of the second unit of the inspection system according to the first embodiment; FIG. 3 is a diagram showing a plate for nucleic acid extraction processing of the inspection system according to the first embodiment; FIG. 10 is a view showing a waste bin of the second unit of the inspection system according to the first embodiment; It is a figure showing the composition of the 3rd unit of the inspection system by a 1st embodiment. It is a figure which shows multiple tubes. FIG. 3 shows a single tube; It is a top view of the lid closing device of the inspection system according to the first embodiment. It is a side view of the lid closing device of the inspection system according to the first embodiment. It is a figure which shows the positioning part and press part of the lid|cover closing apparatus by 1st Embodiment. It is a top view which shows the lid|cover closing part and holding|maintenance part of the lid|cover closing apparatus by 1st Embodiment. It is a top view which shows the guide part and holding|maintenance part of the lid|cover closing apparatus by 1st Embodiment. It is a figure which shows one guide part of the lid|cover closing apparatus by 1st Embodiment. FIG. 20 is a cross-sectional view along line 400-400 of FIG. 19; FIG. 20 is a cross-sectional view taken along line 450-450 of FIG. 19; It is the figure which looked at the tube and the press part from the upper direction. It is a figure which shows the lid|cover of a tube, and the height of a strip|belt part. It is a figure which shows a push-in part. FIG. 4 is a flowchart for explaining the operation of the lid closing device according to the first embodiment; It is a figure for demonstrating the operation|movement which detects the presence or absence of a cover by a 1st detection part. It is a figure which shows the state before a lid|cover is lifted by a lid|cover closing part. It is a figure for demonstrating the operation|movement which lifts a lid|cover by a lid|cover closing part. It is a figure for demonstrating the operation|movement which moves a cover closing part to a horizontal direction. It is a figure for demonstrating the operation|movement which moves a lid|cover closing part downward and closes a lid|cover. It is a figure for demonstrating the operation|movement which detects whether the cover is closed by the 2nd detection part. FIG. 10 is a diagram for explaining the operation of pressing the lid into the tube by the pressing portion; It is a perspective view showing the whole lid closing device by a 2nd embodiment. It is a top view of the guide part of the lid closing device according to the second embodiment. FIG. 10 is a perspective view of a guide portion of the lid closing device according to the second embodiment;

[First embodiment]
An inspection system 1100 according to the first embodiment will be described with reference to FIGS. 1 to 32. FIG. The test system 1100 of the first embodiment collects a sample from a subject, measures the collected sample, and performs an inspection. For example, test system 1100 is for performing RT-PCR tests for infectious viruses. An infectious virus is, but not limited to, COVID-19.

As shown in FIGS. 1 and 2, the inspection system 1100 includes a first unit 1001, a second unit 1002, and a third unit 1003. As shown in FIG. A robot 1004 is provided in each of the first unit 1001, the second unit 1002 and the third unit 1003 of the inspection system 1100. As shown in FIG. Also, the first unit 1001 , the second unit 1002 and the third unit 1003 are provided inside the container 1005 . The first unit 1001, the second unit 1002 and the third unit 1003 are provided in a single container 1005 while being separated from each other by partitions. At least one of the first unit 1001 , the second unit 1002 and the third unit 1003 should be provided inside the container 1005 . This allows the inspection system 1100 to be easily transported and installed.

The inspection system 1100 also includes transfer sections 1006a and 1006b that connect the first unit 1001, the second unit 1002 and the third unit 1003 to each other. Specifically, the first unit 1001 and the second unit 1002 are connected by a transport section 1006a. Also, the second unit 1002 and the third unit 1003 are connected by a conveying section 1006b. Thereby, the sample can be easily transferred between the first unit 1001, the second unit 1002 and the third unit 1003 by the transport sections 1006a and 1006b.

The first unit 1001 collects and receives specimens. For example, the first unit 1001 collects a specimen from a subject and dilutes the collected specimen with a diluent. Further, in the first unit 1001, the diluted sample is stirred. Further, in the first unit 1001, the diluted sample is centrifuged. The second unit 1002 is connected to the first unit 1001 and performs pretreatment before measurement on the sample. For example, the second unit 1002 performs inactivation treatment as pretreatment of the sample. Further, in the second unit 1002, nucleic acid extraction processing is performed as pretreatment of the sample. The third unit 1003 is connected to the second unit 1002 and performs measurement of the pretreated sample. For example, the third unit 1003 performs a process of determining whether or not an infectious virus is contained in the sample by RT-PCR test.

A robot 1004 provided in each of the first unit 1001, the second unit 1002 and the third unit 1003 of the inspection system 1100 processes each sample. For example, the robot 1004 transports and opens a container containing a specimen. Also, the robot 1004 dispenses specimens and reagents. The robot 1004 also transports objects such as containers, reagents, and pallets required for processing. Robot 1004 may be provided in at least one of first unit 1001, second unit 1002 and third unit 1003. FIG.

Moreover, the inspection system 1100 is arranged at a mobile base for getting on and off a mobile object. For example, the inspection system 1100 is arranged at airports, train stations, bus terminals, and ferry terminals as mobile bases. Mobile objects are, for example, aircraft, trains, buses, and ships. As a result, the inspection system 1100 can be used to test for infectious diseases at the mobile base, so that it is possible to immediately confirm whether the infectious disease is positive or negative at the mobile base. As a result, it is possible to effectively suppress the spread of infectious diseases from the mobile base.

An example in which the inspection system 1100 is arranged at an airport will be described. At the airport, there are terminal buildings, railway and bus stations, taxi stands, parking lots, and the like. Aircraft passengers come and go between stations, boarding areas and parking lots, and entrances and exits of terminal buildings.

The terminal building consists of an entrance/exit, a check-in counter for boarding procedures, a security checkpoint using X-ray inspection and metal detectors, a boarding waiting area, a boarding gate, a baggage claim area, and an arrival gate. contains. Passengers of an aircraft departing from an airport proceed through check-in counters, security checkpoints, boarding waiting areas and boarding gates in this order. Passengers of aircraft arriving at the airport proceed through the baggage claim area and the arrival gate in this order.

Inspection system 1100 is placed at least one of the entrance/exit, check-in counter, and security checkpoint. As a result, it is possible to prevent passengers who have not undergone inspection from passing through the security checkpoint. Further, inspection system 1100 may be located at least one of baggage claim and arrival gates. This makes it possible to prevent passengers who have not undergone inspection from passing through the arrival gate.

If there are multiple terminal buildings at the airport, the inspection system 1100 may be placed at the above location for each terminal building. Also, the inspection system 1100 may be installed not only in terminal buildings, but also in stations, boarding areas, and parking lots.

A first unit 1001 collects saliva or nasal specimens and receives the specimens. As shown in FIG. 3, the first unit 1001 is provided with a first robot 1004a as a robot 1004 for processing a sample. First robot 1004 a includes robot arms 1041 and 1042 . That is, the first robot 1004a performs processing using two robot arms. Also, robot arms 1041 and 1042 each include a horizontal joint and an elevating mechanism connected to the horizontal joint. The horizontal joints move the tips of robot arms 1041 and 1042 in the horizontal direction. Also, the lifting mechanism moves the tips of the robot arms 1041 and 1042 in the height direction, which is the vertical direction.

A first unit 1001 includes a subject area 1011 in which a subject is placed. In addition, the first unit 1001 includes a robot area 1012 that is separated from the subject area 1011 and in which a first robot 1004a for processing the specimen is arranged.

As shown in FIG. 3 , the subject area 1011 is partitioned into a plurality of booths by partitions 1111 . Thereby, it is possible to suppress infection between a plurality of subjects. Also, the subject area 1011 and the robot area 1012 are partitioned by a partition section 1112 . This makes it possible to prevent the subject from entering the robot area 1012 .

The first unit 1001 includes a weighing section 1014 for weighing the collected sample. Also, the first unit 1001 dilutes the sample by adjusting the amount of the diluent according to the amount of the sample weighed by the weighing unit 1014 . That is, when the amount of the specimen is small, the amount of the diluent is decreased, and when the amount of the specimen is large, the amount of the diluent is increased to dilute the specimen. This allows the sample to be diluted to an appropriate concentration range. Note that the first unit 1001 may dilute the collected sample with a diluent containing an inactivating component that inactivates the virus. As a result, inactivation treatment can be performed along with dilution of the sample.

The first unit 1001 includes a diluent supply section 1016 that supplies a diluent for diluting the sample. The diluent supply unit 1016 supplies the diluent to the sample collection container 1007a held by the first robot 1004a.

The first unit 1001 includes a notification unit 1113 that notifies the subject of recollection of the sample when the amount of the sample weighed by the weighing unit 1014 is insufficient. The notification unit 1113 is provided in the subject area 1011, for example. Notification unit 1113 is, for example, a display unit that displays an image. Note that the notification unit 1113 may be a speaker that outputs sound. As a result, it is possible to prevent the test from being performed incorrectly due to the insufficient amount of the sample.

The first unit 1001 is provided with an ultraviolet irradiation section 1017a. The first robot 1004a sterilizes the inside of the first unit 1001 with the ultraviolet irradiation section 1017a. Specifically, the first robot 1004a holds the ultraviolet irradiation unit 1017a while the ultraviolet lamp of the ultraviolet irradiation unit 1017a is lit, and irradiates the robot area 1012 of the first unit 1001 with ultraviolet rays. Sterilize. As a result, the first unit 1001 can be sterilized with ultraviolet rays, so that contamination and infection can be effectively suppressed.

As shown in FIG. 4, the first unit 1001 collects and receives a specimen in a specimen collection container 1007a to which a standard amount of specimen collection is attached. As a result, the subject can easily grasp the amount of the specimen to be delivered, so that the specimen can be easily collected in just the right amount. The specimen collection container 1007a can be closed with a lid 1071 . Further, the sample collection container 1007a is attached with a label printed with an identifier (for example, a bar code) including information about the subject and a standard amount of sample collection.

The first unit 1001, as shown in FIG. 3, includes a disinfectant bath 1015 for disinfecting the outer surface of the sample collection container 1007a in which the sample is collected. As shown in FIG. 5, the antiseptic solution bath 1015 has a sponge 1151 disposed therein. Sponge 1151 is impregnated with disinfectant (for example, ethanol or hypochlorous acid water). The sponge 1151 is also provided with a plurality of holes 1152 into which the specimen collection container 1007a can be inserted. By inserting the sample collection container 1007a into the hole 1152 of the sponge 1151, the outer surface of the sample collection container 1007a is disinfected with the disinfectant. As a result, the outer surface of the sample collection container 1007a can be disinfected, so that contamination and infection can be effectively suppressed.

The first unit 1001 includes a specimen collection container transport section 1013 that transports a specimen collection container 1007a in which a specimen is collected from the subject area 1011 to the robot area 1012, as shown in FIG. The sample collection container transport section 1013 has a mounting section 1131 on which the sample collection container 1007a is mounted, and an air cylinder 1132 driven by air pressure. In addition, the specimen collection container transport section 1013 moves the placement section 1131 by driving the air cylinder 1132 to convey the specimen collection container 1007a. The specimen collection container transport section 1013 may move the placement section 1131 from the subject area 1011 to the robot area 1012 based on the closing of the cover 1133 arranged in the subject area 1011 . Here, the cover 1133 is provided so as to be rotatable around a horizontal rotation axis. The cover 1133 can move between a closed position where it rotates downward to cover the mounting portion 1131 and an open position where it rotates upward and exposes the mounting portion 1131 . Then, the placement section 1131 may be moved from the subject area 1011 to the robot area 1012 based on the movement of the cover 1133 to the closed position. Further, the specimen collection container transport section 1013 may move the placement section 1131 from the subject area 1011 to the robot area 1012 based on the switch 1134 arranged in the subject area 1011 being operated. . The specimen collection container 1007a placed on the placing section 1131 moved to the robot area 1012 is gripped by the first robot 1004a and taken into the robot area 1012 . This makes it possible to easily move the specimen from the subject area 1011 to the robot area 1012 while reliably isolating the subject area 1011 and the robot area 1012 .

As shown in FIG. 3, the first unit 1001 includes an air conditioner 1121 that adjusts the airflow in the subject area 1011 . The air conditioning unit 1121 makes the environment of the subject area 1011 positive pressure or negative pressure. Thereby, the subject area 1011 can be kept clean.

The first unit 1001 includes a sterilization section 1017b for sterilizing the first robot 1004a for processing specimens. As a result, the first robot 1004a can be sterilized, and contamination and infection can be effectively suppressed.

The first unit 1001 includes a transport section 1061 that transports a sample collection container 1007a containing a sample diluted with a diluent. The transport unit 1061 transports the sample collection container 1007a toward the downstream first robot 1004b.

The first unit 1001 includes a first centrifuge 1018 capable of centrifuging multiple specimens. Further, the first unit 1001 drives the first centrifuge 1018 at predetermined time intervals to perform centrifugal separation of the sample. In other words, even if the first centrifuge 1018 is not fully loaded with specimens, the centrifugal separation process is performed at predetermined time intervals. As a result, it is possible to suppress delays in the processing of the samples due to waiting until the samples are accumulated.

The first unit 1001 includes a first robot 1004b as a robot 1004 for processing specimens. The first robot 1004 b has a vertical articulated robot arm 1043 . The first robot 1004b transports the sample collection container 1007a transported by the transport unit 1061 to the shaking unit 1019, and transports it to the first centrifuge 1018 after the shaking process. Further, the first robot 1004b transports the specimen collection container 1007a after the centrifugal separation process to the transport section 1006a.

The first unit 1001 installs a balance centrifuge tube in the first centrifuge 1018 by the first robot 1004b, drives the first centrifuge 1018, and performs centrifugal separation of the sample. As a result, even if the number of specimen collection containers 1007a to be subjected to centrifugal separation is different each time, centrifugal separation can be performed at predetermined time intervals, and the balance can be adjusted using the balance centrifuge tube.

The first unit 1001 includes an imaging section 1181 that captures an image for acquiring the position of the specimen inside the first centrifuge 1018 . Also, the first unit 1001 takes out the specimen (specimen collection container 1007a) from the first centrifuge 1018 by the first robot 1004b for processing the specimen. Specifically, the first unit 1001 recognizes the position of the sample collection container 1007a inside the first centrifuge 1018 based on the image captured by the imaging section 1181 . Then, the first unit 1001 takes out the specimen collection container 1007a at the recognized position by the first robot 1004b. As a result, the sample collection container 1007a can be easily taken out from the first centrifuge 1018 by the first robot 1004b.

When the sample is to be retested, the first unit 1001 receives the sample for retest from the second unit 1002 and puts the received sample for retest into centrifugal separation processing by the first centrifuge 1018 . As a result, the sample can be reexamined without collecting the sample again.

The first unit 1001 includes a shaking section 1019 that shakes the sample. A plurality of specimen collection containers 1007a can be placed on the shaking section 1019 . Further, the shaking section 1019 is used to stir the sample in the placed sample collection container 1007a. Further, the shaking section 1019 periodically moves and shakes the placed specimen collection container 1007a. Also, the shaking unit 1019 stops at a certain position after the shaking process is completed. As a result, the first robot 1004b can go to the position where the sample collection container 1007a is placed on the shaking unit 1019 to pick up the sample collection container 1007a after being shaken. Specimen collection container 1007a can be removed.

As shown in FIG. 7, the second unit 1002 is provided with a second robot 1004c as the robot 1004 that dispenses the diluted sample onto a plate 1007b having a plurality of wells 1073. As shown in FIG. Plate 1007b has, for example, 96 deep wells in 8 columns and 12 rows, as shown in FIG. The second robot 1004c includes robot arms 1041 and 1042 with horizontal joints.

Further, the second unit 1002 is provided with a third robot 1004d as a robot 1004 that supplies the plate 1007b to the dispensing position. A third robot 1004 d has a vertical articulated robot arm 1043 . The third robot 1004 d grips the empty plate 1007 b supplied from the feeder 1023 and conveys it to the supply table 1631 . Also, the third robot 1004 d moves the specimen collection container 1007 a transported by the transport unit 1006 a to the transport unit 1062 . Also, the third robot 1004 d conveys the tip rack supplied from the feeder 1023 to the tip supply slider 1064 . Further, the third robot 1004 d transports the specimen collection container 1007 a in which part of the contained specimen has already been dispensed to the plate 1007 b from the transport section 1062 to the storage rack 1022 . Also, the third robot 1004 d transports the plate 1007 b discharged from the discharge table 1635 to the transport section 1065 .

The second robot 1004c dispenses the sample from the sample collection container 1007a transported by the transport unit 1062 onto the plate 1007b.

The second unit 1002 includes a plate transport section 1063 that transports the plate 1007b over a predetermined period of time to inactivate the sample on the plate. The plate transport section 1063 includes a transport section 1632 , a transport section 1633 , and a transport section 1634 . The transport units 1632, 1633, and 1634 of the plate transport unit 1063 are arranged in a substantially U shape so as to surround the second robot 1004c.

The transport section 1632 transports the plate 1007 b from the supply table 1631 to the transport section 1633 . The supply table 1631 supplies the plate 1007b with the inactivating liquid, the washing liquid A, the washing liquid B, and the eluate (water). In the transport unit 1633, the sample is dispensed from the sample collection container 1007a to the plate 1007b. Then, transporting section 1633 transports plate 1007b to transporting section 1634 over a period of time (for example, 10 minutes) necessary for inactivation. The transport unit 1634 transports the plate 1007 b to the discharge table 1635 . Thereby, the inactivation treatment can be performed on a plurality of plates 1007b in parallel.

The second unit 1002 includes a storage rack 1022 that stores the specimen collection container 1007a containing the remaining specimen for a predetermined time after dispensing a part of the specimen from the specimen collection container 1007a containing the specimen into the plate 1007b. I'm in. The storage rack 1022 stores the sample collection container 1007a for two hours, for example. As a result, when retesting is required, the specimen can be taken out from the storage rack 1022 and retested, so there is no need to collect the specimen again.

A second unit 1002 includes a cabinet 1021 having an interior space in which diluted samples are dispensed onto a plate 1007b by a second robot 1004c. That is, the second robot 1004 c drives while moving the hand (end effector) within the internal space of the cabinet 1021 . As a result, the sample can be dispensed within the cabinet 1021, so that it is possible to effectively prevent the sample from diffusing to the outside and increasing the risk of infection.

The second unit 1002 includes a shooter 1241 for discarding tips for dispensing diluted specimens. The chips discarded by the shooter 1241 are moved to the discard box 1024 and accommodated therein. This allows the used chip to be easily discarded.

The second unit 1002 dispenses a plurality of diluted specimens into a plurality of wells 1073 of plate 1007b with empty wells 1073 separated, as shown in FIG. As a result, samples can be dispensed at intervals, so that contamination can be effectively suppressed.

The second unit 1002, as shown in FIG. 8, includes a plurality of robots 1004e as robots 1004 that perform nucleic acid extraction processing. The robot 1004 e has a vertical articulated robot arm 1043 . In the nucleic acid extraction process, the transport unit 1065 transports the plate 1007b. The plate 1007b transported by the transport unit 1065 is moved to the workbench by the robot 1004e and subjected to nucleic acid extraction processing. The second unit 1002 includes a magnet section 1025 , a tip rack place 1026 , a heating section 1027 , a shaking section 1028 and a disposal box 1029 . The second unit 1002 also includes a magnetic particle supply section 1025a and a tip rack storage area 1026a.

The magnet section 1025 is used to collect the magnetic particles supplied from the magnetic particle supply section 1025a to the sample on the plate 1007b. Specifically, the magnet unit 1025 collects magnetism by causing the magnet to act on the sample on the plate 1007b while the plate 1007b is placed thereon.

In the tip rack storage area 1026, tip racks supplied from the tip rack storage area 1026a are placed. Also, the used tip rack is returned to the tip rack place 1026a.

The heating unit 1027 heats the sample on the plate 1007b. The shaking section 1028 shakes and agitates the detection of the plate 1007b.

The discard box 1029 discards the tip and plate 1007b for pipetting the sample. Also, the disposal box 1029 has a storage portion 1291 and a tapered portion 1292 as shown in FIG. That is, the disposal box 1029 has a tapered tip (entrance). Thereby, the liquid splash can be suppressed.

The third unit 1003, as shown in FIG. 11, includes a reagent preparation chamber 1031 for preparing reagents for measuring specimens, and a measurement chamber 1032 for measuring specimens. The reagent preparation chamber 1031 is under positive pressure. The measurement chamber 1032 has a negative pressure. As a result, it is possible to prevent floating foreign matter from entering the reagent preparation chamber 1031 . In addition, it is possible to suppress the virus from flowing out from the measurement chamber 1032 .

The third unit 1003 includes a shutter 1033 that opens and closes an opening that allows the reagent preparation chamber 1031 and the measurement chamber 1032 to communicate with each other. The shutter 1033 is opened when objects are exchanged between the reagent preparation chamber 1031 and the measurement chamber 1032, and otherwise closed. As a result, the sample and the prepared reagent can be easily moved from the reagent preparation room 1031 to the measurement room 1032 while the reagent preparation room 1031 and the measurement room 1032 are reliably isolated from each other.

The third unit 1003 includes a robot 1004f as the robot 1004 that performs reagent preparation processing. Robot 1004 f has a vertical articulated robot arm 1043 . The reagent preparation chamber 1031 of the third unit 1003 is provided with a freezer 1311 , a refrigerator 1312 , a cap opening device 1313 , a preparation place 1314 , a chip storage place 1315 and a disposal box 1316 .

Freezer 1311 stores reagents (Enzyme Mix) that are stored below freezing (eg, −18° C.). In addition, the refrigerator 1312 stores a reagent (Reaction Mix) that is stored at a low temperature (eg, 4° C.). A reagent (Enzyme Mix) and a reagent (Reaction Mix) are mixed and prepared for use.

In other words, the third unit 1003 prepares reagents in the reagent preparation room 1031 based on the acceptance status of the specimen test. As a result, the reagent can be prepared in just the right amount.

The opening device 1313 opens the reagent container. At the preparation place 1314, a reagent (Enzyme Mix) and a reagent (Reaction Mix) are mixed and prepared.

The third unit 1003 includes a fourth robot 1004g as a robot 1004 that performs a process of supplying samples to the sample measuring section 1034. FIG. A fourth robot 1004 g has a vertical articulated robot arm 1043 . Also, in the measurement chamber 1032 of the third unit 1003, a plurality of sample measurement units 1034, a second centrifuge 1035, a tube holding unit 1036, a lid closing device 100, and a disposal box 1038 are arranged. there is

The specimen measurement unit 1034 measures a specimen while the specimen is accommodated in a series of tubes 210 in which a plurality of tubes 200 capable of accommodating a plurality of specimens are connected as shown in FIG. The sample measurement unit 1034 performs measurement by RT-PCR, for example. As shown in FIG. 12, the multiple tubes 210 are, for example, eight tubes 200 connected in a straight line. Also, the tubes 200 are connected to each other by a belt portion 204 .

As shown in FIG. 13, the tube 200 has flexibility. The tube 200 is made of resin or the like. The lid 201 includes a flat first portion 201a and a cylindrical second portion 201b protruding from the first portion 201a. The lid 201 is moved so that the connecting portion 202 is folded back, and the second portion 201b is pushed into the open end 203 of the tube 200 to close the lid 201 . In the first embodiment, the specimen contained in the tube 200 is a specimen for PCR (Polymerase Chain Reaction) test. Tube 200 is an example of a container.

As shown in Figure 11, the second centrifuge 1035 centrifuges the sample. In addition, the second centrifuge 1035 stops after the stop position is aligned after the centrifugal separation process is completed. As a result, the fourth robot 1004g can retrieve the sample after centrifugation from the second centrifuge 1035 by the fourth robot 1004g. can be taken out.

The tube holding portion 1036 holds a plurality of multiple tubes 210 . Specifically, the tube holding portion 1036 holds the multiple tubes 210 stacked vertically.

A fourth robot 1004 g transports the multiple tubes 210 . Further, the third unit 1003 takes out the multiple continuous tubes 210 downward from the tube holding part 1036 by the fourth robot 1004 g , dispenses the sample into the multiple continuous tubes 210 , and then transports them to the lid closing device 100 .

In the first embodiment, as shown in FIGS. 14 to 16, the lid closing device 100 includes a positioning section 10, a lid closing section 20, a drive section 21, and a control section 30. FIG. The positioning portion 10 has a hole portion 11 into which the tube 200 is inserted. The positioning portion 10 positions the tube 200 inserted into the hole portion 11 . Specifically, the positioning portion 10 includes a flat plate-like pedestal portion 12 and a rectangular parallelepiped main body portion 13 . Holes 11 corresponding to the number of tubes 200 connected are formed in main body 13 . A tube 200 is arranged in each of the plurality of holes 11 . For example, the number of holes 11 is eight.

In the first embodiment, the positioning part 10 includes a suction part 14 that sucks the air inside the hole 11 into which the tube 200 is inserted. The control unit 30 controls to position the tube 200 by causing the suction unit 14 to suck the air in the hole 11 into which the tube 200 is inserted. Specifically, the suction unit 14 vacuum-sucks the air inside the hole 11 . This determines the position of the tube 200 in the X, Y and Z directions.

In the first embodiment, the control unit 30 controls the suction unit 14 to discharge air from the suction unit 14 to the hole 11 before the tube 200 is inserted into the hole 11 . Specifically, before the fourth robot 1004 g transports the multiple tubes 210 dispensed with the sample to the positioning unit 10 , the suction unit 14 discharges air to the hole 11 . As a result, the foreign matter that has entered the hole portion 11 is removed from the hole portion 11 .

In the first embodiment, the lid closing unit 20 closes the lid 201 by moving the lid 201 so as to cover the open end 203 of the tube 200 . Specifically, as shown in FIG. 17, a plurality of lid closing portions 20 are arranged. The number of lid closing parts 20 is, for example, four. A plurality of lid closing parts 20 are held by holding parts 22 . The holding portion 22 has a stepped side surface 22a. The four lid closing parts 20 are arranged on the stepped side surface 22a. The four lid closing portions 20 are arranged alternately on the stepped side surface 22a. As shown in FIG. 15, the lid closing portion 20 has a substantially L shape when viewed from the side. The lid closing portion 20 extends downward from the side surface 22 a of the holding portion 22 , is bent approximately 90 degrees, and protrudes toward the tube 200 . The lid closing portion 20 and the holding portion 22 are made of metal, for example. As shown in FIG. 17, the lid closing portion 20 has a tapered shape in which the width on the distal end side is narrower than the width on the proximal end side when viewed from above.

As shown in FIG. 14, after the fourth robot 1004g transports the multiple tubes 210 into which the sample is dispensed to the positioning unit 10, the linear motion mechanism 40 moves the positioning unit 10 from the A1 side to the A2 side. Moved in a straight line. As a result, the multiple tubes 210 are transported between the lid closing portion 20 and the guide portion 50 described later. The four lid closing parts 20 are arranged along the A direction. The lids 201 of the eight tubes 200 of the multiple tubes 210 are also arranged along the A direction. The four lid closing parts 20 are arranged below the lids 201 of the four tubes 200 of the multiple tubes 210 .

In the first embodiment, as shown in FIG. 15, the drive section 21 linearly moves the lid closing section 20 . The drive part 21 consists of an air cylinder. The air cylinder drives the lid closing part 20 with air pressure. In addition, you may comprise the drive part 21 from an electric cylinder. The drive unit 21 moves the lid closing unit 20 vertically and horizontally. Specifically, the driving section 21 moves the holding section 22 that holds the four lid closing sections 20 .

In the first embodiment, as shown in FIG. 14, the control section 30 controls the movement of the lid closing section 20 by the drive section 21 . The control unit 30 controls the guide unit 50, the pressing unit 60, the first detection unit 41, and the second detection unit 42, which will be described later. That is, the control unit 30 controls the entire lid closing device 100 .

In the first embodiment, the lid closing device 100 includes the first detection section 41 that detects whether or not the lid 201 is present. When the presence of the lid 201 is detected before the lid 201 is closed, the control unit 30 causes the lid closing unit 20 to close the lid 201 . Specifically, the first detection unit 41 is composed of, for example, a reflective laser sensor. The first detector 41 is arranged above the lid 201 . The first detector 41 emits laser light toward the lid 201 . The first detector 41 detects laser light reflected by the lid 201 . The detection result of the first detection unit 41 is transmitted to the control unit 30 , and the control unit 30 detects the presence or absence of the lid 201 based on the detection result of the first detection unit 41 .

In the first embodiment, as shown in FIGS. 14 and 15, the lid closing device 100 includes a guide portion 50. As shown in FIGS. The guide part 50 guides the lid 201 moved by the lid closing part 20 to the open end 203 of the tube 200 when the lid closing part 20 is moved in the lateral direction. Specifically, as shown in FIG. 18, a plurality of guide portions 50 are arranged. The number of guide portions 50 is, for example, four. The number of guide portions 50 and the number of lid closing portions 20 are equal. A plurality of guide portions 50 are held by a holding portion 52 . The holding portion 52 has a stepped side surface 52a. The four guide portions 50 are arranged on the stepped side surface 52a. The four guide portions 50 are arranged alternately on the stepped side surface 52a. The guide portion 50 and the holding portion 52 are made of metal, for example. As shown in FIG. 15, the guide portion 50 extends downward from the side surface 52a of the holding portion 52, bends at approximately 90 degrees, protrudes toward the tube 200, and then protrudes downward.

In the first embodiment, as shown in FIG. 18, the guide portion 50 includes a pair of claw portions 50a that sandwich the lid 201 from both sides in the horizontal direction. Specifically, a pair of claw portions 50 a are formed at the tip of the guide portion 50 . A pair of claw portions 50 a is formed on each of the plurality of guide portions 50 . The claw portion 50a includes a distal end side first portion 50b extending toward the tube 200 side and a proximal end side second portion 50c connecting the pair of claw portions 50a.

In the first embodiment, as shown in FIGS. 19 and 20, first inner side surfaces 50d facing each other are arranged on the distal end sides of the pair of claw portions 50a. The first inner side surfaces 50d are arranged in a tapered shape so that the distance therebetween increases downward. Specifically, the first inner side surfaces 50d of the first portion 50b of the claw portion 50a are arranged in a tapered shape so that the distance therebetween increases downward. That is, the first inner side surface 50d of one claw portion 50a of the pair of claw portions 50a is inclined obliquely downward so as to be separated from the first inner surface 50d of the other claw portion 50a. Here, the lid 201 before being closed may be arranged so as to be inclined with respect to the horizontal direction. In this case, the inclination of the lid 201 can be corrected horizontally by moving the lid 201 upward between the tapered first inner side surfaces 50d. Note that the horizontal distance L between the first inner side surfaces 50d is greater than the width W of the lid 201 at the upper end of the first inner side surfaces 50d. Moreover, in the horizontal direction, the distance a between the lid closing portion 20 and the lower end of the first inner surface 50d is set so that the lid 201 does not enter. The interval b is a width that allows the lid 201 to be closed even if the lid 201 is eccentric in the horizontal direction by b/2. Thus, the distance between the first inner surfaces 50d is set from the distance a and the distance b.

In the first embodiment, as shown in FIG. 21, the second inner side surface 50e on the base end side of the claw portion 50a to which the pair of claw portions 50a are connected extends in the opposite direction to the tip of the claw portion 50a. Inclined. Specifically, the second inner side surface 50e of the second portion 50c of the claw portion 50a is inclined in the direction opposite to the tip of the claw portion 50a.

As shown in FIG. 15 , the guide portion 50 is moved vertically and horizontally by the driving portion 51 . Specifically, the driving section 51 moves the holding section 52 that holds the four guide sections 50 . The driving portion 51 is composed of an air cylinder. In addition, you may comprise the drive part 51 from an electric cylinder.

In the first embodiment, as shown in FIGS. 15 and 16, the lid closing device 100 includes a pressing portion 60. As shown in FIGS. The pressing portion 60 presses the lid 201 into the tube 200 . Specifically, the pressing portion 60 is arranged above the tube 200 positioned by the positioning portion 10 . The pressing portion 60 has a substantially cylindrical shape. The pressing portion 60 is vertically moved by the driving portion 61 . The drive unit 61 is composed of, for example, an air cylinder or an electric cylinder. A plurality of pressing portions 60 are arranged so as to correspond to the plurality of lid closing portions 20 of the lid closing portion 20 . The number of pressing portions 60 is, for example, four. A plurality of pressing portions 60 are held by holding portions 62 having a substantially flat plate shape. The plurality of pressing portions 60 are arranged along the direction in which the plurality of tubes 200 are arranged. The plurality of pressing portions 60 press the plurality of tubes 200 alternately.

In the first embodiment, as shown in FIG. 14, the lid closing device 100 includes a second detector 42. As shown in FIG. The second detector 42 detects whether the lid 201 is closed. When the second detection unit 42 detects that the lid 201 is closed, the control unit 30 causes the pressing unit 60 to press the lid 201 . Specifically, the second detection unit 42 is composed of, for example, a transmissive laser sensor. The second detection unit 42 includes an emission unit 42a that emits a strip-shaped laser beam in the horizontal direction toward the lid 201, and a detection unit 42b that detects the strip-shaped laser beam. A laser beam is emitted so as to intersect the A direction. Thereby, as shown in FIG. 23, both the height h1 of the lid 201 and the height h2 of the belt portion 204 connecting the tubes 200 can be detected.

A detection result of the second detection unit 42 is transmitted to the control unit 30 . The control unit 30 detects the height h1 of the lid 201 of the open end 203 of the tube 200 shown in FIG. 23 based on the detection result of the strip-shaped laser beam detected by the detection unit 42b. If the closing of the lid 201 is shallow and inappropriate, the height h1 is increased, and if the closing of the lid 201 is appropriate, the height h1 is decreased. Specifically, the detection unit 42b detects the height h2 of the belt portion 204 connecting the tubes 200 and the height h1 of the lid 201 . Then, the control unit 30 evaluates the closed state of the lid 201 based on the difference between the height h1 of the lid 201 and the height h2 of the belt portion 204 .

In the first embodiment, as shown in FIG. 22 , the outer diameter r1 of the pressing portion 60 is smaller than the inner diameter r2 of the open end 203 of the tube 200 when viewed from the pressing direction of the pressing portion 60 . Specifically, when viewed from above, the outer diameter r1 of the substantially cylindrical pressing portion 60 is smaller than the inner diameter r2 of the open end 203 of the substantially circular tube 200 . Further, when viewed from above, the center of the substantially cylindrical pressing portion 60 and the center position of the open end 203 of the substantially circular tube 200 are substantially the same. As a result, even if the pressing portion 60 moves downward and enters the inside of the tube 200, the pressing portion 60 and the tube 200 do not come into contact with each other.

As shown in FIGS. 14 and 24 , the lid closing device 100 includes a pushing portion 43 that pushes the multiple tubes 210 into the positioning portion 10 . The pushing portion 43 has an L shape when viewed from the side. A plurality of pushing portions 43 are provided. The pushing portion 43 pushes the multiple tube 210 into the hole portion 11 of the positioning portion 10 by pushing the band portion 204 that connects the tubes 200 together from above. By not pressing the opening end 203 of the tube 200 by the pushing portion 43, contamination of the pushing portion 43 can be suppressed. The push-in portion 43 is also used when removing the multiple continuous tubes 210 arranged in the hole portion 11 of the positioning portion 10 . The push-in portion 43 is inserted downward into the band portion 204 that connects the tubes 200 together. Part 204 is pushed up. As a result, the multiple tube 210 is taken out from the hole portion 11 of the positioning portion 10 . At this time, the vacuum state of the hole portion 11 is released, air is blown out from the hole portion 11, and the tube 200 may be blown off. However, the tube 200 abuts against the plate-like member 43b provided above the push-in portion 43, and the tube 200 is prevented from being blown away. Moreover, the plurality of push-in portions 43 are supported by a support portion 43c. The support portion 43c is driven vertically and horizontally by the driving portion 43d. The driving portion 43d is composed of an air cylinder or an electromagnetic cylinder.

Next, the operation of closing the lid 201 of the tube 200 will be described.

First, as shown in FIG. 25 , in step S<b>1 , the control unit 30 controls the suction unit 14 to discharge air from the suction unit 14 to the hole 11 before the tube 200 is inserted into the hole 11 . .

Next, in step S2, the fourth robot 1004g places the multiple tube 210 into which the sample is dispensed in the hole 11 of the positioning unit 10. As shown in FIG.

Next, in step S3, the belt portion 204 that connects the tubes 200 is pressed from above by the pressing portion 43 . After that, the suction unit 14 sucks the air inside the hole 11 into which the tube 200 is inserted. Thereby, the tube 200 is positioned.

Next, in step S<b>4 , the control unit 30 operates the direct-acting mechanism 40 to transport the plurality of tubes 200 arranged on the positioning unit 10 . Then, as shown in FIG. 26 , the control unit 30 causes the first detection unit 41 to detect the presence or absence of the lids 201 of the plurality of tubes 200 conveyed by the linear motion mechanism 40 . The first detection unit 41 detects the presence or absence of the lids 201 of the plurality of tubes 200 one by one. After that, the plurality of tubes 200 are arranged between the lid closing part 20 and the guide part 50 .

When the first detection unit 41 detects all of the plurality of lids 201 in step S4, the control unit 30 causes the lid closing unit 20 to close the lids 201 in step S5. Specifically, in the first embodiment, as shown in FIG. 27 , the control unit 30 moves the guide unit 50 above the open end 203 of the tube 200 before the lid closing unit 20 closes the lid 201 . move to Note that in step S4, if the first detection unit 41 does not detect all of the plurality of lids 201, the operation of closing the lids 201 is not performed. In this case, the multiple tube 210 is discarded by the fourth robot 1004g. Then, the sample is accommodated in a new multiple continuous tube 210, and the sample measurement operation is performed again.

Next, in step S<b>6 , as shown in FIG. 28 , the control section 30 moves the lid closing section 20 upward so as to lift the lid 201 . At this time, the lid 201 is guided by the first inner side surfaces 50 d of the pair of claw portions 50 a of the guide portion 50 . Therefore, even if the lid 201 is tilted with respect to the horizontal direction, the lid 201 is moved along the first inner side surface 50d of the claw portion 50a so that the placement of the lid 201 is corrected so as to be aligned with the horizontal direction.

Next, in step S7, as shown in FIG. 29, the control unit 30 laterally moves the lid closing unit 20 so as to move the lid 201 above the open end 203 of the tube 200. As shown in FIG. Specifically, the control unit 30 moves the lid closing unit 20 closer to the guide unit 50 side. As a result, the connection portion 202 of the lid 201 is folded back and the second portion 201 b of the lid 201 is moved above the open end 203 of the tube 200 . Further, since the lid 201 is guided by the second inner side surfaces 50e of the pair of claw portions 50a of the guide portion 50, the lid 201 is prevented from passing over the open end 203 of the tube 200, is guided above the open end 203 of the .

Next, in step S8, in the first embodiment, as shown in FIG. 30, the control section 30 retracts the guide section 50 to the first retraction position P1.

Next, in step S9, the control section 30 moves the lid closing section 20 downward so that the opening end 203 of the tube 200 is closed by the lid 201 while the guide section 50 is moved to the first retracted position P1. and close the lid 201 . Specifically, the lid 201 is closed by the lower end of the substantially L-shaped lid closing portion 20 . Further, the pressing portion 60 is moved downward together with the lid closing portion 20 to close the lid 201 . Thereby, the lid 201 is temporarily closed. Even if one of the four lids 201 has fallen off, if at least one lid 201 remains, the lid closing part 20 will not move below the height h1 of this lid 201. do not have. Therefore, it is possible to suppress contamination of the lid-closing part 20 due to contact of the lid-closing part 20 with the tube 200 .

In the first embodiment, the controller 30 controls the plurality of lid closing portions 20 so as to collectively close the plurality of lids 201 by the plurality of lid closing portions 20 arranged to correspond to the plurality of tubes 200 . to move. That is, the control unit 30 collectively moves the plurality of lid closing parts 20 by moving the holding part 22 in which the plurality of lid closing parts 20 are arranged.

Next, in step S10, as shown in FIG. 31, the control section 30 retracts the lid closing section 20 to the second retraction position P2. Also, the pressing portion 60 is retracted upward.

Next, in step S11, the control section 30 causes the second detection section 42 to detect whether or not the lid 201 is closed. Specifically, whether or not the lid 201 is closed is detected based on the difference between the height h1 of the lid 201 and the height h2 of the belt portion 204 . If it is determined in step S11 that the lid 201 is not closed, the operations of steps S5 to S11 are repeated. The number of repetitions is, for example, three. If it is determined that the lid 201 is not closed even after the operations of steps S5 to S11 are repeated, the fourth robot 1004g discards the multiple tubes 210. FIG. Then, the sample is accommodated in a new multiple continuous tube 210, and the sample measurement operation is performed again.

When the second detection unit 42 detects that the lid 201 is closed in step S11, the control unit 30 presses the lid 201 into the tube 200 as shown in FIG. 32 in step S12. , the pressing portion 60 is moved downward. Further, the control section 30 moves the pressing section 60 downward so as to press the lid 201 into the tube 200 while the lid closing section 20 is retracted to the second retraction position P2.

Note that the control unit 30 collectively presses the four lids 201 with the four pressing portions 60 arranged to correspond to the four tubes 200 . That is, the control unit 30 moves the four pressing portions 60 collectively by moving the holding portion 62 on which the four pressing portions 60 are arranged. As a result, the four temporarily closed lids 201 are fully closed. Also, the four pressing portions 60 are individually driven. Therefore, even when the height h1 of the four lids 201 varies, the pressing portion 60 can properly close the lids 201 .

Next, in step S13, the control section 30 causes the second detection section 42 to detect whether or not the lid 201 is closed. If it is determined in step S13 that the lid 201 is not closed, the operations of steps S12 and S13 are repeated. The number of repetitions is, for example, three. Even if the operations of steps S12 and S13 are repeated, if it is determined that the lid 201 is not closed, the fourth robot 1004g discards the multiple tubes 210. FIG. Then, the sample is accommodated in a new multiple continuous tube 210, and the sample measurement operation is performed again.

By performing the operations of steps S4 to S13 twice, the lids 201 of all the eight tubes 200 are closed. Note that in steps S11 and S13, if the second detection unit 42 does not detect that the lid 201 is closed, the operation of moving the pressing unit 60 downward is not performed. In this case, the multiple tube 210 is discarded by the fourth robot 1004g. Then, the sample is accommodated in a new multiple continuous tube 210, and the sample measurement operation is performed again.

[Effect of the first embodiment]
In the first embodiment, as described above, the lid closing portion 20 is driven by the driving portion 21 that linearly moves the lid closing portion 20 . Here, since the drive unit 21 performs relatively simple linear movement, it is not necessary for a skilled operator to teach complicated operations. Further, since the tube 200 is positioned by the positioning section 10 , it is not displaced by the operation of the lid closing section 20 driven by the driving section 21 . These allow the lid 201 of the tube 200 to be closed without instruction by a skilled operator.

In the first embodiment, as described above, the positioning unit 10 includes the suction unit 14 that sucks air in the hole 11 into which the tube 200 is inserted, and the control unit 30 controls the hole into which the tube 200 is inserted. The air inside 11 is sucked by the suction part 14 to position the tube 200 . As a result, the tube 200 is sucked, so that the tube 200 can be positioned more accurately while suppressing deformation of the flexible tube 200 .

In the first embodiment, as described above, the control unit 30 controls the suction unit 14 to discharge air from the suction unit 14 to the hole 11 before the tube 200 is inserted into the hole 11 . As a result, even if foreign matter such as dust enters the hole 11, the foreign matter can be removed by discharging the air.

In the first embodiment, as described above, the control unit 30 causes the lid closing unit 20 to close the lid 201 when the first detection unit 41 detects that the lid 201 is present before the lid 201 is closed. make it work. As a result, the lid closing part 20 performs the operation of closing the lid 201 on the tube 200 without the lid 201, so that the lid closing part 20 comes into contact with the open end 203 of the tube 200 with the lid 201 not closed. As a result, contamination of the lid closing portion 20 can be suppressed.

In the first embodiment, as described above, the control unit 30 moves the lid closing unit 20 upward so as to lift the lid 201 , and moves the lid 201 upward to move the lid 201 above the open end 203 of the tube 200 . The closing part 20 is moved laterally, and the lid closing part 20 is moved downward so that the opening end 203 of the tube 200 is closed by the lid 201, and the lid 201 is closed. As a result, the lid 201 of the tube 200 can be closed by moving the lid closing portion 20 in the vertical and horizontal directions by the driving portion 21 that linearly moves the lid closing portion 20 .

In the first embodiment, as described above, the lid closing device 100 guides the lid 201 moved by the lid closing part 20 to the open end 203 of the tube 200 when moving the lid closing part 20 in the lateral direction. A guide portion 50 is provided. As a result, lid 201 and open end 203 of tube 200 are prevented from being displaced due to lid 201 passing over open end 203 of tube 200 . Therefore, the lid 201 can be properly closed. In particular, when lid 201 and tube 200 are connected by elastically deformable connecting portion 202, since lid 201 and open end 203 are easily displaced, providing guide portion 50 is particularly effective.

In the first embodiment, as described above, the guide portion 50 includes a pair of claw portions 50a that sandwich the lid 201 from both sides in the horizontal direction. As a result, the lid 201 is sandwiched between the pair of claws 50a, so that the lid 201 can be guided to the open end 203 of the tube 200 along the space between the pair of claws 50a. Therefore, the lid 201 can be closed more appropriately.

In the first embodiment, as described above, the first inner side surfaces 50d facing each other are arranged on the distal end sides of the pair of claw portions 50a. The first inner side surfaces 50d are arranged in a tapered shape so that the distance therebetween increases downward. Here, the lid 201 before being closed may be arranged so as to be inclined with respect to the horizontal direction. Lid 201 in an inclined state may not be able to close lid 201 properly. Therefore, by moving the lid 201 upward between the tapered first inner side surfaces 50d, the inclination of the lid 201 can be corrected along the horizontal direction. Therefore, lid 201 can be closed more appropriately.

In the first embodiment, as described above, the second inner side surface 50e on the base end side of the claw portion 50a where the pair of claw portions 50a are connected is inclined in the direction opposite to the tip of the claw portion 50a. ing. Here, when closing the lid 201 connected to the open end 203 of the tube 200 , the lid 201 is folded back so as to draw an arc obliquely from above to below the open end 203 of the tube 200 . Therefore, as described above, by inclining the second inner side surface 50e on the base end side of the claw portion 50a in the direction opposite to the tip of the claw portion 50a, the lid 201 folded back like drawing an arc is inclined. It can be guided to the open end 203 of the tube 200 along the second inner surface 50e.

In the first embodiment, as described above, the control section 30 moves the guide section 50 above the open end 203 of the tube 200 before the lid closing section 20 closes the lid 201 . Thus, unlike the case where the guide part 50 is fixed above the open end 203 of the tube 200, the guide part 50 is prevented from interfering with the series of operations for closing the lid 201 of the tube 200. can be done.

In the first embodiment, as described above, the control unit 30 moves the lid closing unit 20 so that the opening end 203 of the tube 200 is closed by the lid 201 while the guide unit 50 is moved to the first retracted position P1. Close the lid 201 by moving it downward. As a result, since the guide portion 50 is retracted to the first retraction position P1, the guide portion 50 does not interfere with the operation of moving the lid 201 downward by the lid closing portion 20 to close the lid 201. can be suppressed.

In the first embodiment, as described above, the lid closing device 100 includes the pressing portion 60 that presses the lid 201 into the tube 200 after the lid closing portion 20 closes the lid 201 . Thereby, the lid 201 closed by the lid closing part 20 can be closed more reliably.

In the first embodiment, as described above, the control unit 30 causes the pressing unit 60 to press the lid 201 when the second detection unit 42 detects that the lid 201 is closed. . As a result, it is possible to prevent the pressing portion 60 from entering the inside of the tube 200 where the lid 201 is not closed. Therefore, it is possible to suppress contamination of the pressing portion 60 .

In the first embodiment, as described above, the control unit 30 moves the pressing unit 60 downward so as to press the lid 201 into the tube 200 while the lid closing unit 20 is retracted to the second retraction position P2. move to Accordingly, it is possible to prevent the lid closing portion 20 from interfering with the operation of the pressing portion 60 pressing the lid 201 .

In the first embodiment, as described above, the outer diameter r1 of the pressing portion 60 is smaller than the inner diameter r2 of the open end 203 of the tube 200 when viewed from the pressing direction of the pressing portion 60 . Accordingly, even if the pressing portion 60 accidentally enters the inside of the tube 200 where the lid 201 is not closed, contact between the pressing portion 60 and the tube 200 can be suppressed. Therefore, it is possible to suppress contamination of the pressing portion 60 .

In 1st Embodiment, the drive part 21 contains an air cylinder as mentioned above. As a result, the lid closing portion 20 can be easily linearly moved by the air cylinder.

In the first embodiment, eight tubes 200 are arranged linearly as described above. The control unit 30 moves the four lid closing units 20 so that the four lid closing units 20 can collectively close the four lids 201 . As a result, compared to closing the lids 201 of the four tubes 200 one by one, the time required to close the lids 201 of the four tubes 200 can be shortened. Moreover, unlike the case of closing the lids 201 of the eight tubes 200 collectively, the four lids 201 can be collectively closed even if the driving force of the drive unit 21 is relatively small.

In the first embodiment, as described above, the sample is a sample for PCR testing. As a result, the lid 201 of the tube 200 containing the sample for PCR test is automatically closed by the lid closing unit 20, so unlike the case where the lid 201 of the tube 200 is manually closed, the operator does not come into contact with the sample. can be suppressed.

[Second embodiment]
A lid closing device 300 according to the second embodiment will be described with reference to FIGS. 33 to 35. FIG. In the lid closing device 300, the shape of the guide portion 350 is different from the shape of the guide portion 50 of the first embodiment.

The guide portion 350 includes a pair of claw portions 350a that sandwich the lid 201 from both sides in the horizontal direction. The claw portion 350a has a substantially triangular shape when viewed from above. That is, the tip of the guide portion 350 is recessed. This makes it possible to guide the lid 201 toward the center. As shown in FIG. 35, the tip of the claw portion 350a is composed of a first portion 350b along the vertical direction and a second portion 350b inclined in a direction away from the tube 200 as viewed from the side. and portion 350c. Other configurations and effects of the second embodiment are the same as those of the first embodiment.

[Modification]
It should be noted that the embodiments disclosed this time should be considered as examples and not restrictive in all respects. The scope of the present disclosure is indicated by the scope of the claims rather than the above description of the embodiments, and further includes all modifications or variations within the meaning and scope equivalent to the scope of the claims.

In the above-described first and second embodiments, an example in which the tube 200 accommodates a sample for PCR test is shown, but the present disclosure is not limited to this. For example, the tube 200 may contain samples other than those for PCR testing. A reagent may be contained in the tube 200 . Tube 200 may contain both the specimen and the reagent.

In the first and second embodiments described above, an example in which the tube 200 is positioned by sucking the tube 200 inserted into the hole portion 11 of the positioning portion 10 has been described, but the present disclosure is not limited to this. The tube 200 may be positioned only by inserting the tube 200 into the hole 11 .

In the first and second embodiments described above, an example in which air is discharged from the suction portion 14 to the hole portion 11 before the tube 200 is inserted into the hole portion 11 has been described, but the present disclosure is not limited to this. In situations such as when it is difficult for foreign matter or the like to enter the hole portion 11 , air may not be discharged from the suction portion 14 .

In the first and second embodiments described above, an example in which the first detection unit 41 is a reflective laser sensor is shown, but the present disclosure is not limited to this. For example, the 1st detection part 41 may be comprised from the camera.

Although an example in which the guide portion 50 is arranged in the first embodiment and an example in which the guide portion 350 is arranged in the second embodiment is shown, the present disclosure is not limited to this. For example, if lid 201 can be properly closed without guide portion 50 or guide portion 350, guide portion 50 and guide portion 350 may be omitted.

Although the example in which the guide portion 50 includes the pair of claw portions 50a in the first embodiment, and the example in which the guide portion 350 includes the pair of claw portions 350a in the second embodiment, the present disclosure is not limited thereto. For example, the guide portion may have a substantially prismatic shape without providing the claw portion on the guide portion.

In the first and second embodiments described above, an example in which the pressing portion 60 is arranged has been shown, but the present disclosure is not limited to this. For example, if the lid closing portion 20 can properly close the lid 201 without pressing the lid 201 with the pressing portion 60, the pressing portion 60 does not have to be arranged.

In the above-described first and second embodiments, an example in which the second detection unit 42 is composed of a transmissive laser sensor has been described, but the present disclosure is not limited to this. For example, the 2nd detection part 42 may be comprised from the camera.

In the first and second embodiments described above, an example in which the four lids 201 are closed all at once was shown, but the present disclosure is not limited to this. For example, lids 201 may be closed one by one. That is, the lids 201 may be closed one by one by sequentially operating the four lid closing units 20 . Also, only one lid closing portion 20 may be arranged and the eight lids 201 may be sequentially closed by one lid closing portion 20 . Alternatively, eight lid closing portions 20 may be arranged to simultaneously close the eight lids 201 .

The functionality of the elements disclosed herein may be accomplished using general purpose processors, special purpose processors, integrated circuits, Application Specific Integrated Circuits (ASICs), conventional circuits, and/or those configured or programmed to perform the disclosed functions. can be implemented using a circuit or processing circuit that includes a combination of A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs or is programmed to perform the recited functions. The hardware may be the hardware disclosed herein, or other known hardware programmed or configured to perform the recited functions. A circuit, means or unit is a combination of hardware and software where the hardware is a processor which is considered a type of circuit, the software being used to configure the hardware and/or the processor.

10 Positioning Part 11 Hole 14 Suction Part 20 Lid Closing Part 21 Driving Part 30 Control Part 41 First Detection Part 42 Second Detection Part 50, 350 Guide Part 50a, 350a Claw Part 50d First Inner Side 50e Second Inner Side 60 Pressing part 100, 300 Lid closing device 200 Tube (container)
201 Lid 203 Open End 1001 First Unit 1002 Second Unit 1003 Third Unit 1100 Inspection System P1 First Retreat Position P2 Second Retreat Position

Claims (19)

A lid closing device for closing a lid connected to an open end of a flexible container containing at least one of a specimen and a reagent,
a positioning part having a hole into which the container is inserted and positioning the container inserted into the hole;
a lid closing unit that closes the lid by moving the lid so as to cover the open end of the container;
a drive unit for linearly moving the lid closing unit;
and a control section that controls movement of the lid closing section by the driving section. The positioning part includes a suction part that sucks air in the hole into which the container is inserted,
2. The lid closing device according to claim 1, wherein said control unit controls to position said container by causing said suction unit to suck air in said hole into which said container is inserted. 3. The lid closing device according to claim 2, wherein said control section controls said suction section so that air is discharged from said suction section to said hole before said container is inserted into said hole. Further comprising a first detection unit that detects the presence or absence of the lid,
The apparatus according to any one of claims 1 to 3, wherein the control unit causes the lid closing unit to close the lid when the first detection unit detects that the lid is present before the lid is closed. A lid closing device according to any one of the preceding claims. The control unit
moving the lid closing portion upward so as to lift the lid;
laterally moving the lid closure to move the lid over the open end of the container;
The lid closing device according to any one of claims 1 to 4, wherein the lid closing portion is moved downward to close the lid so that the lid closes the open end of the container. 6. The lid closing device according to claim 5, further comprising a guide portion for guiding the lid moved by the lid closing portion to the open end of the container when the lid closing portion is laterally moved. 7. The lid closing device according to claim 6, wherein said guide portion includes a pair of claw portions that sandwich said lid from both sides in the horizontal direction. A first inner surface facing each other is arranged on the tip side of the pair of claws,
8. The lid closing device according to claim 7, wherein said first inner surfaces are arranged in a tapered shape such that the distance therebetween widens downward. 9. The lid closing device according to claim 8, wherein a second inner surface on the base end side of the claw portion to which the pair of claw portions are connected is inclined in a direction opposite to the tip of the claw portion. . The lid according to any one of claims 6 to 9, wherein the control unit moves the guide unit above the open end of the container before closing the lid by the lid closing unit. closing device. The control unit moves the lid closing unit downward so that the opening end of the container is closed by the lid in a state in which the guide unit is moved to the first retracted position to close the lid. Item 11. The lid closing device according to any one of items 6 to 10. The lid closing device according to any one of claims 5 to 11, further comprising a pressing portion that presses the lid into the container. Further comprising a second detection unit that detects whether the lid is closed,
13. The lid closing device according to claim 12, wherein said control section causes said pressing section to press said lid when said second detection section detects that said lid is closed. 14. The method according to claim 12 or 13, wherein the control section moves the pressing section downward so as to press the lid into the container while the lid closing section is retracted to the second retraction position. Lid closing device. The lid closing device according to any one of claims 12 to 14, wherein an outer diameter of said pressing portion is smaller than an inner diameter of said open end of said container when viewed from a pressing direction in which said pressing portion presses. The lid closing device according to any one of claims 1 to 15, wherein the drive section includes an air cylinder. A plurality of the containers are arranged in a straight line,
The control unit moves the plurality of lid closing portions so as to collectively close the plurality of lids by the plurality of the lid closing portions arranged to correspond to the plurality of containers. 17. The lid closing device according to any one of Claims 16. The lid closing device according to any one of claims 1 to 17, wherein the sample is a sample for PCR (Polymerase Chain Reaction) inspection. A test system for collecting a specimen from a subject, measuring and testing the collected specimen,
a first unit in which specimen collection is performed to collect the specimen and receive the specimen;
a second unit that preprocesses the collected sample before measurement;
a third unit that performs sample measurement for measuring the sample that has undergone the pretreatment;
the third unit includes a lid closing device for closing a lid connected to an open end of a flexible container containing at least one of a specimen and a reagent;
The lid closing device
a positioning part having a hole into which the container is inserted and positioning the container inserted into the hole;
a lid closing unit that closes the lid by moving the lid so as to cover the open end of the container;
a drive unit for linearly moving the lid closing unit;
and a control section that controls movement of the lid closing section by the driving section.

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