JP4135567B2 - Cap removal device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a cap removing equipment to remove the cap attached to a container containing a liquid.
[0002]
[Prior art]
Dispensing devices are known as devices used for systematically performing tests such as biochemical reactions of substances. In this dispensing apparatus, a liquid dispensing operation is performed for a microtiter plate in which wells for storing liquids such as reagents and specimens are provided in a regular arrangement, or a small test tube-shaped tube. In the case of using a tube, the tube rack manufactured according to the arrangement of the dispensing tips of the used dispensing device is held in a vertical posture, and liquid is injected or taken out from the opening on the upper surface.
[0003]
Then, after dispensing the tube, if it is necessary to close the tube for the purpose of blocking the liquid from the external atmosphere, a cap is attached to the opening of the tube (see, for example, Patent Document 1). ). As the cap, a resin molded into a shape having a fitting portion that fits into the opening of the tube is used, and when the cap is attached to the tube, the upper surface of the cap is held by a holder. Then, the fitting portion of the cap is pushed into the opening from above. Moreover, when performing new dispensing operation, the operation | work which removes the mounted cap is performed (for example, refer patent document 2). The cap removal is performed by removing the fitting portion from the opening by holding the cap by a method such as holding the cap and pulling it upward.
[0004]
[Patent Document 1]
JP 2000-81441 A [Patent Document 2]
Japanese Patent Laid-Open No. 2003-14770
[Problems to be solved by the invention]
However, in the cap removing operation for removing the cap attached to the opening of the tube, the following problems have occurred. Since the cap is attached for the purpose of closing and sealing the tube, the fitting portion between the fitting portion and the opening portion is set in a fitting state in which surface pressure acts on the contact surface.
[0006]
For this reason, when the cap is raised and the fitting part is detached from the opening of the container, it is necessary to hold the tube by clamping it from the outside so that the tube is not lifted by the cap. . However, when removing caps from tubes that are housed in a grid-like arrangement in a tube rack, it is difficult to hold the tubes in a simple manner, and it is difficult to remove the caps without any problems. It was.
[0007]
Accordingly, the present invention aims at providing a cap removing equipment which can be removed cap attached to the container of a small test tube shape housed side by side vertically and horizontally a plurality of rows in a container rack without problems reliably.
[0008]
[Means for Solving the Problems]
The cap removing device according to claim 1 is a cap removing device for removing a resin cap attached to an opening of a small test tube-shaped container accommodated in a plurality of rows and columns in a container rack. A plurality of engagement tools provided at the tip end with an insertion end that fits into a recess formed in the center of the upper surface, a container rack holding part for holding a container rack, the plurality of engagement tools, and the container rack holding part It has a horizontal moving mechanism for relatively moving horizontally, alignment for aligning the engaging member and the container of the plurality of engagement members to engage with the cap attached to the opening of the container A mechanism, an engagement tool lifting mechanism for lifting and lowering the plurality of engagement tools relative to the container, a lifting frame that is lifted and lowered by the engagement tool lifting mechanism, and a rotating frame that rotates about a horizontal rotation axis. Movement A rotating member having an elastic member attached to the container and detachably attached to the plurality of engaging tools toward the container and urging each engaging tool downward; and rotating the rotating member An engagement tool tilting mechanism for tilting the engagement tool from a vertical posture, and a state in which the plurality of engagement tools are engaged with an engaged portion of a cap attached to the opening. in one side edge portion of the opening is inclined as a fulcrum to separate the said cap from the edge of the other side of the cap by tilting the engaging member from the vertical position, then the plurality of engaging member Control means for controlling the positioning mechanism, the engaging tool tilting mechanism, and the engaging tool lifting mechanism to perform the cap removing operation to be lifted and removed from the opening , and the engaging means removed from the container The above while still engaging the tool The cap and a cap removal means for removing from the engaging member.
[0012]
The cap removing device according to claim 2 is the cap removing device according to claim 1, wherein the plurality of engaging members correspond to a plurality of containers arranged in one row of the container rack. It is attached to the rotating member in relation.
[0016]
According to the present invention, the engagement tool is engaged with the engaged portion of the resin cap attached to the opening of the container, and the engagement tool is inclined from the vertical posture so that the cap is placed on one side of the opening. By tilting the edge on the side as a fulcrum and separating the cap from the edge on the other side, the cap is lifted and separated from the opening of the container to prevent the container from being lifted by the cap, The cap can be securely removed without any problems.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a plan view of a dispensing system incorporating a cap attaching / detaching device according to an embodiment of the present invention, and FIG. 2 is a tube and cap used in the cap attaching / detaching device according to an embodiment of the present invention. FIG. 3 is a perspective view of a cap holding sheet used in the cap mounting / removing device according to the embodiment of the present invention, and FIG. 4 is a cap mounting / removing device according to the embodiment of the present invention. FIG. 5 is a sectional view of the cap supply means of the cap mounting / removal device according to the embodiment of the present invention, and FIG. 6 is an explanation of the cap separating operation in the cap mounting / removal device of the embodiment of the present invention. FIG. 7 is a front view of a cap mounting mechanism in the cap mounting / removal device according to the embodiment of the present invention. FIG. 8 is a cap mounting / removal of the embodiment of the present invention. FIG. 9 is a side sectional view of the cap mounting head in the apparatus, FIG. 9 is a view for explaining the operation of the cap mounting head in the cap mounting / removing apparatus according to the embodiment of the present invention, and FIG. 10 is the cap mounting / removal of the embodiment of the present invention. 11 is a front view of a cap removing mechanism in the apparatus, FIG. 11 is a side sectional view of a cap removing head in the cap attaching / detaching apparatus according to an embodiment of the present invention, and FIG. 12 is a cap attaching / detaching apparatus according to an embodiment of the present invention. FIG. 13 is an explanatory diagram of a cap mounting operation in the cap mounting / removing device according to the embodiment of the present invention, and FIG. 14 is a cap mounting / removing device according to the embodiment of the present invention. It is explanatory drawing of the cap removal operation | movement in.
[0018]
First, a dispensing system will be described with reference to FIG. This dispensing system is configured by combining a cap attaching / detaching device 1 with a dispensing device 12 that performs dispensing operations of liquids such as reagents and specimens in various tests performed in drug discovery screening work and the like. The cap mounting / removal device 1 includes a cap mounting device that automatically mounts a resin cap on a small test tube-shaped tube used as a container for storing liquid in a test, and a cap mounted on the tube. The cap removal device that automatically removes is incorporated into one device.
[0019]
The cap mounting / removal device 1 is provided with a cap mounting mechanism 2 for performing mounting / removal of a cap, a cap removing mechanism 3 and a cap supply means for supplying individual caps to the cap mounting mechanism 2 on the base 1a. These parts are connected via a transport mechanism described later. The work target tube can be delivered to and from the dispensing device 12.
[0020]
First, the cap supply means will be described. The cap supply unit includes a sheet storage unit 7, a sheet collection box 8, a cap separation unit 9, a cap transfer table 10, and a sheet transfer mechanism 11. The sheet storage unit 7 stores a cap holding sheet 20 (see FIG. 4) that holds the caps in a regular plane arrangement. The cap separation unit 9 (cap separation mechanism) separates individual caps from the cap holding sheet 20 taken out from the sheet storage unit 7. The empty sheet after the cap is separated from the cap holding sheet 20 is collected in the sheet collection box 8.
[0021]
The sheet transfer mechanism 11 takes out the cap holding sheet 20 from the sheet storage unit 7 and transfers it to the cap separation unit 9. The cap transfer table 10 (cap transfer mechanism) transfers the cap separated from the cap holding sheet 20 to a cap suction position (predetermined position) set as a delivery position to the cap mounting mechanism 2.
[0022]
The cap mounting mechanism 2 holds the cap from the above-described cap suction position by a holder dedicated to holding the cap, and mounts the cap on the opening of the tube held in the container rack 6 (see FIG. 3). The cap removal mechanism 3 removes the cap attached to the opening of the tube. The cap mounting mechanism 2 and the cap removing mechanism 3 are disposed along the container rack transport mechanism 4, and the container rack transport mechanism 4 includes a container rack holding unit 5 on which a container rack 6 for storing tubes arranged in rows and columns is placed. Transport.
[0023]
In a state where the container rack holding unit 5 has moved to the end of the container rack transport mechanism 4, the container rack 6 held by the container rack holding unit 5 is located at the delivery position 12 b set in the dispensing device 12. The container rack transport mechanism 4 is container rack moving means for moving the container rack 6 between the container rack delivery position 12 b for delivering the container rack 6 to and from the dispensing device 12, the cap mounting mechanism 2, and the cap removing mechanism 3.
[0024]
The container rack 6 is taken out by a container transfer head 15 provided in the dispensing device 12 and stored together with the microplate 14 in a container stock unit 13 attached to the dispensing device 12. A dispensing area 12 c is provided on the base portion 12 a of the dispensing device 12, and the container rack 6 and the microplate 14 are transferred from the container stock portion 13 to the container during the dispensing operation performed by the dispensing head 16. It is taken out by the head 15 and conveyed to the dispensing area 12c. Whenever it is necessary to attach the cap to the tube or remove the cap from the tube in this dispensing operation, the container rack 6 sets the delivery position 12b between the cap attaching / detaching device 1 and the dispensing device 12. Round trip through.
[0025]
Next, the tube 27 used for the dispensing operation by the dispensing device 12 and the cap 28 attached to and detached from the tube 27 by the cap attaching / detaching device 1 will be described with reference to FIGS. As shown in FIG. 2A, the container rack 6 is provided with recesses 6a for holding a plurality of tubes 27 side by side in a lattice-like planar regular array, and the tubes 27 are in an upright posture in the recesses 6a. Inserted and retained. The arrangement of the tubes 27 in the container rack 6 coincides with the well arrangement of the microplate 14, and both the tubes 27 and the microplate 14 held in the container rack 6 by using the same dispensing head 16 are targeted. As a result, dispensing operation can be performed.
[0026]
As shown in FIG. 2 (b), the tube 27 is a resin part formed of a transparent resin in a test tube shape having an upper opening, and a cap 28 is attached to the opening 27a as necessary. The cap 28 is a resin-made plug member having a shape in which a concave portion 28a is provided at the center of the upper surface, and a collar portion 28b is projected from an upper edge portion. A lower portion of the cap 28 is a cylindrical fitting portion 28c having a diameter smaller than that of the flange portion 28b.
[0027]
When the cap 28 is attached to the tube 27, the fitting portion 28c is press-fitted into a stepped portion 27b provided in the opening 27a. The concave portion 28a is provided with a bottom portion 28d having an inner diameter extending outward from the intermediate portion. In a cap removing operation, which will be described later, the distal end portion of the engagement tool is inserted into the concave portion 28a and fitted into the bottom portion 28d. Thus, the cap 28 can be engaged with the engagement tool. That is, the concave portion 28a provided in the cap 28a is an engaged portion for engaging the cap 28 with the engaging tool.
[0028]
FIG. 3 shows the cap holding sheet 20 that holds the cap 28. The cap 28 is held in a posture in which the recesses 28a face upward on a bendable resin sheet 20a. In the holding holes 20b provided in the sheet 20a in the same arrangement as the arrangement of the recesses 6a in the container rack 6, the cap 28 The portion 28b is inserted while being locked (see FIG. 6A).
[0029]
Next, with reference to FIG. 4 and each figure, the detailed structure of each part of the cap mounting / removal device 1 will be described. First, cap supply means for supplying the cap 28 to the cap mounting mechanism 2 will be described with reference to FIGS. FIG. 5 shows an AA cross section in FIG. 4, and a cap holding sheet 20 is stored in a stacked state in a holding frame 7 a provided in the sheet storage unit 7. The cap holding sheet 20 is placed on the lifter mechanism 21. By driving the lifter mechanism 21, the cap holding sheet 20 is sequentially pushed up within the holding frame 7a.
[0030]
The uppermost cap holding sheet 20 stacked in the holding frame 7 a and pushed up to the take-out height at the upper end is taken out by the sheet transfer head 22. The taken-out sheet transfer head 22 is transferred to the cap separation unit 9 by a sheet transfer mechanism 11 (see FIG. 4) disposed in the X direction along the sheet storage unit 7, the sheet collection box 8, and the cap separation unit 9. Move up.
[0031]
As shown in FIG. 4, the sheet transfer mechanism 11 has a configuration in which a sheet transfer head moving table 11a is horizontally held by a bracket 11b. The sheet transfer head moving table 11a includes a first motor 17. A linear motion mechanism including a feed screw 17a and a nut 17b is provided. The sheet transfer head 22 reciprocates above the sheet storage unit 7, the sheet collection box 8, and the cap separation unit 9 by this linear movement mechanism, and the cap holding sheet 20 taken out from the sheet storage unit 7 is transferred to the cap separation unit 9. Included.
[0032]
As shown in FIG. 5, the cap holding sheet 20 transferred to the cap separation unit 9 is placed on the cap separation plate 23, where the cap separation operation for separating the cap 28 from the cap holding sheet 20 is performed by cap separation. This is done by mechanism 24. The cap separation mechanism 24 includes a punching head 25 that is lifted and lowered by a lifting mechanism 26, and a plurality of punching shafts 25 a correspond to the arrangement pitch of the holding holes 20 b in the cap holding sheet 20. It is provided to extend downward at a pitch.
[0033]
A cap transfer table 10 is disposed below the cap separation plate 23. The cap transfer table 10 is a vibration feeder that conveys components by vibrating the conveyance surface, and the cap separation unit 9 moves the cap 28 separated from the cap holding sheet 20 in the Y direction by vibration, so that the cap mounting mechanism 2 is moved. Transport to.
[0034]
The cap separation operation will be described with reference to FIG. As shown in FIG. 6A, the cap holding sheet 20 conveyed by the sheet transfer head 22 is aligned with the cap separation plate 23 so that each cap 28 coincides with the separation hole 23a. Next, as shown in FIG. 6B, the cap holding sheet 20 is placed with the sheet 20 a brought into contact with the upper surface of the cap separation plate 23.
[0035]
Then, the punching head 25 is lowered, and the cap 28 is pushed out from the holding hole 20b by inserting the punching shaft 25a into the recess 28a as shown in FIG. 6C. As a result, the cap 28 is separated downward from the cap holding sheet 20 through the separation hole 23 a and moves into the conveyance groove 10 a provided in the cap transfer table 10. Then, the cap 28 that has moved into the transport groove 10a is transported by the cap transfer table 10 to the cap suction position 10b (see FIG. 8) by the holder of the cap mounting mechanism 2.
[0036]
Next, the structure of the cap mounting mechanism 2 will be described. In FIG. 4, the cap transfer table 10 is provided so as to extend to the container rack transport mechanism 4, and the cap mounting mechanism 2 is disposed in accordance with the position of the cap transfer table 10 in the X direction. The cap mounting mechanism 2 slidably holds the cap mounting head 33 on the frame 2a, and moves the cap mounting head 33 in the Y direction by a linear motion mechanism including the second motor 30, the feed screw 31a, and the nut member 31b. It has a configuration.
[0037]
Next, the structure and function of the cap mounting head 33 will be described with reference to FIGS. The cap mounting head 33 automatically performs cap mounting on the tube 27 by causing the holder 43 that holds the cap 28 from the upper surface side to perform the cap mounting operation. The cap mounting operation is an operation of a predetermined pattern that combines the raising and lowering and tilting of the holding tool 43. For this reason, the cap mounting head 33 includes a holding tool lifting mechanism for lifting and lowering the holding tool 43 and a holding mechanism, as will be described below. And a holder tilting mechanism for operating the tool 43 so that it can take a vertical posture and an inclined posture.
[0038]
As shown in FIG. 7, a slider 32b is slidably mounted on a guide rail 32a fixed to the lower surface of the frame 2a in the Y direction, and the slider 32b is coupled to the moving frame 33a of the cap mounting head 33. Yes. By driving the second motor 30, the cap mounting head 33 reciprocates in the Y direction.
[0039]
As shown in FIG. 8, a guide rail 36 a is vertically disposed on the frame 33 a, and a slider 36 b slidably mounted on the guide rail 36 a is fixed to the lifting frame 37. A connecting block 37b is connected to the elevating frame 37, and a feed screw 35a is screwed to a nut member 35b built in the connecting block 37b. The elevating frame 37 is a gate-shaped frame having side frames 37a on both sides and opened on the lower side, and as shown in FIG. 7, in one side frame 37a, a cylinder 39 has a rod 39a facing downward, and a pin 39b (FIG. 8) is disposed so that the upper side is pin-supported.
[0040]
As shown in FIG. 8, a lever member 40 is pin-coupled to the tip of the rod 39a by a pin 41. As shown in FIG. 7, the lever member 40 is pivotally supported by the lower end of the side frame 37a. It is fixedly coupled to the rotation shaft 42 on the side. A rotation member 38 is rotatably held by two rotation shafts 42 inside the side frame 37a. The rotation shaft 42 on one side is coupled to the lever member 40, and the rotation member 38 rotates at a predetermined angle around the rotation shaft 42 by driving a cylinder 39 as will be described later. By this rotation, the holder 43 can take a vertical posture and an inclined posture as will be described later.
[0041]
As shown in FIG. 7, the rotating member 38 holds the holder 43 at the same pitch as the holding pitch of the tubes 27 in the container rack 6. That is, the holders 43 are attached to the rotating member 38 with the number and positional relationship corresponding to the plurality of tubes 27 arranged in one row of the container rack 6.
[0042]
Thereby, in the cap mounting operation by the cap mounting head 33, a plurality of tubes 27 arranged in a row in the container rack 6 can be collectively targeted. Then, when the feed screw 35a is rotationally driven by the lifting / lowering motor 34, the lifting / lowering frame 37 is lifted / lowered, so that the holder 43 attached to the rotating member 38 is also lifted / lowered. The raising / lowering motor 34, the feed screw 35 a, and the nut member 35 b form a holder lifting mechanism that lifts the holder 43 with respect to the tube 27 together with the lifting frame 37.
[0043]
As shown in FIG. 8, the holding tool 43 is provided with a suction hole 43a for sucking and holding the cap 28 by vacuum suction. The suction hole 43a is connected to a valve mechanism 48 composed of a multiple control valve in which a plurality of on / off valves are connected via a vacuum pipe 47, and the valve mechanism 48 is further connected to a vacuum suction source (not shown). Yes. By controlling the valve mechanism 48 by a control unit described later, the vacuum suction from the suction holes 43a in the plurality of holders 43 can be individually controlled.
[0044]
That is, the valve mechanism 48 controlled by the control unit is a vacuum suction control unit that controls on / off of the vacuum suction for each holder 43. Thereby, in the cap mounting operation to be described later, the cap mounting can be performed only for an arbitrary tube 27 among the plurality of tubes 27 arranged in the position row of the container rack 6.
[0045]
As shown in FIG. 13A, the shape of the lower end portion of the holding tool 43 includes a flange portion 43b having an outer diameter substantially equal to the flange portion 28b of the cap 28 to be held, and a fitting portion 43c that is fitted into the concave portion 28a. It has a shape with. The suction hole 43a opens at the end face of the fitting portion 43c. When the cap 28 is held by the holder 43, the cap mounting head 33 is first moved in the Y direction to be positioned toward the cap transfer table 10, and the row position of the holder 43 is set at the end of the cap transfer table 10. Align with the cap suction position 10b. Thereby, the cap 28 and the opening 27a of the tube 27 are aligned.
[0046]
In this state, the elevating motor 34 is driven to lower the cap mounting head 33. Thereby, the holder 43 descends with respect to the cap 28, and the fitting portion 43c is fitted into the recess 28a. The lowering of the holder 43 stops when the flange portion 43b comes into contact with the flange portion 28b. Thereafter, the cap 28 is held by the holder 43 by vacuum suction from the suction hole 43a. At this time, as described above, by controlling the vacuum suction for each holder 43 by the valve mechanism 48, only the arbitrary holder 43 can hold the cap 28.
[0047]
When the cap 28 held by the holder 43 is attached to the tube 27, the container rack holding portion 5 holding the target container rack 6 is first transported in the X direction and moved to the position of the cap attachment mechanism 2. Next, the row position of the holders 43 is moved in the Y direction so as to align with the row of the container rack 6 to be cap-mounted. Thereby, the holder 43 and the opening part 27a of the tube 27 are aligned.
[0048]
In this alignment, the holder 43 and the container rack holder 5 are moved by the container rack transport mechanism 4 in the X direction and by a linear motion mechanism including the second motor 30, the feed screw 31a, and the nut member 31b in the Y direction. This is done by relatively moving horizontally. That is, the container rack transport mechanism 4 and the linear motion mechanism described above serve as an alignment mechanism that aligns the cap 28 held by the holder 43 and the opening 27a of the tube 27. The holder 43 and the container rack holder 5 are configured to include a horizontal movement mechanism that relatively moves horizontally.
[0049]
As shown in FIG. 8, the holding tool 43 is coupled to an elevating shaft 44 extending upward, and the elevating shaft 44 is held by a slide guide 45 attached to the rotating member 38 so as to be slidable in the vertical direction. Yes. The upper end portion of the elevating shaft 44 is urged downward by a spring 46 that is an elastic member, and presses the holder 43 against the cap 28 with a predetermined pressing load in the cap mounting operation described above.
[0050]
That is, in the above configuration, the rotation member 38 is an elastic member that attaches a plurality of holders 43 so as to be able to advance and retreat toward the tube 27 and applies an urging force that presses the holders 43 toward the tube 27 side. I have. With this urging force, the cap 28 can be press-fitted into the opening 27a with an appropriate press-fitting load even when there is a variation in the height position of the lower end portion of the holder 43.
[0051]
In the cap mounting operation using the holder 43, a stable cap mounting state is realized by performing an operation of inclining the holder 43 from the vertical posture as described later. Here, with reference to FIG. 9, the holder tilting operation by the holder tilting mechanism for operating the holder 43 so as to be able to take the vertical posture and the tilted posture in the cap mounting operation will be described.
[0052]
FIG. 9A shows a state in which the rod 39a of the cylinder 39 is in an immersive state and the rotating member 38 is in a vertical posture, and thus the holder 43 held by the rotating member 38 is also in a vertical posture. In a state where the holder 43 is in a vertical posture in the cap mounting operation, the posture of the cap 28 held in the direction orthogonal to the axial direction on the holder 43 is horizontal with respect to the opening 27 a of the tube 27.
[0053]
FIG. 9B shows a state in which the rotating member 38 and the holder 43 are in an inclined posture by projecting the rod 39a from this state. That is, when the rod 39 a protrudes, the rotation shaft 42 rotates through the lever member 40 by an angle α defined by the protrusion amount of the rod 39 a and the lever length of the lever member 40. As a result, the rotation member 38 fixed to the rotation shaft 42 rotates and tilts around the rotation shaft 42 by the same angle α, and the holder 43 similarly tilts. In a state where the holding tool 43 is in an inclined posture in the cap mounting operation, the cap 28 held by the holding tool 43 is inclined from the horizontal plane with respect to the opening 27 a of the tube 27.
[0054]
That is, in the cap mounting head 33, the holder tilting mechanism that performs the above-described tilting operation of the holder can be freely rotated about the lifting frame 37 that is lifted and lowered by the holder lifting mechanism and the rotation frame 42 about the horizontal rotation axis 42. The rotating member 38 attached and a cylinder 39 as a driving means for rotating the rotating member 38 are provided, and the holder 43 is attached to the rotating member 38.
[0055]
Next, the structure of the cap removal mechanism 3 will be described. In FIG. 4, a cap removing mechanism 3 is disposed on the right side of the cap mounting mechanism 2 so as to cross the container rack transport mechanism 4. The cap removing mechanism 3 holds the cap removing head 53 slidably in the Y direction on the frame 3a, and the cap removing head 53 is moved in the Y direction by a linear motion mechanism including a third motor 50, a feed screw 51a, and a nut member 51b. It is configured to move to.
[0056]
A cap removal plate 67 and a cap collection box 68 are disposed at the moving end of the cap removal head 53 by this linear movement mechanism. The cap removal plate 67 is a comb-like member, and will be described later when the cap removal head 53, which has removed the cap 28 from the tube 27 held by the container rack 6, accesses the cap removal plate 67 and performs a cap removal operation. The cap 28 engaged with the engagement tool is removed by comb teeth. The cap removal plate 67 serves as a cap removing unit that removes the cap 27 that has been removed from the tube 27 and remains engaged with the engagement tool from the engagement tool. The detached cap 28 is dropped and collected in the cap collection box 68.
[0057]
Next, the structure and function of the cap removal head 53 will be described with reference to FIGS. The cap removal head 53 automatically removes the cap 28 attached to the opening 27 a of the tube 27 by causing the engaging tool 63 that can be engaged with the recess 28 a of the cap 28 to perform the cap removal operation. The cap removing operation is an operation of a predetermined pattern that combines the raising and lowering and tilting of the engaging tool 63. For this reason, the cap removing head 53 includes a holder lifting mechanism that lifts and lowers the engaging tool 63 as described below. And an engaging tool tilting mechanism for operating the engaging tool 63 so as to be able to take a vertical posture and an inclined posture.
[0058]
As shown in FIG. 10, a slider 52 b is slidably mounted on a guide rail 52 a fixed in the Y direction on the lower surface of the frame 3 a, and the slider 52 b is coupled to the moving frame 53 a of the cap mounting head 53. Yes. By driving the third motor 50, the cap mounting head 53 reciprocates in the Y direction.
[0059]
As shown in FIG. 11, a guide rail 56 a is vertically arranged on the frame 53 a, and a slider 56 b slidably mounted on the guide rail 56 a is fixed to the lifting frame 57. A connecting block 57b is connected to the elevating frame 57, and a feed screw 55a is screwed to a nut member 55b built in the connecting block 57b. The elevating frame 57 is a gate-type frame having side frames 57a on both sides and opened on the lower side. As shown in FIG. 10, the cylinder 59 has a rod 59a facing downward and a pin 59a on one side frame 57a. 59b (FIG. 11) is arranged so that the upper side is pin-supported.
[0060]
As shown in FIG. 11, a lever member 60 is pin-coupled to the tip of the rod 59a by a pin 61. As shown in FIG. 10, the lever member 60 is pivotally supported by the lower end of the side frame 57a. It is fixedly coupled to the rotation shaft 62 on the side. A rotating member 58 is rotatably held by two rotating shafts 62 inside the side frame 57a. The rotation shaft 62 on one side is coupled to the lever member 60, and the rotation member 58 is inclined from the vertical posture by driving a cylinder 59 as will be described later.
[0061]
As shown in FIG. 10, the rotating member 58 holds the engagement tool 63 that can be engaged with the recess 28 a provided in the cap 28 at the same pitch as the holding pitch of the tubes 27 in the container rack 6. . That is, the engaging tool 63 is attached to the rotating member 58 with the number and positional relationship corresponding to the plurality of tubes 27 arranged in one row of the container rack 6.
[0062]
Thereby, in the cap removal operation by the cap removal head 53, a plurality of tubes 27 arranged in a row in the container rack 6 can be collectively targeted. Then, when the feed screw 55a is rotationally driven by the raising / lowering motor 54, the raising / lowering frame 57 is raised / lowered, and accordingly, the engaging tool 63 attached to the rotating member 58 is also raised / lowered together. The elevating motor 54, the feed screw 55 a, and the nut member 55 b constitute an engaging tool elevating mechanism that elevates and lowers the engaging tool 63 relative to the tube 27 together with the elevating frame 57.
[0063]
The shape of the engagement tool 63 will be described. As shown in FIG. 14, an insertion end 63 a having a shape projecting in the radial direction is provided at the distal end of the engagement tool 63. The insertion end 63 a is inserted into a recess 28 a formed at the center of the upper surface of the cap 28 and fits into the bottom 28 d, thereby engaging the cap 28 with the engagement tool 63. The insertion end portion 63a is a large-diameter portion that is provided at the distal end portion of the engagement tool 63 and fits into the bottom portion 28d within the recess 28a.
[0064]
The engaging member 63 Therefore cap 28 when engaging and holding causes the first moving container rack holding section 5 which holds the container rack 6 of interest is transported in the X direction to the position of the cap removal mechanism 3, then The row position of the engaging tool 63 is moved in the Y direction to align with the row of the container rack 6 from which the cap is to be removed. Thus, the engagement member 63 and a cap 28 attached to the opening 27a of the tube 27 are aligned.
[0065]
This alignment, the container rack transport mechanism 4 in the X direction, the second motor 50 in the Y direction, a feed screw 51a, the linear motion mechanism consisting of the nut member 51b, the engagement member 63 and the container rack holding section 5 Is performed by relatively horizontally moving. That is, the container rack transport mechanism 4 and the linear motion mechanism described above align the engaging tool 63 and the tube 27 in order to engage the engaging tool 63 with the cap 28 attached to the opening 27 a of the tube 27. This positioning mechanism is configured to include a horizontal movement mechanism that relatively horizontally moves the engagement tool 63 and the container rack holding portion 5.
[0066]
In this state, the elevating motor 54 is driven to lower the cap removal head 53. As a result, the engaging tool 63 descends with respect to the cap 28, and the insertion end 63 a is press-fitted into the bottom 28 d within the recess 28 a of the cap 28, so that the cap 28 is engaged by the engaging tool 63. The
[0067]
As shown in FIG. 11, the engaging tool 63 is coupled to a lifting shaft 64 extending upward, and the lifting shaft 64 is held by a slide guide 65 mounted on a rotating member 58 so as to be slidable in the vertical direction. ing. The upper end portion of the elevating shaft 64 is urged downward by a spring 66 that is an elastic member, and presses the engagement tool 63 against the cap 28 with a predetermined pressing load in the cap mounting operation described above.
[0068]
That is, in the above-described configuration, the rotating member 58 is elastically attached with a plurality of engaging tools 63 so as to be able to advance and retreat toward the tube 27 and to exert a biasing force that presses the engaging tools 63 toward the tube 27. A member is provided. With this urging force, the cap 28 can be satisfactorily engaged by the engagement tool 63 even when there is variation in the height position of the lower end portion of the engagement tool 63.
[0069]
In the cap removing operation using the engaging tool 63, as in the operation shown in FIG. 9, the engaging tool tilting mechanism for tilting the engaging tool 63 from the vertical posture is performed by the engaging tool tilting mechanism, thereby stabilizing the operation. Cap removal is realized. That is, by driving the cylinder 59 and turning the turning member 58 around the turning shaft 62, the engaging tool 63 is inclined from the vertical posture.
[0070]
In this aspect of the cap removal mechanism 3, the engagement member tilting mechanism for tilting the engaging member 63 from the vertical position, the lift frame 57 to be raised and lowered by the above-described engaging member elevating mechanism, horizontal rotating the lifting frame 57 A rotation member 58 rotatably attached around the moving shaft 62, and a cylinder 59 as a driving means for rotating the rotation member 58, and an engagement tool 63 attached to the rotation member 58; It has become.
[0071]
Next, the configuration of the control system will be described with reference to FIG. In FIG. 12, 12 indicated by a broken line frame indicates components included in the dispensing device 12. The control unit 70 controls the operation of each unit of the dispensing device 12. The control unit 70 stores a cap attachment program 71, a cap removal program 72, and a cap supply program 73. When the control unit 70 executes these programs, a cap attachment operation, a cap removal operation, and a cap supply operation are performed. Are performed by the cap attachment mechanism 2, the cap removal mechanism 3, and the cap supply means, respectively.
[0072]
The operation / input unit 74 is an input unit such as a touch panel or a keyboard, and inputs commands and data for executing operations in each unit of the dispensing device 12. The display unit 75 is a display device, and displays a guidance screen at the time of operation / input by the operation / input unit 74. The dispensing unit 76 performs a dispensing operation by the dispensing head.
[0073]
When performing cap attachment / detachment on the container rack 6 delivered from the dispensing device 12 to the cap attachment / removal device 1 via the delivery position 12b, the control unit 70 performs a cap attachment program 71, a cap removal program. 72, the lifter mechanism 21, the sheet transfer mechanism 11, the cap separation mechanism 24, the cap transfer table 10, the cap mounting mechanism 2, the cap removal mechanism 3, the container rack transport mechanism 4, and the valve mechanism 48. Operation is controlled.
[0074]
Next, a cap mounting method will be described with reference to FIG. First, in the cap mounting mechanism 2, the cap mounting head 33 is moved above the cap suction position of the cap transfer table 10 to align the holder 43 with the cap 28. Then, the lifting frame 37 is lowered to lower the holders 43 arranged in a row with respect to the caps 28 arranged in a row at the cap suction position. Then, the fitting portion 43c is fitted into the concave portion 28a, and vacuum suction is performed from the suction hole 43a, whereby the cap 28 is held from the upper surface side of the cap 28 by the holding tool 43 (cap holding step).
[0075]
Next, the cap mounting head 33 is moved, and the row of the holders 43 is aligned with the row of the tube 27 that is the target of the container rack 6 positioned on the container rack transport mechanism 4. Next, by rotating the rotation member 38, the holder 43 holding the cap 28 is inclined as shown in FIG. 13B, the cap 28 is brought into contact with the edge 27c of the tube 27 in a state where the cap 28 is inclined with respect to the opening 27a of the tube 27 (cap contact process).
[0076]
This cap contact process is an operation process including an inclination step for inclining the holder 43, an alignment step for aligning the holder 43 and the tube 27, and a contact step for bringing the cap 28 into contact with the opening 27a. is there. In the above-described embodiment, in the cap contact process, the inclination step is executed after the alignment step. However, the order of the alignment step and the inclination step may be first. For example, the holding tool 43 may be aligned with the tube 27 after the cap 28 placed in a tilted state is held by the holding tool 43 already maintained in an inclined posture.
[0077]
Thereafter, the rotating member 38 is rotated to bring the holding tool 43 into a vertical posture, whereby the cap 28 held by the holding tool 43 is made horizontal with respect to the opening 27a and the cap 28 is opened. 27a is inserted and mounted (cap mounting process). Thereafter, the holder 43 is pressed against the tube 27 by the urging force of the spring 46 (cap pressing step). Thereby, even when the height of the tube 27 and the height of the lower surface of the holder 43 vary, the cap 28 can be correctly attached to the tube 27.
[0078]
The cap mounting operation in this cap mounting method is to bring the cap 28 into contact with the edge of the opening 27a while the posture of the cap 28 held by the holder 43 is inclined with respect to the opening 27a of the tube 27, Thereafter, the holder 43 is placed in a vertical posture so that the posture of the cap 28 is leveled, and is inserted into the opening 27a and attached. In the present embodiment, the control unit 70 functions as a control unit that controls the positioning mechanism, the holder tilting mechanism, and the holder lifting mechanism in order to perform the cap mounting operation described above.
[0079]
In this cap mounting operation, the cap contact process is aligned with the plurality of tubes 27 arranged in one row among the plurality of tubes 27 stored in the container rack 6 in which the tubes 27 are stored in a plurality of rows and columns. From the step to the cap mounting process is performed simultaneously. That is, it is possible to attach a cap to only one arbitrary row among the plurality of tubes 27 held in a regular arrangement of a plurality of rows and columns. Furthermore, by individually controlling the vacuum suction by the holder 43 by the valve mechanism 48, only a specific tube 27 in any one row of tubes can be targeted.
[0080]
Therefore, if a cap is to be attached to a part of the tube held in the container rack, it is necessary to manually perform the operation of attaching the cap individually to the tube after the cap is separated from the holding sheet. Compared with the cap mounting operation using the conventional holding sheet, the cap mounting operation can be performed efficiently.
[0081]
In the above-described cap mounting operation, the cap 28 held by the holder 43 is brought into contact with the edge of the opening 27a in a state where the posture of the cap 28 is inclined with respect to the opening 27a. Since the cap 28 is inserted into the opening 27a while keeping the posture of the cap 28 horizontal, the air inside the tube 27 is drawn from the edge side where the cap 28 does not contact when the cap is inserted. It is possible to escape to the outside and prevent an increase in internal pressure. Accordingly, it is possible to prevent a problem that the cap 28 is pushed up by the internal pressure after being attached and detached from the tube 27, thereby realizing a stable cap attachment state.
[0082]
Next, with reference to FIG. 14, the cap removal method which takes out the cap 28 with which the tube 27 was mounted | worn is demonstrated. First, the container rack 6 holding the tubes 27 to be cap-removed is moved to the cap-removing mechanism 3 by the container rack transport mechanism 4, and the row of the target tubes 27 among the plurality of tubes held by the container rack 6 is engaged. Align to the row of tools 63 (alignment process).
[0083]
Next, the elevating frame 57 is lowered, and as shown in FIG. 14A, the insertion end 63a is pushed into the recess 28a, and is fitted into the bottom 28d to be engaged (engagement step). Then, as shown in FIG. 13B, the engaging tool 63 is inclined from the vertical posture, whereby the cap 28 is inclined with the edge 27c on one side of the opening 27a as a fulcrum, and from the edge 27c on the other side. The collar part 28b of the cap 28 is separated (cap inclination process).
[0084]
Thereafter, by raising the engagement tool 63, the cap 28 is detached from the opening 27a as shown in FIG. 14C (cap removal step). Then, the cap removal head 53 after removing the cap 28 is made to access the cap release plate 67, and the cap 28 engaged with the engagement tool 63 is released by the comb teeth of the cap release plate 67. The detached cap 28 is dropped and collected in the cap collection box 68.
[0085]
The cap removing operation is performed by tilting the engaging tool 63 from the vertical posture in a state where the engaging tool 63 is engaged with the recess 28a of the cap 28 attached to the opening 27a of the tube 27. The cap 28 is separated from the other edge by inclining the edge on one side of the opening 27a as a fulcrum. In this embodiment, the control unit 70 functions as a control unit that controls the above-described alignment mechanism, engagement tool tilting mechanism, and engagement tool lifting mechanism in order to perform the above-described cap removal operation. .
[0086]
In the cap removing operation in this cap removing method, first, the engaging tool 63 is engaged with the cap 28a attached to the tube 27, the engaging tool 63 is inclined from the vertical posture, and the cap 28 is moved to the edge of the opening 27a. After being separated from the tube 27, the cap 28 is raised and detached from the tube 27. For this reason, when raising the cap 28, the tube 27 is lifted together with the cap 28 due to the contact surface pressure of the fitting portion 28c of the cap 28 and the opening portion 27a. It can be prevented without holding in the method. Thereby, the cap 28 can be reliably removed without a malfunction by the simple method of inclining the engaging tool 63.
[0087]
In the above-described cap removal operation, the cap 27 is placed from the alignment step on the plurality of tubes 27 arranged in one row among the plurality of tubes 27 stored in the container rack 6 in which the tubes 27 are stored in a plurality of rows. The separation process is performed simultaneously.
[0088]
At this time, as described above, since the problem that the tube 27 is lifted together with the cap does not occur, the cap removing operation for only a specific row of tubes, which is difficult in the conventional cap removing method, that is, a plurality of vertical and horizontal directions. Cap removal can be performed only for one arbitrary row among the plurality of tubes 27 held in the container rack 6 in a regular row arrangement.
[0089]
As described above, the cap mounting / removal device shown in the present embodiment holds the cap 28 supplied by the cap supply means by the holder 43 and holds the tubes 27 held in the container rack 6 in a plurality of rows and columns. Cap mounting mechanism 2 for mounting, cap removing mechanism 3 for engaging and removing the cap 28 mounted on the tube 27 by the engaging tool 63, and container rack delivery for delivering the container rack 6 to and from the dispensing device 12. The container rack moving means for moving the container rack 6 between the position 12b, the cap mounting mechanism 2, and the cap removing mechanism 3 is incorporated into one apparatus.
[0090]
This automates the work of attaching and removing caps to and from tubes, including the delivery of container racks to and from dispensing devices, compared to the conventional technology in which caps are attached and removed using separate dedicated devices. These operations can be performed efficiently.
[0091]
【The invention's effect】
According to the present invention, the engagement tool is engaged with the engaged portion of the resin cap attached to the opening of the container, and the engagement tool is inclined from the vertical posture so that the cap is placed on one side of the opening. Since the cap was lifted off from the opening of the container after the cap was lifted from the other edge by tilting with the side edge as a fulcrum, the container was prevented from being lifted by the cap. Thus, the cap can be securely removed without any trouble.
[Brief description of the drawings]
FIG. 1 is a plan view of a dispensing system in which a cap attaching / detaching device according to an embodiment of the present invention is incorporated; FIG. 2 is a tube used in the cap attaching / detaching device according to an embodiment of the present invention; Fig. 3 is a perspective view of a cap and a tube holding rack. Fig. 3 is a perspective view of a cap holding sheet used in the cap mounting / removal device according to the embodiment of the invention. FIG. 5 is a cross-sectional view of the cap supply means of the cap mounting / removal device according to the embodiment of the present invention. FIG. 6 is a cap separation operation performed by the cap mounting / removal device according to the embodiment of the present invention. FIG. 7 is a front view of a cap mounting mechanism in a cap mounting / removal device according to an embodiment of the present invention. FIG. 8 is a cap mounting according to an embodiment of the present invention. FIG. 9 is a side sectional view of the cap mounting head in the detaching apparatus. FIG. 9 is an explanatory diagram of the operation of the cap mounting head in the cap mounting / detaching apparatus according to the embodiment of the invention. FIG. 11 is a front sectional view of a cap removing mechanism in the removing device. FIG. 11 is a side sectional view of a cap removing head in the cap attaching / detaching device according to the embodiment of the invention. FIG. 13 is a block diagram showing the configuration of the control system of the apparatus. FIG. 13 is an explanatory view of the cap mounting operation in the cap mounting / removing apparatus according to the embodiment of the invention. FIG. Explanatory drawing of cap removal operation in machine [Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Cap mounting / dismounting device 2 Cap mounting mechanism 3 Cap removing mechanism 4 Container rack transport mechanism 5 Container rack holding unit 6 Container rack 7 Sheet storage unit 9 Sheet separation unit 10 Cap transfer table 11 Sheet transfer mechanism 12 Dispensing device 20 Cap Holding mechanism 24 Cap separating mechanism 27 Tube 27a Opening portion 28 Cap 28a Recess 33 Cap mounting head 37, 57 Lifting frame 38, 58 Rotating member 39, 59 Cylinder 42, 62 Rotating shaft 43 Holding tool 46, 66 Spring 48 Valve mechanism 53 Cap removal head 63 Engagement tool

Claims (2)

A cap removing device that removes a resin cap attached to an opening of a small test tube-shaped container stored in a plurality of rows vertically and horizontally in a container rack,
A plurality of engagement tools provided at the distal end with an insertion end that fits into a recess formed in the center of the upper surface of the cap;
A container rack holding unit for holding the container rack;
A horizontal movement mechanism configured to relatively horizontally move the plurality of engagement tools and the container rack holding portion, and the plurality of engagement tools are engaged with the cap mounted on the opening of the container. An alignment mechanism for aligning the engagement tool and the container;
An engagement tool lifting mechanism for lifting and lowering the plurality of engagement tools relative to the container;
A lifting frame that is lifted and lowered by the engaging tool lifting mechanism, and is attached to the lifting frame so as to be rotatable about a horizontal rotation shaft, and the plurality of engaging tools are mounted so as to be movable forward and backward toward the container. An engaging member tilting mechanism that includes a rotating member that includes an elastic member that biases the engaging member downward, and a drive unit that rotates the rotating member, and tilts the engaging member from a vertical posture. ,
By tilting the engaging tool from a vertical posture in a state where the plurality of engaging tools are engaged with the engaged portion of the cap attached to the opening, the edge of the cap on one side of the opening is formed. In order to perform the cap removing operation of inclining the cap as a fulcrum and separating the cap from the other side edge , and then lifting the plurality of engaging tools away from the opening. Control means for controlling the tool tilt mechanism and the engaging tool lifting mechanism;
A cap removing device comprising cap removing means for removing the cap removed from the container and still engaged with the engaging tool from the engaging tool. 2. The cap removing device according to claim 1, wherein the plurality of engaging tools are attached to the rotating member in a number and positional relationship corresponding to a plurality of containers arranged in one row of the container rack. apparatus.

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