JP7077374B2 - Automatic container processing equipment - Google Patents

Description

Embodiments of the present invention relate to an automatic container processing apparatus.

The sample processing system is a system that realizes automation of processing by arranging individual units having a plurality of functions side by side and transporting a container containing a sample between the units. Such a system is generally large in size, but the installation space is limited, so that the system is required to be miniaturized.

Currently, the system is being miniaturized by a double ring processing mechanism in which containers containing samples are arranged in an annular shape on the inside and outside. In the double annulus processing mechanism, when the used container installed in the inner annulus processing mechanism is discarded, it passes over the outer annulus processing mechanism and is discarded, so that the droplet is discharged from the container. There is a risk of contamination due to the fall of the.

Japanese Unexamined Patent Publication No. 2007-322394 Japanese Unexamined Patent Publication No. 2014-233765

An object to be solved by the present invention is to provide an automatic container processing device for preventing contamination to a container.

The automatic container processing device of the embodiment includes a tube socket having a container holding portion for holding a container, an operation unit capable of operating the container holding portion of the tube socket, and a control unit for controlling the operation unit. By operating the operation unit, the container held by the container holding unit drops.

It is sectional drawing seen from the side of the automatic container processing apparatus which concerns on 1st Embodiment. It is a top view which looked at the processing area of the automatic container processing apparatus which concerns on 1st Embodiment from the upper direction. It is a schematic diagram which shows an example of a tube arm and a pipetter arm. It is a schematic diagram which shows an example of a rotary tube socket. It is a perspective view which shows an example of a tube holding part. It is a figure which shows an example of the opening and closing operation of a tube holding part. It is sectional drawing which shows an example of the tube held in the tube holding part when a centrifuge is rotating. It is a schematic diagram which shows an example of the holding knob operation part. It is sectional drawing which shows an example of the case where the cross section of the Y line segment of FIG. 4 is seen from the X direction. It is a block diagram which shows an example of a liquid feeding part. It is a block diagram which shows an example of a control part. It is a figure which shows an example of the operation flow of an automatic container processing apparatus. It is a figure which shows the timing chart of the selection of magnetic separation, centrifugation and waste tube. It is a figure which shows the outline of the tube holding part of the automatic container processing apparatus which concerns on 2nd Embodiment. It is a figure which shows the outline of the tube holding part of the automatic container processing apparatus which concerns on 3rd Embodiment. It is a figure which shows the outline of the holding knob operation part of the automatic container processing apparatus which concerns on 4th Embodiment. It is a figure which shows the outline of the holding knob operation part 7 of the automatic container processing apparatus which concerns on 5th Embodiment. It is a figure which shows the outline of the arrangement of the tube holding part of the automatic container processing apparatus which concerns on 6th Embodiment.

Hereinafter, the automatic container processing apparatus according to the embodiment will be described with reference to the drawings. Those with the same reference numerals indicate similar ones. The drawings are schematic or conceptual, and the relationship between the thickness and width of each part and the ratio coefficient of the size between the parts are not always the same as the actual ones. Further, even when the same part is represented, the dimensions and ratio coefficients may be different from each other depending on the drawing.

(First Embodiment)
The automatic container processing apparatus according to the first embodiment will be described with reference to FIGS. 1 to 13.

FIG. 1 is a cross-sectional view of the automatic container processing apparatus according to the first embodiment as viewed from the side. FIG. 2 is a top view of the processing area of the automatic container processing apparatus according to the first embodiment as viewed from above.

As shown in FIG. 1, the automatic container processing device 1 is divided into an upper layer and a lower layer with an intermediate base as a boundary, and the upper layer is provided on the intermediate base, and has an installation area (also referred to as a first area) and a processing area (first area). Also called 2 areas). The lower layer is provided on the base and has a disposal area (also referred to as a third area) and a control area (also referred to as a fourth area). The automatic container processing device 1 transports a plurality of cartridges installed in the installation area to the processing area, and processes the sample in the tube loaded in the cartridge in the processing area. Then, the treated sample is collected from the tube, and the collected tube is discarded in the disposal area.

As shown in FIGS. 1 and 2, in the installation area of the automatic container processing device 1, a transport cartridge 11 (also referred to as a first cartridge) for loading a plurality of collection containers and sample containers, and a chip cartridge for loading a plurality of chips 12 (also referred to as a second cartridge), a centrifugal tube cartridge 13 (also referred to as a third cartridge) for loading a plurality of centrifugal tubes, and a magnetic bead tube cartridge for loading a plurality of magnetic bead tubes containing magnetic beads in the tube. 14 (also referred to as a fourth cartridge) is installed. Each cartridge is mounted on a cartridge transport mechanism (not shown), passes through guide rails (also referred to as first to fourth guide rails), and is transported to the processing area. Gates are provided at the boundaries between the installation area and the processing area (also referred to as gates 1 to 4).

In the processing area, a tube arm 2, a pipetter arm 3, a rotating tube socket 4 that is rotationally driven around a rotating shaft, a magnetic separator 5, a stirrer 6, a holding knob operation unit 7, and a dispensing arm. 8 and the disposal unit 9 are located.

In the disposal area, a disposal duct and a disposal pipe connected to the disposal unit 9, a collection box for collecting waste, a waste liquid tank for collecting waste liquid, and the like are located.

A liquid feeding unit 15 equipped with a pipetter pump or the like and a control unit 16 are located in the control area.

First, the installation area will be described in detail.

The installation area is airtightly separated by a gate opening / closing mechanism, and an installation gate G is provided between the outside of the device and the first to fourth gates are provided between the installation area and the processing area. The installation area is equipped with a sterilization device 17 to ensure sterility as compared with the outside of the device. Each cartridge carried in from the installation gate G is placed on a cartridge transfer mechanism (not shown).
Then, it passes over the guide rail and is carried into the processing area via the first to fourth gates.

Specifically, the first cartridge 11 passes through the first guide rail L1 and is carried in or out between the installation area and the processing area via the first processing gate G1. Similarly, the second cartridge 12 passes through the second guide rail L2 and is carried in or out between the installation area and the processing area via the second processing gate G2. The third cartridge 13 passes through the third guide rail L3 and is carried in or out between the installation area and the processing area via the third processing gate G3. The fourth cartridge 14 passes through the fourth guide rail L4 and is carried in or out between the installation area and the processing area via the fourth processing gate G4.

The first to fourth cartridges are, for example, a table on which a plurality of containers or chips can be loaded and each container or the like can be taken out from above. The first to fourth guide rails are installed on the intermediate base. The first to fourth guide rails connect the installation area and the processing area, and guide the cartridges mounted on each cartridge transfer mechanism to the processing area. The cartridge transfer mechanism is, for example, a linear motion mechanism provided with a motor and moves on a guide rail. When each cartridge is carried into the processing area, each of the first to fourth gates is opened by an opening / closing mechanism (not shown), and each cartridge is carried into the processing area. The installation gate G and the first to fourth gates may be operated by an operator (also referred to as a user) using, for example, an operation panel P installed on the outer surface of the automatic container processing device 1.

The first cartridge 11 is loaded with a plurality of sample containers C1 containing samples and a collection container C2 for collecting processed samples. A plurality of chips T are loaded in the second cartridge 12. The tip T is attached to the tip of a pipetter that dispenses the solution, and by replacing the tip T, contamination of the sample is prevented. A plurality of centrifugal tubes C3 are loaded in the third cartridge 13. The centrifuge tube C3 is a container for containing a sample having an opening at the top. A plurality of magnetic bead tubes C4 are loaded in the fourth cartridge 14. Since the magnetic beads collect the beads by the magnetic force of the permanent magnet, the processing with less contamination is possible as compared with the separation by gravity. The tube shapes of the centrifugal tube C3 and the magnetic bead tube C4 are substantially the same. Centrifugal tube C3 and magnetic bead tube C4 may be collectively referred to as a tube.

Next, the processing area will be described in detail. The processing area is an area for processing the sample container or the like loaded in the cartridge.

In the processing area, a tube arm 2, a pipetter arm 3, a rotating tube socket 4 that is rotationally driven around a rotating shaft, a magnetic separator 5, a stirrer 6, a holding knob operation unit 7, and a dispensing arm. 8 and the disposal unit 9 are located.

The tube arm 2 installs a plurality of centrifugal tubes C3 loaded in the third cartridge 13 or a plurality of magnetic bead tubes C4 loaded in the fourth cartridge 14 in the rotating tube socket 4.

FIG. 3A is a schematic view showing an example of the tube arm 2.

As shown in FIG. 3A, the tube arm 2 includes a tube arm base 21, a first linear motion mechanism 22, a first link 23, a first motor 24, a first encoder 25, and a second link 26. A second motor 27, a second encoder 28, and a first holding mechanism 29 are provided.

The tube arm base 21 is installed on the base. The lower end of the first linear motion mechanism 22 is connected to the tube arm base 21, and the upper end is connected to the first link 23. The first linear motion mechanism 22 moves the first link 23 in the height direction, which is the direction perpendicular to the intermediate base. The first linear motion mechanism 22 has a linear motion motor. A first motor 24 is connected to the base end of the first link 23. For example, a bearing (not shown) is attached between the first motor 24 and the first link 23, and the rotation shaft of the first motor 24 is connected to the upper end of the first linear motion mechanism 22. The first link 23 is rotationally driven in a horizontal plane substantially parallel to the intermediate base around the first rotation axis A1 of the first motor 24. A first encoder 25 for measuring the rotation angle of the first motor 24 is installed in the first motor 24. It is preferable that the direction of the first rotation axis A1 and the drive direction of the first linear motion mechanism 22 are substantially parallel.

A second motor 27 is installed at the tip of the first link 23. A second encoder 28 for measuring the rotation angle of the second motor 27 is installed in the second motor 27. For example, a bearing (not shown) is attached between the rotating shaft of the second motor 27 and the first link 23, and the base end of the second link 26 is connected to the rotating shaft of the second motor 27. The second link 26 is rotationally driven in a plane substantially parallel to the intermediate base around the second rotation axis A2 of the second motor 27. The surfaces on which the first link 23 and the second link 26 are rotationally driven are preferably substantially parallel.

A first holding mechanism 29 for holding a centrifugal tube or a magnetic bead tube is connected to the tip of the second link 26. The first holding mechanism 29 is composed of, for example, two rod-shaped bodies that can be opened and closed, and the inner diameter portion of the centrifugal tube or the magnetic bead tube may be held by opening the rod-shaped bodies. The tube may be held by a knob (not shown) installed in the first holding mechanism.

The tube arm base 21 or the first linear motion mechanism 22 penetrates the intermediate base and supports the first link 23, the second link 26, etc. in the processing area.

The tube arm 2 is connected to a control unit 16 described later, and drives the first linear motion mechanism 22, the first motor 24, the second motor 27, and the first holding mechanism 29 are controlled.

FIG. 3B is a schematic view showing an example of the pipetter arm 3.
The pipetter arm 3 attaches the tip T loaded in the second cartridge 12 to the tip of the pipetter nozzle. Then, the sample is extracted from the sample container loaded in the first cartridge by the tip and the pipetter nozzle, and the sample is injected into the tube installed in the rotating tube socket.

Further, the pipetter arm 3 sucks the processed sample from the centrifugal tube C3 by the rotating tube socket 4 and injects it into the collection container C2 loaded in the first cartridge 11.

As shown in FIG. 3B, the pipetter arm 3 includes a pipetter arm base 31, a second linear motion mechanism 32, a third link 33, a third motor 34, a third encoder 35, and a fourth link 36. A fourth motor 37, a fourth encoder 38, and a pipetter nozzle 39 are provided.

The pipetter arm base 31 is installed on the base. The lower end of the second linear motion mechanism 32 is connected to the pipetter arm base 31, and the upper end is connected to the third link 33. The second linear motion mechanism 32 moves the third link 33 in the height direction, which is the direction perpendicular to the intermediate base. The second linear motion mechanism 32 has a linear motion motor. A third motor 34 is connected to the base end of the third link 33. For example, a bearing (not shown) is attached between the third motor 34 and the third link 33, and the rotation shaft of the third motor 33 is connected to the upper end of the second linear motion mechanism 32. The third link 33 is rotationally driven in a horizontal plane substantially parallel to the intermediate base around the third rotation axis A3 of the third motor 34. A third encoder 35 for measuring the rotation angle of the third motor 34 is installed in the third motor 34. It is preferable that the axial direction of the third rotating shaft A3 and the driving direction of the second linear motion mechanism are substantially parallel.

A fourth motor 37 is installed at the tip of the third link 33. A fourth encoder 38 for measuring the rotation angle of the fourth motor 37 is installed in the fourth motor 37. For example, a bearing (not shown) is attached between the rotating shaft of the fourth motor 37 and the third link 33, and the base end of the fourth link 36 is connected to the rotating shaft of the fourth motor 37. The fourth link 36 is rotationally driven in a plane substantially parallel to the intermediate base around the fourth rotation axis A4 of the fourth motor 37. The surfaces on which the third link 33 and the fourth link 36 are rotationally driven are preferably substantially parallel.

A pipetter nozzle 39 is connected to the tip of the fourth link 36. A pipetter pump is connected to the pipetter nozzle 39 in order to change the pressure inside the pipetter. The sample is sucked or discharged by the operation of this pipetter pump.

The tip T may be attached to the pipetter nozzle 39 by fitting the tippetter nozzle 39 by pressing the tippetter nozzle 39 from the vertical direction. For example, the pipetter arm 3 is driven to move the pipetter nozzle 39 above the second cartridge 12 in which the chip T is loaded. Then, by driving the second linear motion mechanism 32, the pipetter nozzle 39 is lowered and pressed against the tip T from the vertical direction to be fitted.

The pipetter nozzle 39 is provided with, for example, a hollow protrusion (not shown), and the pipetter nozzle 39 may be fitted by pressing the protrusion against the inner diameter of the tip. When removing the tip T from the pipetter nozzle 39, the tip T is removed by the tip removing jig J (see FIG. 2). The chip removing jig J is, for example, a plate-shaped body provided with a notch J1 according to the shape of the protrusion, and the notch J1 is inserted into the fitting portion from the side surface of the protrusion. By moving the second linear motion mechanism 32 upward in that state, the edge portion of the tip T comes into contact with the tip removing jig J, and the tip T is removed. The chip removal jig J is preferably provided near the first disposal port for discarding the chip T, which will be described later.

Further, when this protrusion can be taken in and out in the vertical direction, the protrusion is in a protruding state when the chip T is attached. When the tip T is removed and discarded, the tip T may be removed by bringing the outer edge of the pipetter nozzle 39 into contact with the edge of the tip T by retracting the protrusion fitted with the tip T into the pipetter nozzle 39. In this case, the tip can be removed without using the tip removing jig J.

The pipetter arm base 31 or the second linear motion mechanism 32 penetrates the intermediate base and supports the third link 33, the fourth link 36, and the like in the processing area.

The pipetter arm 3 is connected to a control unit 16 described later, and drives the second linear motion mechanism 32, the third motor 34, the fourth motor 37, the pipetter nozzle 39, and the pipetter pump.

The rotating tube socket 4 rotates and processes the tube containing the sample attached by the tube arm 2.

FIG. 4 is a schematic view showing an example of the rotating tube socket 4.

As shown in FIG. 4, the rotary tube socket 4 includes a tube socket base 41, a first gear 42, a second gear 43, a plurality of tube holding portions 44 (also referred to as container holding portions), and a tube holding portion 44. It comprises a supporting socket ring 45, a fifth motor 46, and a centrifuge 47 located inside the socket ring and having a plurality of tube holders 44.

The rotating tube socket 4 is an annular socket having a plurality of tube holding portions 44 for holding the centrifugal tube C3 or the magnetic bead tube C4. A second gear 43 is provided on the tube socket base 41 via a first gear 42 and a bearing (not shown). Further, the first gear 42 is rotated by the fifth motor 46, and the socket ring 45 on the second gear 43 that meshes with the first gear 42 is rotated. A plurality of tube holding portions 44 are installed in the socket ring 45. The magnetic bead tube C4 held by the tube holding portion 44 rotates about the fifth rotation axis A5, which is the center of the rotation tube socket 4. A centrifuge 47 is arranged inside the socket ring 45. The centrifuge 47 has a plurality of tube holding portions 44 for holding the centrifugal tube C3 on the outer peripheral portion. A stopper 48 is provided on each side of the tube holding portion 44 of the centrifuge 47. The centrifuge 47 has a sixth motor and a sixth encoder (not shown). The centrifuge tube C3 held by the tube holding portion 44 of the centrifuge 47 rotates about a rotation axis that substantially coincides with the fifth rotation axis A5. That is, the rotating tube socket 4 has a double structure of a centrifuge 47 that rotates a plurality of tube holding portions on the inner circumference around the fifth rotating shaft A5 and a socket ring 45 that rotates a plurality of tube holding portions on the outer circumference. It is a composition. Further, it is preferable that the heights of the plurality of tube holding portions 44 supported by the socket ring 45 and the heights of the plurality of tube holding portions 44 arranged in the centrifuge 47 are substantially the same. For example, in the centrifuge 47, six tube holding portions 44 are installed at equal intervals in an annular shape. Further, 12 tube holding portions 44 are installed in the socket ring 45 at equal intervals in an annular shape. The number of each tube holding portion is not limited to this number, and can be appropriately changed according to the scale of the automatic container processing device 1 and the like. Also, the centrifuge 47 and the socket ring 45 can rotate separately.

A magnetic bead tube C4 is installed on the tube holding portion 44 of the socket ring 45 by the tube arm 2. Further, a centrifuge tube C3 is installed in the tube holding portion 44 of the centrifuge 47 by a tube arm 2.

FIG. 5 is a perspective view showing an example of the tube holding portion 44.

As shown in FIG. 5, the tube holding portion 44 has a holder 441 into which the centrifugal tube C3 or the magnetic bead tube C4 is inserted, and two holding knob rotation shafts 442 and 443, which can rotate around the respective rotation shafts. It has two holding knobs 444 and 445 and an elastic portion 446 connecting between the two holding knobs. Further, the holder 441 installed in the centrifuge 47 is provided with a shaft 447, and the tube holding portion 44 is rotatable around the shaft 447. The direction of the shaft 447 is substantially parallel to the rotation direction of the centrifuge 47 and is perpendicular to the radial direction of the centrifuge 47. The elastic portion 446 may be a spring, rubber or the like.

The holder 441 is perforated with a hole H for inserting a tube, and has two holding knobs 444 and 445 at the lower part of the holder 441. The two holding knobs 444 and 445 are installed on the two holding knob rotation shafts 442 and 443 installed in the holder 441, respectively, and rotate around the holding knob rotation shafts 442 and 443, respectively. The two holding knobs 444 and 445 are connected by an elastic portion 446, and the elastic portion 446 urges each holding knob to rotate in the opposite direction. That is, the elastic portion 446 urges the two holding knobs in a direction away from each other. As a result, the holding side of the two holding knobs 444 and 445 approach each other to sandwich and hold the tube. Of the holding knobs, the knob portion on the side where the elastic portion 446 is located may be referred to as a knob portion, and the side holding the tube may be referred to as a holding portion.

FIG. 6 is a diagram showing an example of an opening / closing operation of the tube holding portion 44.

FIG. 6A is a diagram showing a closing operation of the tube holding portion 44. As shown in FIG. 6A, in the closing operation, the tube shown by the broken line is sandwiched between the two holding knobs and held. The elastic portion 446 is arranged so that the holding knob rotation shafts 442 and 443 are located between the elastic portion 446 and the tube. The two holding knobs are provided with an arcuate groove M according to the shape of the tube so that the tube can be held stably, and the outer edge portion C11 of the tube having a diameter larger than the groove M is held so as to ride on the holding portion. It is preferable that it is. Further, in order to secure the diameter of the hole H when the tube is not inserted, the closing operation is restricted by the protruding portion 448 provided on the holder 441 on the opposite side of the knob portion of the holding portion. When holding the tube, the groove M in contact with the tube comes inward of the space between the two holding knob rotation shafts 442 and 443. When centrifugal force acts on the tube, the force received from the tube by the holding knob acts as a moment around the axis of rotation of the holding knob, but since the direction of this moment is the direction to close the holding knob, hold the centrifugal tube more reliably. Can be done.

FIG. 6B is a diagram showing an opening operation of the tube holding portion 44. As shown in FIG. 6B, when the two holding knobs 444 and 445 are urged in the direction of compressing the elastic portion 446, the holding knob sandwiching the tube is opened and the tube is moved downward from the holder. Fall. A holding knob operating unit 7, which will be described later, is used to bring the two holding knobs into the state shown in FIG. 6 (b).

Each of the tube holding portions 44 installed in the centrifuge 47 is installed so that the two holding knobs face the socket ring 45 which is the outside of the centrifuge 47. Further, each of the tube holding portions 44 installed in the socket ring 45 is arranged so that the two holding knobs face the direction of the centrifuge 47 inside the socket ring. That is, the tube holding portions 44 arranged in each of the centrifuge 47 and the socket ring 45 are arranged so that the holding knobs face each other.

FIG. 7 is a cross-sectional view showing an example of the centrifugal tube C3 held by the tube holding portion 44 when the centrifuge 47 is rotating.

As shown in FIG. 7, when the centrifuge 47 is rotating, centrifugal force is generated in the centrifugal tube C3 and the tube holding portion 44. The direction of the centrifugal force is generated outside the radial direction of the centrifuge 47. In order to prevent the influence of centrifugal force, the tube holding portion 44 of the present embodiment is rotatable around the shaft 447 provided in the holder 441. As shown in FIG. 7, when centrifugal force is generated in the centrifugal tube C3, the centrifugal tube C3 and the tube holding portion 44 rotate around the shaft 447, and the mouth of the centrifugal tube C3 is the rotation shaft of the centrifuge 47 (fifth). Rotation axis) Tilt so that it faces the A5 direction. As a result, the lower end of the centrifuge tube is tilted so as to face outward, thereby preventing the sample in the centrifugal tube from jumping out of the centrifugal tube due to centrifugal force. Further, when the holder 441 comes into contact with the protruding portion 481 of the tube holding portion stopper 48 provided on the upper surface of the centrifuge 47, the inclination of the tube holding portion 44 and the centrifugal tube C3 is restricted to be equal to or less than a predetermined angle. To. Further, when the centrifuge 47 is stopped and the tilted tube holding portion 44 returns to the horizontal position, the protrusion 471 of the centrifuge 47 comes into contact with the tube holding portion 44, so that the tube holding portion 44 and the centrifugal tube C3 Is restricted to be less than or equal to a predetermined angle.

The magnetic separator 5 applies a magnetic field to the sample in the magnetic bead tube C4 containing the magnetic beads, so that the magnetic beads are collected together with unnecessary objects in the sample in the direction of the magnetic field. The sample solution that remains after being separated from the magnetic beads is sucked by the chip T attached to the pipetter nozzle 39. The magnetic separator 5 is arranged in the vicinity of the magnetic bead tube C4 installed in the tube holding portion 44 of the socket ring 45 (see FIG. 2). For example, it may be placed below the magnetic bead tube C4. By applying a magnetic field from below the magnetic bead tube C4 with a magnetic separator, the magnetic beads gather at the bottom of the tube, and the sample solution from which unnecessary substances have been removed remains at the top, so it is easy to suck the sample solution with the pipetter. Is. The magnetic separator 5 may be a permanent magnet, a hollow solenoid type electromagnet, or the like.

The stirrer 6 stirs the magnetic beads in the magnetic bead tube C4 and the injected sample. By stirring the magnetic beads and the sample solution, unnecessary substances in the sample solution are mixed with the magnetic beads so that the unnecessary substances can be efficiently taken into the magnetic beads when a magnetic field is applied. The stirrer 6 is arranged at a position where vibration can be applied to the magnetic bead tube C4 (see FIG. 2). Further, the stirrer 6 is preferably arranged in the vicinity of the magnetic separator 5. The stirrer 6 may be a shaker, a vibration machine, or the like.

FIG. 8 is a schematic view showing an example of the holding knob operation unit 7.

As shown in FIG. 8, the holding knob operation unit 7 includes a holding mechanism base 71, a first holding link 72, a second holding link 73, a rotary solenoid 74, a translational solenoid 75, and a support column 76.

The holding knob operating portion 7 is located above both the centrifuge 47 of the rotary tube socket 4 and the tube holding portions 44 of the socket ring 45.

The L-shaped holding mechanism base 71 composed of two surfaces, a vertical plane and a horizontal plane, has a rotary solenoid 74 on the vertical plane and a first rail R1 on the horizontal plane. The first rail R1 is connected to the first holding link guide 721 of the first holding link 72 and guides the first holding link in the horizontal direction. Further, the first rail R1 is connected to the second holding link guide 731 of the second holding link 73 and guides the second holding link 73 in the horizontal direction.

A first holding arm 722 is provided at the tip of the first holding link 72. A second holding arm 732 is provided at the tip of the second holding link 73.

The rotary solenoid 74 is provided with a first positioning unit 741 and a second positioning unit 742, and the first positioning unit 741 is attached to an oval hole provided at the base end of the first holding link 72. The second positioning portion 742 is attached to an oval hole provided at the base end of the second holding link 73. The first holding link 72 and the second holding link 73 are attached in the vertical direction. As shown in FIG. 8, the first positioning unit 741 and the second positioning unit 742 are arranged in the vertical direction with the holding arm closed. The "closed state" of the holding arm is a state in which the distance between the first holding arm 722 and the second holding arm 732 is closest to each other and the object is held. On the other hand, the "open state" of the holding arm is a state in which the first holding arm 722 and the second holding arm 732 are separated from each other and do not hold the object. The rotation solenoid 74 can be driven in CW (clockwise: clockwise) and CCW (counterclockwise: counterclockwise) around the sixth rotation axis A6. In the case of FIG. 8, when the rotary solenoid 74 is driven in the CCW direction, the first holding link 72 and the second holding link 73 move in the direction away from each other. That is, the holding arm is in an open state. When the rotary solenoid is driven in the CW direction from this state, the first holding link 72 and the second holding link 73 move in the approaching direction. That is, the holding arm is closed. The holding knob operating portion 7 sandwiches the knob portions of the holding knobs 444 and 445 of the tube holding portion 44 by opening and closing the first holding link 72 and the second holding link 73.

The translational solenoid 75 is supported by a support plate 761 fixed to the support column 76. The translational solenoid 75 has a function of driving up and down in the height direction to change the height of the holding mechanism base 71. That is, the heights of the first holding link 72 and the second holding link 73 are changed. The holding mechanism base 71 is connected to the other end of the tension spring 763 connected to the support plate 761 at one end, and is pushed downward by the entry / exit rod 751 of the translational solenoid 75 to lower, pulling back the input / output rod and the tension spring 763. It rises with the restoring force of. The support block 762 fixed to the support column 76 is provided with a second rail R2 that guides the holding mechanism base 71 in the vertical direction, and is connected to a link guide (not shown) provided on the holding mechanism base 71. In response to the drive of the translational solenoid 75, the holding mechanism base 71 moves in the vertical direction along the second rail R2.

The first holding link 72 and the second holding link 73 are driven up and down by the translational solenoid 75, and further driven laterally by the rotation solenoid 74 to open and close the first holding arm 722 and the second holding arm 732. When the tube is discarded, the holding knob operating portion 7 lowers the holding arm to the height of the tube holding portion with the first holding arm 722 and the second holding arm 732 open. Then, the tube is dropped by closing the first holding arm 722 and the second holding arm 732 and opening the holding portions of the holding knobs 444 and 445 of the tube holding portion to the state shown in FIG. 6 (b).

The tips of the first holding arm 722 and the second holding arm 732 are L-shaped so as to simultaneously sandwich the knobs of the holding knobs 444 and 445 arranged so as to face each other in the radial direction of the centrifuge 47 and the socket ring 45. It is preferably formed. By simultaneously discarding the tubes on the centrifuge 47 and the socket ring 45, the disposal operation can be performed in half the time required for individual disposal. Further, by setting the tube holding portion 44 of the centrifuge 47 so as not to be radially aligned with the tube holding portion 44 of the socket ring 45, only the tube on the socket ring 45 can be selectively discarded.

The strut 76 is fixed on the outer edge of the tube socket base 41. Alternatively, it may be fixed on the intermediate base.

The holding knob operating unit 7 is connected to a control unit 16 described later, and the drive of the rotary solenoid 74 and the translational solenoid 75 is controlled.

Further, although it has been described that the holding knob operation unit 7 opens and closes the holding arm by using the rotary solenoid 74, the holding arm may be opened and closed by using a simple configuration such as a motor.

The dispensing arm 8 has a dispensing nozzle 81 and discharges a buffer solution from the dispensing nozzle 81. The dispensing arm 8 is installed on the tube socket base 41.

As shown in FIG. 2, the dispensing nozzle 81 at the tip of the dispensing arm 8 is located above the tube holding portion 44 installed on the outer peripheral portion of the centrifuge 47. The dispensing nozzle 81 discharges the buffer solution from above to the sample in the centrifugal tube held by the tube holding portion 44. The dispensing nozzle 8 is connected to the buffer solution tank via a buffer solution pump described later. The pressure control of the buffer pump controls the amount of buffer discharged into the centrifuge tube.

The disposal unit 9 is a location where the tip T attached to the tip of the pipetter nozzle 39 of the pipetter arm 3 and the centrifugal tube C3 or the magnetic bead tube C4 held by the tube holding portion 44 of the rotary tube socket 4 are discarded. The disposal unit 9 in the processing area is connected to the disposal area.

As shown in FIGS. 1 and 2, the disposal unit 9 has a first disposal port 91 for discarding chips and a second disposal port 92 for discarding tubes. The first disposal port 91 is also provided with a waste liquid port 93 for discarding an excess sample (solution) remaining in the chip.

As shown in FIG. 2, the first disposal port 91 is provided within the movable range of the pipetter arm and other than the position where the rotating tube socket is arranged.

FIG. 9 is a cross-sectional view showing an example of the case where the cross section of the Y line segment of FIG. 4 is viewed from the X direction. As shown in FIGS. 4 and 9, the second waste port 92 is provided below the holding knob operation unit 7. When the magnetic bead tube C4 installed in the tube holding portion 44 of the socket ring 45 and the centrifugal tube C3 installed in the tube holding portion 44 of the centrifuge 47 are lined up in the radial direction of rotation, the two tubes can fall vertically downward. The second disposal port 92 has an opening width. The second disposal port 92 is provided with a disposal guide 921 between the intermediate base and the tube socket base 41, so that the discarded tube can be reliably guided to the disposal port 92. The disposal guide 921 is provided with a notch for the centrifugal tube C3 and the magnetic bead tube C4 to rotate and pass through. The first disposal port 91 and the second disposal port 92 are connected to the waste liquid pipe and the disposal duct in the disposal area by making a hole in the intermediate base.

Next, the disposal area will be described in detail.

The disposal area is provided in the lower layer of the intermediate base, and is a place where chips, tubes, sample solutions, etc. charged from the disposal unit 9 are collected. As shown in FIGS. 1 and 2, in the disposal area, a waste liquid pipe 94 connected to the waste liquid port 93, a first waste duct 95 connected to the first waste port 91, and a second waste duct 96 connected to the second waste port 92 are provided. A waste liquid tank 97 for storing the waste liquid that has passed through the waste liquid pipe 94, and a collection box 98 for storing chips, tubes, and the like that have passed through the first waste duct 95 and the second waste duct 96 are provided. A disposal gate G5 connecting the disposal area and the outside of the device is further provided. The operator carries out the waste liquid tank 97 and the collection box 98 collected in the disposal area from the disposal gate G5. The waste gate G5 can be opened and closed with the operation panel P provided outside the apparatus.

Next, the control area will be described in detail.

The control area is provided in the lower layer of the intermediate base, transports the 1st to 4th cartridges, opens and closes the 1st to 4th gates, the pipetter arm 3 in the processing area, the tube arm 2, the rotating tube socket 4, and the holding knob operation unit 7. It is a place where the control of the pipette and the pressure of the pipetter arm 3 are performed.

As shown in FIG. 1, the control area includes a liquid feeding unit 15 and a control unit 16.

FIG. 10 is a block diagram showing an example of the liquid feeding unit 15.

As shown in FIG. 10, the liquid feeding unit 15 includes a first solenoid valve 151, a pipetter pump 152 connected to the first solenoid valve 151, a second solenoid valve 153, and a buffer pump 154 connected to the second solenoid valve 153. A third solenoid valve 155 connected to the buffer pump 154 and a buffer tank 156 connected to the third solenoid valve 155 are provided. The first solenoid valve 151 is connected to the pipetter nozzle 39, and the second solenoid valve 153 is connected to the dispensing nozzle 81.

The pipetter nozzle 39 installed on the pipetter arm 3 is connected to the pipetter pump 152 via a flexible tube and a first electromagnetic valve 151, and is connected to the pipetter nozzle 39 by the combined operation of the first electromagnetic valve 151 and the pipetter pump 152. The sample solution is sucked and discharged through the mounted chip T.

The dispensing nozzle 81 installed on the dispensing arm 8 is connected to the buffer solution pump 154 via the flexible tube and the second solenoid valve 153, and the buffer solution pump 154 connects the flexible tube and the third solenoid valve 155. It is connected to the buffer tank 156 via. By the combined operation of the second solenoid valve 153, the third solenoid valve 155, and the buffer solution pump 154, the buffer solution in the buffer solution tank 156 can be discharged from the dispensing nozzle 81.

FIG. 11 is a block diagram showing an example of the control unit 16.

As shown in FIG. 11, the control unit 16 drives the socket ring 45, the centrifuge 47, the tube arm 2, the pipetter arm 3, the liquid feeding unit, the 1st to 4th cartridges, the 1st to 4th gates, and the transport gate, respectively. It includes a motor drive circuit 161, a system controller 162 that transmits a command signal to the motor drive circuit 161 and a storage unit 163 that stores a drive flow and a drive log.

The fifth motor 46 that rotates the socket ring 45 is controlled to a desired target angle based on a command signal transmitted from the system controller 162 by the motor drive circuit 161 provided in the control unit 16. Further, the sixth motor for rotating the centrifuge 47 is controlled to the target angular velocity and the target angle by the motor drive circuit 161 provided in the control unit 16 based on the sixth encoder signal and the command signal transmitted from the system controller. Will be done.

The first motor 24 that drives each link of the tube arm 2, the second motor 27, and the linear motion motor that drives the first linear motion mechanism 22 are connected to the motor drive circuit 161 connected to the first motor 24 and the second motor 27, respectively. It is controlled to a desired target angle based on the command signal transmitted from the system controller 162. Further, the electromagnetic brake installed in the first linear motion mechanism 22 releases the electromagnetic brake during operation to enable the first linear motion mechanism 22 to operate, and when the power is cut off, the electromagnetic brake functions and the first linear motion mechanism 22 is activated. The dynamic mechanism 22 is prevented from descending due to the weight of the tube arm. Further, the linear motors for driving the third motor 34, the fourth motor 37, and the second linear motion mechanism 32 for driving each link of the pipetter arm 3 are encoders of the respective motors by the motor drive circuit 161 connected to each of them. It is controlled to a desired target angle based on the signal and the command signal transmitted from the system controller 162. Further, the electromagnetic brake installed in the second linear motion mechanism releases the electromagnetic brake during operation to enable the second linear motion mechanism 32 to operate, and when the power is cut off, the electromagnetic brake functions and the second linear motion is performed. The mechanism 32 is prevented from descending due to the weight of the tube arm.

The pipetter pump 152 and the buffer pump 154 provided in the liquid feeding unit 15 adjust the suction / discharge amount by a cylinder driven by a stepping motor, respectively. The command signal of each solenoid valve is transmitted from the system controller 162.

The translational solenoid 75 and the rotary solenoid 74 provided in the holding knob operation unit 7 operate by a command signal from the system controller 162.

A drive circuit for controlling the stepping motor for driving the first to fourth cartridges, the first to fourth gates, and the transport gate is also provided in the control unit.

Further, the system controller 162 generates a screen of the operation panel P for input / output of information by the operator and acquires input information. The system controller 162 transmits a command signal to an electric component such as a motor drive circuit or a solenoid based on the input information input to the operation panel, for example.

The operation panel P may be a method of inputting from a monitor such as a computer, or may be a touch panel or the like.

The system controller 162 corresponds to a DSP (Digital Signal Processor) or a CPU (Central Processing Unit), and calculates sensor data and encoder data to generate a command signal.

The storage unit 163 stores data such as an operation processing flow, an operation program, and an operation log, and can be appropriately read out according to the situation. The storage unit is, for example, a tape system such as a magnetic tape or a cassette tape, a disk system including a magnetic disk such as a floppy (registered trademark) disk / hard disk, or an optical disk such as a CD-ROM / MO / MD / DVD / CD-R. A card system such as an IC card (including a memory card) / optical card, or a semiconductor memory system such as a mask ROM / EPROM / EEPROM / flash ROM can be used.

Next, an example of the operation of the automatic container processing device 1 according to the present embodiment will be described.

FIG. 12 is a diagram showing an example of the operation flow of the automatic container processing device.

As shown in FIG. 12, the operator first installs a buffer solution tank, a first cartridge 11 loaded with a sample container C1 and a collection container C2 containing a sample, a second cartridge 12 loaded with a chip T, and a centrifuge tube C3. The third cartridge 13 loaded with the above and the fourth cartridge 14 loaded with the magnetic bead tube C4 are installed in the cartridge transfer mechanism in the installation area, respectively. Then, each cartridge is automatically carried into the processing area.

The operation panel P instructs the operator to specify the processing content and start the automatic operation, and the automatic processing is started in the processing area.

In step A, the tube arm 2 removes the centrifuge tube C3 from the third cartridge 13 and transfers it onto the centrifuge 47. The centrifuge tube C3 is installed in the tube holding portion 44 of the centrifuge 47.

In step B, the tube arm 2 takes out the magnetic bead tube C4 from the fourth cartridge 14, moves it onto the socket ring 45 of the rotating tube socket 4, and installs the magnetic bead tube C4 on the tube holding portion 44 of the socket ring 45.

In step C, the socket ring 45 rotates to move the magnetic bead tube to the injection position. The injection position is a position where the sample is injected from the chip T by the pipetter arm 3. The pipetter arm 3 moves onto the second cartridge 12, mounts the chip T, and moves onto the sample container C1 of the first cartridge 11. The sample is sucked from the sample container by the pipetter pump. The pipetter arm 3 moves onto the magnetic bead tube C4 set in the socket cylinder 45. The pipetter pump 152 discharges the sample into the magnetic bead tube C4, and the sample is injected into the magnetic bead tube C4. The pipetter arm 3 moves to the tip removal jig J and discards the tip T.

In step D, the socket ring 45 of the rotating tube socket 4 moves the magnetic bead tube C4 to the stirring position, and the stirrer 6 stirs the sample to mix the sample and the magnetic beads.

In step E, the socket ring 45 moves the magnetic bead tube C4 to the position of the magnetic separator 5 and applies a magnetic field. Magnetic beads that have adsorbed unwanted substances gather around the electromagnet of the magnetic separator. The socket ring 45 moves the magnetic bead tube C4 to the injection position. The pipetter arm 3 moves onto the second cartridge 12, mounts the tip T, and moves onto the magnetic bead tube C4. The sample is sucked from the magnetic bead tube C4 by the pipetter pump 152, and the magnetic beads fixed by the magnetic separator 5 are left in the magnetic bead tube C4. The aspirated sample is the one from which unnecessary substances have been removed by magnetic separation.

The pipetter arm 3 moves the sucked sample to the centrifuge tube C3 set in the centrifuge 47. The sample is discharged to the centrifugal tube C3 by the pipetter pump 152. The pipetter arm 3 moves to the tip removal jig J and discards the tip T.

In step F, the centrifuge 47 is rotated to centrifuge, the target sample is precipitated, and an unnecessary solution becomes the supernatant.

In step G, the centrifuge 47 moves the centrifuge tube C3 to the suction position. The pipetter arm 3 moves onto the second cartridge 12, mounts the tip T, and moves onto the centrifugal tube C3. The pipetter pump 152 sucks the unwanted supernatant solution from the centrifugal tube C3. The pipetter arm 3 is moved onto the waste liquid port 93, and the supernatant solution is discharged and discarded by the pipetter pump 152.

In step H, the centrifuge 47 moves the centrifuge tube C3 under the dispensing nozzle 81. The buffer solution pump 154 drops the buffer solution from the dispensing nozzle 81. The centrifuge 47 moves the centrifuge tube C3 to the suction position. The pipetter arm 3 moves onto the centrifuge tube, and the pipetter pump 152 sucks the solution containing the precipitate, which is the target sample, from the centrifuge tube C3. The pipetter arm 3 moves onto the recovery container C2, the solution containing the precipitate is discharged by the pipetter pump 152, and the sample solution is transferred to the recovery container C2. The pipetter arm 3 moves to the tip removal jig J and discards the tip T.

In step I, the socket ring 45 of the rotating tube socket 4 moves the magnetic bead tube C4 under the holding knob operating portion 7. The holding knob operating portion 7 sandwiches the knob portions of the holding knobs 444 and 445 of the tube holding portion 44, and drops the magnetic bead tube C4 for disposal.

In step J, the centrifuge 47 moves the centrifuge tube C3 under the holding knob operation unit 7. The holding knob operating portion 7 sandwiches the knob portions of the holding knobs 444 and 445 of the tube holding portion 44, and drops the centrifugal tube C3 for disposal. Steps I and J may be performed at the same time, or the order may be reversed.

After repeating steps A to J a specified number of times, the automatic process ends.

Each cartridge transport mechanism automatically transports each cartridge to the installation area.

The operator opens the installation gate G on the operation panel P and collects the cartridge.

Next, the timing of disposal of the magnetic bead tube C4 and the centrifuge tube C3 used in the magnetic separation in the magnetic separator 5 and the centrifugation in the centrifuge 47 will be described.

FIG. 13 is a diagram showing an example of the timing charts of steps A to J.

The upper part of FIG. 13 is an example of a timing chart of each step in the case where six samples are set as one set and two sets are sequentially processed. In this case, both the magnetic tube and the centrifugal tube can be discarded at the same time in each set. Since the process I and the process J are performed at the same time, the tube disposal process time can be shortened.

The lower part of FIG. 13 is an example of a timing chart of each process when the next second set is added during the processing of the first set. In this case, by discarding only the treated magnetic bead tube while stirring and magnetically separating the first set, the second set of magnetic bead tube set and the sample are transferred to the magnetic bead tube. Can be done in parallel. After that, the first set of centrifugation, the transfer of the sample, and the disposal of the centrifuge tube are performed, and then the second set of the centrifuge tube set and the steps after stirring are performed. The time required for transferring the second set of magnetic bead tubes and the sample to the magnetic bead tubes can be shortened.

If the time for processing two sets in succession is defined as T1 × 2, and the time for processing the second set in parallel while the first set is being processed is T2, then T2 <T1 × 2. When two or more sets are continuously processed while adding a sample, the processing time can be shortened by selectively discarding the centrifugal tube and the magnetic bead tube.

Since the automatic container processing device according to the present embodiment can drop the tube held in the tube holding portion of the rotating tube socket downward and dispose of it, there is a risk of contamination being mixed in the collection container or the like in which the processed sample is collected. Can be reduced. Further, since the treated tube is discarded without passing over the rotating tube socket and without rising above the opening surface of the tube, the risk of contamination can be reduced.

Further, since the tube holding portion has a simple structure in which the tube is sandwiched between the holding portions of the two holding knobs, the tube can be easily dropped into the disposal area by the holding knob operating portion.

Further, by arranging the tube holding portions in an annular shape on the inside and outside of the rotating tube socket, it is possible to design a space-saving and efficient device.

Further, the tube holding portions are arranged in an annular shape on the inside and the outside, and the knob portions of the holding knobs of the tube holding portions arranged on the inside and the outside are arranged so as to face each other, so that the holding knob operating portion can be used for 2 at a time. One tube can be dropped into the disposal area.

Further, the rotating tube socket is composed of a socket ring that rotates the tube holding portion at the outer peripheral position and a centrifuge that rotates the tube holding portion at the inner peripheral position, and the socket ring and the centrifuge can be rotationally driven separately. , Processing with different functions can be performed at the inner peripheral position and the outer peripheral position. In this embodiment, an example in which the inner and outer double annulus is arranged is shown, but a multiple annulus with a tube socket arranged on the outer circumference is used, and a waste port according to the size of the multiple annulus and a holding port are held. By having the knob operation unit, it is possible to increase the processing amount and processing content of the sample.

Further, by providing the second disposal port below the holding knob operating portion, the holding knob operating portion does not require a horizontal moving mechanism, and a space-saving and simple configuration can be obtained.

Further, by arranging a magnetic separator and a stirrer in the vicinity of the magnetic bead tube installed in the tube holding portion of the socket ring, it is possible to process a sample with less influence of contamination.

(Second embodiment)
The automatic container processing apparatus according to the second embodiment will be described with reference to FIG.

FIG. 14 is a diagram showing an outline of a tube holding portion of the automatic container processing device according to the second embodiment. As shown in FIG. 14, the structure of a part of the tube holding portion 44 and the holding knob operating portion 7 is different from that of the automatic container processing device according to the first embodiment. Other configurations are the same as those of the automatic container processing apparatus according to the first embodiment.

The tube holding portion 44 according to the second embodiment includes a container holding plate 451 for holding the tube, a slide plate 452, and a spring 453 that connects the container holding plate 451 and the slide plate 452.

The container holding plate 451 is provided with a C-shaped notch 454 corresponding to the shape of the centrifugal tube C3 and a guide 455 on which the slide plate 452 slides in the horizontal direction. The container holding plate 451 is installed on the outer peripheral portion of the centrifuge 47 or the inner peripheral portion of the socket ring. A centrifugal tube C3 can be placed in the notch 454. The orientation of the notch 454 is toward the center of the centrifuge 47 (also referred to as the first direction) when installed in the centrifuge 47 as shown in FIG. 14, and when installed in the socket ring. It is oriented in the opposite direction to the first direction. The first direction is a direction in which the central axis (fifth rotation axis A5) of the centrifuge 47 faces horizontally.

The slide plate is inserted into the guide 455 of the container holding plate 451 and slides in the first direction or in the direction opposite to the first direction. The slide plate 452 is provided with a first stopper 456 at one end perpendicular to the first direction, a second stopper 457 at the other end, and a through hole 458 larger than the maximum diameter of the centrifugal tube C3. The first stopper 456 and the second stopper 457 come into contact with the side surface of the container holding plate 451 to stop the slide of the slide plate 452. The through hole 458 of the slide plate 452 is positioned so as to overlap the notch portion 454 in a state where the second stopper 457 is in contact with the side surface of the container holding plate 451. The notch portion 454 is also referred to as an open portion.

The spring 453 is connected to the side surface of the first stopper 456 and the side surface of the container holding plate 451 and applies an elastic force to both side surfaces.

FIG. 14A shows a state in which the tube holding portion 44 holds the tube.

As shown in FIG. 14, the second stopper 457 of the slide plate 452 is in contact with the side surface of the notch portion 454 of the container holding plate 451 due to the elastic force of the spring. The centrifugal tube C3 is held by the notch 454 and the second stopper 457. At this time, the first stopper 456 of the slide plate 452 is in a state of protruding from the outer peripheral portion of the centrifuge 47.

FIG. 14B shows a state in which the tube holding portion 44 opens the centrifugal tube C3.

As shown in FIG. 14B, when the slide plate 452 is pushed in the first direction from the holding state of the centrifugal tube C3, the centrifugal tube C3 is pulled out from the notch 454 of the container holding plate 451 together with the through hole 458. As described above, the diameter of the through hole 458 is larger than the maximum diameter of the tube, so that the centrifugal tube C3 falls downward. In this way, the centrifugal tube C3 is discarded.

A similar mechanism can be used for the tube holding portion 44 installed in the socket ring 45.

Further, the two tubes are simultaneously dropped downward by pushing the first stopper portion 456 of the tube holding portion 44 installed in the centrifuge 47 and the socket ring 45 by opening and closing the holding arm of the holding knob operating portion 7. Can be done. In this case, it is preferable that the holding knob operating unit 7 is rotated by 90 ° about the vertical direction as compared with the holding knob operating unit of the first embodiment. As a result, the first stopper portion 456 can be pushed in by the opening operation of the holding arm. At this time, the first stopper of the tube holding portion 44 installed on the outer peripheral portion of the centrifuge 47 and the first stopper of the tube holding portion installed on the outer peripheral portion of the socket ring are arranged so as to face each other.

It is preferable to provide a wide notch on the outer peripheral portion of the centrifuge and the inner peripheral portion of the socket ring so that the slide plate 452 can slide with a margin.

(Third embodiment)
The automatic container processing apparatus according to the third embodiment will be described with reference to FIG.

FIG. 15 is a diagram showing an outline of a tube holding portion 44 of the automatic container processing device according to the third embodiment. As shown in FIGS. 15A and 15B, the configuration of the tube holding portion 44 and the holding knob operating portion 7 is different from that of the automatic container processing device according to the first embodiment. Other configurations are the same as those of the automatic container processing apparatus according to the first embodiment.

The tube holding portion 44 according to the third embodiment urges the support portion 461, the first holding plate 462 and the second holding plate 463 for holding the centrifugal tube C3, and the first holding plate and the second holding plate, respectively. A spring (not shown) and a spring (not shown) are provided.

The support portion 461 is provided with a C-shaped notch 464. The diameter of the notch is larger than the maximum diameter of the tube. The support portion 461 functions as a stopper that regulates the rotation of the first holding plate 462 and the second holding plate 463. The support portion 461 is installed on the outer peripheral portion of the centrifuge 47 or the inner peripheral portion of the socket ring 45.

The first holding plate 462 and the second holding plate 463 are each provided with a notch 465 corresponding to the shape of the centrifugal tube C3, and the tube is held by the notch portion. That is, the first holding plate and the second holding plate are arranged so as to be substantially in contact with each other in a plane substantially horizontal to the vertical direction (there may be a slight gap). The notches 465 are slightly smaller than the cross-sectional shape of the tube when they are arranged in a horizontal plane. The support portion 461, the first holding plate 462, and the second holding plate 463 are arranged in contact with each other. The positions of the C-shaped notch 464 of the support portion 461 and the notch 465 of the first holding plate 462 and the second holding plate 461 are arranged so as to substantially coincide with each other. As shown in FIG. 15, the first holding plate and the second holding plate each have a rotation shaft A7 at the end, and each holding plate rotates around the rotation shaft. The direction of the axis of rotation is, for example, the substantially central direction of the centrifuge. The first holding plate 462 and the second holding plate 463 of the present embodiment are in a state of double doors, so-called double doors, in a rotated state.

A spring (not shown) is connected to each of the first holding plate 462 and the second holding plate 463. Each spring connected to the first holding plate 462 and the second holding plate 463 urges the first holding plate and the second holding plate in the direction of contacting the support portion. By the action of this spring, the first holding plate 462 and the second holding plate 463 keep the centrifugal tube C3 in a holding state.

When opening the tube holding portion of the present embodiment, the first holding plate 462 and the second holding plate 463 are opened downward by pushing down the vicinity of the first holding plate 462 and the second holding plate 463. Will fall.

In order to open the tube holding portion and drop the tube, the holding arm of the holding knob operating portion 7 may push down the close portion between the first holding plate 462 and the second holding plate 463.

Further, instead of the holding arm of the holding knob operating portion 7, the rod-shaped body 733 shown in FIG. 15 may be used. The L-shaped holding mechanism base 71, which consists of two surfaces, a vertical plane and a horizontal plane, has one end connected to the other end of the tension spring 763 connected to the support plate 761 and is pushed downward by the input / output rod 751 of the translational solenoid 75. It descends at, and rises due to the pull-back of the input / output rod and the restoring force of the tension spring 763. The translational solenoid 75 is supported by a support plate 761 fixed to the support column 76. The support block 762 fixed to the support column 76 is provided with a second rail R2 that guides the holding mechanism base 71 in the vertical direction, and is connected to a link guide provided on the vertical surface of the holding mechanism base 71. In response to the drive of the translational solenoid 75, the holding mechanism base 71 moves in the vertical direction along the second rail R2. A rotary motor whose rotation axis is in the vertical direction is attached to the horizontal plane of the holding mechanism base 71, and a rod-shaped body 733 is connected to the rotation axis of the motor.

FIG. 15B is a diagram showing the positions of the rod-shaped bodies when pushing down the first holding plate and the second holding plate of the tube holding portion.

The rod-shaped body 733 has, for example, a quadrangular prism shape and has first to fourth side surfaces. The first side surface P1 has a first protrusion 771. The second side surface P2 has a second protrusion 772, and the third side surface P3 has a third protrusion 773. The second protrusion 772 and the third protrusion 773 have the same height. The first protrusion 771 and the second and third protrusions 772 and 773 have different heights. Further, the rod-shaped body 733 has a mechanism for raising and lowering in the height direction and a mechanism for rotating in the longitudinal direction. When dropping either the tube of the tube holding portion 44 installed on the outer peripheral portion of the centrifuge 47 or the inner peripheral portion of the socket ring 45, the first holding plate 462 and the first holding plate 462 are used by using the first protrusion 771. 2 The holding plate 463 may be pushed down. Further, when dropping the tubes of both the tube holding portions 44, the rod-shaped body 733 is rotated by 90 ° and two sets of the first holding plates 462 and the second are used by using the second protrusion 772 and the third protrusion 773. The holding plate 463 may be pushed down.

By using the tube holding portion 44 according to the present embodiment, the centrifugal tube C3 can be dropped downward from the tube holding portion 44 only by pushing down the holding knob operating portion 7. As a result, the configuration of the holding knob operation unit 7 can be simplified. Further, even when the tube C4 installed in the tube holding portion 44 of the socket ring 45 and the centrifugal tube C3 installed in the tube holding portion 44 of the centrifuge 47 are lined up in the direction of the radius of gyration, the two tubes are discarded at the same time. In addition, since it is possible to selectively dispose of either one, the rotation position of the socket ring 45 or the centrifuge 47 in magnetic separation, stirring, dispensing, etc. is set without being restricted by the disposal position. be able to.

(Fourth Embodiment)
The automatic container processing apparatus according to the fourth embodiment will be described with reference to FIG.

FIG. 16 is a diagram showing an outline of a holding knob operation unit 7 of the automatic container processing device according to the fourth embodiment. As shown in FIG. 16, the configuration of the holding knob operating unit 7 is different from that of the automatic container processing device according to the first embodiment. Other configurations are the same as those of the automatic container processing apparatus according to the first embodiment.

The holding knob operating unit 7 according to the fourth embodiment includes a magic hand mechanism 723 on the first holding link and the second holding link. As shown in FIG. 16, the magic hand mechanism 723 is attached to the first holding arm 722 and the second holding arm 732. In the present embodiment, by using the magic hand 723, the holding arm of the holding knob operating portion 7 can be expanded and contracted and opened and closed at the same time. Since the holding arm can be expanded and contracted in the vertical direction, a translational solenoid is not required, so that the configuration of the holding knob operation unit can be simplified and the cost can be reduced.

(Fifth Embodiment)
The automatic container processing apparatus according to the fifth embodiment will be described with reference to FIG.

FIG. 17 is a diagram showing an outline of a holding knob operation unit 7 of the automatic container processing device according to the fifth embodiment. As shown in FIG. 17, the configuration of the holding knob operating unit 7 is different from that of the automatic container processing device according to the first embodiment. Other configurations are the same as those of the automatic container processing apparatus according to the first embodiment.

The holding knob operating portion 7 according to the fifth embodiment has a plurality of protrusions on the first tip portion 724 of the first holding arm 722 and the second tip portion 734 of the second holding arm 732.

The first tip portion 724 has a fifth side surface P5 having a quadrangular prism shape and facing the centrifuge, and a sixth side surface P6 which is a side surface opposite to the fifth side surface P5. The fifth side surface P5 has a fourth protrusion 774 and a fifth protrusion 775 having different heights. The fourth protrusion 774 and the fifth protrusion 775 are perpendicular to the fifth side surface P5. On the sixth side surface P6, a sixth protrusion 767 having a height different from that of the fourth protrusion 774 and the fifth protrusion 775, and a seventh protrusion 777 having the same height as the fifth protrusion 775 are provided. , Have. The sixth protrusion 776 and the seventh protrusion 777 are perpendicular to the sixth side surface P6.

The second tip portion 734 has a quadrangular prism shape and has the same shape as the first tip portion 724.

As shown in FIG. 17, with the first holding arm 722 and the second holding arm 732 closed, the fourth to seventh protrusions have the same height.

The first holding arm 722 and the second holding arm 732 are the height of the holding arm by the translational solenoid 75 when the socket is dropped by sandwiching the holding knob of the tube holding portion 44 installed in the centrifuge 47 and the socket ring 45. By changing, it is possible to select which protrusion sandwiches the holding knob. More specifically, since the heights of the protrusions provided on the first tip portion 724 and the second tip portion 734 differ in three stages, the height is selected from three options. The translational solenoid 75 also uses a type that can be positioned at three points.

When only the holding knob of the tube holding portion 44 installed on the outer peripheral portion of the centrifuge 47 is sandwiched, the translational solenoid 75 is driven so that the holding knob comes to the height of the fourth protrusion 774. Then, by closing the first holding arm 722 and the second holding arm 732 and sandwiching the holding knob between the respective fourth protrusions 774, the tube falls from the tube holding portion 44.

When only the holding knob of the tube holding portion 44 installed on the inner peripheral portion of the socket ring 45 is sandwiched, the translational solenoid 75 is driven so that the holding knob comes to the height of the sixth protrusion 776. Then, by closing the first holding arm 722 and the second holding arm 732 and sandwiching the holding knob between the respective sixth protrusions 776, the tube falls from the tube holding portion 44.

When both the holding knobs of the tube holding portion 44 installed on the outer peripheral portion of the centrifuge 47 and the tube holding portion 44 installed on the inner peripheral portion of the socket ring 45 are simultaneously sandwiched, the fifth protrusions 775 and the seventh The translational solenoid 75 is driven so that both holding knobs come to the height of the protrusion 777. Then, the first holding arm 722 and the second holding arm 732 are closed, and both holding knobs are sandwiched between the fifth protrusion 775 and the seventh protrusion 777, respectively. As a result, the tubes fall from the two tube holding portions 44.

The heights of the 4th protrusion 774, the 6th protrusion 776, the 5th protrusion 775, and the 7th protrusion 777 are not limited in the order of height unless they are the same height, and whichever is higher. There may be.

By using the holding knob operating portion according to the present embodiment, the tube of the tube holding portion can be selectively discarded. Further, even when the magnetic bead tube C4 installed in the tube holding portion 44 of the socket ring 45 and the centrifuge tube C3 installed in the tube holding portion 44 of the centrifuge 47 are lined up in the radial direction of rotation, the two tubes are simultaneously connected. Since it is possible to dispose of either one or selectively, the rotation position of the socket ring 45 or the centrifuge 47 in magnetic separation, stirring, dispensing, etc. is not restricted by the disposal position. Can be set.

(Sixth Embodiment)
The automatic container processing apparatus according to the sixth embodiment will be described with reference to FIG.

FIG. 18 is a diagram showing an outline of the arrangement of the tube holding portions 44 of the automatic container processing device according to the sixth embodiment. As shown in FIG. 18, the arrangement of the tube holding portions 44 is different from that of the automatic container processing apparatus according to the first embodiment. Other configurations are the same as those of the automatic container processing apparatus according to the first embodiment.

A plurality of tube holding portions 44 according to the sixth embodiment are arranged side by side in two rows in the horizontal direction. The tube holding portions 44 in each row are arranged so that the holding knobs face each other. The two rows of tube holding portions can be translated in the direction of the arrow in FIG. 17, and the disposal port 92 is installed in the translation path. The tube to be discarded is transported, and the tube is discarded by the holding knob operation unit 7 at the disposal port.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

The inventions described in the claims at the time of grant approval of the present application are described below.

[1] A tube socket having a container holding portion for holding a container,
An operation unit that can operate the container holding portion of the tube socket,
It has a control unit that controls the operation unit, and has
The tube socket has an annular shape, and a plurality of container holding portions are arranged in an annular shape, and has a first tube socket and a second tube socket.
The operation unit includes a first knob portion of the first container holding portion and a first knob portion of the first container holding portion provided between the first container holding portion of the first tube socket and the second container holding portion of the second tube socket. 2 An automatic container processing device that drops the container by operating both the second knob of the container holding unit at the same time.

[2] The container holding portion includes at least one set of holding plates each having a knob portion and a holding portion for holding the container.
A holder having a rotation shaft for rotating the holding plate and a through hole through which the container passes.
It is provided with an elastic portion that connects the knob portions of each of the holding plates and urges the elastic force in a direction in which the knob portions are separated from each other.
The automatic container processing device according to [1], wherein when the knob portions are brought close to each other by the operation portion, the holding portions are separated from each other and the held container is dropped.

[3] The operation unit is
The operating arm that operates the knob and
An opening / closing drive unit that opens / closes the operating arm, and
A moving part that brings the operating arm part closer to and away from the knob part,
The automatic container processing apparatus according to [2].

[4] The container holding portion is
A container support plate that supports the container and
A slide plate provided between the tube socket and the container support plate and slidable in a predetermined direction is provided.
The container support plate has an opening portion in the predetermined direction, and the container support plate has an opening portion.
The slide plate has a penetration portion larger than the diameter of the container.
The invention according to claim [1], wherein the container is released from the open portion of the container support plate by sliding the slide plate in the predetermined direction by the operation unit, and the container falls from the penetration portion. Automatic container processing equipment.

[5] The container holding portion includes at least two or more container support plates that support the container.
The automatic container processing device according to claim [1], wherein the container support plate can be rotated downward by a rotation shaft portion, and the container is dropped by rotating the container support plate by the operation portion.

1 Automatic container processing device 2 Tube arm 3 Pipetter arm 4 Rotating tube socket 5 Magnetic separator 6 Stirrer 7 Holding knob operation unit 8 Dispensing arm 9 Disposal unit 11-14 1st to 4th cartridge 15 Liquid supply unit 16 Control unit 17 Sterilizer 21 Tube arm base 22 1st linear motion mechanism 23 1st link 24 1st motor 25 1st encoder 26 2nd link 27 2nd motor 28 2nd encoder 29 1st holding mechanism 31 Pipetter arm base 32 2nd linear Dynamic mechanism 33 3rd link 34 3rd motor 35 3rd encoder 36 4th link 37 4th motor 38 4th encoder 39 Pipetter nozzle 41 Tube socket base 42 1st gear 43 2nd gear 44 Tube holder 45 Socket ring 46 1st 5 Motor 47 Centrifuge 48 Stopper

Claims (10)

A tube socket with a container holder that can hold the container,
An operation unit capable of operating the container holding portion of the tube socket is provided.
The tube socket has a first tube socket and a second tube socket.
The operation unit includes the first knob portion of the first container holding portion and the first knob portion of the first container holding portion provided between the first container holding portion of the first tube socket and the second container holding portion of the second tube socket. Automatic container processing in which the first container held by the first container holding portion and the second container held by the second container holding portion are dropped by performing one operation with the second knob portion of the second container holding portion. Device. The automatic container processing device according to claim 1, wherein the tube socket has an annular shape, and a plurality of container holding portions are arranged in an annular shape. The automatic container processing device according to claim 2, wherein the first tube socket of the tube socket is provided inside the second tube socket. Any one of claims 1 to 3, wherein the operation unit can operate either the first container holding portion of the first tube socket or the second container holding portion of the second tube socket. The automatic container processing apparatus according to paragraph 1. One of claims 1 to 4, wherein the operation unit can operate both the first container holding portion of the first tube socket and the second container holding portion of the second tube socket. The automatic container processing device described in the section. A tube socket with a container holder that can hold the container,
An operation unit capable of operating the container holding portion of the tube socket is provided.
The tube socket has an annular shape, and a plurality of container holding portions are arranged in an annular shape, and has a first tube socket and a second tube socket.
The operation unit includes the first knob portion of the first container holding portion and the first knob portion of the first container holding portion provided between the first container holding portion of the first tube socket and the second container holding portion of the second tube socket. An automatic container processing device in which the container drops by operating both the second knob portion of the second container holding portion at the same time. The container holding portion includes at least two container support plates that support the container.
The container support plate can be rotated downward by the rotation shaft portion, and can be rotated downward.
By rotating the container support plate by the operation unit,
The automatic container processing device according to any one of claims 1 to 6 , wherein the container falls. A tube socket with a container holder that can hold the container,
An operation unit capable of operating the container holding portion of the tube socket is provided.
The container holding portion includes at least one set of holding plates each having a knob portion and a holding portion for holding the container.
A holder having a rotation shaft for rotating the holding plate and a through hole through which the container passes.
It is provided with an elastic portion that connects the knob portions of each of the holding plates and urges the elastic force in a direction in which the knob portions are separated from each other.
An automatic container processing device in which when the knob portions are brought close to each other by the operation unit, the holding portions are separated from each other and the held container is dropped. The operation unit is
The operating arm that operates the knob and
An opening / closing drive unit that opens / closes the operating arm, and
A moving part that brings the operating arm part closer to and away from the knob part,
The automatic container processing apparatus according to claim 8 . A tube socket with a container holder that can hold the container,
An operation unit capable of operating the container holding portion of the tube socket is provided.
The container holding portion is
A container support plate that supports the container and
A slide plate provided between the tube socket and the container support plate and slidable in a predetermined direction is provided.
The container support plate has an opening portion in the predetermined direction, and the container support plate has an opening portion.
The slide plate has a penetration portion larger than the diameter of the container.
An automatic container processing device in which the container is released from the open portion of the container support plate by sliding the slide plate in the predetermined direction by the operation unit, and the container falls from the penetration portion.

Images