JP2003098179A - Plugging apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reliably insert plugs in test tubes. SOLUTION: A rack is positioned to a receiving location C1, and the plugs are each inserted in the test tubes housed in the rack. To be concrete, the plugs are inserted in the test tubes by a manipulator 42, and further temporarily pressed down. The plugs are each fully pressed down to the test tubes by a plugging part 36, and reliable plugging is achieved by this.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a capping device, and more particularly to a device for automatically mounting a cap on a container such as a test tube.

[0002]

2. Description of the Related Art For example, in blood analysis, in a state where a blood sample collected from a human body is contained in a test tube (including a blood collection tube), the test tube is first subjected to a centrifugal separation process. . Here, the upper opening of each test tube is generally plugged. Next, the dispensing process is executed, but prior to this, the uncapping process for removing the plug from each test tube is executed. In the dispensing process, a blood sample (serum) as an original sample is sucked from the test tube, and the blood sample is dispensed into a plurality of test tubes in small portions. The sample created by this dispensing is called a sub sample, and the sub sample is passed to the analysis process. After the dispensing process, a capping process of mounting a cap on the upper opening of the test tube is performed on one or both of the original sample and the sub-sample, if necessary. This is to prevent contamination, contamination of contaminants, and the like, and to prevent concentration of the sample due to evaporation when storing and managing the sample.

Conventionally, a system in which the above series of processes is completely automated has been put into practical use. In addition, a capping process is similarly required for urine and other samples other than blood samples.

[0004]

By the way, regarding the attachment of the stopper to the upper opening of the container, it is necessary to firmly fit the stopper to the upper opening of the container in order to ensure the closed state. In order to push the stopper completely and securely into the upper opening of the container, the mechanism for mounting the stopper must have the ability to exert sufficient pressing force.

However, conventionally, a manipulator mechanism consisting of a manipulator and a robot for transporting the manipulator has been generally used as a mechanism for mounting a stopper, but the manipulator mechanism alone can exert sufficient pressing force. If this is done, the mechanism will inevitably become large in size (due to the large size of the drive source and the strengthening of the structure), which will result in a large size and complexity of the mechanism or an increase in manufacturing cost. The original role of the manipulator mechanism is to transfer the stopper, and it is unreasonable to entrust the mechanism to all the press-fitting of the stopper.

The present invention has been made in view of the above-mentioned conventional problems, and an object thereof is to ensure that the cap can be surely closed with a relatively simple mechanism as a whole when the upper opening of the container is closed. It is in.

Another object of the present invention is to realize a rational closure by causing a plurality of mechanisms to share and perform a series of closure processes from the transportation of the stopper to the pushing.

Another object of the present invention is to realize a simple and reliable closure by combining different pressing methods.

[0009]

(1) In order to achieve the above object, according to the present invention, a plug is inserted into an upper opening of a container held in a rack, and before the plug is temporarily pushed in with a first pressing force. The processing mechanism and the temporarily pushed plug are second
And a post-processing mechanism for performing a main pressing with a pressing force.

According to the above structure, the stopper is temporarily pushed into the container body by the pretreatment mechanism, and then the stopper is finally pushed in by the posttreatment mechanism. Therefore, such a two-step (or a plurality of steps) of pressing makes it possible to more securely attach the plug, and prevent problems such as lifting of the plug. In addition, since two-step pushing is performed, it is possible to realize a capping process such as application of a plurality of pushing methods and stepwise application of a plurality of pushing forces, which cannot be obtained by conventional simple pushing.

Preferably, the second pressing force is larger than the first pressing force. According to this configuration, particularly strong force can be exerted in the final pushing to perform more reliable closure.

Preferably, the pretreatment mechanism and the posttreatment mechanism have different pressing force generating methods.

Preferably, the pretreatment mechanism includes a manipulator that holds a stopper and a transfer robot that transfers the manipulator. According to this structure, temporary insertion is performed when the plug is first inserted. In other words, such manipulator mechanism has a large limitation in generating a strong pressing force, but it can be temporarily pushed in.

Preferably, the manipulator has a plurality of fingers for grasping a side surface of the stopper, and a pressing block provided between the plurality of fingers and abutting against an upper surface of the stopper to apply a pressing force. Since the pressing block directly applies a pressing force to the upper surface of the stopper, the force can be directly transmitted without being affected by the gripping force and the like.

Preferably, when gripping the plug with the manipulator, the grip height is determined by bringing the pressing block into contact with the upper surface of the plug. According to this configuration, the pressing block can be used as a positioning means when grasping. Also, since there can be formed a state in which there is no gap between the lower surface of the pressing block and the upper surface of the plug, the force can be immediately transmitted at the time of temporary pressing (the problem of the grip position deviation can be prevented).

Preferably, the post-processing mechanism includes a base member provided at a height at which a sample container on the rack can pass, and at least one main pushing unit provided on the base member, The main pushing unit is connected to an air cylinder and a piston that moves forward and backward in the air cylinder, and a pushing member that pushes the provisionally pushed plug into the main body, and introduces air into the air cylinder when the main pushing is performed. An air introduction mechanism for driving the piston. According to this structure, a strong pressing force can be generated by so-called air pressure transmission, so that the main pressing can be reliably performed.

Preferably, the base member is provided with a plurality of main pushing units corresponding to the arrangement of the containers on the rack. Since the main pushing unit is arranged in the arrangement of the containers, no special positioning control is required during rack transportation. Note that if the main push is performed simultaneously on all the containers on the rack, a considerable load is applied to the rack, so the main push may be performed in units of one or several.

(2) Further, in order to achieve the above object,
The present invention provides a transport path for transporting a rack holding a plurality of containers, a positioning mechanism for positioning the rack at a first position set on the transport path, and a rack positioned at the first position, A manipulator mechanism that inserts a stopper into the opening of the container held in the rack and temporarily pushes the stopper, and each of the temporarily pushed stoppers at a second position set on the downstream side of the first position on the transport path. And a main push-in mechanism for pushing in.

According to the above construction, the stopper is temporarily pushed in on the upstream side of the conveying path, and the stopper is finally pushed in on the downstream side of the conveying path, and these operations can be executed in parallel.

Preferably, a height sensor for obtaining height information of a plurality of containers held on a rack is provided upstream of the first position on the transport path, and based on the height information, The insertion operation of the stopper is controlled. In this case, the highest container on the rack may be detected, or the height of each container may be detected individually. For example, when lowering the manipulator at a high speed immediately above the container at a high speed and then lowering the manipulator at a low speed to insert plugs and temporarily push in, if all containers or specific containers on the rack are low, If it is known that the processing efficiency can be improved by lowering the height at which the high speed descent is stopped.

[0021] Preferably, the stopper has a two-stage annular rib. Two-step pushing is particularly effective for this kind of stopper.

[0022]

BEST MODE FOR CARRYING OUT THE INVENTION Preferred embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a preferred embodiment of the system according to the present invention, and FIG. 1 is a conceptual diagram showing the overall configuration of the system. The system according to the present embodiment is a capping system as a sample processing system.

In FIG. 1, this system has a plurality of capping units (capping devices) connected in series,
In this embodiment, three capping units 10, 12,
14 are connected to each other. Here, the capping unit 1
0 is the head unit, the capping unit 14 is the tail unit, and the capping unit 12 is an intermediate unit. Of course, three capping units are connected in series in FIG. 1, but two or four or more capping units may be connected in series to form a system. In this embodiment, since each capping unit has independence, it is possible to easily construct a system by connecting an arbitrary number of capping units, and it is easy to change the system even after the system is constructed. Is.

An introducing unit (introducing device) 16 is provided on the upstream side of the capping unit 10 as the head unit. The introduction unit 16 is a device for introducing the rack conveyed on the belt conveyor from the higher-level device 18 into the capping unit 10 as the leading unit.

The capping units 10, 12 and 14 have basically the same structure. Then, by switching the operating conditions in the unit controller 50 provided in the capping unit 10, each capping unit 1
The operation corresponding to the position where 0 is provided is realized.
In the following, a specific configuration of each capping unit will be described on behalf of the capping unit 10.

X on the workbench of the capping unit 10
A main conveyance path (conveyance line) 20 extending in the direction (left-right direction in FIG. 1) is provided. The main transport path 20 is configured as a belt transport mechanism in this embodiment, and one end side of the belt is an inlet end 20F and the other end of the belt is an outlet end 20R. By the way,
The entrance end 20F is close to the end of the belt conveyor in the host device 18. Also, the exit end 20R
Is close to the inlet end of the next capping unit 12. That is, the rack is configured to be delivered and received between the introduction unit 16 and the capping unit 10, and this is also the same between the capping units 10, 12, and 14.

In this embodiment, for example, 5 × 6 test tubes are accommodated on the rack, and each test tube is provided with a stopper as described later. That is, the capping unit 1
Reference numeral 0 is a device for mounting a stopper on each test tube.

A first standby position is set on the upstream side of the main transport path 20 and a second standby position is set on the downstream side thereof. Here, in FIG. 1, the capping unit 1
The first standby position at 0 is indicated by the symbol A1, and the second standby position in the capping unit 10 is indicated by the symbol B1. Similarly, also in the capping units 12 and 14, the first standby positions A2 and A on the main transport path, respectively.
3 and second standby positions B2, B3 are shown. Here, the first standby position and the second standby position correspond to a buffer area or a buffer position.

In the capping unit 10, a first stopper 26 is provided at the first standby position A1 and a second standby position B is provided.
A second stopper 28 is provided at 1. The first stopper 26 is a stop bar 26B extending in a direction traversing the main conveyance path 20 and a drive unit 2 for driving the stop bar to open and close.
6A, and in the state where the stop bar 26B is closed (normal state), even if the rack is transported from the upstream by the main transport path 20, the stop bar 2
The rack is forcibly stopped by 6B. Similarly, the second stopper 28 is composed of a stop bar 28B and a drive mechanism 28A for opening and closing the stop bar 28B, and when the stop bar 28B is crossed over the main transport path, the rack is transported from the upstream side. Is forcibly stopped by its stop bar 28B. Of course, the first
When the stop bars 26B and 28B are opened in the stopper 26 and the second stopper 28, that is, retracted from the main transport path, the rack can be delivered downstream in combination with the transport action of the main transport path 20.

As shown in FIG. 1, the first standby position A1
An extrusion mechanism 30 is provided in the. This extrusion mechanism 30
Is a mechanism that pushes out the rack at the first standby position A1 and sends it out to the sub-transport path 22 described below. Specifically, the push-out mechanism 30 includes a push-out plate and a drive unit for moving the push-out plate back and forth, and a first standby / standby sensor S2 is provided on or near the push-out plate. The first standby sensor S2 is a sensor that detects whether or not there is a rack at the first standby position A1.

A second standby sensor S3 is provided at the second standby position B1. The second standby sensor S3 is
It is a sensor for detecting whether or not there is a rack at the second standby position B1.

As shown in FIG. 1, the first standby position A1
The sub-conveyance path (conveyance line) 22 is extended along the Y direction (along the vertical direction in FIG. 1). In the sub-transport path 22, the rack loaded therein is transported by the feed mechanism 48 in the present embodiment. The feeding mechanism 48 has, for example, a pair of claw members that are engaged with both side surfaces of the rack, and is a mechanism that conveys the rack that is engaged with them by feeding the pair of claw members forward. By the way, such a pair of claw members are drawn in naturally or by abutting on the front surface of the rack when moving to the upstream side in the sub transport path 22, and then engage with both side surfaces of the rack.

A receiving position (chucking position) C1 is set on the upstream side of the sub transport path 22. Similarly to this,
Also in the capping units 12 and 14, the receiving positions C2 and C
3 is set.

The rack is conveyed from the first standby position A1 to the receiving position C1 by the cooperation of the pushing mechanism 30 and the feeding mechanism 48, but of course the invention is not limited to this.

A height sensor S4 is provided upstream of the receiving position C1.
Is provided. The height sensor is composed of a light emitter and a light receiver which form light beams arranged on both sides of the sub transport path 24, and they are positioned at a predetermined height. This makes it possible to optically detect whether the test tube accommodated on the rack is long or short. Such detection results are used when setting operating conditions in the later-described capping process.

A chucking mechanism 32 is provided at the receiving position C1. This chucking mechanism is composed of an extruding plate and a driving unit that moves the extruding plate back and forth. By pushing one side surface of the rack and sandwiching the rack with the abutting plate 34, the rack is held and positioned. Done.

A receiving sensor S5 is provided at the receiving position C1, and this receiving sensor S5 detects whether or not there is a rack at the receiving position C1.

When the rack is chucked at the receiving position C1, the manipulator mechanism inserts a stopper into the upper opening of each test tube and temporarily pushes the stopper. That is, the receiving position C1 corresponds to the position where the pretreatment is performed in the present embodiment, and at that position, the stopper is temporarily attached to each test tube as the first-step capping process for each test tube. Here, the manipulator mechanism is composed of a manipulator 42 for grasping a stopper and a transfer robot 40 for transferring the manipulator 42, and the manipulator mechanism functions as a pretreatment mechanism or a temporary pushing mechanism in the present embodiment.

By the way, reference numeral 46 indicates a stopper supply section for supplying stoppers while aligning them. This is a known structure per se. Therefore, the manipulator mechanism grabs the stopper supplied from the stopper supply unit 46, inserts the stopper into the upper opening of the test tube to be processed, and further applies a constant pressing force to perform temporary pressing. This is then done for all test tubes on the rack.

Incidentally, in this case, in this embodiment, the height information of the container detected by the height sensor S4 is used. In this embodiment, at least one long test tube (long size) is mounted on the rack.
Is included, the operating conditions corresponding to the long test tube are set, and if no such long test tube is included, the operating condition corresponding to the short test tube (short size) is set. Is set. Here, the operating condition corresponding to a long test tube is that the manipulator 42 is lowered at a high speed to a position (high level) separated by a certain distance from the upper opening of such a long test tube, and then the manipulator 42 is moved from that position. The plug is temporarily pushed in by lowering at a low speed. In addition, the operating condition for short test tubes is to lower the manipulator at a high speed from the upper opening of the short test tube to a height (low level) a certain distance above,
From there, the manipulator is lowered at a low speed. That is, when inserting the plug at a high speed, problems such as excessive load and breakage of the plug occur. Therefore, it is necessary to insert the plug at a constant speed, and the above operating conditions are set. However, if the switching position from the high speed to the low speed is always set to a high position, the operating efficiency of the device is lowered. Therefore, in this embodiment, the operating condition is switched based on the detection result of the height sensor. ing. Therefore, the height detection may be performed for each container, or the height detection may be performed for each row. Then, the operating condition may be switched for each such detection unit.

When the provisional mounting of the stoppers on all the test tubes on the rack is completed at the receiving position C1, the above chucking is released, and the feeding mechanism 48 feeds the rack forward, that is, downward in FIG.

A post-processing position is set on the sub-transport path 22, and a stopper 36 is installed at the post-processing position. The plugging portion 36 is a mechanism for carrying out the main pushing, that is, the post-treatment, into the container. In the present embodiment, the stopper 36 has a plurality of push-in units driven by compressed air, and such push-in units are used to perform the main push-in for each stopper. The stopper 36 has, for example, six pushing units, which have an arrangement corresponding to the arrangement of the test tubes on the rack. In the present embodiment, the rack has an array of five test tubes in the transport direction and six test tube arrays in the direction orthogonal to the rack transport direction, and the stopper unit 36 has six push-in units correspondingly. . However, the six pushing units are grouped into two rows and arranged in a staggered arrangement. Therefore, one rack is available at the post-processing position.
It is sent pitch by pitch and is simultaneously pushed into 6 test tubes at the same time. However, focusing on the row of 6 test tubes in the horizontal direction in FIG. 1, every 3 rows at the same time in the row. This indentation is carried out for the test tube of.

Of course, it is also possible to carry out the main push-in to all the test tubes on the rack at the same time, but in that case, since an excessive weight is applied to the rack itself, a part of the test tube as described above is applied. It is desirable to perform the main push-in simultaneously for the test tubes of. Therefore, depending on the strength of the rack and the like, for example, the main pushing may be performed one by one, or the main pushing may be performed for each unit such as two or three. By the way, the operation stroke of the pushing plate, which will be described later, in the pushing unit corresponds to both long test tubes and short test tubes.

A downstream side of the sub-transport path 22 is configured as a discharge section 24. In the carry-out section 24, the rack fed by the feeding mechanism 48 causes the rack existing in the carry-out section to be projected. . Then, when the top rack finally reaches the end of the sub transport path 22,
The rack is detected by the full load sensor S6, and a full load notification or alarm is output to the user.
The user, at the time when such a full notification was made,
Alternatively, before the alarm is generated, take out each rack after the completion of the capping process.

In FIG. 1, in the present embodiment, an entrance sensor S1 is provided near the entrance end 20F of the main transport path 20. This approach sensor S1 is used for the introduction unit 1
6 is a sensor for detecting that the rack has been introduced into the capping unit 10. Further, a gate G is provided in the vicinity thereof only for the capping unit 10. The gate G has a gate bar that is crossed over the main transport path, and the gate bar is set to a predetermined height so that a test tube having a length longer than the length acceptable by the apparatus can be loaded. Physically blocked. Although the gate G is not provided in the capping units 12 and 14, it is possible to provide the gate G also in the capping units 12 and 14.

The capping unit 10 has a unit controller 50 composed of, for example, a microcomputer. The unit controller 50 includes the sensors S1 described above.
Each output signal of S6 is input. In addition, the unit control unit 50 includes each component in the unit, specifically, the main transport path 20, the sub transport path 22, and the first stopper 2.
6, the second stopper 28, the pushing mechanism 30, the chucking mechanism 32, the closure unit 36, the transfer robot 40, the manipulator 42, the plug supply unit 46, the feeding mechanism 48, and the like are operated and controlled. The control content will be described later with reference to FIGS. 5 to 7, but in the present embodiment,
The unit controller 50 basically controls only the control in the unit 10, and the basic rule of the control is extremely simple. Therefore, it is possible to avoid various problems in the case where the entire system is controlled by a single control unit while performing rational distribution.

In FIG. 1, the capping units 12 and 14 are
Has basically the same configuration as the capping unit 10 described above. That is, those units 10, 12,
It is also possible to exchange the arrangement of 14 with each other. Also,
Further, it is possible to connect units having the same structure to the front stage or the rear stage. The last capping unit 14
As a matter of course, the first stopper 26 and the second
The stopper 28 does not open and close, that is, when the rack reaches the first standby position A3, the rack is sent to the receiving position C3 after waiting for the receiving position C3 to be empty. That is, the second standby position B3 becomes invalid.

Therefore, as an exceptional configuration, for example, with respect to the last capping unit 14, it is possible to remove the unnecessary configuration and configure the unit.

In the present embodiment, the unit controller 5
0 has common control contents for units other than the last unit, and when the unit provided with the unit control unit 50 is the last unit,
By separating some operation contents, it is possible to meet the simplified operation conditions required for the last unit.

Next, FIG. 2 conceptually shows the operation contents at the receiving position shown in FIG. In the receiving position, as described above, the chucking mechanism 32 operates, that is, the driving unit 80 pushes the pushing plate 82 forward, which narrows the rack 70 between the pushing plate 82 and the contact plate 34. Be held. That is, the rack 70 is positioned. Here, a plurality of test tubes 72 are held upright on the rack 70.

As described above, the stopper supply unit 46 supplies the stoppers 74 one by one, and as shown by the reference numeral 42 ',
The manipulator 42 grasps the stopper 74 and conveys the stopper 74. Here, the manipulator 42 has a plurality of (two) fingers 76, and grasps the side surface of the plug 74 by the plurality of fingers 76. In this embodiment, a push block 78 having a predetermined length is fixedly provided between the plurality of fingers 76. That is, the push block 78 is in contact with the upper surface of the stopper 70 when the stopper 70 is gripped, as shown by the reference numeral 42 ', thereby functioning as a positioning member. When the stopper 74 is inserted into the upper opening of the test tube 72 and then temporarily inserted, the downward movement of the manipulator 42 is transmitted to the stopper 74 as a pressing force by the pushing block 78. That is, it is possible to avoid a problem such as a shift in the grip position caused by the finger 76. However, even if such a pushing block 78 is used, there is a certain limit to the downward pushing force of the robot mechanism, and therefore, the stopper 7 is not necessarily used at this stage.
4 is not completely attached to the test tube 72. Incidentally, the transfer robot 40 is not shown in FIG. The same applies to the feed mechanism 48 shown in FIG.

FIG. 3 shows an example of the structure of the stopper portion 36. As shown in FIG. 3, the rack 7 is in the post-processing position.
An arch-shaped base member 90 that allows passage of 0 is provided. The base member 90 is provided with six pushing units 92 in the present embodiment in an arrangement corresponding to the arrangement of the test tubes 72 in the rack 70. The six pushing units 92 have a staggered arrangement as described above. Focusing on each pushing unit 92, an air cylinder 94 drives a piston by air pressure, and a pushing plate 98 is attached to a drive shaft 96 of the piston. That is, when the piston is moved downward, since the pushing plate 98 is in contact with the upper surface of the stopper 74, the stopper 74 is pushed downward with a strong force, whereby the main pushing is executed. The pushing force is larger in the main pushing than in the above-mentioned temporary pushing. For example, the pushing force in the temporary pushing is 4 Kg, and the pushing force in the main pushing is 7 Kg, for example.

A pipe 100 is attached to the air cylinder 94, and air is introduced into the air cylinder 94 through the pipe 100. Reference numeral 102 represents a solenoid valve, and the operation of the solenoid valve 102 is controlled by the unit controller 50 shown in FIG. Reference numeral 104 indicates a leak valve. Solenoid valve 1 when driving the piston
02 is opened and the air from the air pump or the compressor is sent into the air cylinder 94. When the main pushing is completed, the piston is pulled up by the action of a spring (not shown), and at the same time, the solenoid valve 102
Releases the inside of the air cylinder 94 to the atmosphere. This causes the air to flow out. The leak valve 104 regulates the operating speed of the piston when air is sent. Of course, the configuration shown in FIG. 3 is an example, and other configuration examples can be adopted in addition to this.

As a stopper to be closed, for example, a stopper 106 as shown in FIG. 4 can be used. Here, in FIG. 4, as shown in FIG.
An operation when inserting the stopper 106 into the test tube 72 by the manipulator 42 is shown, an operation at the time of temporary pressing is shown in (B), and an operation at the time of main pressing is shown in (C).

On the stopper 106, annular two-stage ribs 108 and 109 are formed so as to project on the stopper portion to be inserted into the test tube 72. When temporary pushing is performed on the plug 106 of this type, typically, the second rib 10 is in a stage in which the first rib 108 has entered the test tube 72.
9 is formed to be exposed, and thereafter, the main pushing shown in FIG.
4, the pushing plate 98 is pulled downward, and the entire plug body portion of the stopper 106, that is, the portion including the two-stage ribs 108 and 109 is entirely in the test tube 7.
It is completely pushed into 2.

Returning to FIG. 1, the introduction unit 16 will be described. As described above, the introduction unit 16 is a device that sends the rack transported by the host device 18 to the leading capping unit 10 under predetermined conditions. The introduction unit 16 is roughly classified into the introduction mechanism 6
0 and a unit controller 66, where the introduction unit 60 includes a plate 64 having a length that traverses the belt conveyor and a slide mechanism 62 that drives the plate. The slide mechanism 62 includes a plate 64.
Is pulled down on the upstream side, and the plate 64 is pushed out to the front capping unit 10 side, then the plate 64 is retracted upward, and this process is repeated again to feed the rack. Of course, various mechanisms other than this can be adopted. Incidentally, the introduction unit 16 is provided with an arrival sensor S7, and the arrival sensor S7 determines the arrival of the rack. As the upper device 18, a general rack transport device can be used, but in addition to this, a dispensing system or the like as a sample pretreatment device can be used. Unit control unit 66
Controls the operation of the slide mechanism 62 described above.

Each capping unit 10, 1 shown in FIG.
2 and 14, some data is exchanged between the unit controllers 50. Focusing on a certain unit control unit, the information that the first standby position is empty is acquired from the unit control unit of the immediately following unit, and the first standby position of itself is empty for the immediately preceding unit. Is provided. As a matter of course, regarding the exchange of such information, the information may be provided in response to the issuance of the acquisition request, or the person who needs the information may refer to it by himself. In any case, the messages are exchanged between the unit control units, so that the operations of the opening units are coordinated. This is the top opening unit 10
The same applies between the and the introduction unit 16. When the unit controller 66 is provided with the information indicating that the first standby position is empty from the uncapping unit 10,
Accordingly, the operation of introducing the rack into the capping unit 10 is executed. In other cases, the rack is not installed. By the way, since the required number of capping units 10 corresponding to the maximum number of racks ejected per unit time in the host device 18 are interconnected, there is no problem that the racks become congested on the introduction unit 16. Does not happen.

FIG. 5 shows an operation example of the unit controller 66. First, in S101, it is determined whether the rack has arrived based on the output of the arrival sensor S7 shown in FIG. Here, when the rack has arrived,
In S102, according to the information provided from the unit controller 50, it is determined whether or not the first standby position A1 in the opening capping unit 10 is in an empty state. Of course, it is not always necessary for the unit controller 66 to actually refer to the state of the first standby position A1, and the unit controller 50 issues a rack request, and the unit controller 66 determines the rack introduction in response to the rack request. You may do it.
In any case, when the first standby position A1 is in an empty state, the rack is loaded into the first cap opening unit 10 under the control of the unit controller 66 (S103). S
In 104, it is judged whether or not this processing is to be ended, and if it is not ended, the above steps from S101 are repeatedly executed.

As described above, the introduction unit 16 does not consider the operating status of the entire system at all, and determines whether or not the introduction is possible only by the state of the first standby position S1 immediately below itself. Therefore, as shown in FIG. 5, the operating condition is extremely simple. This also applies to the operation content of the unit controller 50 described below.

6 and 7 show an example of control contents of the unit controller 50. FIG. 6 shows the control content regarding the first standby position, and FIG. 7 shows the control content regarding the second standby position.

In FIG. 6, in S201, it is determined that the upstream introduction unit 16 has notified that the rack has been sent, or that the entry sensor A1 has detected the introduction of the rack. If such a determination is made, S2
At 02, belt conveyance in the main conveyance path 20 is started. Then, the rack placed on the belt is sent out from the left to the right in FIG. 1 along the main transport path 20, and when the first standby sensor S2 detects the rack in S203, the belt transport is stopped in S204. To be done. However, as will be described later, when the racks are fed from the second standby position B1 to the next unit 12 simultaneously, that is, when the belt conveyance is necessary for other reasons, the belt conveyance is performed in S204. Is not stopped and the belt is sent as it is. First as mentioned above
The stopper 26 always holds the rack once at the first standby position, and in that state, even if the belt is fed, the rack only slips on the belt and the rack is moved to the first standby position A1. Waiting is surely done.

In S205, it is judged whether or not there is a rack at the receiving position C1 based on the output signal of the receiving sensor S5 provided at the receiving position C1. Here, if there is no rack at the receiving position C1, the rack can be immediately put into the receiving position C1, so that the pushing mechanism 30 shown in FIG. 1 operates, whereby the first standby position A
The rack at No. 1 is pushed out toward the sub transport path 22 (S
206). Then, the rack reaches the receiving position C1, and the receiving sensor S5 detects the rack at that time (S207).
If the detection is not made, for example, error processing is executed in S208. When a rack is detected by the reception sensor S5, chucking of the rack is performed as described above.

On the other hand, in S205, the receiving sensor S5
Is detecting a rack, that is, if a rack already exists at the receiving position C1 and is being processed, the process proceeds to S.
Move to 209. In this S209, the second standby position B
The output of the second standby sensor S3 provided in 1 is referred to,
It is determined whether or not there is a rack at the second standby position B1. Here, if there is a rack at the second standby position B1,
The process returns to S205. If there is no rack in the second standby position B1 in S209, the first stopper 26 is opened in S210, and together with this, the main transport path 20 is opened.
Starts its operation, and the rack is sent to the downstream side from the first standby position A1. When the delivery of the rack from the first standby position A1 is completed, the first stopper 26 returns to the original closing operation state again.

At S211, it is judged whether the delivered rack has reached the second standby position B1 based on the output of the second standby sensor S3. When the rack reaches the second standby position B1, at S212. Belt conveyance is stopped. Of course, in this case, when the rack has been inserted into the first standby position A1, the belt conveyance is not stopped until the rack is inserted.

Then, in S213, it is determined whether or not to continue the above processing, and when the above processing is to be continued, each step from S201 is repeatedly executed. Incidentally, FIG. 6 is drawn in order to explain the operation of the system shown in FIG. 1 in a more understandable manner. In the actual capping unit 10, all the steps shown in FIG. 6 are divided into a plurality of routines. , It is desirable to execute those routines in parallel. This also applies to the operation contents shown in FIG. 7.

According to the control shown in FIG. 6, the first waiting position A
In No. 1, priority is given to the input to the receiving position C1, that is, it is conditioned so that the operation efficiency of the capping unit 10 on the upstream side is higher when the entire system is viewed. Further, when there is a rack at the first standby position A1, and when neither the receiving position C1 nor the second standby B2 is in an empty state, the rack is moved to the first standby position A1 until either of them becomes empty. Is held. That is, when neither branch feeding nor passing feeding can be performed from the first standby position A1, the rack is made to stand by there to prevent congestion of the rack on the downstream side. Further, since the first standby position A1 exists, the rack can be promptly introduced into the receiving position C1 when the receiving position C1 becomes empty, and in that sense, the efficiency of the apparatus can be improved. .

Incidentally, as shown in FIG. 6, when the rack arrives at the first standby position A1, the receiving position C1 and the second position
When either one of the standby positions B1 is in the empty state, the rack is naturally sent to the position in the empty state.

Next, FIG. 7 shows the control contents relating to the second standby position B1. In S301, it is determined based on the output of the second standby sensor S3 whether or not there is a rack at the second standby position B1, and if there is a rack, the following steps are executed. That is, in S302, when it is determined that the first standby position in the immediately following unit is in an empty state, or when the first standby position from the immediately following unit is the first
When a rack request is issued due to being in the standby position or in the empty state, it is determined in S302. Then, in S303, the second stopper 28 opens and operates,
At the same time, the main conveyance path 20 starts belt conveyance. When the rack leaves the second standby position B1, the second stopper 28 closes. The belt is conveyed until the rack is fed to the exit end R and can be fed into the unit immediately after that, and the belt conveyance may be finished by a certain time control, or shown in S304. As described above, for example, the report of the entry detection by the entry sensor from the unit immediately after may be made together.
In either case, the conveyance of the belt is stopped in S305. Then, in S306, it is determined whether or not to continue this process, and if it is to be continued, each process from S301 is repeatedly executed.

Therefore, according to the control example shown in FIG.
The rack can be sent out from the second standby position that functions as a buffer based on the empty state of the first standby position in the unit immediately after, and the operating efficiency of the unit immediately after can be improved.

The control shown in FIGS. 6 and 7 is not limited to the cap opening unit 10 shown in FIG.
2 and 14 are also executed. However, in the rearmost capping unit 14, the operation shown in FIG. 7 is not executed, and in the case where there is a rack at the first standby position A3 as shown by a dashed arrow from S205 in FIG. The first waiting position A3 until the empty state is confirmed by the receiving sensor provided at the receiving position C1.
The rack remains on top.

Therefore, as is clear from the above description,
According to the unit configuration of the present embodiment, even when a specific capping unit is used as the rearmost unit, it is possible to simply separate a part of the control content of the unit controller,
There is an advantage that it can cope with it. Of course, the configuration examples and operation examples described above are examples, and various other configuration examples and operation examples can be adopted. For example, the rack transport control method described above is not limited to the capping system, but can be applied to, for example, a capping system or a dispensing system.

[0073]

As described above, according to the present invention,
When the upper opening of the container is closed, it can be surely closed with a relatively simple structure as a whole. Further, according to the present invention, a series of capping processes from the transfer of plugs to the pushing in are shared by a plurality of mechanisms, whereby rational capping can be realized. Further, according to the present invention, a simple and reliable closure can be realized by combining different pressing methods.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing an overall configuration of a system according to this embodiment.

FIG. 2 is a diagram for explaining temporary attachment of a stopper by a manipulator.

FIG. 3 is a view for explaining the main pushing of the stopper by the stopper portion.

FIG. 4 is a view showing a case where a stopper having a two-stage rib is attached to a test tube.

FIG. 5 is a diagram showing an operation example of an introduction unit.

FIG. 6 is a diagram for explaining control contents related to a first standby position.

FIG. 7 is a diagram for explaining control contents related to a second standby position.

[Explanation of symbols]

10, 12, 14 Capping unit (capping device, sample processing unit), 16 introduction unit, 20 main transport path, 2
2 Sub-transport path, 26 1st stopper, 28 2nd stopper, 30 extrusion mechanism, 32 chucking mechanism, 34
Abutment plate, 36 stopper part, 40 transfer robot, 42 manipulator, 46 stopper supply part, A1, A2, A3 first
Standby position, B1, B2, B3 Second standby position, C1, C
2, C3 receiving position, S1 approach sensor, S2 first waiting sensor, S3 second waiting sensor, S4 height sensor,
S5 receiving sensor, S6 full load sensor, S7 arrival sensor.

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 2G058 CA02 CB15 EA01 GE01 GE03                 3E080 AA01 CC01 CC03 CF07 CF11                       DD11 DD29 EE03 FF11

Claims (11)

[Claims] 1. A pretreatment mechanism for inserting a stopper into an upper opening of a container held in a rack and further temporarily pressing the stopper with a first pressing force; and a main pressing operation of the temporarily pressed stopper with a second pressing force. A post-processing mechanism, and a capping device comprising: 2. The capping device according to claim 1, wherein the second pressing force is larger than the first pressing force. 3. The capping device according to claim 1, wherein the pretreatment mechanism and the posttreatment mechanism have different pressing force generation systems. 4. The device according to claim 1, wherein The pretreatment mechanism is A manipulator that grabs the plug, A transfer robot that transfers the manipulator, A capping device comprising: 5. The device according to claim 4, wherein the manipulator is provided between a plurality of fingers for gripping a side surface of the stopper and the plurality of fingers, and a pressing block that abuts an upper surface of the stopper to apply a pressing force. A capping device comprising: 6. The capping device according to claim 5, wherein when gripping the plug with the manipulator, the grip height is determined by abutting the pressing block on the upper surface of the plug. 7. The apparatus according to claim 1, wherein the post-processing mechanism is a base member provided at a height at which a sample container on the rack can pass, and at least one book provided on the base member. And a push-in unit, wherein the main push-in unit is connected to an air cylinder and a piston that moves forward and backward in the air cylinder,
A capping device, comprising: a pressing member for main-pressing the temporarily pressed plug; and an air introducing mechanism for introducing air into the air cylinder to drive the piston at the time of main-pressing. 8. The capping device according to claim 7, wherein the base member is provided with a plurality of main pushing units corresponding to the arrangement of the containers on the rack. 9. A transport path for transporting a rack holding a plurality of containers, a positioning mechanism for positioning the rack at a first position set on the transport path, and a rack for positioning the rack at the first position. , A manipulator mechanism for inserting a stopper into the opening of the container held in the rack and temporarily pressing the stopper, and a second position set on the downstream side of the first position on the transport path, and the temporary pressing is performed. A capping device comprising: a main push-in mechanism for fully pushing in the plug; 10. The apparatus according to claim 9, wherein a height sensor that acquires height information about a plurality of containers held in a rack is provided upstream of the first position on the transport path, A capping device wherein the plugging operation of the plug is controlled based on height information. 11. The capping device according to claim 1, wherein the plug has a two-stage annular rib.