Cap mounting / removal device, preprocessing device, and method for attaching cap

Abstract

In the present invention, when a cap is being attached to a container, an operation unit grips the cap while contacting the top surface of the cap, on which a threaded portion is formed, and brings the gripped cap into contact with the container. A buffer unit absorbs pressing force applied from the cap to the operation unit. A control unit executes, in order: a control for causing a rotation-driving unit to rotate in a first direction, thereby fastening the cap gripped by the operation unit onto the container; a control for causing the rotation-driving unit to rotate in a second direction, thereby loosening the cap gripped by the operation unit from the container; and a control in which the rotation-driving unit is rotated in the first direction, as a result of which the cap gripped by the operation unit is fastened onto the container.

Description

Cap attaching / detaching device, pre-treatment device, and cap attaching method

[0001] The present invention relates to a capping / removal device, a pre-treatment device, and a capping method.

[0002] Before a sample is analyzed in an analytical device, the sample may be pretreated using a container such as a centrifuge tube. For example, in the pretreatment, the sample to be analyzed and additives are poured into a capped container, and the contents of the container are then stirred. The contents are then extracted from the container and poured into a specified vial. The contents, including the pretreated sample, are then supplied from the vial to the analytical device, where the desired analysis of the sample is performed.

[0003] In pretreatment, caps are attached and detached by a capping / detaching device before and after pouring contents into or extracting contents from a container. For example, in the capping device described in Patent Document 1, a sample container is gripped by a pair of grippers of a gripping open / close drive unit, and the cap is gripped by a robot hand. In this state, the gripping open / close drive unit is rotated to attach and detach the cap.

[0004] Japanese Patent Application Publication No. 3-226484

[0005] If the container is not sealed, the contents may leak from the container during pretreatment, causing problems such as contamination of the pretreatment device or a decrease in the accuracy of pretreatment. Therefore, in order to seal the container, it is necessary to accurately fit the cap and the container when attaching the cap. However, the cap or the container is not always formed with high precision, and it may not be easy to fit the cap and the container.

[0006] Furthermore, if the cap is attached to the container without being properly fitted, the friction between the cap and the container increases. As a result, even if torque is applied to the cap, the robot hand may spin freely between the cap and the robot hand, making it impossible to rotate the cap. In this case, the cap cannot be removed from the container, making pre-processing impossible.

[0007] The present invention provides a capping / removal device, a pre-treatment device, and a capping method that can reliably seal a container with a cap. Another object of the present invention is to provide a capping / removal device that can reliably remove a cap from a container.

[0008] One aspect of the present invention relates to a cap attachment / detachment device that includes a rotational drive unit that can rotate in a first direction or a second direction that are opposite to each other; an operating unit that, when attaching a cap to a container, grips the cap while abutting against the top surface of the cap on which a thread is formed and abuts the gripped cap against the container; a transmission unit that rotates the operating unit by transmitting the rotation of the rotational drive unit to the operating unit; a buffer unit that absorbs the pressing force from the cap to the operating unit when attaching the cap to the container; and a control unit that controls the operation of the rotational drive unit, wherein, when attaching the cap to the container, the control unit sequentially executes a first control that rotates the rotational drive unit in the first direction to tighten the cap gripped by the operating unit onto the container; a second control that rotates the rotational drive unit in the second direction to loosen the cap gripped by the operating unit from the container; and a third control that rotates the rotational drive unit in the first direction to tighten the cap gripped by the operating unit onto the container.

[0009] Another aspect of the present invention relates to a pretreatment device comprising the above-described capping / removal device for attaching and detaching a cap to a container, and a pretreatment unit for pretreatment of a sample contained in the container.

[0010] Yet another aspect of the present invention relates to a cap attachment method using a cap attachment / detachment device, the cap attachment method including: gripping the cap with an operating unit while abutting the operating unit against a top surface of the cap having a thread formed thereon; abutting the cap gripped by the operating unit against a container while absorbing a pressing force from the cap to the operating unit with a buffer unit; rotating a rotational drive unit in a first direction to tighten the cap gripped by the operating unit onto the container; after the cap is tightened onto the container, rotating the rotational drive unit in a second direction opposite to the first direction to loosen the cap gripped by the operating unit from the container while applying the pressing force absorbed by the buffer unit to the top surface of the cap; and after the cap is loosened from the container, rotating the rotational drive unit in the first direction to tighten the cap gripped by the operating unit onto the container.

[0011] Yet another aspect of the present invention relates to a cap attachment / detachment device comprising a rotational drive unit rotatable in a predetermined direction, an operating unit including a gripping unit having a pointed tip, a transmission unit that rotates the operating unit by transmitting the rotation of the rotational drive unit to the operating unit, and a control unit that controls the operation of the operating unit so that the tip of the gripping unit abuts the cap, which has a thread formed thereon, when removing the cap from a container.

[0012] Yet another aspect of the present invention relates to a cap attachment / detachment device comprising: a rotational drive unit rotatable in a first direction or a second direction opposite to each other; an operating unit that grips the threaded cap and abuts the gripped cap against the container when attaching the cap to the container; a transmission unit that rotates the operating unit by transmitting the rotation of the rotational drive unit to the operating unit; and a control unit that controls the operation of the rotational drive unit to rotate the operating unit in the first direction when attaching the cap to the container so that the operating unit is rotated in the first direction to tighten the cap onto the container, and the control unit further controls the operation of the operating unit so that after the cap is tightened onto the container, it rotates the operating unit in the second direction to remove the cap from the container and rotates the operating unit in the first direction to tighten the cap onto the container again, one or more times.

[0013] Yet another aspect of the present invention relates to a cap attachment method using a cap attachment / detachment device, which includes gripping a threaded cap with an operating unit and abutting it against a container, rotating a rotation drive unit in a first direction to tighten the cap gripped by the operating unit onto the container, and performing a fitting operation of the cap onto the container, wherein the fitting operation includes, after the cap is tightened onto the container, rotating the operating unit in a second direction opposite to the first direction to remove the cap from the container, and rotating the operating unit in the first direction to tighten the cap onto the container again, performed one or more times.

[0014] According to the present invention, the container can be reliably sealed with the cap, and the cap can be reliably removed from the container.

[0015] FIG. 1 is a block diagram showing a pre-treatment device according to a first embodiment. FIG. 2 is a schematic diagram showing the configuration of the capping / removal device shown in FIG. 1. FIG. 3 is a diagram for explaining the capping operation performed by the capping / removal device. FIG. 4 is a diagram for explaining the capping operation performed by the capping / removal device. FIG. 5 is a diagram for explaining the capping operation performed by the capping / removal device. FIG. 6 is a diagram for explaining the capping operation performed by the capping / removal device. FIG. 7 is a diagram for explaining the capping operation performed by the capping / removal device. FIG. 8 is a diagram for explaining the cap removal operation performed by the capping / removal device. FIG. 9 is a diagram for explaining the cap removal operation performed by the capping / removal device. FIG. 10 is a diagram for explaining the cap removal operation performed by the capping / removal device. FIG. 11 is a diagram showing the configuration of a control unit. FIG. 12 is a flowchart showing an example of an algorithm for the removal / removal process executed by the control unit. FIG. 13 is an enlarged view showing a portion of a gripping unit according to a second embodiment. FIG. 14 is a diagram for explaining the operation of the gripping unit. FIG. 15 is a diagram for explaining the operation of the gripping unit. FIG. 16 is a diagram for explaining the operation of the gripping unit. FIG. 17 is a diagram showing the configuration of a control unit according to the second embodiment. Fig. 18 is a flowchart showing an example of an algorithm for the attachment / detachment process in the second embodiment. Fig. 19 is a diagram for explaining the operation of removing a cap in a reference example. Fig. 20 is a diagram for explaining the operation of removing a lip seal type cap. Fig. 21 is a diagram showing the configuration of a control unit in the third embodiment. Fig. 22 is a flowchart showing an example of an algorithm for the attachment / detachment process in the third embodiment. Fig. 23 is a diagram showing the container and cap when the cap is fastened to the container. Fig. 24 is a diagram showing the container and cap when the familiarization operation is performed.

[0016] 1. First Embodiment (1) Pretreatment Device A capping / removal device, a pretreatment device, and a capping method according to embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is a block diagram showing a pretreatment device according to a first embodiment. As shown in FIG. 1, a pretreatment device 200 includes a sample receptacle 110, an application section 120, a shaking section 130, a separation section 140, an injection section 150, and a disposal section 160. A capping / removal device 100 is provided in each of the sample receptacle 110, the application section 120, and the injection section 150.

[0017] Container holding racks 3 holding multiple containers 1 are sequentially introduced into the pretreatment device 200. In this example, the container holding rack 3 holds four containers 1 arranged in two rows and two columns. Each container 1 is, for example, a centrifuge tube. The capping / removal device 100 is configured to be able to simultaneously attach and detach caps 2 to the upper ends of multiple containers 1 by manipulating the screw-type caps 2 (screw-on caps) of the multiple containers 1. Details of the capping / removal device 100 will be described later.

[0018] The sample accommodating unit 110 removes the caps 2 from each container 1 in the introduced container holding rack 3, then accommodates the sample to be analyzed in each container 1 and attaches the caps 2 to each container 1. The sample to be analyzed includes, for example, food. The sample accommodating unit 110 then transports the container holding rack 3 to the shaking unit 130, and transports the container holding rack 3 transported from the shaking unit 130 to the adding unit 120.

[0019] The adding unit 120 removes the caps 2 from each container 1 in the container holding rack 3 carried in from the sample storage unit 110, then adds a predetermined solvent or internal standard reagent, etc. to each container 1, and attaches the caps 2 to each container 1. The adding unit 120 then carries the container holding rack 3 out to the shaking unit 130, and also carries the container holding rack 3 carried in from the shaking unit 130 out to the separation unit 140.

[0020] The shaking unit 130 stirs the contents of the containers 1 by shaking each container 1 in the container holding rack 3 carried in from the sample storage unit 110, and then carries the container holding rack 3 out to the sample storage unit 110. In addition, the shaking unit 130 stirs the contents of the containers 1 by shaking each container 1 in the container holding rack 3 carried in from the addition unit 120, and then carries the container holding rack 3 out to the addition unit 120.

[0021] The separation unit 140 separates the contents of each container 1 into components by applying centrifugal force to the container holding rack 3 carried in from the addition unit 120. The separation unit 140 then carries the container holding rack 3 out to the injection unit 150. The addition unit 120, the shaking unit 130, and the separation unit 140 are examples of pre-treatment units that perform pre-treatment on samples contained in multiple containers 1.

[0022] Vial racks 210 holding a plurality of vials 211 for analysis are sequentially introduced into the injection section 150. The injection section 150 removes the caps 2 from each container 1 in the container holding rack 3 carried in from the separation section 140, then extracts a portion of the contents from each container 1 and injects the extracted contents into each vial 211 in the vial rack 210. As a result, the contents including the pretreated sample are contained in each vial 211.

[0023] Thereafter, the injection unit 150 attaches caps 2 to each container 1 in the container holding rack 3 and transports the container holding rack 3 to the disposal unit 160. The injection unit 150 also transports the vial rack 210 to the analysis device 300. The disposal unit 160 discards the contents of each container 1 in the container holding rack 3 transported from the injection unit 150.

[0024] The analyzer 300 performs a predetermined analysis on the contents of each vial 211 in the vial rack 210 carried in from the pretreatment device 200. The analysis includes, for example, quantifying the amount of pesticide residue in the food sample. The analyzer 300 may be, for example, a liquid chromatography mass spectrometer (LC / MS), a gas chromatography mass spectrometer (GC / MS), or another analyzer.

[0025] By using the capping / removal device 100 in each of the sample storage section 110, the addition section 120, and the injection section 150 of the pretreatment device 200, the caps 2 can be attached and removed appropriately and efficiently. This improves throughput and also reduces the number of personnel required.

[0026] (2) Configuration of the capping / removal device Figure 2 is a schematic diagram showing the configuration of the capping / removal device 100 of Figure 1. As shown in Figure 2, the capping / removal device includes a base unit 10, a holding unit 20, multiple attachment / detachment units 30, a rotation drive unit 40, a moving unit 50, a transmission unit 60, and a control unit 70. In Figure 2, for ease of understanding, multiple containers 1 held on a container holding rack 3 are illustrated as being lined up in the left-right direction. Therefore, multiple attachment / detachment units 30 corresponding to the multiple containers 1 are also illustrated as being lined up in the left-right direction.

[0027] The base 10 is attached to the installation surface of the cap attachment / detachment device 100. The holding unit 20 holds a plurality of attachment / detachment units 30. Each attachment / detachment unit 30 includes an operation unit 31, a restriction unit 32, an opening / closing unit 33, and a buffer unit 34. The operation unit 31 includes a driven unit 35 and a gripping unit 36. The driven unit 35 has an axis in the vertical direction and includes driven members 35A and 35B that are rotatable around the axis. The driven members 35A and 35B are examples of first and second driven members, respectively. The driven member 35B is disposed below the driven member 35A.

[0028] The restricting unit 32 connects the driven member 35A and the driven member 35B so that torque generated when the driven member 35A rotates can be transmitted to the driven member 35B. The restricting unit 32 includes, for example, a one-way friction clutch, and restricts the torque transmitted to the driven member 35B to a specified value or less when the driven member 35A rotates in the forward direction (e.g., clockwise). The specified torque value is adjustable. On the other hand, the restricting unit 32 does not restrict the torque transmitted to the driven member 35B when the driven member 35A rotates in the reverse direction (e.g., counterclockwise).

[0029] The gripping unit 36 ​​has a pair of openable and closable gripping claws 36A, 36B and a pressing member 36C. The gripping claws 36A, 36B are connected to the lower end of a drive shaft 33A of the opening / closing unit 33, which will be described later. The pressing member 36C has, for example, a disk shape. In this embodiment, the pressing member 36C has a disk shape, but the embodiment is not limited to this. The pressing member 36C may have a polygonal plate shape, such as a triangular plate shape or a rectangular plate shape. Alternatively, the pressing member 36C may have a rod shape extending in the vertical direction, and multiple pressing members 36C may be provided.

[0030] The pressing member 36C is connected to the lower end of the drive shaft 33A of the opening / closing unit 33 between the gripping claws 36A, 36B so as to be rotatable relative to the drive shaft 33A. The gripping claws 36A, 36B are closed with the top surface of the cap 2 in contact with the bottom surface of the pressing member 36C, thereby gripping the cap 2. In this state, the gripping unit 36 ​​is rotated to attach or detach the cap 2 to or from the container 1.

[0031] The opening / closing unit 33 includes, for example, an air cylinder and has a drive shaft 33A. The opening / closing unit 33 is fixed, for example, to the upper part of the holding unit 20. The lower end of the drive shaft 33A is inserted through the center of the driven unit 35 and is connected to the gripping claws 36A, 36B and the pressing member 36C. The opening / closing unit 33 opens and closes the gripping claws 36A, 36B of the gripping unit 36 ​​by driving the drive shaft 33A. The opening / closing unit 33 may include other actuators such as a solenoid.

[0032] The buffer portion 34 includes, for example, a spring member, and holds the grip portion 36 below the driven member 35B so that the grip portion 36 can move up and down relative to the driven member 35 and so that torque generated when the driven member 35B rotates can be transmitted to the grip portion 36. According to this configuration, when an upward pressing force of a predetermined value or more is applied from the cap 2 to the lower portion of the grip portion 36, the grip portion 36 moves upward, thereby absorbing the pressing force of the grip portion 36.

[0033] The rotation drive unit 40 includes a single actuator such as an electric motor and has a rotation shaft 41. The rotation drive unit 40 is fixed to, for example, the holding unit 20. The movement unit 50 includes, for example, a linear ball screw member and is connected to the base unit 10 and the holding unit 20. The pitch of the linear ball screw member is the same as the pitch of the cap 2. The rotation shaft 41 of the rotation drive unit 40 is attached to the movement unit 50. In response to the rotation of the rotation drive unit 40, the movement unit 50 moves the holding unit 20 in the up and down direction relative to the base unit 10.

[0034] The transmission unit 60 is, for example, a belt member, and is stretched across the driven members 35A of the driven units 35 of the multiple attachment / detachment units 30 and the rotation shaft 41 of the rotation drive unit 40. This transmits the rotation of the rotation drive unit 40 to the multiple driven members 35A. The operation unit 31 moves upward and downward in response to the rotation of the rotation drive unit 40, rotating the cap 2 to attach or detach the cap 2 to or from the corresponding container 1. The control unit 70 includes a CPU and memory, and controls the operation of the opening / closing unit 33 of the attachment / detachment unit 30 and the rotation drive unit 40. The operation of the cap attachment / detachment device 100 will be described below.

[0035] (3) Cap Mounting Operation Figures 3 to 7 are diagrams illustrating the mounting operation of the cap 2 by the cap mounting / removal device 100. As shown in Figure 3, when mounting the cap 2, the gripping portion 36 of the mounting / removal unit 30 is positioned above the corresponding container 1 while gripping the cap 2 by closing the gripping claws 36A, 36B. In the following description, when distinguishing between the four caps 2, the four caps 2 will be referred to as caps 2A to 2D, respectively. Furthermore, the containers 1 corresponding to the caps 2A to 2D will be referred to as containers 1A to 1D, respectively.

[0036] 3, caps 2A, 2C, and 2D are held in a horizontal position by being in surface contact with the pressing member 36C of the corresponding detachable part 30. On the other hand, cap 2B is not in surface contact with the pressing member 36C of the corresponding detachable part 30 and is held in an inclined position. Note that "horizontal" means that the screw axis of cap 2 is parallel to the screw axis of the corresponding container 1. "Inclined" means that the screw axis of cap 2 is not parallel to the screw axis of the corresponding container 1.

[0037] As the rotation drive unit 40 rotates in the forward direction, the gripping unit 36 ​​of the attachment / detachment unit 30 moves downward as the holding unit 20 moves while rotating. The forward direction is an example of a first direction. As a result, as shown in Figure 4, the cap 2 gripped by the gripping unit 36 ​​comes into contact with the upper end of the container 1. In this case, an upward pressing force is applied to the lower part of the gripping unit 36, causing the buffer unit 34 to contract and the gripping unit 36 ​​to be slightly displaced upward.

[0038] In this state, the gripping portion 36 continues to rotate in the forward direction. As a result, the caps 2A, 2C, and 2D are screwed onto the containers 1A, 1C, and 1D, respectively. The control by the control portion 70 at this time is an example of the first control. On the other hand, because the cap 2B is gripped in an inclined state, the threads of the cap 2B and the threads of the container 1A do not fit properly. Therefore, the cap 2B is not screwed onto the container 1B properly. If a pretreatment such as shaking or centrifugation is performed on the container 1B in this state, liquid leakage may occur.

[0039] Therefore, as shown in Figure 5, the rotation drive unit 40 is rotated in the reverse direction by a predetermined angle. The reverse direction is an example of the second direction. The rotation angle in the reverse direction at this time is equal to or greater than the pitch angle of the thread of the cap 2 and is a predetermined angle so that the cap 2 does not separate from the container 1. The pitch angle is the rotation angle required to advance the thread by one thread, and is 360 degrees if the thread of the cap 2 is a single-start thread, and 180 degrees if the thread of the cap 2 is a double-start thread.

[0040] As the rotation drive unit 40 rotates in the opposite direction, the attachment / detachment unit 30 rises slightly together with the holding unit 20. The control by the control unit 70 at this time is an example of the second control. In this case, the restoring force of the contracted buffer unit 34 is applied to the top surface of the cap 2B via the pressing member 36C. As a result, the top surface of the cap 2B is pressed by the bottom surface of the pressing member 36C, and the cap 2B and the pressing member 36C come into surface contact. As a result, the posture of the cap 2B held by the gripping unit 36 ​​becomes horizontal.

[0041] Thereafter, as shown in FIG. 6, the rotation drive unit 40 is rotated in the forward direction again, thereby tightening the caps 2A-2D onto the containers 1A-1D, respectively. The control by the control unit 70 at this time is an example of the third control. The forward rotation angle in the third control may be equal to or greater than the rotation angle in the second control. During the tightening operation, when the torque of the driven member 31A when rotating in the forward direction reaches a specified value, the restricting unit 32 causes the driven member 31B to spin freely, thereby making it possible to tighten the caps 2A-2D to a uniform degree.

[0042] According to the above control, the caps 2A to 2D are attached to the containers 1A to 1D in a horizontal position and simultaneously. Furthermore, even if there are variations in the dimensions of the multiple containers 1A to 1D due to individual differences, each cap 2 is tightened onto the corresponding container 1 with the caps 2A to 2D properly fitted to the containers 1A to 1D, respectively. This makes it possible for each cap 2 to reliably seal the corresponding container 1.

[0043] After the cap 2 is attached to the container 1, the gripping claws 36A and 36B of the gripping unit 36 ​​are opened, as shown in Figure 7. This releases the grip of the cap 2 by the gripping unit 36. The rotation drive unit 40 then rotates in the reverse direction. In this case, the moving unit 50 moves the holding unit 20 upward relative to the base unit 10, with the gripping unit 36 ​​no longer gripping the cap 2. This completes the attachment operation of the cap 2.

[0044] 4, due to dimensional variations among the individual containers 1, there is variation in the timing at which the caps 2 come into contact with the upper ends of the containers 1. Therefore, tightening of the container 1 whose upper end is located at the top begins earlier than that of the other containers 1. On the other hand, tightening of the container 1 whose upper end is located at the bottom begins later than that of the other containers 1.

[0045] Even in this case, the gripping portions 36 are held by the buffer portions 34 so as to be movable up and down relative to the driven portions 35. Therefore, when an upward pressing force is applied to the lower portion of each gripping portion 36 due to the cap 2 abutting against the container 1, each gripping portion 36 moves upward, absorbing the pressing force of the gripping portions 36. Furthermore, when the torque generated when the driven member 35A rotates in the forward direction reaches a specified value, the restricting portion 32 causes the driven member 35A to spin freely relative to the driven member 35B. This allows the multiple caps 2 to be tightened evenly.

[0046] (4) Cap Removal Operation FIGS. 8 to 10 are diagrams illustrating the cap removal operation of the cap removal device 100. As shown in FIG. 8, when removing a cap 2, the gripping portion 36 of the removal unit 30 is positioned above the corresponding container 1 with the gripping claws 36A, 36B open and not gripping the cap 2. In this state, the rotation drive unit 40 rotates in the forward direction. In this case, the moving unit 50 moves the holding unit 20 downward relative to the base unit 10. The rotation of the rotation drive unit 40 is transmitted to the removal unit 30 by the transmission unit 60. Therefore, the gripping portion 36 of the removal unit 30 rotates and moves downward in conjunction with the movement of the holding unit 20.

[0047] 9, the pressing member 36C of the gripping portion 36 comes into contact with the top surface of the cap 2. In this case, the rotation of the pressing member 36C stops. Therefore, the top surface of the cap 2 is not rubbed by the pressing member 36C, preventing damage to the top surface of the cap 2. Meanwhile, the gripping claws 36A, 36B of the detachable portion 30 continue to rotate. When the detachable portion 30 moves downward a predetermined distance, the movement of the detachable portion 30 stops. At this time, the top of the cap 2 is positioned between the gripping claws 36A, 36B.

[0048] When the gripping claws 36A, 36B are closed, an upward force is generated on the cap 2 by the gripping claws 36A, 36B, and the top surface of the cap 2 is pressed downward by the pressing member 36C. In this case, because the pressing member 36C has a disk shape, the contact area between the pressing member 36C and the top surface of the cap 2 is relatively large. Therefore, the pressing force applied by the pressing member 36C to the top surface of the cap 2 is relatively small. This prevents damage to the top surface of the cap 2.

[0049] The top surface of the cap 2 is pressed by the pressing member 36C, causing the cap 2 to be stably and horizontally gripped by the gripping claws 36A and 36B. In this state, the rotation drive unit 40 rotates in the reverse direction. At this time, the torque applied to the cap 2 by the gripping unit 36 ​​is not restricted. Therefore, the cap 2 is efficiently loosened from the container 1. In addition, the moving unit 50 moves the holding unit 20 upward relative to the base unit 10. As a result, the cap 2 is removed from the container 1.

[0050] After the cap 2 is removed from the container 1, the gripping unit 36 ​​continues to rotate in the reverse direction, as shown in Figure 10. In this case, while the gripping unit 36 ​​is still gripping the cap 2, the moving unit 50 moves the holding unit 20 upward relative to the base unit 10. This completes the cap 2 removal operation.

[0051] (5) Attachment / Detachment Processing Fig. 11 is a diagram showing the configuration of the control unit 70. Fig. 12 is a flowchart showing an example of an algorithm for the attachment / detachment processing executed by the control unit 70. As shown in Fig. 11, the control unit 70 includes a removal control unit 70A and an attachment control unit 70B as functional units. The CPU of the control unit 70 executes an attachment / detachment program stored in memory, thereby realizing the functional units of the control unit 70. Some or all of the functional units of the control unit 70 may be realized by hardware such as electronic circuits.

[0052] The removal control unit 70A includes, as functional units, a lowering unit 71, a closing unit 72, and an ascending unit 73, and controls the removal operation of the cap 2. The attachment control unit 70B includes, as functional units, a lowering unit 74, a reverse rotation unit 75, a forward rotation unit 76, an opening unit 77, and an ascending unit 78, and controls the attachment operation of the cap 2. The attachment / detachment process will be described below using the control unit 70 in FIG. 11 and the flowchart in FIG. 12.

[0053] The lowering unit 71 controls the rotation drive unit 40 to rotate in the forward direction, thereby lowering the holding unit 20 by a predetermined distance (step S1). As a result, each gripping unit 36 ​​rotates in the forward direction while descending, and the pressing member 36C abuts against the cap 2 of the corresponding container 1. Next, the closing unit 72 controls the opening / closing unit 33 to close each of the gripping claws 36A, 36B (step S2). As a result, each cap 2 is gripped by the corresponding gripping claws 36A, 36B.

[0054] Next, the lowering unit 71 controls the rotation drive unit 40 to rotate in the opposite direction, thereby rotating the gripping unit 36 ​​in the opposite direction and raising the holding unit 20 (step S3). This causes each cap 2 to be removed from the corresponding cap 1. Each gripping unit 36 ​​returns to its initial position while gripping the removed cap 2.

[0055] Next, the lowering unit 74 controls the rotation drive unit 40 to rotate in the forward direction, thereby lowering the holding unit 20 by a predetermined distance (step S4). As a result, each gripping unit 36 ​​rotates forward while gripping a cap 2, and each cap 2 is tightened onto the corresponding container 1. Next, the reverse rotation unit 75 controls the rotation drive unit 40 to rotate in the reverse direction, thereby rotating the gripping unit 36 ​​in the reverse direction by a predetermined angle (step S5). As a result, even if the cap 2 was gripped by the gripping unit 36 ​​in an inclined position, the position of the cap 2 becomes horizontal.

[0056] Thereafter, the forward rotation unit 76 controls the rotation drive unit 40 to rotate in the forward direction, thereby rotating the gripping unit 36 ​​forward (step S6). As a result, each cap 2 is screwed onto the corresponding container 1 in a horizontal position. In this case, each cap 2 and the corresponding container 1 are properly fitted together. As a result, each cap 2 can be attached to the corresponding container 1 so as to hermetically seal each container 1.

[0057] Next, the opening unit 77 controls the opening / closing unit 33 to open the gripping claws 36A, 36B (step S7). This releases the gripping of the cap 2 by the gripping unit 36. Next, the lowering unit 71 controls the rotation drive unit 40 to rotate in the opposite direction, thereby raising the holding unit 20 (step S8). This causes the gripping units 36 to rise while rotating in the opposite direction and return to their initial positions. Then, the process returns to step S1.

[0058] The processes of steps S1 to S3 correspond to the removal operation of the cap 2 by the removal control unit 70A, and the processes of steps S4 to S8 correspond to the attachment operation of the attachment control unit 70B. Between step S3 and the next step S4, a sample, a solvent, an internal standard reagent, or the like is added or dispensed into each container 1.

[0059] (6) Effects In the cap attachment / detachment device 100 according to this embodiment, when attaching the cap 2 to the container 1, the operating unit 31 abuts against the top surface of the cap 2 on which the threads are formed, and the cap 2 is gripped by the operating unit 31. Furthermore, the cap 2 gripped by the operating unit 31 abuts against the container 1. In this case, the pressing force from the cap 2 to the operating unit 31 is absorbed by the buffer unit 34. In this state, the operation of the rotation drive unit 40 is controlled by the control unit 70. As a result, the rotation of the rotation drive unit 40 is transmitted to the operating unit 31 via the transmission unit 60, causing the operating unit 31 to rotate.

[0060] Specifically, the control unit 70 sequentially executes a first control, a second control, and a third control. In the first control, the rotation drive unit 40 is rotated in a first direction, thereby tightening the cap 2 grasped by the operation unit 31 onto the container 1. In the second control, the rotation drive unit 40 is rotated in a second direction opposite to the first direction, thereby loosening the cap 2 grasped by the operation unit 31 from the container 1. In the third control, the rotation drive unit 40 is rotated in the first direction, thereby tightening the cap 2 grasped by the operation unit 31 onto the container 1.

[0061] According to this configuration, in the second control, when the cap 2 is loosened from the container 1, the pressing force absorbed by the buffer unit 34 is applied to the top surface of the cap 2. Therefore, even if the cap 2 is held by the operating unit 31 in an inclined position relative to the container 1, the position of the cap 2 is corrected to an position that is not inclined relative to the container 1. Therefore, in the third control, the cap 2 is tightened onto the container 1 with the cap 2 and the container 1 properly fitted together. As a result, the cap 2 can reliably seal the container 1.

[0062] The rotation angle of the cap 2 in the second control may be equal to or greater than the pitch angle of the cap 2, or may be a predetermined angle that prevents the cap 2 from separating from the container 1. In this case, in the second control, the pressing force absorbed by the buffer unit 34 is appropriately and efficiently applied to the top surface of the cap 2. This makes it possible to easily correct the posture of the cap 2 gripped by the operating unit 31.

[0063] When attaching the cap 2 to the container 1, the rotation drive unit 40 moves the operating unit 31 downward to bring the cap 2 into contact with the container 1. In this case, the single rotation drive unit 40 can move the operating unit 31 to bring the cap 2 into contact with the container 1, and also rotate the cap 2 so as to attach the cap 2 to the container 1.

[0064] In this example, the operating unit 31 is held by the holding unit 20. Furthermore, the holding unit 20 is moved downward relative to the base unit 10 by the moving unit 50 in response to the rotation of the rotation drive unit 40. The moving unit 50 includes a linear ball screw member having the same pitch as the pitch of the cap 2. In this case, with a simple configuration, the operating unit 31 can be moved by the single rotation drive unit 40 to bring the cap 2 into contact with the container 1, while the cap 2 can be rotated to attach the cap 2 to the container 1.

[0065] In the operating unit 31, the gripping unit 36 ​​is connected to the driven unit 35 and grips the cap 2. The driven unit 35 rotates as the rotation of the rotation drive unit 40 is transmitted by the transmission unit 60. In this case, the operating unit 31 can be easily rotated in response to the rotation of the rotation drive unit 40 so as to attach the cap 2 to the container 1.

[0066] In the gripping portion 36, the pressing member 36C is configured to be able to abut against the top surface of the cap 2. The gripping claws 36A and 36B face each other across a space below the pressing member 36C. In this case, with a simple configuration, the cap 2 can be gripped while the operating portion 31 abuts against the top surface of the cap 2.

[0067] The restricting unit 32 restricts the torque applied to the cap 2 by the operating unit 31 when the cap 2 is attached to the container 1. With this configuration, even if the cap 2 is rotated a large amount during the first or third control, excessive tightening is prevented. Furthermore, the pressing force from the cap 2 to the operating unit 31 is absorbed by the buffering unit 34, and the cap 2 is attached to the container 1 with the torque restricted by the restricting unit 32, so that the cap 2 can be attached to the container 1 with a uniform degree of tightening.

[0068] In this example, driven member 35A and driven member 35B of driven unit 35 are connected by regulating unit 32. Grip unit 36 ​​is connected to driven member 35B of driven unit 35. When attaching cap 2 to container 1, when rotation of rotation drive unit 40 is transmitted to driven member 35A by transmission unit 60, the torque transmitted from driven member 35A to driven member 35B is regulated by regulating unit 32. In this case, in the first control or the third control, when cap 2 is fastened to container 1, the torque applied to cap 2 by operating unit 31 can be easily regulated.

[0069] 2. Second Embodiment (1) Configuration of the Cap Installer / Remover Device The following describes the differences between the cap installer / remover device 100 according to the second embodiment and the cap installer / remover device 100 according to the first embodiment. Fig. 13 is an enlarged view showing a portion of the gripping portion 36 according to the second embodiment. As shown in Fig. 13, in this embodiment, protrusions 36D and 36E that protrude substantially horizontally inward are formed at the lower ends of the gripping claws 36A and 36B, respectively. The tips of the protrusions 36D and 36E have a pointed shape and face each other.

[0070] 14 to 16 are diagrams illustrating the operation of the gripping portion 36. The operation of removing the cap 2 in Figures 14 to 16 corresponds to the operation of removing the cap in Figures 8 to 10. As shown in Figure 14, when removing the cap 2, the gripping claws 36A and 36B of the gripping portion 36 face each other with the cap 2 in between. In this state, when the gripping claws 36A and 36B are closed, the protrusions 36D and 36E of the gripping claws 36A and 36B are pressed against the outer peripheral surface of the cap 2, as shown in Figure 15.

[0071] Here, the cap 2 is made of a soft material such as resin. Therefore, when the protrusions 36D, 36E are pressed, the protrusions 36D, 36E bite into the outer peripheral surface of the cap 2. Dents 2a are formed in the locations of the cap 2 where the protrusions 36D, 36E bite into. In this state, the cap 2 can be removed from the container 1 by rotating the gripping portion 36 in a predetermined direction (the opposite direction to the above).

[0072] Alternatively, as shown in FIG. 16 , before rotating the gripping portion 36 from the state shown in FIG. 15 , the gripping claws 36A, 36B may be opened. Even in this case, the dents 2a formed in the outer peripheral surface of the cap 2 remain. Therefore, the gripping claws 36A, 36B may be closed again. In this case, the protrusions 36D, 36E again dig into the outer peripheral surface of the cap 2, deepening the dents 2a formed in the outer peripheral surface of the cap 2. In this state, by rotating the gripping portion 36 in a predetermined direction, the cap 2 can be more reliably removed from the container 1.

[0073] (2) Attachment / Detachment Process Fig. 17 is a diagram showing the configuration of the control unit 70 in the second embodiment. As shown in Fig. 17, the detachment control unit 70A of the control unit 70 in this embodiment further includes an opening unit 79 as a functional unit. The opening unit 79 controls the opening / closing unit 33 to open the gripping claws 36A, 36B during the operation of removing the cap 2.

[0074] Fig. 18 is a flowchart showing an example of an algorithm for the attachment / detachment process in the second embodiment. As shown in Fig. 18, the removal operation of the attachment / detachment process in this embodiment further includes steps S2A to S2C between steps S2 and S3.

[0075] Specifically, in step S2, the gripping claws 36A, 36B are closed. In this case, the pointed tips of the gripping claws 36A, 36B come into contact with the outer peripheral surface of the cap 2. As a result, the protrusions 36D, 36E of the gripping claws 36A, 36B form dents 2a in the outer peripheral surface of the cap 2. As a result, the cap 2 is gripped by the gripping claws 36A, 36B with the protrusions 36D, 36E biting into the outer peripheral surface of the cap 2.

[0076] Next, the closing unit 72 determines whether the gripping claws 36A, 36B have been closed a predetermined number of times (step S2A). The number of times the gripping claws 36A, 36B are closed may be predetermined. Alternatively, the number of times the gripping claws 36A, 36B are closed may be set to any number. In this case, the user can set the desired number of times that can be performed within a predetermined waiting time in the pre-processing.

[0077] If the gripping claws 36A, 36B have not been closed the predetermined number of times, the opening unit 79 controls the opening / closing unit 33 to open the gripping claws 36A, 36B (step S2B). In this case, the gripping claws 36A, 36B move away from the cap 2.

[0078] Next, the closing unit 72 controls the opening / closing unit 33 to close the gripping claws 36A, 36B (step S2C). In this case, the pointed tips of the gripping claws 36A, 36B come into contact with the outer peripheral surface of the cap 2 again, deepening the dents 2a formed in the outer peripheral surface of the cap 2 in step S2. As a result, the cap 2 is gripped by the gripping claws 36A, 36B with the protrusions 36D, 36E digging deeper into the outer peripheral surface of the cap 2.

[0079] After step S2C is executed, the process returns to step S2A. Steps S2A, S2B, and S2C are repeated until the gripping claws 36A and 36B are closed a predetermined number of times. If the gripping claws 36A and 36B are closed a predetermined number of times in step S2A, the process proceeds to step S3. This causes the processes from step S3 onward in the attachment / detachment process of FIG. 12 to be executed.

[0080] Note that the number of times that the gripping claws 36A and 36B are closed in step S2A may be one if it is possible to reliably remove the cap 2 from the container 1. In this case, steps S2B and S2C are not executed. Therefore, the removal control unit 70A does not need to include the opening unit 79.

[0081] (3) Effects In the cap attachment / detachment device 100 according to this embodiment, the tip of the gripping portion 36 of the operating unit 31 has a pointed shape. Therefore, when removing the cap 2 from the container 1, the tip of the gripping portion 36 abuts against the cap 2, causing the pointed tip of the gripping portion 36 to bite into the cap 2. In this case, the pseudo static friction force between the gripping portion 36 and the cap 2 increases. This prevents free rotation between the gripping portion 36 and the cap 2 when the operating unit 31 rotates. As a result, the cap 2 can be reliably removed from the container 1.

[0082] Furthermore, after the tip of the gripping portion 36 comes into contact with the cap 2, the control of moving the tip of the gripping portion 36 away from the cap 2 and the control of bringing the tip of the gripping portion 36 into contact with the cap 2 again may be executed one or more times. In this case, the tip of the gripping portion 36 bites deeper into the cap 2 each time the tip of the gripping portion 36 comes into contact with the cap 2. Therefore, the pseudo static friction force between the gripping portion 36 and the cap 2 becomes larger. This allows the cap 2 to be removed from the container 1 more reliably.

[0083] (4) Reference Example Figure 19 is a diagram for explaining the operation of removing the cap 2 in the reference example. As shown in Figure 19, in the reference example, the operation of removing the cap 2 is performed using a gripper 37 similar to the "robot hand 12" described in Patent Document 1. Specifically, the gripper 37 includes gripping claws 37A and 37B. Each of the gripping claws 37A and 37B does not have a protruding portion with a sharp tip.

[0084] In the operation of removing the cap 2, the gripping claws 37A and 37B are closed in a state where they face each other with the cap 2 sandwiched therebetween, so that the gripping claws 37A and 37B come into contact with the outer peripheral surface of the cap 2. In this case, as shown in the upper part of FIG. １ When the gripping portion 37 rotates to remove the cap 2, a force of F is applied between the gripping claws 37A and 37B and the cap 2. ａ The static friction coefficient between the gripping claws 37A, 37B and the cap 2 is μ ａ Then, the static friction force F ａ is F １ ・μ ａ This becomes:

[0085] On the other hand, the outer peripheral surface of the cap 2 is F １ When a force of F is applied, the inner circumferential surface of the cap 2 presses against the outer circumferential surface of the container 1 as shown in the lower part of FIG. ２ When the cap 2 rotates relative to the container 1, a force of F is applied between the container 1 and the cap 2. ｂ The static friction coefficient between the container 1 and the cap 2 is μ ｂThen, the static friction force F ｂ is F ２ ・μ ｂ This becomes:

[0086] Static friction force F ａ is the static friction force F ｂ When the static friction force F is larger than the predetermined value, the cap 2 continues to be in contact with the gripping claws 37A and 37B, causing the cap 2 to rotate together with the gripping portion 37. This allows the cap 2 to be removed from the container 1. ａ is the static friction force F ｂ If the force F is smaller than 0.05, the cap 2 will remain in contact with the container 1, and the cap 2 will remain stationary along with the container 1. In this case, the gripping portion 37 will rotate freely, and the cap 2 will not be able to be removed from the container 1. In other words, in order to remove the cap 2 from the container 1, the following formula (1) must be satisfied. １ ・μ ａ >F ２ ・μ ｂ (1) However, the static friction coefficient μ ｂ is a value determined by the materials of the container 1 and the cap 2, and cannot be arbitrarily changed. ２ is the force F １ is a value that varies in proportion to the force F １ Therefore, the force F １ When increasing, the force F ２ also increases at the same rate, making it difficult to reliably satisfy equation (1).

[0087] In contrast, in this embodiment, the pointed protrusions 36D, 36E bite into the outer peripheral surface of the cap 2, thereby firmly bonding the gripping claws 36A, 36B to the cap 2. Therefore, the static friction coefficient between the gripping claws 36A, 36B and the cap 2 is set to μ ａ increases artificially. This makes it possible to easily satisfy the formula (1). As a result, the cap 2 can be reliably removed from the container 1.

[0088] The cap 2 may also have a lip seal. Figure 20 is a diagram illustrating the removal operation of a lip seal cap 2. As shown in Figure 20, a lip seal cap 2 includes an annular lip portion 2b that protrudes downward from the bottom surface. When the cap 2 is attached to the container 1, the outer surface of the lip portion 2b is in close contact with the inner surface of the container 1.

[0089] In the operation of removing the lip seal type cap 2, the gripping claws 37A and 37B are closed in a state where they are opposed to each other with the cap 2 sandwiched between them. １ When a force of F is applied, the inner peripheral surface of the container 1 presses against the outer peripheral surface of the lip portion 2b of the cap 2. ３ In this case, when the cap 2 rotates relative to the container 1, a force of F is applied between the container 1 and the lip portion 2b of the cap 2. ｃ The static friction force F ｃ is F ３ ・μ ｂ is.

[0090] Static friction force F ａ is the static friction force F ｂ and F ｃ On the other hand, if the static friction force F ａ is the static friction force F ｂ and F ｃ If F is smaller than the sum of F and F, the gripping portion 37 will rotate freely and the cap 2 cannot be removed from the container 1. Therefore, in order to remove the cap 2 from the container 1, the following formula (2) must be satisfied. １ ・μ ａ >F ２ ・μ ｂ +F ３ ・μ ｂ (2) The right side of equation (2) is larger than the right side of equation (1) by the amount of the second term. Also, the force F ３ Also, power F ２ Similarly, the force F １ is a value that varies in proportion to the force F １ Therefore, the force F１ When increasing, the force F ３ increases at the same rate, it is difficult to reliably satisfy formula (2). That is, in the lip seal system, although the sealing performance between the container 1 and the cap 2 is improved, it becomes more difficult to remove the cap 2 from the container 1.

[0091] Even in such a case, in this embodiment, as described above, the static friction coefficient between the gripping claws 36A, 36B and the cap 2 is set to μ ａ increases artificially. This makes it possible to easily satisfy the formula (2). As a result, even in the case of the lip seal system, the cap 2 can be reliably removed from the container 1.

[0092] 3. Third Embodiment (1) Attachment / Detachment Process The following describes the differences between the cap attachment / detachment device 100 according to the third embodiment and the cap attachment / detachment device 100 according to the first embodiment. Fig. 21 is a diagram showing the configuration of the control unit 70 according to the third embodiment. As shown in Fig. 21, the attachment control unit 70B of the control unit 70 according to this embodiment includes a reverse rotation unit 75A and a forward rotation unit 76A instead of the reverse rotation unit 75 and the forward rotation unit 76.

[0093] The reverse rotation unit 75A controls the rotation drive unit 40 so that the gripping unit 36 ​​rotates in the reverse direction when the cap 2 is removed. The rotation angle caused by the reverse rotation unit 75A is greater than the rotation angle caused by the reverse rotation unit 75. The forward rotation unit 76A controls the rotation drive unit 40 so that the gripping unit 36 ​​rotates in the forward direction when the cap 2 is removed. The rotation angle caused by the forward rotation unit 76A is greater than the rotation angle caused by the forward rotation unit 76.

[0094] 22 is a flowchart showing an example of an algorithm for the attachment / detachment process in the third embodiment. As shown in FIG. 22, the attachment / detachment process in this embodiment further includes step S4A after step S4. Furthermore, the attachment / detachment process in this embodiment includes steps S5A and S5B instead of steps S5 and S6. In this attachment / detachment process, the gripper 36 does not need to include the pressing member 36C.

[0095] Specifically, in step S4, each gripping portion 36 rotates forward and descends while gripping the cap 2. As a result, each cap 2 is screwed onto the corresponding container 1.

[0096] Next, the reverse rotation unit 75A determines whether the cap 2 has been tightened onto the container 1 a predetermined number of times (step S4A). The number of times the cap 2 has been tightened may be predetermined. Alternatively, the number of times the cap 2 has been tightened may be set to any number. In this case, the user can set the desired number of times that can be performed within a predetermined waiting time in the pre-processing.

[0097] If the caps 2 have not been tightened the predetermined number of times, the reverse rotation unit 75A controls the rotation drive unit 40 to rotate the gripping unit 36 ​​in the reverse direction by a predetermined angle (step S5A). This allows the caps 2 to be removed from the containers 1. In step S5A, the gripping unit 36 ​​may be rotated in the reverse direction sufficiently until the caps 2 are separated from the containers 1. Next, the forward rotation unit 76A controls the rotation drive unit 40 to rotate the gripping unit 36 ​​in the forward direction by a predetermined angle (step S6A). In this case, each cap 2 is tightened again onto the container 1.

[0098] After step S6A is executed, the process returns to step S4A. Steps S4A, S5A, and S6A are repeated until the cap 2 has been tightened the predetermined number of times. Steps S5A and S6A correspond to a fitting operation for fitting the cap 2 to the container 1. If the cap 2 has been tightened the predetermined number of times in step S4A, the process proceeds to step S7. As a result, the processes from step S7 onwards are executed.

[0099] (2) Effects In the cap attachment / detachment device 100 according to this embodiment, when attaching the cap 2 to the container 1, the cap 2 is held by the operating unit 31 and brought into contact with the container 1. In this state, the rotation drive unit 40 is rotated in a first direction. In this case, the rotation of the rotation drive unit 40 is transmitted to the operating unit 31 via the transmission unit 60, causing the operating unit 31 to rotate. As a result, the cap 2 held by the operating unit 31 is tightened onto the container 1.

[0100] Figure 23 shows the container 1 and cap 2 when the cap 2 is screwed onto the container 1. The upper part of Figure 23 shows a cross-sectional view of the container 1 and cap 2, and the lower part of Figure 23 shows an enlarged view of part A of the container 1 and cap 2 in the upper part. If the container 1 and cap 2 are formed with low precision, the container 1 and cap 2 may not fit together properly, as shown in the lower part of Figure 23, and the threads of the container 1 and the cap 2 may not be tightly fitted together. In this case, a gap may occur between the container 1 and the cap 2, as shown in part X in the upper part of Figure 23.

[0101] Therefore, after the cap 2 is fastened to the container 1, an operation for fitting the cap 2 to the container 1 is executed. In the fitting operation, after the cap 2 is fastened to the container 1, a control for rotating the operating unit 31 in the second direction to remove the cap 2 from the container 1 and a control for rotating the operating unit 31 in the first direction to fasten the cap 2 to the container 1 again are executed one or more times.

[0102] Figure 24 is a diagram showing the container 1 and cap 2 when the fitting operation is performed. The upper part of Figure 24 shows a cross-sectional view of the container 1 and cap 2, and the lower part of Figure 24 shows an enlarged view of part B of the container 1 and cap 2 in the upper part. As the fitting operation is performed, the container 1 and cap 2 fit together each time the cap 2 is screwed onto the container 1. As a result, as shown in the lower part of Figure 24, the cap 2 and container 1 are tightened more deeply, and the threads of the container 1 and the cap 2 are tightly fitted together. As a result, as shown in part Y in the upper part of Figure 24, the cap 2 can reliably seal the container 1 without creating a gap.

[0103] 4. Other Embodiments (1) In the above embodiment, the rotation drive unit 40 is provided as a single actuator that rotates the detachable unit 30 while raising and lowering it, but the embodiment is not limited to this. An actuator that raises and lowers the detachable unit 30 and an actuator that rotates the detachable unit 30 may be provided separately.

[0104] (2) In the above embodiment, the cap attaching / detaching device 100 includes a plurality of attaching / detaching units 30, but the embodiment is not limited to this. The cap attaching / detaching device 100 may include a single attaching / detaching unit 30.

[0105] (3) In the second embodiment, the protrusions 36D and 36E are formed on the gripping claws 36A and 36B of the gripping portion 36, respectively, but the embodiment is not limited to this. A protrusion may be formed on one of the gripping claws 36A and 36B, and no protrusion may be formed on the other of the gripping claws 36A and 36B.

[0106] (4) In the second embodiment, the same attachment operation as in the first embodiment is performed as the attachment operation in the attachment / detachment process, but the embodiment is not limited to this. If the cap 2 can be securely attached to the container 1, steps S5 and S6 may not be performed during the attachment operation in the attachment / detachment process. In this case, the gripping portion 36 may not include the pressing member 36C.

[0107] (5) In the third embodiment, the same detachment operation as in the first embodiment is performed as the detachment operation of the attachment / detachment process, but the embodiment is not limited to this. The same detachment operation as in the second embodiment may be performed as the detachment operation of the attachment / detachment process. In this case, protrusions 36D and 36E are formed on the gripping claws 36A and 36B of the gripping portion 36, respectively. Furthermore, the removal control portion 70A of the control portion 70 further includes an opening portion 79.

[0108] 5. Aspects It will be understood by those skilled in the art that the above exemplary embodiments are examples of the following aspects.

[0109] (Item 1) A cap attachment / detachment device according to one aspect includes: a rotational drive unit that is rotatable in a first direction or a second direction that are opposite to each other; an operation unit that, when attaching a cap to a container, grips the cap while contacting a threaded top surface of the cap and contacts the gripped cap against the container; a transmission unit that rotates the operation unit by transmitting the rotation of the rotational drive unit to the operation unit; a buffer unit that absorbs a pressing force from the cap to the operation unit when attaching the cap to the container; and a control unit that controls the operation of the rotational drive unit, wherein the control unit, when attaching the cap to the container, performs a first control that rotates the rotational drive unit in the first direction to tighten the cap gripped by the operation unit onto the container; and a second control that rotates the rotational drive unit in the second direction to loosen the cap gripped by the operation unit from the container. and third control for tightening the cap gripped by the operating unit onto the container by rotating the rotation drive unit in the first direction.

[0110] In this cap attachment / detachment device, when attaching a cap to a container, the operating unit abuts against the top surface of the cap where the threads are formed, and the cap is gripped by the operating unit. The cap gripped by the operating unit is then abutted against the container. In this case, the pressing force from the cap to the operating unit is absorbed by the buffer unit. In this state, the operation of the rotation drive unit is controlled by the control unit. As a result, the rotation of the rotation drive unit is transmitted to the operating unit through the transmission unit, causing the operating unit to rotate.

[0111] Specifically, the control unit sequentially executes a first control, a second control, and a third control. In the first control, the rotation drive unit is rotated in a first direction, thereby tightening the cap held by the operating unit onto the container. In the second control, the rotation drive unit is rotated in a second direction opposite to the first direction, thereby loosening the cap held by the operating unit from the container. In the third control, the rotation drive unit is rotated in the first direction, thereby tightening the cap held by the operating unit onto the container.

[0112] According to this configuration, in the second control, when the cap is loosened from the container, the pressing force absorbed by the buffer unit is applied to the top surface of the cap. Therefore, even if the cap is held by the operating unit in an inclined position relative to the container, the cap is corrected to an inclined position relative to the container. Therefore, in the third control, the cap is tightened onto the container with the cap and the container properly fitted together. As a result, the cap can reliably seal the container.

[0113] (2) In the cap attaching / detaching device described in the first aspect, the control unit may rotate the cap by an angle equal to or greater than the pitch angle of the cap in the second control.

[0114] In this case, in the second control, the pressing force absorbed by the buffer portion is appropriately applied to the top surface of the cap, thereby easily correcting the posture of the cap held by the operating portion.

[0115] (Item 3) In the cap attachment / detachment device described in item 1 or 2, the control unit may, in the second control, rotate the cap by a predetermined angle so that the cap does not move away from the container.

[0116] In this case, in the second control, the pressing force absorbed by the buffer portion is efficiently applied to the top surface of the cap, thereby easily correcting the posture of the cap held by the operating portion.

[0117] (4) In the cap attachment / detachment device described in paragraph 1 or paragraph 2, the rotational drive unit may abut the cap against the container by moving the operating unit when attaching the cap to the container.

[0118] In this case, the operating part can be moved by a single rotation drive part to bring the cap into contact with the container, and the cap can be rotated so as to attach the cap to the container.

[0119] (Item 5) The cap attachment / detachment device described in item 4 may further include a base unit, a holding unit that holds the operating unit, and a moving unit that moves the holding unit in one direction relative to the base unit in response to rotation of the rotation drive unit.

[0120] In this case, with a simple configuration, the operating part can be moved by a single rotation drive part to bring the cap into contact with the container, and the cap can be rotated so as to attach the cap to the container.

[0121] (Item 6) In the cap attaching / detaching device described in item 5, the moving part may include a linear motion ball screw member having the same pitch as the pitch of the cap.

[0122] In this case, with a simpler configuration, the operating part can be moved by a single rotation drive part to bring the cap into contact with the container, and the cap can be rotated to attach the cap to the container.

[0123] (7) In the cap attachment / detachment device described in 1 or 2, the operating portion may include a pressing member configured to be able to contact the top surface of the cap, and a first gripping claw and a second gripping claw facing each other across a space below the pressing member.

[0124] In this case, with a simple configuration, the cap can be gripped while the operating portion is in contact with the top surface of the cap.

[0125] (Item 8) The cap attaching / detaching device according to item 1 or 2 may further include a restricting unit that restricts torque applied to the cap by the operating unit when attaching the cap to the container.

[0126] This configuration prevents excessive tightening even when the cap is rotated a large amount during the first or third control. Furthermore, the cap is attached to the container with a torque regulated by the regulating section while the pressure from the cap to the operating section is absorbed by the buffer section, so the cap can be attached to the container with a uniform tightening force.

[0127] (Item 9) In the cap attachment / detachment device described in Item 8, the operating unit may include a gripping unit that grips the cap, and a driven unit to which the gripping unit is connected and which rotates as a result of the rotation of the rotation drive unit being transmitted by the transmission unit.

[0128] In this case, the operating part can be easily rotated in response to the rotation of the rotary drive part so as to attach the cap to the container.

[0129] (Item 10) In the cap attachment / detachment device described in Item 9, the driven part includes a first driven member to which the rotation of the rotation drive part is transmitted by the transmission part, and a second driven member to which the gripping part is connected, and the regulating part may connect the first driven member and the second driven member so as to regulate the torque transmitted from the first driven member to the second driven member when the cap is attached to the container.

[0130] In this case, in the first control or the third control, the torque applied to the cap by the operating portion when the cap is screwed onto the container can be easily regulated.

[0131] (Item 11) In the cap attachment / detachment device described in item 1 or 2, the operating unit and the buffer unit may be provided in multiple units corresponding to multiple caps, and the transmission unit may rotate each operating unit by transmitting the rotation of the rotation drive unit to the multiple operating units.

[0132] In this case, multiple caps can be attached to multiple containers at the same time. Even if the multiple containers have individual dimensional variations, each cap is screwed onto the corresponding container with the cap and container properly fitted together. This allows each cap to reliably seal the corresponding container.

[0133] (Item 12) A pretreatment device according to another aspect may include a cap attachment / detachment device as described in items 1 or 2 for attaching and detaching a cap to a container, and a pretreatment unit for performing pretreatment on a sample contained in the container.

[0134] In this pretreatment device, the caps can be properly attached using the cap attaching / detaching device, which improves throughput and reduces the number of workers required.

[0135] (Item 13) A cap attachment method according to yet another aspect is a cap attachment method using a cap attachment / detachment device, which may include: gripping the cap with an operating unit while abutting the operating unit against a top surface of the cap having a thread; abutting the cap held by the operating unit against a container while absorbing a pressing force from the cap to the operating unit with a buffer unit; rotating a rotational drive unit in a first direction to tighten the cap held by the operating unit onto the container; after the cap has been tightened onto the container, rotating the rotational drive unit in a second direction opposite to the first direction to loosen the cap held by the operating unit from the container while applying the pressing force absorbed by the buffer unit to the top surface of the cap; and after the cap has been loosened from the container, rotating the rotational drive unit in the first direction to tighten the cap held by the operating unit onto the container.

[0136] According to this cap attachment method, when the cap is loosened from the container, the pressure absorbed by the buffer portion is applied to the top surface of the cap. Therefore, even if the cap is held by the operating portion in an inclined position relative to the container, the cap is corrected to a position that is not inclined relative to the container. Therefore, the cap is then tightened onto the container with the cap and container properly fitted together. As a result, the cap can reliably seal the container.

[0137] (Item 14) A cap removal device according to yet another aspect may include a rotational drive unit that can rotate in a predetermined direction, an operating unit including a gripping unit having a pointed tip, a transmission unit that rotates the operating unit by transmitting the rotation of the rotational drive unit to the operating unit, and a control unit that controls the operation of the operating unit so that the tip of the gripping unit abuts against the cap, which has a thread formed thereon, when removing the cap from a container.

[0138] In this capping / removal device, the tip of the gripping part of the operating part has a sharp shape. Therefore, when removing a cap from a container, the tip of the gripping part abuts against the cap, causing the sharp tip of the gripping part to bite into the cap. In this case, the pseudo static friction force between the gripping part and the cap increases. This prevents free rotation between the gripping part and the cap when the operating part rotates. As a result, the cap can be reliably removed from the container.

[0139] (Item 15) In the cap attachment / detachment device described in Item 14, the control unit may further control the operation of the operating unit so that after the tip of the gripping portion comes into contact with the cap, the control unit performs one or more of the following operations: moving the tip of the gripping portion away from the cap; and bringing the tip of the gripping portion into contact with the cap again.

[0140] In this case, the tip of the gripping portion bites deeper into the cap each time it comes into contact with the cap, thereby increasing the pseudo static friction between the gripping portion and the cap, thereby enabling the cap to be removed from the container more reliably.

[0141] (Item 16) A cap attachment / detachment device according to yet another aspect includes: a rotational drive unit that can rotate in a first direction or a second direction that are opposite to each other; an operation unit that grips the threaded cap and abuts the gripped cap against the container when attaching the cap to the container; a transmission unit that rotates the operation unit by transmitting the rotation of the rotational drive unit to the operation unit; and a control unit that controls the operation of the rotational drive unit so that, when attaching the cap to the container, the operation unit rotates in the first direction to tighten the cap onto the container, and the control unit may further control the operation of the operation unit so that, after the cap has been tightened onto the container, it rotates the operation unit in the second direction to remove the cap from the container and rotates the operation unit in the first direction to tighten the cap onto the container again, one or more times.

[0142] With this capping / removal device, when attaching a cap to a container, the cap and the container fit together better each time the cap is tightened onto the container, thereby tightening the cap and the container more firmly, thereby enabling the cap to reliably seal the container.

[0143] (Item 17) A further aspect of the cap attachment method is a cap attachment method using a cap attachment / detachment device, which includes: grasping a threaded cap with an operating unit and abutting it against a container; rotating a rotation drive unit in a first direction to tighten the cap gripped by the operating unit onto the container; and performing a fitting operation of the cap onto the container, wherein the fitting operation may include, after the cap has been tightened onto the container, rotating the operating unit in a second direction opposite to the first direction to remove the cap from the container, and rotating the operating unit in the first direction to tighten the cap onto the container again, the following operations being performed one or more times.

[0144] According to this cap attachment method, the cap and the container fit together better each time the cap is tightened onto the container, thereby tightening the cap and the container more firmly. This allows the cap to reliably seal the container.

Claims

1. a rotary drive unit rotatable in a first direction or a second direction opposite to each other; an operating unit that, when attaching the cap to the container, grips the cap while contacting a top surface of the cap on which a thread is formed, and contacts the gripped cap against the container; a transmission unit that transmits rotation of the rotation drive unit to the operation unit to rotate the operation unit; a buffer portion that absorbs a pressing force from the cap to the operating portion when the cap is attached to the container; A control unit that controls the operation of the rotation drive unit; A base portion; A holding portion that holds the operation portion; a moving unit that moves the holding unit in one direction relative to the base unit in response to rotation of the rotation drive unit, the moving portion includes a linear motion ball screw member having the same pitch as the pitch of the cap, The control unit is When attaching the cap to the container, a first control for rotating the rotation drive unit in the first direction to fasten the cap held by the operation unit to the container; a second control for rotating the rotation drive unit in the second direction to loosen the cap gripped by the operating unit from the container; and a third control for tightening the cap gripped by the operating unit onto the container by rotating the rotation drive unit in the first direction.

2. The cap attaching / detaching device according to claim 1 , wherein the control unit rotates the cap by an angle equal to or greater than a pitch angle of the cap in the second control.

3. The capping / removing device according to claim 1 , wherein the control unit, in the second control, rotates the cap by an angle determined so that the cap does not move away from the container.

4. The capping / removing device according to claim 1 , wherein the rotation drive unit moves the operating unit to bring the cap into contact with the container when the cap is attached to the container.

5. The operation portion includes a pressing member configured to be able to contact a top surface of the cap, 2. The capping / removing device according to claim 1, further comprising a first gripping claw and a second gripping claw opposed to each other across a space below the pressing member.

6. The capping / removing device according to claim 1 , further comprising a restricting portion that restricts a torque applied to the cap by the operating portion when the cap is attached to the container.

7. The cap attachment / detachment device according to claim 6 , wherein the operating unit includes a gripping portion that grips the cap, and a driven portion to which the gripping portion is connected and which rotates as a result of the rotation of the rotation drive unit being transmitted by the transmission portion.

8. The follower portion is a first driven member to which the rotation of the rotation drive unit is transmitted by the transmission unit; a second driven member to which the gripping portion is connected; The cap attachment / detachment device of claim 7, wherein the regulating portion connects the first driven member and the second driven member so as to regulate the torque transmitted from the first driven member to the second driven member when the cap is attached to the container.

9. a plurality of the operation units and the buffer units are provided corresponding to a plurality of the caps; The cap attachment / detachment device according to claim 1 , wherein the transmission section transmits the rotation of the rotation drive section to the plurality of operation sections to rotate each of the operation sections.

10. The capping / removal device according to claim 1 for attaching and removing a cap to and from a container; a pretreatment section for performing pretreatment on the sample contained in the container.

11. A cap attachment method using a cap attachment / detachment device, comprising the steps of: holding the cap with the operating part while bringing the operating part into contact with a top surface of the cap on which the threads are formed; a cushioning unit absorbs a pressing force from the cap to the operating unit while the cap held by the operating unit is brought into contact with a container; Rotating a rotation drive unit in a first direction to fasten the cap gripped by the operation unit to the container; After the cap is fastened to the container, the rotation drive unit is rotated in a second direction opposite to the first direction to loosen the cap held by the operation unit from the container while applying the pressing force absorbed by the buffer unit to a top surface of the cap; and after the cap is loosened from the container, rotating the rotation drive unit in the first direction to fasten the cap held by the operation unit to the container; The operation unit is held by a holding unit, the holding unit is moved in one direction relative to the base unit by a moving unit in response to rotation of the rotation drive unit, A cap mounting method, wherein the moving portion includes a linear ball screw member having the same pitch as the pitch of the cap.

12. A rotation drive unit that can rotate in a predetermined direction; An operation unit including a grip portion having a pointed tip; a transmission unit that transmits rotation of the rotation drive unit to the operation unit to rotate the operation unit; a control unit that controls the operation of the operating unit so that the tip of the gripping unit abuts against the cap having a thread formed thereon when removing the cap from the container; A base portion; A holding portion that holds the operation portion; a moving unit that moves the holding unit in one direction relative to the base unit in response to rotation of the rotation drive unit, The cap attachment / detachment device, wherein the moving portion includes a linear ball screw member having the same pitch as the pitch of the cap.

13. The cap removal device of claim 12, wherein the control unit further controls the operation of the operating unit to perform one or more of the following operations after the tip of the gripping portion is abutted against the cap: control to move the tip of the gripping portion away from the cap; and control to abut the tip of the gripping portion against the cap again.

14. a rotary drive unit rotatable in a first direction or a second direction opposite to each other; an operating unit that grips the cap having a thread formed thereon and abuts the gripped cap against the container when attaching the cap to the container; a transmission unit that transmits rotation of the rotation drive unit to the operation unit to rotate the operation unit; a control unit that controls an operation of the rotation drive unit so that, when attaching the cap to the container, the operation unit is rotated in the first direction to fasten the cap to the container; A base portion; A holding portion that holds the operation portion; a moving unit that moves the holding unit in one direction relative to the base unit in response to rotation of the rotation drive unit, the moving portion includes a linear motion ball screw member having the same pitch as the pitch of the cap, The control unit of the cap attachment / detachment device further controls the operation of the operating unit to perform one or more of the following operations after the cap is fastened to the container: rotating the operating unit in the second direction to remove the cap from the container, and rotating the operating unit in the first direction to re-fasten the cap to the container.

15. A cap attachment method using a cap attachment / detachment device, comprising the steps of: a cap having a thread formed thereon is gripped by an operating portion and brought into contact with the container; Rotating a rotation drive unit in a first direction to fasten the cap gripped by the operation unit to the container; and performing a fitting operation of the cap to the container; The familiarization operation includes, after the cap is fastened to the container, rotating the operating part in a second direction opposite to the first direction to remove the cap from the container, and rotating the operating part in the first direction to fasten the cap to the container again, one or more times; The operation unit is held by a holding unit, the holding unit is moved in one direction relative to the base unit by a moving unit in response to rotation of the rotation drive unit, A cap mounting method, wherein the moving portion includes a linear ball screw member having the same pitch as the pitch of the cap.