Cap replacement jig

Abstract

This cap replacement jig is used in a centrifugal separator for centrifugally separating a sample by rotating a zonal rotor that accommodates a solution containing the sample and a density gradient medium, and is a jig for replacing, while the zonal rotor is rotating, a cap that can be attached to and detached from an attachment port of the zonal rotor, the cap replacement jig comprising: an attachment / detachment arm having a grip portion for gripping the cap; and an arm moving mechanism for moving the attachment / detachment arm between an attachment / detachment position at which the cap is attached / detached and a retracted position retracted from the attachment / detachment position.

Description

Cap replacement jig

[0001] The present disclosure relates to a cap replacement jig.

[0002] Currently, the mainstream method for introducing genes into mammalian cells for the purpose of gene therapy is the use of viral vectors. Known viruses from which viral vectors are derived include enveloped viruses such as retroviruses, lentiviruses, herpesviruses, and Sendai viruses, and non-enveloped viruses (i.e., viruses without an envelope) such as adenoviruses and adeno-associated viruses (AAVs). Among these, AAVs are used in gene therapy for the treatment of various diseases because they can infect many types of cells, are non-pathogenic to humans, and produce physically stable viral particles.

[0003] AAV vectors are useful as a means of gene delivery to target cells because they allow efficient gene transfer for stable intracellular expression of a target gene, and their production requires purification of the AAV vector.

[0004] Known methods for purifying AAV vectors include filtration using ion exchange columns, affinity purification columns, or tangential flow filtration (TFF). While these methods have demonstrated some effectiveness in removing impurities from AAV vector fractions, they are still insufficient. Therefore, centrifugal purification methods using zonal rotors have been investigated, as described in International Publication No. 2022 / 220273, JP-A-2008-542015, JP-A-2010-082567, and JP-A-2016-013538.

[0005] WO 2022 / 220273 describes a method for producing whole virus particles, which includes a step of purifying whole virus particles from a virus particle mixture containing hollow virus particles, intermediate virus particles, and whole virus particles. The method includes the steps of: (a) rotating a zonal rotor at a low speed and arranging, in this order from the rotor's rotation axis toward the outside, the virus particle mixture, a liquid (liquid L) having a lower density than the whole virus particles, and a liquid (liquid H1) having a higher density than Liquid L; (b) operating the zonal rotor after step (a) in ultracentrifugal mode to separate the hollow virus particles, intermediate virus particles, and whole virus particles; and (c) fractionating and removing the contents of the zonal rotor after step (b) and recovering a fraction containing whole virus particles.

[0006] JP 2008-542015 A describes a centrifuge rotor comprising: a rotor housing that is generally cylindrical and has an inner wall and a generally uniform opening extending along its length at its center; and a rotor core that is generally cylindrical and adapted to be housed within the generally uniform opening of the rotor housing and has at least two channels on its outer surface, wherein at least two sample spaces are defined within the rotor by the channels and the inner wall of the rotor housing, and the centrifuge rotor has an L / D ratio in the range of approximately 0.9 to approximately 1.3.

[0007] Japanese Patent Application Laid-Open No. 2010-082567 discloses a rotor having a sample storage section, a rotor rotation chamber in which the rotor is provided, a drive section for rotating the rotor, a first tube having a first passage connected to the storage section at one end for injecting a density gradient liquid and the sample into the storage section or recovering the sample from the storage section, and a second passage for injecting a liquid for pushing the sample from the storage section into the first passage, and a first hole connected to the other end of the first tube and communicating with the first passage and the second passage. The centrifuge is characterized by having a first seal member having a second hole formed therein, a second seal member disposed opposite the first seal member and having a third hole and a fourth hole that face the first hole and the second hole of the first seal member, respectively, and a second tube connected at one end to the second seal member and having a third passage communicating with the third hole and a fourth passage communicating with the fourth hole, and also having a joining and separating portion that joins and separates the first seal member and the second seal member.

[0008] JP 2016-013538 A describes a centrifuge (1), particularly a laboratory centrifuge, comprising: a housing (23) with a lid (2) that separates the inside and outside of the centrifuge (1); a rotor (5); a rotor cover (3) for closing the rotor (5); and a connection device that enables the rotor cover (3) and the lid (2) to be detachably connected to each other via a holding arm (11) and a holder (12) so that the rotor cover (3) is lifted from the rotor (5) when the lid (2) is opened and placed on the rotor (5) when the lid (2) is closed, characterized in that the holding arm (11) is attached within the holder (12) so as to be detachably and movably when the lid (2) is opened or closed, and the holding arm (11) and the holder (12) are arranged with a gap space (21) between them when the lid (2) is closed.

[0009] In a centrifuge using a zonal rotor, a cap that can be attached to or detached from the zonal rotor's mounting port may need to be replaced while the zonal rotor is rotating. In this case, the cap must be attached or detached from the rotating zonal rotor. Conventionally, this cap replacement work has been performed manually by an operator while paying careful attention to safety, but there is still room for improvement.

[0010] The technology of the present disclosure provides a cap replacement jig that can further improve the safety of cap replacement work.

[0011] A first aspect of the technology disclosed herein is a cap replacement jig used in a centrifuge that centrifuges a sample by rotating a zonal rotor that contains a solution including the sample and a density gradient medium, for replacing a cap that can be attached and detached to the attachment port of the zonal rotor while the zonal rotor is rotating, the cap replacement jig comprising an attachment / detachment arm having a gripping portion that holds the cap, and an arm moving mechanism that moves the attachment / detachment arm between an attachment / detachment position where the cap is attached and detached and a retracted position where the cap is retracted from the attachment / detachment position.

[0012] A second aspect of the technology disclosed herein is a cap replacement jig according to the first aspect, in which the caps include two types of caps, a first cap and a second cap, the detachable arm has a first detachable arm for attaching and detaching the first cap and a second detachable arm for attaching and detaching the second cap, and is equipped with an arm switching mechanism that selectively switches the positions of the first detachable arm and the second detachable arm between a first position where the first detachable arm faces the mounting port and a second position where the second detachable arm faces the mounting port.

[0013] A third aspect of the technology disclosed herein is a cap replacement jig according to the second aspect, in which the first cap has a connection port to which piping for injecting or discharging a solution is connected, and is a cap used when injecting or discharging a solution into or from the zonal rotor with the first cap attached to the attachment port, and the second cap is a cap that is more liquid-tight than the first cap and is used when rotating the zonal rotor at a second rotational speed that is faster than the first rotational speed when injecting or discharging a solution.

[0014] A fourth aspect of the technology disclosed herein is a cap replacement jig relating to the second aspect, in which the gripping portion of the first detachable arm is a claw for gripping the first cap and has a plurality of first claws that abut against the first cap from a radial direction, and the gripping portion of the second detachable arm is a claw for gripping the second cap and has a plurality of second claws that abut against the second cap from a radial direction.

[0015] A fifth aspect of the technology of the present disclosure is a cap replacement jig according to the fourth aspect, in which the first detachable arm has two or more first claws, and the second detachable arm has two or more second claws.

[0016] A sixth aspect of the technology disclosed herein is a cap replacement jig according to the fourth aspect, in which the portions of the first claw and the second claw that abut against the first cap and the second cap, respectively, are formed from hard resin.

[0017] A seventh aspect of the technology of the present disclosure is a cap replacement jig according to the fourth aspect, in which the first detachment arm has a first air cylinder that moves the multiple first claws relative to the first cap, and the second detachment arm has a second air cylinder that moves the multiple second claws relative to the second cap.

[0018] An eighth aspect of the technology disclosed herein is a cap replacement jig according to the second aspect, in which the first detachment arm is capable of rotating the first cap while the gripping portion is gripping the first cap.

[0019] A ninth aspect of the technology of the present disclosure is a cap replacement jig according to the second aspect, in which the second detachable arm has a pressure rod which is a rod-shaped member arranged along the longitudinal direction of the second detachable arm, and the pressure rod has a pressing portion which presses a button provided on the second cap as the pressure rod moves along the longitudinal direction.

[0020] A tenth aspect of the technology disclosed herein is a cap replacement jig relating to the second aspect, in which the arm switching mechanism includes a slide plate portion which is a plate-shaped member through which the first detachable arm and the second detachable arm are inserted, and a guide rail which guides the sliding movement of the slide plate portion, and the slide plate portion slides along the guide rail between a first position and a second position, thereby selectively switching the positions of the first detachable arm and the second detachable arm.

[0021] An eleventh aspect of the technology of the present disclosure is a cap replacement jig according to the tenth aspect, in which the arm switching mechanism further includes a regulating portion that regulates sliding movement while holding the sliding plate portion in the first position or the second position.

[0022] A twelfth aspect of the technology disclosed herein is a cap replacement jig relating to the first aspect, in which the detachable arm has a shaft which is a rod-shaped member with a gripping portion at one end, and the arm movement mechanism has an arm support portion which is a plate-shaped member through which the shaft of the detachable arm is inserted, and the detachable arm is moved between the detachable position and the retracted position by moving the detachable arm via the shaft relative to the arm support portion.

[0023] A thirteenth aspect of the technique of the present disclosure is the cap replacement jig according to the twelfth aspect, in which the detachment arm is fixable to the arm support portion in the retracted position.

[0024] A fourteenth aspect of the technology of the present disclosure is a cap replacement jig according to the first aspect, which further includes an attachment portion for positioning the cap replacement jig at a predetermined position relative to the zonal rotor and for attaching the cap replacement jig to an opening of the space in the centrifuge in which the zonal rotor is housed.

[0025] A fifteenth aspect of the technology of the present disclosure is a cap replacement jig for replacing a cap that can be attached and detached to an attachment port of a zonal rotor, comprising an attachment / detachment arm having a gripping portion for gripping the cap, and an arm moving mechanism for moving the attachment / detachment arm between an attachment / detachment position for attaching and detaching the cap and a retracted position for retracting from the attachment / detachment position.

[0026] The technology of the present disclosure provides a cap replacement jig that can further improve the safety of cap replacement work.

[0027] FIG. 1 is a cross-sectional view showing an example of the configuration of a zonal rotor. FIG. 2 is an external perspective view showing an example of the configuration of a cap replacing jig. FIG. 3 is a front view showing an example of the configuration of a cap replacing jig. FIG. 4 is a front view showing an example of a usage mode of the cap replacing jig. FIG. 5 is a front view showing an example of a usage mode of the cap replacing jig. FIG. 6 is a front view showing an example of a usage mode of the cap replacing jig. FIG. 7 is a partial enlarged view showing an example of a usage mode of the cap replacing jig. FIG. 8 is a front view showing a modified example of the cap replacing jig.

[0028] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.

[0029] First, a zonal rotor 10 in which the cap replacement jig 100 according to this embodiment is used will be described. As shown in FIG. 1 as an example, the zonal rotor 10 is a cylindrical container for centrifuging a solution containing a density gradient solution and a sample. Centrifugation using the zonal rotor 10 is performed by rotating the cylindrical container around the central axis of the container. Examples of samples include viruses. Viruses are produced for gene therapy, and these viruses include a mixture of whole viruses in which the full-length genome is packaged and hollow viruses that do not contain a genome. These viruses are purified using a zonal rotor to extract whole viruses. For more details about viruses, please refer to the contents of International Publication WO 2022 / 220273 and International Publication WO 2018 / 128688, which are incorporated herein by reference. While there are no particular limitations on the virus, AAV is preferred. Of course, substances other than viruses (e.g., biological preparations) may also be used as samples.

[0030] The density gradient medium is not particularly limited, but may contain cesium chloride or sucrose, and may also contain other substances. A plurality of solutions with different concentrations may be used as the density gradient medium.

[0031] The zonal rotor 10 has a lid 10A and a rotor body 10B. A space S is formed inside the zonal rotor 10, and a solution containing a density gradient solution and a sample is accommodated in the space S. The zonal rotor 10 is an example of a "zonal rotor" according to the technology of the present disclosure.

[0032] An attachment opening 11 is provided at the radial center of the lid 10A. The attachment opening 11 is an opening connected to the internal space S of the zonal rotor 10, and when the zonal rotor 10 is used, a cap is attached to the attachment opening 11. The caps for the zonal rotor 10 include two types of caps: a first cap 12 and a second cap 14. The first cap 12 or the second cap 14 is detachably attached to the attachment opening 11. The attachment opening 11 is an example of an "attachment opening" according to the technology of the present disclosure.

[0033] The first cap 12 is a cap that is used when injecting or discharging a solution into or from the zonal rotor 10 while attached to the attachment port 11. The first cap 12 has connection ports 12A and 12B to which piping for injecting or discharging the solution is connected. The first cap 12 is an example of a "cap" and a "first cap" according to the technology of the present disclosure. The connection ports 12A and 12B are also an example of a "connection port" according to the technology of the present disclosure.

[0034] The second cap 14 is a cap used when the zonal rotor 10 is rotated at a rotational speed (e.g., 30,000 rpm) faster than the rotational speed (e.g., 3,000 rpm) used when injecting or discharging a solution. When attached to the zonal rotor 10, the second cap 14 has higher liquid-tightness than the first cap 12. The second cap 14 is an example of a "cap" and a "second cap" according to the technology of the present disclosure. In the following description, when there is no need to distinguish between the first cap 12 and the second cap 14, they will also be simply referred to as "caps."

[0035] Next, the flow of centrifugation by the zonal rotor 10 will be described. First, a solution is injected into the space S inside the zonal rotor 10 while the rotor is rotating at a low speed (e.g., 3,000 rpm). Specifically, the solution is injected through the connection port 12A of the first cap 12, and the space S is gradually filled with the solution from its outer periphery. In this case, the solution contains only a density gradient medium. Due to the low-speed rotation of the zonal rotor 10, the density gradient medium in the space S is separated according to density. In other words, a density gradient of the solution is formed along the radial direction of the zonal rotor 10 from the outer periphery to the inner periphery.

[0036] Next, after the density gradient is formed, a solution containing the sample is injected into the space S of the zonal rotor 10 while the zonal rotor 10 is rotating at a low speed. Specifically, the solution is injected from the connection port 12B of the first cap 12, and the solution gradually fills the zonal rotor 10 from the inner periphery side.

[0037] Thereafter, the first cap 12 is removed from the zonal rotor 10 and the second cap 14 is attached. That is, the first cap 12 is replaced with the second cap 14. After the second cap 14 is attached, the zonal rotor 10 is rotated at high speed (e.g., 30,000 rpm). This causes the sample to be centrifuged in the density gradient.

[0038] After the centrifugal separation of the sample is complete, the high-speed rotation ends and the system shifts to low-speed rotation. During the low-speed rotation, the second cap 14 is replaced with the first cap 12. Furthermore, during the low-speed rotation, a solution with a higher concentration than the density gradient medium inside the space S is injected. Specifically, the solution is injected through the connection port 12A of the first cap 12, and then gradually injected from the outer periphery of the space S. The solution containing the centrifuged sample and density gradient medium is then discharged from the inner periphery through the connection port 12B. In this way, the centrifuged sample is obtained by rotating the zonal rotor 10.

[0039] As described above, in the centrifugation process using the zonal rotor 10, the operation of replacing the first cap 12 with the second cap 14 (hereinafter also referred to simply as the "cap replacement operation") occurs. Because the cap replacement operation is performed while the zonal rotor 10 is rotating, it is necessary to pay attention to the safety of the operation. Therefore, in this embodiment, the cap replacement operation is performed on the rotating zonal rotor 10 using the cap replacement jig 100.

[0040] 2 and 3, the cap replacement jig 100 is a jig for replacing the first cap 12 and the second cap 14, which are detachably attached to the attachment opening 11 of the zonal rotor 10, while the zonal rotor 10 is rotating. The cap replacement jig 100 is installed above the zonal rotor 10 in a position facing the lid 10A, and is operated by an operator to perform the cap replacement work.

[0041] In the following description, for convenience of explanation, the width direction, front-to-rear direction (also referred to as the depth direction), and height direction of the cap replacement jig 100 are indicated by three arrows, X, Y, and Z. First, the height direction is indicated by arrow Z, and the direction indicated by arrow Z is the upward direction of the cap replacement jig 100, and the opposite direction is the downward direction. The height direction is the vertical direction. The width direction is indicated by arrow X perpendicular to arrow Z, and the direction indicated by arrow X is the rightward direction of the cap replacement jig 100, and the opposite direction is the leftward direction. The front-to-rear direction is indicated by arrow Y, which is perpendicular to arrows Z and X, and the direction indicated by arrow Y is the forward direction of the cap replacement jig 100, and the opposite direction is the rearward direction. For example, an operator of the cap replacement jig 100 works while standing in front of the cap replacement jig 100. In the following description, expressions using sides such as upper, lower, left, right, front, and rear have the same meaning as expressions using directions.

[0042] The cap replacement jig 100 includes a base portion 20, a first detachable arm 31, a second detachable arm 32, and a slide mechanism 40. In the following description, when there is no need to distinguish between the first detachable arm 31 and the second detachable arm 32, they will be simply referred to as "arms." The first detachable arm 31 is an example of a "detachable arm" and a "first detachable arm" according to the technology of the present disclosure, and the second detachable arm 32 is an example of a "detachable arm" and a "second detachable arm" according to the technology of the present disclosure.

[0043] The base 20 is a portion that forms the main body structure of the cap replacement jig 100. The base 20 includes an upper plate 22, a lower plate 24, and a pair of side plates 26A and 26B. The upper plate 22 is a plate-like member that forms the upper portion of the base 20. The upper plate 22 has, for example, a rectangular parallelepiped shape with its longitudinal direction along the left-right direction and its plate thickness direction along the up-down direction. The upper plate 22 has a long hole 22A that is formed along the longitudinal direction and penetrates in the plate thickness direction. A slide mechanism 40 is attached to the upper plate 22. Furthermore, a first detachable arm 31 and a second detachable arm 32 are inserted into the long hole 22A.

[0044] Furthermore, gripping portions 22B and 22C are formed on both longitudinal ends of the upper plate portion 22. The gripping portions 22B and 22C are through holes formed along the plate thickness direction, and the cap replacement jig 100 can be gripped by inserting fingers into the through holes.

[0045] The lower plate 24 is a plate-like member that forms the lower portion of the base 20. The lower plate 24 has, for example, a substantially rectangular parallelepiped shape with its longitudinal direction in the left-right direction and its plate thickness direction in the up-down direction. The width of the lower plate 24 is wider than the width of the upper plate 22 in the front-to-back direction. Furthermore, both left-to-right end edges of the lower plate 24 are arc-shaped. Here, the curvature of the arc-shaped shape corresponds to the curvature of the circular opening of the housing portion of the zonal rotor 10 of the centrifuge.

[0046] A through hole 24A is formed in the center of the lower plate portion 24. The through hole 24A is formed in a position facing the mounting opening 11 of the zonal rotor 10. The opening diameter of the through hole 24A is set to a size that allows the first gripping portion 50 and the second gripping portion 60, which will be described later, to pass through.

[0047] The side plates 26A and 26B are provided in the left-right direction of the base 20 and are members connecting the upper plate 22 and the lower plate 24. For example, the side plates 26A and 26B are plate-like members erected between the upper plate 22 and the lower plate 24. The side plates 26A and 26B have a longitudinal direction in the up-down direction and a plate thickness direction in the left-right direction. The side plates 26A and 26B have through holes 26A1 and 26B1, respectively. The through holes 26A1 and 26B1 penetrate along the plate thickness direction. This reduces the weight of the side plates 26A and 26B. The front-rear and up-down dimensions of the through holes 26A1 and 26B1 are set appropriately depending on the strength required of the side plates 26A and 26B.

[0048] The base portion 20 is made of, for example, aluminum. The components constituting the base portion 20 are fastened to one another by, for example, screws.

[0049] The first detachable arm 31 is a portion for attaching and detaching the first cap 12 via a first gripping portion 50. The first detachable arm 31 is attached to the upper plate portion 22 via a slide mechanism 40. The first detachable arm 31 has a first gripping portion 50. The first gripping portion 50 is a portion for gripping the first cap 12.

[0050] The first detachable arm 31 includes a shaft 31A and a handle 31B. The shaft 31A is a rod-shaped member with a circular cross section and a longitudinal direction along the vertical direction. The shaft 31A is inserted into a slide plate portion 42 (described later) in a manner that allows it to move along the vertical direction. A handle 31B is provided at the upper end of the shaft 31A. The handle 31B is a disk-shaped operating member when viewed from above, and the central axis of the disk shape coincides with the central axis of the shaft 31A. In other words, the handle 31B is provided in a position coaxial with the shaft 31A. An operator can grip the handle 31B by placing their fingers around the outer periphery of the handle 31B.

[0051] Although the embodiment in which the handle 31B is disk-shaped has been described above, this is merely an example. The handle 31B may have any shape as long as it allows the first detachable arm 31 to be rotated and moved up and down, and may be, for example, elliptical or polygonal.

[0052] A first gripping portion 50 is provided at the lower end of the shaft 31A. Details of the first gripping portion 50 will be described later.

[0053] The second detachable arm 32 is a portion for attaching and detaching the second cap 14 via a second gripping portion 60. The second detachable arm 32 is attached to the upper plate portion 22 via a slide mechanism 40. The second detachable arm 32 has a second gripping portion 60. The second gripping portion 60 is a portion for gripping the second cap 14.

[0054] The second detachable arm 32 includes a shaft 32A and a handle 32B. The shaft 32A is a rod-shaped member with a circular cross section and a longitudinal direction along the vertical direction. The shaft 32A is inserted into a slide plate portion 42 (described later) in a manner that allows it to move along the vertical direction. A handle 32B is provided at the upper end of the shaft 32A. The handle 32B is an operating member that has a rectangular parallelepiped shape when viewed from the front, and has an elongated hole 32B1 that penetrates along the front-to-rear direction. An operator can grip the handle 32B by placing their fingers in the elongated hole 32B1. The shape of the handle 32B is not particularly limited as long as it can be gripped by an operator.

[0055] A second gripping portion 60 is provided at the lower end of the shaft 32A. Details of the second gripping portion 60 will be described later.

[0056] The second detachable arm 32 also has a pressing rod 34, which is a rod-shaped member arranged along the longitudinal direction of the second detachable arm 32. The pressing rod 34 has a shaft 34A, an operating portion 34B, and a pressing portion 34C. The shaft 34A is a rod-shaped member with a circular cross section whose longitudinal direction is along the vertical direction. The shaft 34A extends along the shaft 32A of the second detachable arm 32. In other words, the shaft 34A is arranged side by side with the shaft 32A in the left-right direction. The shaft 34A is also inserted through a through-hole 32B2 formed in the handle 32B. Furthermore, the shaft 34A is inserted through a sliding plate portion 42 (described later) in a manner that allows it to move up and down. The pressing rod 34 is an example of a "pressing rod" according to the technology disclosed herein.

[0057] In the pressing rod 34, an operating portion 34B is provided at the upper end of the shaft 34A. The operating portion 34B is a flat portion having a thickness direction along the axial direction of the shaft 34A. A pressing portion 34C is provided at the lower end of the shaft 34A. The pressing portion 34C is a portion for pressing a button 14A provided on the second cap 14. The pressing portion 34C is a portion that extends from the shaft 34A in a direction perpendicular to the axial direction of the shaft 34A toward the second gripping portion 60. The tip portion of the pressing portion 34C, which extends from the shaft 34A, is capable of abutting against the button 14A of the second cap 14. The pressing portion 34C is an example of a "pressing portion" according to the technology of the present disclosure.

[0058] The slide mechanism 40 is a mechanism that can selectively switch the positions of the first detachable arm 31 and the second detachable arm 32. Specifically, the slide mechanism 40 can selectively switch the first detachable arm 31 and the second detachable arm 32 between a position where the first detachable arm 31 faces the mounting opening 11 and a position where the second detachable arm 32 faces the mounting opening 11.

[0059] The slide mechanism 40 includes a slide plate 42 and a pair of guide rails 44A and 44B. The slide plate 42 is supported by the pair of guide rails 44A and 44B and is movable on the pair of guide rails 44A and 44B. The slide plate 42 is, for example, a rectangular parallelepiped plate member having a longitudinal direction along the left-right direction and a plate thickness direction along the up-down direction. The slide plate 42 has a width along the front-rear direction that is approximately the same as that of the upper plate 22 and a length in the left-right direction that is approximately half that of the upper plate 22. The slide mechanism 40 is an example of an "arm switching mechanism" according to the technology disclosed herein, the slide plate 42 is an example of a "slide plate" according to the technology disclosed herein, and the pair of guide rails 44A and 44B are an example of a "guide rail" according to the technology disclosed herein.

[0060] The sliding plate portion 42 supports the first detachable arm 31 and the second detachable arm 32. Specifically, the first detachable arm 31 and the second detachable arm 32 are inserted through the sliding plate portion 42 along the plate thickness direction. More specifically, as described above, the shaft 31A of the first detachable arm 31 and the shaft 32A of the second detachable arm 32 are inserted through the sliding plate portion 42. In other words, the sliding plate portion 42 functions as an arm support portion that supports the first detachable arm 31 and the second detachable arm 32. In this case, the sliding plate portion 42 is an example of an "arm support portion" according to the technology of the present disclosure.

[0061] The first detachable arm 31 and the second detachable arm 32 are arranged side by side in the left-right direction. Specifically, the first detachable arm 31 and the second detachable arm 32 are arranged side by side in the longitudinal direction of the slide plate portion 42.

[0062] The first detachable arm 31 is movable in the vertical direction relative to the sliding plate portion 42 via the shaft 31A. This also allows the second detachable arm 32 to move in the vertical direction relative to the sliding plate portion 42 via the shaft 32A. The first detachable arm 31 and the second detachable arm 32 are movable between a detachable position and a retracted position, which will be described later. In other words, the slide mechanism 40 including the slide plate portion 42 also functions as an arm moving mechanism that moves the arm between the detachable position and the retracted position. In this case, the slide mechanism 40 is an example of an "arm moving mechanism" according to the technology of the present disclosure.

[0063] The pair of guide rails 44A and 44B are rail members that guide the sliding movement of the sliding plate portion 42. The pair of guide rails 44A and 44B are formed, for example, on the upper surface of the upper plate portion 22 and extend in the left-right direction. Of the pair of guide rails 44A and 44B, the guide rail 44A is provided rearward of the elongated hole 22A in the upper plate portion 22. Of the pair of guide rails 44A and 44B, the guide rail 44B is provided frontward of the elongated hole 22A in the upper plate portion 22. In other words, the elongated hole 22A is formed between the pair of guide rails 44A and 44B. The pair of guide rails 44A and 44B support both ends of the sliding plate portion 42 in the front-rear direction from below. The first detachable arm 31 and the second detachable arm 32 inserted in the sliding plate portion 42 are positioned so as to pass through the elongated hole 22A. That is, the slide plate portion 42 is capable of sliding in the left-right direction along the pair of guide rails 44A and 44B.

[0064] An arm fixing portion 46 is provided on the underside of the slide plate portion 42. The arm fixing portion 46 is a rod-shaped portion extending from the underside of the slide plate portion 42. A magnetized member is provided on the lower end of the arm fixing portion 46. The magnetized member of the arm fixing portion 46 is capable of being magnetically attracted to a magnet M provided on the upper surface of the first gripping portion 50. This allows the first detachable arm 31 to be fixed at a predetermined height relative to the slide plate portion 42. The attractive force between the magnetized member of the arm fixing portion 46 and the magnet M is set to a level that allows an operator to release the attraction by pressing down on the first detachable arm 31, but is also set to a level that prevents the first detachable arm 31 from falling under its own weight.

[0065] Although not shown, an arm fixing portion for fixing the second detachable arm 32 may be provided on the underside of the slide plate portion 42. The arm fixing portion for fixing the second detachable arm 32 has a configuration similar to that of the arm fixing portion 46. In this case, a magnet is provided on the upper surface of the second gripping portion 60 of the second detachable arm 32.

[0066] The slide mechanism 40 further includes a slide regulating portion 48. The slide regulating portion 48 regulates the sliding movement of the slide plate portion 42. Specifically, the slide regulating portion 48 is attached to the front side of the slide plate portion 42. The slide regulating portion 48 has a plunger 48A. The slide regulating portion 48 is an example of a "regulating portion" according to the technology of the present disclosure.

[0067] The plunger 48A is provided so as to be movable in the front-rear direction. The plunger 48A is provided at a position where its tip can be inserted into a hole 22D provided in the front end surface of the upper plate portion 22. A plurality of holes 22D are provided in the front end surface of the upper plate portion 22 along the longitudinal direction (i.e., the left-right direction) of the upper plate portion 22. The positions of the holes 22D are set appropriately depending on the position at which the sliding plate portion 42 is desired to be held.

[0068] When the sliding plate 42 is in a predetermined position, the operator pushes the plunger 48A toward the upper plate 22, causing the tip of the plunger 48A to engage with the hole 22D. This holds the sliding plate 42 in a predetermined position relative to the upper plate 22 via the plunger 48A.

[0069] The first gripping portion 50 is a portion for gripping the first cap 12. The first gripping portion 50 is provided at the lower end of the shaft 31A of the first detachable arm 31. The first gripping portion 50 has claws 52, 54, and 56 and a gripping portion main body 58. The claws 52, 54, and 56 are claws for gripping the first cap 12 from the radial direction. The claws 52, 54, and 56 are an example of the "plurality of first claws" according to the technology disclosed herein. Here, the claws 52, 54, and 56 are arranged at equal intervals (i.e., 120-degree intervals) around the circumferential direction of the first cap 12. The base ends of the claws 52, 54, and 56 are attached to the lower end of the gripping portion main body 58. The base ends of the claws 52 , 54 , and 56 move radially relative to the gripping portion body 58 , causing the tip ends 52 A, 54 A, and 56 A of the claws 52 , 54 , and 56 to grip the outer periphery of the first cap 12 .

[0070] The portions of the claws 52, 54, and 56 that contact the first cap 12 are formed of a hard resin material (e.g., monomer cast nylon). Here, the radially inner portions of the claws 52, 54, and 56 are formed of a hard resin material. This provides excellent durability and reduces breakage and chipping that may occur due to friction when the claws come into contact with the first cap 12. The remaining portions of the claws 52, 54, and 56 are made of aluminum. The shape and rigidity of the claws 52, 54, and 56 are appropriately determined based on the outer peripheral surface shape of the first cap 12 to be gripped and the gripping force required for gripping. The hard resin is preferably a material that is heat-resistant to 100°C or higher, and is preferably an engineering plastic. Specific examples of engineering plastics include polyamide (e.g., nylon), polycarbonate, polyacetal, modified polyphenylene ether, and polybutylene terephthalate, with polyamide being particularly preferred. The hard resin may also be a super engineering plastic. Zonal rotors are used for purification in the manufacturing process of biopharmaceuticals. Therefore, a clean environment is required for the manufacturing equipment. The hard resin used for the claws 52, 54, and 56 does not produce chips, making it suitable for the manufacturing process of biopharmaceuticals.

[0071] The gripper body 58 supports the claws 52, 54, and 56 and houses a drive mechanism (not shown) for driving the claws 52, 54, and 56. Specifically, the gripper body 58 has a cylindrical housing, and the claws 52, 54, and 56 are attached to the lower end of the housing. The drive mechanism is also housed inside the housing of the gripper body 58. The lower end of the shaft 31A is attached to the upper surface of the housing.

[0072] As will be described in detail later, the gripper body 58 has an air cylinder as a drive mechanism. Compressed air for operating the air cylinder is supplied to the gripper body 58 via a hose H.

[0073] The second gripping portion 60 is a portion for gripping the second cap 14. The second gripping portion 60 is provided at the lower end of the shaft 32A of the second detachable arm 32. The second gripping portion 60 has claws 62, 64, and 66 and a gripping portion main body 68. The claws 62, 64, and 66 are claws for gripping the second cap 14 from the radial direction. The claws 62, 64, and 66 are an example of "plurality of second claws" according to the technology disclosed herein. Here, the claws 62, 64, and 66 are arranged at equal intervals (i.e., 120-degree intervals) around the circumference of the second cap 14. The base ends of the claws 62, 64, and 66 are attached to the lower end of the gripping portion main body 68. The base ends of the claws 62 , 64 , and 66 move radially relative to the gripping portion main body 68 , so that the abutting portions 62 A, 64 A, and 66 A of the claws 62 , 64 , and 66 grip the outer periphery of the first cap 12 .

[0074] The contact portions 62A, 64A, and 66A of the claws 62, 64, and 66 are made of a hard resin material, such as monomer cast nylon. The shape and rigidity of the contact portions 62A, 64A, and 66A are appropriately determined based on the outer peripheral shape of the first cap 12 to be gripped and the gripping force required for gripping.

[0075] The gripper body 68 supports the claws 62, 64, and 66, and houses a drive mechanism (not shown) for driving the claws 62, 64, and 66. The configuration of the gripper body 68 is similar to that of the gripper body 58 of the first detachable arm 31, and therefore a detailed description thereof will be omitted.

[0076] In the following description, when there is no need to distinguish between the claws 52, 54, and 56 and the claws 62, 64, and 66, they will also be simply referred to as "claws."

[0077] The cap replacement jig 100 according to this embodiment also includes air supply switches 71 and 72 and a regulator 80. The air supply switches 71 and 72 are switches for changing the compressed air supply path. As described above, the first gripping portion 50 and the second gripping portion 60 each include an air cylinder.

[0078] Specifically, the path of compressed air supplied to the air cylinder is switched by operating the operating portion 71A of the air supply switch 71 and the operating portion 72A of the air supply switch 72. When the compressed air supply path is switched, the expansion and contraction state of the air cylinder is changed. That is, the claw moves closer to or further away from the cap.

[0079] The regulator 80 is a device that reduces the pressure of compressed air supplied from an air supply source (not shown) and supplies the reduced pressure to the cap replacement jig 100. The regulator 80 is provided with a pressure display panel 82 on its front surface, which allows an operator to visually check the pressure being used by the cap replacement jig 100. The air supply source may be, for example, a compressed air pipe used in the facility where the cap replacement jig 100 is used, or a compressed air cylinder.

[0080] The air supply switches 71 and 72 and the regulator 80 are attached to the sliding plate portion 42. Specifically, the air supply switches 71 and 72 and the regulator 80 are attached to the front side of the sliding plate portion 42. The air supply switches 71 and 72 and the regulator 80 are movable in the left-right direction as the sliding plate portion 42 slides.

[0081] Although the embodiment in which the air supply switches 71 and 72 and the regulator 80 are attached to the cap replacing jig 100 has been described above, this is merely an example. The air supply switches 71 and 72 and / or the regulator 80 may be separate from the cap replacing jig 100.

[0082] An operator of the cap replacement jig 100 generally performs the replacement work while positioned at the front side of the cap replacement jig 100. The regulator 80 is attached to the front side of the sliding plate portion 42, making it easy to visually check the compressed air pressure. In addition, the air supply switches 71 and 72 are attached to the front side of the sliding plate portion 42, making it easy to switch the air supply system. In other words, it is easy to move the claws closer to or farther away from the caps.

[0083] Next, an example of how to use the cap replacement jig 100 according to this embodiment will be described with reference to Figures 4 to 8. For ease of explanation, some components of the cap replacement jig 100 (e.g., slide restriction unit 48, regulator 80, etc.) may be omitted from the illustration in Figures 4 to 8. As an example, as shown in Figure 4, first, while the zonal rotor 10 is rotating at a low speed, the first cap 12 attached to the zonal rotor 10 is removed.

[0084] In this case, brackets 17A and 17B are provided on the opening edge 16 of the zonal rotor 10 of the centrifuge. The brackets 17A and 17B are portions that protrude radially inward from the inner circumferential surface of the opening edge 16. Through holes are formed in the brackets 17A and 17B. Positioning pins 24B and 24C protruding from the underside of the lower plate 24 of the cap replacement jig 100 are inserted into the through holes provided in the brackets 17A and 17B, respectively. The positioning pins 24B and 24C are an example of an "attachment portion" according to the technology disclosed herein. In this example, the cap replacement jig 100 includes a main body including the base portion 20 described above, as well as the positioning pins 24B and 24C as attachment portions. The attachment portions are part of the cap replacement jig 100 and are used to attach the main body (in other words, the cap replacement jig 100 itself) to the zonal rotor 10.

[0085] The positions of the brackets 17A and 17B and the positions of the through-holes are predetermined. Therefore, by inserting the positioning pins 24B and 24C of the cap replacement jig 100 into the through-holes of the brackets 17A and 17B, respectively, the cap replacement jig 100 is attached at a predetermined position relative to the opening edge 16 of the housing portion of the zonal rotor 10. As a result, the cap replacement jig 100 is also attached at a predetermined position relative to the zonal rotor 10 in the housing portion of the centrifuge.

[0086] Although the embodiment has been described with reference to two positioning pins and two corresponding brackets, this is merely an example. The number of positioning pins may be two or more, and the number of corresponding brackets may also be two or more.

[0087] After the cap replacement jig 100 is attached, the first detachable arm 31 is set to a position facing the attachment opening 11 (hereinafter also simply referred to as the "first slide position"). In this case, since the first cap 12 is attached to the attachment opening 11, the first detachable arm 31 faces the first cap 12. The first slide position is an example of the "first position" according to the technology of the present disclosure.

[0088] In the first sliding position, the sliding plate portion 42 is held by the slide restricting portion 48 (see FIG. 3). The first attaching / detaching arm 31 is held in a retracted position, which is a position retracted from the attaching / detaching position described below. Specifically, the first gripping portion 50 is positioned at a predetermined height from the first cap 12 and is positioned so as not to interfere with the first cap 12. In addition, in the retracted position, the first gripping portion 50 is positioned so as not to interfere with other members of the cap replacing jig 100 during the arm switching operation described below. In this position, the magnetized member of the arm fixing portion 46 and the magnet M are attracted to each other.

[0089] Then, the operator grips the handle 31B of the first detachable arm 31 and further pushes the handle 31B downward, thereby moving the first detachable arm 31 downward. In this case, as the first detachable arm 31 is pushed downward, the attraction between the magnetized member of the arm fixing portion 46 and the magnet M is released.

[0090] As the first attaching / detaching arm 31 moves downward, it passes through the through-hole 24A of the lower plate portion 24. The first attaching / detaching arm 31 then moves to the attaching / detaching position. Here, the attaching / detaching position is a position where the arm can attach / detach the cap to / from the zonal rotor 10. In other words, it is a height where the arm can attach / detach the cap to / from the zonal rotor 10. Specifically, the first attaching / detaching arm 31 descends to a position where the claws 52, 54, and 56 (see also FIG. 2 ) of the first gripping portion 50 are radially opposed to the outer peripheral surface of the first cap 12.

[0091] In this state, the worker operates the operating unit 71A of the air supply switch 71. Here, an example of twisting the operating unit 71A by 90 degrees is shown. This switches the path of the compressed air supplied to the first gripping unit 50, and activates the air cylinder 58A housed inside the gripping unit main body 58. Power is received from the air cylinder 58A, and the claws 52, 54, and 56 move in a direction approaching the outer peripheral surface of the first cap 12. The air cylinder 58A is an example of a "first air cylinder" according to the technology of the present disclosure.

[0092] Here, the air cylinder 58A includes a cylinder body 58B and a rod 58C. Compressed air A is stored inside the cylinder body 58B. The rod 58C moves when compressed air A is supplied to the head side or rod side of the cylinder body 58B. Here, an example is shown in which compressed air is supplied to the head side of the cylinder body 58B, causing the rod 58C to move in the direction protruding from the cylinder body 58B. In this manner, the air cylinder 58A generates power. Note that here, only one air cylinder 58A is shown, but it goes without saying that multiple air cylinders may be provided in the gripper body 58. For example, an air cylinder may be provided corresponding to each claw.

[0093] Furthermore, because the compressed air A supplied to the air cylinder 58A is a compressible fluid, its volume changes when subjected to an external force. In other words, when the claws 52, 54, and 56 come into contact with the first cap 12, they may receive a reaction force from the first cap 12. This reaction force is transmitted to the compressed air A inside the cylinder body 58B via the rod 58C. In this case, the volume of the compressed air A changes, making it possible to absorb part of the reaction force. In other words, the air cylinder 58A also functions as a damper that absorbs the reaction force received from the claws 52, 54, and 56.

[0094] 5 as an example, the first cap 12 is gripped via the claws 52, 54, and 56 of the first gripping portion 50. Specifically, taking the claw 52 as an example, a radially recessed recess 52A1 provided at the tip 52A of the claw 52 engages with a protrusion 12C provided along the circumferential direction of the first cap 12. This increases the contact area between the claw 52 and the first cap 12, increasing the gripping force and making it easier to support the first cap 12 from below. In this manner, the first gripping portion 50 grips the first cap 12.

[0095] Here, when attaching or detaching the first cap 12, it is necessary to rotate the first cap 12 while removing it. Therefore, the first attaching / detaching arm 31 is operable to rotate the first cap 12 while the gripping portion 50 grips the first cap 12. For example, when the handle 31B is rotated by an operator, the first gripping portion 50 also rotates in conjunction with the rotation, and the first cap 12 is removed from the zonal rotor 10.

[0096] After the first cap 12 is removed, the handle 31B is pulled upward, causing the first detachable arm 31 to move upward. That is, the first cap 12 gripped by the first gripping portion 50 is pulled up. The first detachable arm 31 that has moved upward is held in the retracted position. Specifically, the magnetized member of the arm fixing portion 46 and the magnet M are attracted to each other, thereby fixing the first detachable arm 31 in the retracted position.

[0097] After the first cap 12 is removed, the second cap 14 is attached. As shown in FIG. 6 as an example, first, the slide plate 42 is slid from the first slide position to the second slide position. Here, the second slide position is a position where the second detachable arm 32 faces the mounting opening 11 of the zonal rotor 10. That is, the slide mechanism 40 can selectively switch the positions of the first detachable arm 31 and the second detachable arm 32 between the first slide position and the second slide position. The second slide position is an example of the "second position" according to the technology of the present disclosure.

[0098] Specifically, the operator operates the plunger 48A of the slide restricting portion 48 to disengage the plunger 48A from the upper plate portion 22. Then, the slide plate portion 42 is moved left and right along the guide rails 44A and 44B. In this example, the slide plate portion 42 is moved leftward. As the slide plate portion 42 moves, the first detachable arm 31 and the second detachable arm 32 also move together. When the slide plate portion 42 moves to the second slide position, the operator again operates the plunger 48A of the slide restricting portion 48 to engage the plunger 48A with the upper plate portion 22. This holds the slide plate portion 42 in the second slide position. In this manner, the slide plate portion 42 of the slide mechanism 40 slides between the first slide position and the second slide position, thereby selectively switching the positions of the first detachable arm 31 and the second detachable arm 32.

[0099] The second gripping portion 60 of the second detachable arm 32 grips the second cap 14. Specifically, the second cap 14 is gripped via the claws 62, 64, and 66 of the second gripping portion 60. More specifically, taking the claw 64 as an example, a radially protruding convex portion 64A1 provided on the abutment portion 64A of the claw 64 engages with a curved concave portion 14B provided along the circumferential direction of the second cap 14. This increases the contact area between the claw 64 and the second cap 14, increasing the gripping force and making it easier to support the second cap 14 from below. In this manner, the second gripping portion 60 grips the second cap 14.

[0100] 7, an operator grips the handle 32B of the second detachable arm 32 and further pushes the handle 32B downward, thereby moving the second detachable arm 32 downward. In this case, as the second detachable arm 32 is pushed downward, the attraction between the magnetized member of the arm fixing portion (not shown) and the magnet (not shown) is released.

[0101] The second detaching arm 32 moving downward passes through the through-hole 24A of the lower plate portion 24. The second detaching arm 32 then moves to the detachment position. Specifically, the second cap 14 is attached to the zonal rotor 10, and the second detaching arm 32 descends to a position where the claws 62, 64, and 66 can be separated from the second cap 14.

[0102] As an example, as shown in FIG. 8 , the second detachment arm 32 is pushed to the detachment position, and the second cap 14 is attached to the mounting port 11 of the zonal rotor 10. Then, with the second detachment arm 32 in the detachment position, the operator operates the operating portion 72A of the air supply switch 72. Here, an example of twisting the operating portion 72A 90 degrees is shown. This switches the path of compressed air supplied to the second gripping portion 60, and activates the air cylinder (not shown) housed inside the gripping portion main body 68. The configuration of the air cylinder of the gripping portion main body 68 is similar to that of the air cylinder 58A, so details are omitted. Power from the air cylinder moves the claws 62, 64, and 66 in a direction away from the outer circumferential surface of the second cap 14.

[0103] After the second gripping portion 60 releases the grip of the second cap 14, the second detachment arm 32 is raised from the detachment position to the retracted position. In this manner, the first cap 12 is removed and the second cap 14 is attached.

[0104] To remove the second cap 14 and attach the first cap 12, simply reverse the steps described with reference to Figures 4 to 8. To put it simply, first, the second cap 14 is removed using the second attachment / detachment arm 32.

[0105] Here, when removing the second cap 14, it is necessary to press down the button 14A provided on the top surface of the second cap 14. To do this, the button 14A is pressed via the pressing portion 34C provided at the tip of the pressing rod 34 (see arrow W in FIG. 8).

[0106] Specifically, the operator presses down the operating portion 34B provided at the upper end of the pressing rod 34 using his / her finger F. This moves the shaft 34A downward, and the pressing portion 34C also moves downward accordingly. The pressing portion 34C then presses the button 14A. As a result, the second cap 14 is removed from the attachment opening 11.

[0107] Thereafter, the second detachable arm 32 is raised to the retracted position while still holding the second cap 14. The slide mechanism 40 is used to move the slide plate 42 from the second slide position to the first slide position. The first detachable arm 31, which is holding the first cap 12, is then lowered to the detachable position, and the first cap 12 is attached. In this manner, the second cap 14 is removed and the first cap 12 is attached.

[0108] As described above, the cap replacement jig 100 according to this embodiment is a jig for replacing the first cap 12 and the second cap 14 while the zonal rotor 10 is rotating. The cap replacement jig 100 includes a first mounting / removal arm 31. The first mounting / removal arm 31 includes a first gripping portion 50 that grips the first cap 12. The cap replacement jig 100 also includes a second mounting / removal arm 32. The second mounting / removal arm 32 includes a second gripping portion 60 that grips the second cap 14. The first mounting / removal arm 31 and the second mounting / removal arm 32 are movable between a mounting / removal position and a retracted position. This allows the cap replacement jig 100 to perform cap replacement work that was previously performed manually by an operator, thereby improving the safety of the cap replacement work.

[0109] Furthermore, for example, manual cap replacement requires proficiency, but by using the cap replacement jig 100, the replacement position or operation content is predetermined, making the cap replacement work easier.

[0110] The cap replacement jig 100 according to this embodiment includes a first mounting / dismounting arm 31 and a second mounting / dismounting arm 32. The cap replacement jig 100 also includes a slide mechanism 40. The slide mechanism 40 selectively switches the positions of the first mounting / dismounting arm 31 and the second mounting / dismounting arm 32 between a first slide position and a second slide position. This simplifies cap replacement work even when two arms corresponding to two types of caps are provided. In other words, when two types of caps are available, compared to switching between a jig equipped with an arm for gripping the first cap 12 and a jig equipped with an arm for gripping the second cap 14, the first mounting / dismounting arm 31 and the second mounting / dismounting arm 32 are attached to a single jig, and the slide mechanism 40 selectively switches the positions of the two arms. This eliminates the need to replace the entire jig, improving workability.

[0111] The cap replacement jig 100 according to this embodiment uses a first cap 12 and a second cap 14. The first cap 12 has connection ports 12A and 12B and is a cap for injecting or discharging a solution while attached to the zonal rotor 10. The second cap 14 is more liquid-tight than the first cap 12 and is used at high speeds (e.g., 30,000 rpm). These caps have different attachment and detachment procedures and shapes. Therefore, providing arms appropriate for each cap simplifies the replacement process.

[0112] Furthermore, in the cap replacement jig 100 according to this embodiment, the first gripping portion 50 of the first detachment arm 31 has claws 52, 54, and 56. The claws 52, 54, and 56 are used to grip the first cap 12 and contact the first cap 12 from the radial direction. The second gripping portion 60 of the second detachment arm 32 has claws 62, 64, and 66. The claws 62, 64, and 66 are used to grip the second cap 14 and contact the second cap 14 from the radial direction. Thus, the first cap 12 and the second cap 14 are gripped by multiple claws, ensuring a sufficient gripping force and preventing the first cap 12 and the second cap 14 from falling off. Furthermore, the first cap 12 can be gripped while being rotated, allowing for delicate operations.

[0113] Furthermore, in the cap replacement jig 100 according to this embodiment, the first attachment / detachment arm 31 is provided with claws 52, 54, and 56, and the second attachment / detachment arm 32 is provided with claws 62, 64, and 66. Each arm has three claws, which ensures both a sufficient gripping force and a sufficient degree of freedom in the gripping state (the degree to which the gripping action can be tolerated even if the claws are misaligned from the cap position when viewed from above). With three claws, the gripping force is more secure than with two claws, and the three-point support provides a stable grip. Furthermore, with three claws, the gripping force is not too strong compared to with four claws, and the three-point support provides fewer contact points, allowing for gripping even when the claws are misaligned from the cap.

[0114] Furthermore, in the cap replacement jig 100 according to this embodiment, the portions of the claws 52, 54, and 56 of the first detachable arm 31 that contact the first cap 12 are formed of hard resin. Furthermore, the portions of the claws 62, 64, and 66 of the second detachable arm 32 that contact the second cap 14 are formed of hard resin. Because the caps are made of metal, a hard resin, which is generally less hard than metal, can prevent damage to the cap. Furthermore, if a soft resin such as rubber comes into contact with the rotating body, a portion of the resin may peel off from the contact portion, potentially introducing foreign matter into the centrifuge. Because a hard resin has greater strength than rubber, the generation of foreign matter due to partial peeling is prevented.

[0115] Furthermore, in the cap replacement jig 100 according to this embodiment, the gripper body 58 of the first detachable arm 31 has an air cylinder 58A. The air cylinder 58A moves the claws 52, 54, and 56. The gripper body 68 of the second detachable arm 32 also has an air cylinder similar to the air cylinder 58A. The air cylinder 58A also functions as a damper by changing the volume of compressed air A in the cylinder body 58B. This allows it to absorb the reaction force received from the claws 52, 54, and 56 that come into contact with the rotating first cap 12. Furthermore, because it is driven by compressed air A, the gripping force is stable regardless of differences in grip strength or skill level, compared to gripping a cap manually.

[0116] Furthermore, in the cap replacement jig 100 according to this embodiment, the first detachable arm 31 can be operated to rotate the first cap 12 while the gripping portion 50 grips the first cap 12. The first detachable arm 31 is provided with a disk-shaped handle 31B for moving the first detachable arm 31 between the retracted position and the gripping position and for rotating the first cap 12. The operation of attaching or detaching the first cap 12 may require rotating the first cap 12. In this configuration, the first detachable arm 31 is provided with a disk-shaped handle 31B. To move the first detachable arm 31, the handle 31B is grasped and pushed in or pulled up, and to rotate the first cap 12, the handle 31B is rotated circumferentially. This allows the operation of moving the first cap 12 between the retracted position and the gripping position and the operation of rotating the first cap 12 to be achieved with a single handle 31B.

[0117] Furthermore, in the cap replacement jig 100 according to this embodiment, the second attaching / detaching arm 32 includes a pressing rod 34, which is a rod-shaped member arranged along the longitudinal direction of the second attaching / detaching arm 32. A pressing portion 34C is provided at the lower end of the pressing rod 34. As the pressing portion 34C moves along the longitudinal direction, it presses a button 14A provided on the second cap 14. When attaching or detaching the second cap 14 (e.g., removing the second cap 14), it may be necessary to press the button 14A. In this configuration, after the second attaching / detaching arm 32 sets the second cap 14 on the zonal rotor 10, the pressing rod 34 is operated to press the button 14A of the second cap 14. This allows the operation of pressing the button 14A of the second cap 14 to be achieved with a simple configuration. For example, the configuration is simpler than when a drive mechanism for pressing the button 14A of the second cap 14 is provided.

[0118] The cap replacement jig 100 according to this embodiment also includes a slide mechanism 40. The slide mechanism 40 includes a slide plate 42 and guide rails 44A and 44B. The first detachable arm 31 and the second detachable arm 32 are inserted through the slide plate 42. The slide plate 42 is slidable between a first slide position and a second slide position along the guide rails 44A and 44B. This slide movement selectively switches the positions of the first detachable arm 31 and the second detachable arm 32. This simplifies the switching operation, since the positions of the first detachable arm 31 and the second detachable arm 32 can be selectively switched with a single operation. For example, if the first detachable arm 31 and the second detachable arm 32 were to have mechanisms that move independently, they would need to be moved separately. However, with this configuration, they can be switched with a single slide operation.

[0119] The cap replacement jig 100 according to this embodiment is also provided with a slide restriction portion 48 that restricts the sliding movement of the slide plate portion 42. The slide restriction portion 48 restricts the sliding movement of the slide plate portion 42 while the slide plate portion 42 is held in the first slide position or the second slide position. This simplifies the operation of attaching and detaching the cap. In other words, the slide plate portion 42 is prevented from moving during operation of the arm.

[0120] For example, the operation of the arm includes not only the up and down movement of the arm but also the rotation of the cap and the pressing of the cap button. Therefore, it is conceivable that an unintended force may be applied to the sliding plate portion 42 via the arm, causing sliding movement. With this configuration, sliding movement can be restricted while the sliding plate portion 42 is held in the first sliding position or the second sliding position, making it easy to attach and remove the cap.

[0121] Furthermore, in the cap replacement jig 100 according to this embodiment, the first replacement arm 31 has a shaft 31A. The shaft 31A is inserted through the slide plate portion 42. The second replacement arm 32 has a shaft 32A, which is inserted through the slide plate portion 42. The first replacement arm 31 and the second replacement arm 32 are moved relative to the slide plate portion 42 via the shafts 31A and 32A, respectively, so that they can move vertically between a replacement position and a retracted position. This stabilizes the trajectory of the arm movement and prevents the arms from interfering with other components of the cap replacement jig 100.

[0122] Furthermore, in the cap replacement jig 100 according to this embodiment, the first replacement arm 31 can be fixed to the slide plate portion 42 in the retracted position via the magnetized member of the arm fixing portion 46. Similarly, the second replacement arm 32 can be fixed to the slide plate portion 42. This prevents an unused replacement arm from inadvertently moving to the gripping position or interfering with other components of the cap replacement jig 100.

[0123] Furthermore, in the cap replacement jig 100 according to this embodiment, positioning pins 24B and 24C are provided on the lower plate portion 24. The positioning pins 24B and 24C are attached to brackets 17A and 17B provided on the opening edge 16 of the space in which the zonal rotor 10 of the centrifuge is housed. This allows the cap replacement jig 100 to be attached to the centrifuge and positioned relative to the opening of the space in which the zonal rotor 10 is housed. As a result, the burden of adjusting the position of the cap replacement jig 100 and the zonal rotor 10 each time the cap replacement jig 100 is attached is reduced.

[0124] The cap replacement jig 100 may be attached to the centrifuge by a human operator. Alternatively, the attachment and detachment process may be automated by installing an attachment device equipped with a moving mechanism, such as an elevator mechanism or an elevator mechanism and a rotation mechanism, and a control device. The control device in the attachment device may include, for example, a processor, memory, and storage. In this case, a control program stored in the storage is executed on the memory, causing the processor to function as a control device that controls the operation of the moving mechanism. Automation can reduce the burden on the operator. The elevator mechanism or the rotation mechanism may be, for example, an electric actuator, such as an electric cylinder. For example, the moving mechanism may include a single-axis linear actuator, which can move the cap replacement jig 100 up and down between a standby position above the centrifuge and an attachment position to the centrifuge. The cap replacement jig 100 may be automatically attached to the centrifuge by controlling the moving mechanism with a control device. Alternatively, the movement mechanism may include a biaxial actuator that can raise and lower the cap replacement jig 100 vertically and move it horizontally, and the cap replacement jig 100 may be automatically attached to the centrifuge by controlling the movement mechanism with a control device. When a biaxial actuator is provided, the cap replacement jig 100 is held in a retracted position horizontally away from the space above the centrifuge during times other than cap replacement. When the cap replacement is performed, the cap replacement jig 100 is moved above the centrifuge and then lowered to be attached to the centrifuge. After the cap replacement, the cap replacement jig 100 can be raised above the centrifuge and then moved to the retracted position. In this way, the biaxial actuator allows the space above the centrifuge to be kept clear during times other than cap replacement. Alternatively, instead of a biaxial actuator, a movement mechanism may be provided that combines a single-axis linear actuator that moves vertically and a rotation mechanism that rotates an arm.

[0125] In the above embodiment, the cap replacement jig 100 is described as having the first and second replacement arms 31 and 32, but the technology of the present disclosure is not limited to this. The cap replacement jig 100 may be provided with either the first replacement arm 31 or the second replacement arm 32. In this case, for example, a cap replacement jig provided with the first replacement arm 31 and a cap replacement jig provided with the second replacement arm 32 are interchangeably used depending on the cap to be installed or removed.

[0126] Furthermore, in the above embodiment, an example has been described in which the first detachable arm 31 and the second detachable arm 32 are selectively switched by the slide mechanism 40, but the technology of the present disclosure is not limited to this. For example, the first detachable arm 31 and the second detachable arm 32 may be selectively switched by sliding them using separate slide mechanisms. Furthermore, the first detachable arm 31 and the second detachable arm 32 may be switched by a rotary switching mechanism. Specifically, the first detachable arm 31 and the second detachable arm 32 may be inserted into a common plate-shaped member, and the plate-shaped member may be rotated 180 degrees around a midpoint between the two arms to switch the arms.

[0127] In the above embodiment, the slide mechanism 40 functions as both an arm moving mechanism and an arm switching mechanism, but the technology of the present disclosure is not limited to this. The arm moving mechanism and the arm switching mechanism may be mounted on the cap replacement jig 100 as separate mechanisms. For example, the arm itself may be detachably attached to the upper plate portion 22, and may function as the arm moving mechanism by moving relative to the upper plate portion 22, and may function as the arm switching mechanism by replacing the arm itself.

[0128] In the above embodiment, the driving mechanism is an air cylinder, but the technology of the present disclosure is not limited to this. For example, the driving mechanism may be a mechanism having a motor or an actuator as a driving source.

[0129] In addition, in the above embodiment, an example was given in which the first cap 12 and the second cap 14 are replaced, but the cap replacement jig 100 relating to the technology disclosed herein can also be applied when three or more caps are replaced.

[0130] In the above embodiment, an example in which the number of claws of the gripping portions 50 and 60 is three has been described, but the technology of the present disclosure is not limited to this. The number of claws may be two, or may be four or more. However, as described above, it is desirable to have three claws in order to ensure both the gripping force and the degree of freedom in the gripping state.

[0131] In the above embodiment, the gripping units 50 and 60 grip the cap with their claws, but the technology of the present disclosure is not limited to this. The gripping units 50 and 60 only need to grip the cap with a gripping force sufficient to attach and detach the cap from the zonal rotor 10. For example, the gripping units 50 and 60 may grip the cap using air pressure or magnetic attraction.

[0132] Although the above embodiment describes an example in which the cap replacement jig 100 is operated by an operator, the technology of the present disclosure is not limited thereto. The cap replacement jig 100 may be driven by a drive mechanism operating under the control of a control device. The control device may include, for example, a processor, memory, and storage. In this case, a control program stored in the storage is executed on the memory, causing the processor to function as a control device that controls the operation of the drive mechanism. When the operator inputs an instruction to start the cap replacement operation to the control device, the control device outputs an operation signal to the drive mechanism that drives each component of the cap replacement jig 100. For example, the operation of the drive mechanism realizes the up and down movement of the first and second replacement arms 31 and 32, the sliding movement of the slide plate 42, and the gripping operation of the grippers 50 and 60 to grip the cap. As a result, the cap replacement operation using the cap replacement jig 100 can be performed without manual operation of each component.

[0133] When automating the cap replacement jig 100, it is preferable to configure the system so that each operation, such as the vertical movement of the first and second replacement arms 31 and 32 driven by each drive mechanism, the sliding movement of the slide plate 42, and the gripping of the caps by the grippers 50 and 60, is confirmed to be normal before proceeding to the next operation. The drive mechanisms are preset to move to appropriate positions and grip operations, and are driven by a control device based on these settings. However, minor deviations may occur in each operation. While minor deviations may not have a significant impact on a single cap replacement operation, repeated use of the jig may place a load on components around the axis of the zonal rotor 10, potentially causing a malfunction. To prevent cap replacement operations from being performed while such deviations exist, it is preferable to provide an operation monitoring sensor to confirm that each operation is normal. In particular, since the parts around the axis of the zonal rotor 10 are delicate, it is preferable to position the first detachment arm 31 or the second detachment arm 32 with high precision when removing and attaching the cap so as not to place stress on the parts around the axis, and it is important to ensure that there is no axial misalignment when gripping the cap.

[0134] An example of an operation monitoring sensor is a sensor that detects the positioning state when the first detachable arm 31 and the second detachable arm 32 are selectively switched between the first and second sliding positions. For example, as shown in FIG. 9 , proximity sensors 28A and 28B may be provided on protrusions 22E and 22F provided between the grips 22B and 22C and the elongated hole 22A at both longitudinal ends of the upper plate 22 to which the sliding plate 40 is attached. The protrusions 22E and 22F are slide stops that stop the sliding plate 40 to prevent it from protruding from the left and right ends when the sliding plate 40 slides left and right. As shown in FIG. 9 , an end-detecting protrusion 42A is provided at the end of the sliding plate 40, and the proximity sensor 28A detects whether the surface of the protrusion 42A is in a predetermined position. For example, the control device drives the slide mechanism 40 to slide the slide plate 42 from the first slide position to the second slide position, and then uses the proximity sensor 28A to detect whether the surface of the protrusion 42A is located at a predetermined position when the second detachment arm 32 is positioned opposite the mounting port 11 of the zonal rotor 10. The control device receives the detection result from the proximity sensor, and if the second detachment arm 32 is accurately positioned, performs a restricting operation to restrict the movement of the second detachment arm 31. If a positional deviation occurs, the control device issues an alarm to notify the operator of an error. Note that when sliding the slide plate 42 from the second slide position to the first slide position, the proximity sensor 28B may detect the surface of a protrusion (not shown) located at the opposite end.

[0135] Further, examples of sensors for monitoring operation include a sensor that detects the positioning of the first detachable arm 31 or the second detachable arm 32 during up and down movement, particularly whether it is accurately positioned at the detachment position, a sensor that detects whether the first detachable arm 31 or the second detachable arm 32 is gripping the cap without misalignment, and a sensor that detects whether the first cap 12 is being rotated by the handle 31B by the correct amount. The sensors may include the above-mentioned proximity sensor, position detection sensor, and rotation sensor, as appropriate. Furthermore, a camera that photographs the state of each component may be provided as a sensor, and misalignment, etc., may be detected by image analysis.

[0136] In the above embodiment, both the first detachable arm 31 and the second detachable arm 32 are held in the retracted position by the arm fixing portion, but the technology of the present disclosure is not limited to this. For example, either the first detachable arm 31 or the second detachable arm 32 may be held in the retracted position by the arm fixing portion.

[0137] Furthermore, in the above embodiment, an example was described in which the arm is fixed to the slide plate portion 42 by magnetic attraction in the arm fixing portion 46, but the technology of the present disclosure is not limited to this. For example, the arm may be held in a retracted position by a mechanical mechanism. For example, the arm may be constantly biased upward by a biasing force from a spring member or the like. Furthermore, for example, a plunger may be provided as the arm fixing portion 46, and the arm may be fixed to the slide plate portion 42 or the like via the plunger. Furthermore, the arm may be held to the slide plate portion 42 or the like by a gripping mechanism (e.g., a claw) driven by an air cylinder separately provided on the arm.

[0138] The above-described description and illustrations are a detailed explanation of the parts related to the technology of the present disclosure and are merely an example of the technology of the present disclosure. For example, the above description of the configuration, functions, actions, and effects is an explanation of an example of the configuration, functions, actions, and effects of the parts related to the technology of the present disclosure. Therefore, it goes without saying that unnecessary parts may be deleted, new elements may be added, or replacements may be made to the above-described description and illustrations within the scope of the gist of the technology of the present disclosure. Furthermore, to avoid confusion and facilitate understanding of the parts related to the technology of the present disclosure, the above-described description and illustrations omit explanations of common technical knowledge that do not require particular explanation to enable the implementation of the technology of the present disclosure.

[0139] The disclosure of Japanese Patent Application No. 2023-151413, filed on September 19, 2023, is incorporated herein by reference in its entirety. All documents, patent applications, and technical standards described herein are incorporated herein by reference to the same extent as if each individual document, patent application, and technical standard were specifically and individually indicated to be incorporated by reference.

[0140] The following additional notes are further disclosed regarding the above embodiment.

[0141] <Supplementary Note 1> A jig used in a centrifuge that centrifuges a sample by rotating a zonal rotor that contains a solution including the sample and a density gradient medium, for replacing a cap that is detachable from an attachment port of the zonal rotor while the zonal rotor is rotating, the jig comprising: an attachment / detachment arm having a gripping portion that grips the cap; and an arm moving mechanism that moves the attachment / detachment arm between an attachment / detachment position where the cap is attached and detached and a retracted position where the cap is retracted from the attachment / detachment position. <Supplementary Note 2> The cap replacement jig described in Supplementary Note 1, wherein the caps include two types of caps, a first cap and a second cap; the detachable arm has a first detachable arm for attaching and detaching the first cap and a second detachable arm for attaching and detaching the second cap; and the cap replacement jig is equipped with an arm switching mechanism that selectively switches the positions of the first detachable arm and the second detachable arm between a first position where the first detachable arm faces the mounting opening and a second position where the second detachable arm faces the mounting opening. <Supplementary Note 3> The first cap has a connection port to which a pipe for injecting or discharging the solution is connected, and is a cap used when injecting or discharging the solution into or from the zonal rotor with the first cap attached to the attachment port, and the second cap is a cap that is more liquid-tight than the first cap and is used when rotating the zonal rotor at a second rotation speed that is faster than the first rotation speed for injecting or discharging the solution, the cap replacement jig described in Supplementary Note 2. <Supplementary Note 4> The cap replacement jig described in Supplementary Note 2 or Supplementary Note 3, wherein the gripping portion of the first detachable arm is a claw for gripping the first cap and has a plurality of first claws that abut against the first cap from a radial direction, and the gripping portion of the second detachable arm is a claw for gripping the second cap and has a plurality of second claws that abut against the second cap from a radial direction. <Supplementary Note 5> The cap replacement jig according to Supplementary Note 4, wherein the first detachable arm has two or more first claws, and the second detachable arm has two or more second claws.<Supplementary Note 6> The cap replacement jig according to Supplementary Note 4 or Supplementary Note 5, wherein portions of the first claw and the second claw that come into contact with the first cap and the second cap, respectively, are formed of hard resin. <Supplementary Note 7> The cap replacement jig according to any one of Supplementary Notes 4 to 6, wherein the first attachment / detachment arm has a first air cylinder that moves the plurality of first claws relative to the first cap, and the second attachment / detachment arm has a second air cylinder that moves the plurality of second claws relative to the second cap. <Supplementary Note 8> The cap replacement jig according to any one of Supplementary Notes 2 to 7, wherein the first attachment / detachment arm is operable to rotate the first cap with the gripping portion gripping the first cap. <Supplementary Note 9> The cap replacement jig according to any one of Supplementary Notes 2 to 8, wherein the second detachable arm has a pressing rod that is a rod-shaped member provided along the longitudinal direction of the second detachable arm, and the pressing rod has a pressing portion that presses a button provided on the second cap as the pressing rod moves along the longitudinal direction. <Supplementary Note 10> The arm switching mechanism includes a sliding plate that is a plate-shaped member through which the first detachable arm and the second detachable arm are inserted, and a guide rail that guides the sliding movement of the sliding plate, and the sliding movement of the sliding plate along the guide rail between the first position and the second position selectively switches the positions of the first detachable arm and the second detachable arm. <Supplementary Note 11> The cap replacing jig according to Supplementary Note 10, wherein the arm switching mechanism further comprises a restricting portion that restricts sliding movement of the sliding plate portion while holding the sliding plate portion at the first position or the second position. <Supplementary Note 12> The cap replacing jig according to any one of Supplementary Notes 1 to 11, wherein the detachable arm has a shaft that is a rod-shaped member having the gripping portion provided at one end, and the arm moving mechanism has an arm support portion that is a plate-shaped member through which the shaft of the detachable arm is inserted, and the detachable arm is moved between the detachment position and the retracted position by moving the detachable arm relative to the arm support portion via the shaft.<Supplementary Note 13> The cap replacement jig according to Supplementary Note 12, wherein the detachment arm is fixable to the arm support part at the retracted position. <Supplementary Note 14> The cap replacement jig according to any one of Supplementary Notes 1 to 13, further comprising an attachment part for positioning the cap replacement jig at a predetermined position with respect to the zonal rotor and for attaching the cap replacement jig to an opening of a space in the centrifuge that houses the zonal rotor.

Claims

1. A cap replacement tool used in a centrifuge that centrifuges a sample by rotating a zonal rotor that contains a solution including a sample and a density gradient medium, for replacing a cap that can be attached and detached to an attachment port of the zonal rotor while the zonal rotor is rotating, the tool comprising: an attachment / detachment arm having a gripping portion that grips the cap; and an arm moving mechanism that moves the attachment / detachment arm between an attachment / detachment position for attaching and detaching the cap and a retracted position for retracting the cap from the attachment / detachment position.

2. A cap replacement jig as described in claim 1, wherein the caps include two types of caps, a first cap and a second cap, the detachment arm has a first detachment arm for attaching and detaching the first cap and a second detachment arm for attaching and detaching the second cap, and is equipped with an arm switching mechanism that selectively switches the positions of the first detachment arm and the second detachment arm between a first position where the first detachment arm faces the mounting port and a second position where the second detachment arm faces the mounting port.

3. The cap replacement jig described in claim 2, wherein the first cap has a connection port to which a pipe for injecting or discharging the solution is connected and is a cap used when injecting or discharging the solution into or from the zonal rotor with the first cap attached to the attachment port, and the second cap has higher liquid-tightness than the first cap and is a cap used when rotating the zonal rotor at a second rotational speed that is faster than the first rotational speed when injecting or discharging the solution.

4. A cap replacement jig as described in claim 2, wherein the gripping portion of the first detachment arm is a claw for gripping the first cap and has a plurality of first claws that abut against the first cap in a radial direction, and the gripping portion of the second detachment arm is a claw for gripping the second cap and has a plurality of second claws that abut against the second cap in a radial direction.

5. A cap replacement jig as described in claim 4, wherein the first attachment / detachment arm has two or more first claws, and the second attachment / detachment arm has two or more second claws.

6. A cap replacement jig as described in claim 4, wherein the portions of the first and second claws which come into contact with the first and second caps, respectively, are formed of hard resin.

7. A cap replacement jig as described in claim 4, wherein the first attachment / detachment arm has a first air cylinder that moves the multiple first claws relative to the first cap, and the second attachment / detachment arm has a second air cylinder that moves the multiple second claws relative to the second cap.

8. A cap replacement jig as described in claim 2, wherein the first attachment / detachment arm is operable to rotate the first cap while the gripping portion grips the first cap.

9. A cap replacement jig as described in claim 2, wherein the second detachment arm has a pressure rod which is a rod-shaped member arranged along the longitudinal direction of the second detachment arm, and the pressure rod has a pressing portion which presses a button provided on the second cap as the pressure rod moves along the longitudinal direction.

10. A cap replacement jig as described in claim 2, wherein the arm switching mechanism includes a slide plate portion which is a plate-shaped member through which the first detachable arm and the second detachable arm are inserted, and a guide rail which guides the sliding movement of the slide plate portion, and the positions of the first detachable arm and the second detachable arm are selectively switched by the slide plate portion sliding between the first position and the second position along the guide rail.

11. A cap replacement jig as described in claim 10, wherein the arm switching mechanism further comprises a regulating portion that regulates sliding movement while holding the sliding plate portion in the first position or the second position.

12. A cap replacement jig as described in claim 1, wherein the detachable arm has a shaft which is a rod-shaped member with the gripping portion provided at one end, the arm movement mechanism has an arm support portion which is a plate-shaped member through which the shaft of the detachable arm is inserted, and the detachable arm is moved between the detachment position and the retracted position by moving the detachable arm via the shaft relative to the arm support portion.

13. The cap replacement jig according to claim 12, wherein the attachment / detachment arm is capable of being fixed to the arm support portion in the retracted position.

14. The cap replacement jig described in claim 1, further comprising an attachment portion for positioning the cap replacement jig at a predetermined position relative to the zonal rotor and for attaching the cap replacement jig to an opening of a space in the centrifuge in which the zonal rotor is housed.

15. A cap replacement jig for replacing a cap that can be attached or detached to a mounting port of a zonal rotor, comprising: an attachment / detachment arm having a gripping portion for gripping the cap; and an arm moving mechanism for moving the attachment / detachment arm between an attachment / detachment position for attaching or detaching the cap and a retracted position for retracting the cap from the attachment / detachment position.

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