Tube opening / closing device

Abstract

The present invention provides a tube opening / closing device capable of installing and taking out a tube regardless of an opening / closing state of a lid of the tube. A tube opening / closing device according to the present invention includes: a container holding part for holding a tube having a lid with a projection part; a lid opening / closing part having a groove part capable of being engaged with the projection part; a lid opening / closing rotation drive part for rotating the lid opening / closing part; and a holding position movement drive part for moving the container holding part. The holding position movement drive part executes, in a state where the lid is opened, an operation of moving the container holding part from a position where the tip of the projection part and an end of the groove part are at the same position to a position where the projection part and the groove part are engaged with each other, and an operation of moving the container holding part from the position where the projection part and the groove part are engaged with each other to the position where the tip of the projection part and the end of the groove part are at the same position. The lid opening / closing rotation drive part opens and closes the lid by rotating the lid opening / closing part in a state in which the projection part and the groove part are engaged with each other.

Description

Tube opening and closing device

[0001] The present invention relates to a tube opening and closing device having a lid, and more particularly to a tube opening and closing device used in clinical testing.

[0002] In clinical testing such as immune system analysis, samples such as blood collected from patients and reagents are dispensed into tubes, typically microtubes, whose lids are connected to the containers so that they are integrated into the containers. Various operations, such as stirring and centrifugation, are then performed on the sealed tubes. Automating testing requires automatic opening and closing of tube lids. A tube opening and closing device is a device for automatically opening and closing tube lids.

[0003] An example of a tube opening and closing device is described in Patent Document 1. The tube opening and closing device described in Patent Document 1 is a tube opening and closing device that can open and close a tube lid including a container and a lid connected to the container, and includes a tube support rack into which the tube container can be inserted, an opening and closing unit that is located above the tube support rack and rotates to form a fastening groove that receives the tube lid, and a drive unit that rotates the opening and closing unit. This tube opening and closing device can automatically open and close the tube lid relative to the container by rotating the opening and closing unit.

[0004] Special table 2019-527339 publication

[0005] In clinical testing, various operations are performed on tubes, and therefore, it is necessary to perform operations such as placing the tube in the tube opening and closing device or removing the tube from the tube opening and closing device regardless of whether the tube lid is open or closed.

[0006] The tube opening and closing device described in Patent Document 1 is configured to automatically open and close the lid, but is intended for tubes placed in a tube support rack only with their lids closed. Therefore, with this tube opening and closing device, it is difficult to place tubes with their lids open in the support rack or remove them from the support rack, making it difficult to perform operations required for clinical testing. Furthermore, in clinical testing, if a long period of time passes after starting operations on a sample, the properties of the sample may change, potentially leading to inaccurate test results. Therefore, it is desirable to be able to perform the next operation immediately after opening or closing the tube lid.

[0007] An object of the present invention is to provide a tube opening and closing device for opening and closing a tube lid, which allows tube installation and removal regardless of whether the lid is open or closed.

[0008] The tube opening and closing device according to the present invention comprises a container holding section that opens and closes the lid of a tube having a lid with a protrusion at one end and a container section having an opening that is opened and closed by the lid, and that has an insertion hole on its upper surface that holds the tube, a lid opening and closing section that is provided on the top of the container holding section and has a groove at its end that can engage with the protrusion on the lid, a lid opening and closing rotation drive section that rotates the lid opening and closing section around an axis parallel to a horizontal plane, and a holding position movement drive section that moves the container holding section horizontally. The holding position movement drive unit performs at least one of the following operations: (1) moving the container holding unit from a position where a tip of the protrusion of the lid and an end of the groove of the lid opening / closing unit are aligned in the horizontal direction to a position where the protrusion of the lid and the groove of the lid opening / closing unit engage with each other, while the lid is in an open state; and (2) moving the container holding unit from the position where the protrusion of the lid and the groove of the lid opening / closing unit engage with each other to a position where the tip of the protrusion of the lid and the end of the groove of the lid opening / closing unit are aligned in the horizontal direction. The lid opening / closing rotation drive unit rotates the lid opening / closing unit to open and close the lid while the protrusion of the lid and the groove of the lid opening / closing unit are aligned.

[0009] According to the present invention, it is possible to provide a tube opening and closing device that opens and closes the lid of a tube, and that allows tube installation and removal regardless of whether the lid is open or closed.

[0010] 1 is an external view showing a configuration example of a tube opening and closing device according to a first embodiment of the present invention; FIG. 2 is a top view of the tube opening and closing device; FIG. 3 is a front view of the tube opening and closing device; FIG. 4 is a side view of the tube opening and closing device; FIG. 5 is an external view of the tube opening and closing device showing a state in which a tube is inserted into the tube opening and closing device with the tube lid in an open state; FIG. 6 is an external view of the tube opening and closing device showing a state in which a protrusion of the tube lid is engaging with a groove of the lid opening and closing part with the tube lid in an open state; FIG. 7 is an external view of the tube opening and closing device showing a state in which the tube lid is being opened and closed; FIG. 8 is an external view of the tube opening and closing device showing a state in which the tube lid is being opened and closed; 1 is a cross-sectional view of a tube opening and closing device, showing the protrusion of the tube lid engaging with the groove of the lid opening and closing part when the lid of the tube is closed; FIG. 2 is a cross-sectional view of a tube opening and closing device, showing the tube being inserted into the tube opening and closing device when the lid of the tube is closed; FIG. 3 is an external view of a tube opening and closing device, showing the tube being inserted into the tube opening and closing device when the lid of the tube is open, and the protrusion of the lid engaging with the groove of the lid opening and closing part, in a method of tilting a tube using a tube opening and closing device to release its contents; FIG. 4 is a cross-sectional view of a tube opening and closing device, showing the tube being inserted into the tube opening and closing device when the lid of the tube is open, and the protrusion of the lid engaging with the groove of the lid opening and closing part, in a method of tilting a tube using a tube opening and closing device to release its contents; FIG. 5 is an external view of a tube opening and closing device, showing the tube being in the middle of tilting a tube when the tube opening and closing device is used to tilt a tube to release its contents.1 is a cross-sectional view of a tube opening and closing device showing a state in which a tube is being tilted in a method of tilting a tube by the tube opening and closing device to release its contents; FIG. 2 is an external view showing a state in which a tube is tilted in a method of tilting a tube by the tube opening and closing device to release its contents; FIG. 3 is an external view of a tube opening and closing device showing a state in which a mechanism for opening and closing the lid is rotating in a state in which a container fixing pin is in contact with a container portion to fix the container portion in a method of disposing of a tube by the tube opening and closing device; FIG. 4 is an external view of a tube opening and closing device showing a state in which a mechanism for opening and closing the lid is rotating in a state in which a tube lid is closed and a container fixing pin is in contact with a container portion to fix the container portion in a method of disposing of a tube by the tube opening and closing device; FIG. 5 is an external view of a tube opening and closing device showing a state in which a container fixing pin is moving and no longer fixes the container portion in a method of disposing of a tube by the tube opening and closing device, and showing a state in which a tube falls off from a container holding portion in a method of disposing of a tube by the tube opening and closing device. 1 is a cross-sectional view of a tube opening and closing device, showing a state in which the container fixing pin moves and no longer fixes the container part, causing the tube to fall off from the container holding part, in a method in which the tube opening and closing device disposes of a tube. FIG. 2 is an external view of a tube opening and closing device, showing a method in which the contents of a tube are recognized. FIG. 3 is an external view showing a configuration of a tube opening and closing device that can rotate a tube. FIG. 4 is an external view of a tube opening and closing device, showing a tube installed in an insertion hole with the tip of the protrusion of the lid facing away from the lid opening and closing part, in a method in which the tube is rotated to change its orientation. FIG. 5 is an external view of a tube opening and closing device, showing a state in which the tube is in the middle of rotating and changing its orientation, in a method in which the tube is rotated to change its orientation so that the protrusion of the tube lid faces the lid opening and closing part. FIG. 6 is a block diagram showing a schematic configuration of a system that controls the operation of the tube opening and closing device. FIG. 7 is an external view of a tube opening and closing device, showing a state in which a tube is installed in the tube opening and closing device with the opening angle of the tube lid small.6 is a cross-sectional view of a tube opening and closing device showing a state in which a tube is installed in the tube opening and closing device with the opening angle of the tube lid being small. FIG. 7 is a cross-sectional view of a tube opening and closing device showing a state in which a lid is engaged with a lid opening and closing part in Example 5 of the present invention, and a cross-sectional view showing a state in which a tube is installed in the tube opening and closing device. FIG. 8 is a cross-sectional view of a tube opening and closing device showing a state in which a lid is engaged with a lid opening and closing part in Example 5 of the present invention, and a cross-sectional view showing a state in which a tube lid is engaged with the lid opening and closing part. FIG. 9 is a cross-sectional view of a tube opening and closing device showing a state in which a lid is engaged with a lid opening and closing part in Example 5 of the present invention, and a cross-sectional view showing a state in which a tube lid is engaged with the lid opening and closing part. FIG. 10 is an external view of a tube opening and closing device showing a configuration of a tube opening and closing device according to Example 6 of the present invention. FIG. 11 is a cross-sectional view of a tube opening and closing device showing a configuration of a tube opening and closing device according to Example 6 of the present invention. FIG. 12 is an enlarged cross-sectional view of a tube opening and closing device showing a state in which the tube lid and the lid opening and closing part are different in size from each other in Example 6 of the present invention. FIG. 13 is a cross-sectional view of a tube opening and closing device showing a state in which a tube lid is starting to open in Example 6 of the present invention. FIG. 14 is a cross-sectional view of a tube opening and closing device showing a state in which the lid opening operation is continued and the lid is upright in Example 6 of the present invention. Fig. 10 is a cross-sectional view of the tube opening and closing device according to the sixth embodiment of the present invention, showing the state in which the lid opening operation is further continued and the lid is almost open. Fig. 11 is a cross-sectional view of the tube opening and closing device according to the sixth embodiment of the present invention, showing the state in which the lid opening operation is completed and the lid is completely open. Fig. 12 is a top view showing an example configuration of a tube opening and closing device comprising a combination of multiple instruments and devices.

[0011] In the tube opening and closing device according to the present invention, by changing the positional relationship between the container holding section in which the tube is installed and the lid opening and closing section that opens and closes the lid of the tube, it is possible to install the tube into the tube opening and closing device or remove the tube from the tube opening and closing device regardless of the open / closed state of the lid.

[0012] Hereinafter, a tube opening and closing device according to an embodiment of the present invention will be described with reference to the drawings. In the drawings used in this specification, the same or corresponding components are designated by the same reference numerals, and repeated description of these components may be omitted.

[0013] First Embodiment A tube opening and closing device according to a first embodiment of the present invention will be described below. First, the configuration of the tube opening and closing device according to this embodiment will be described with reference to Fig. 1 and Figs. 2A to 2C.

[0014] Fig. 1 is an external view showing an example of the configuration of a tube opening and closing device according to this embodiment. Fig. 2A to Fig. 2C are three-view diagrams of the tube opening and closing device according to this embodiment, where Fig. 2A is a top view, Fig. 2B is a front view, and Fig. 2C is a side view.

[0015] The tube opening and closing device according to this embodiment includes the components shown in Figures 1 and 2A to 2C, and opens and closes the lid of a tube. The tube includes a container portion and a lid connected to the container portion.

[0016] The container holder 1 can hold a tube. The container holder 1 has a roughly rectangular parallelepiped shape and has an insertion hole 101 on its upper surface, into which the tube is inserted to hold the tube's container portion. The insertion hole 101 is circular and opens upward. In this embodiment, in which the container holder 1 does not rotate, the opening surface of the insertion hole 101 is parallel to the horizontal plane. The container holder 1 is provided with a container support portion 102 around the opening of the insertion hole 101, which supports the tube's container portion placed in the insertion hole 101. A container support protrusion 106, which is a protrusion that protrudes upward, is provided on the top of the container support portion 102.

[0017] The container holding portion 1 has a retaining notch opening 103 on a surface perpendicular to the opening surface of the insertion hole 101, i.e., on the side surface. The retaining notch opening 103 is located on the side of the insertion hole 101 (the portion perpendicular to the opening surface of the insertion hole 101) and opens to the outside of the container holding portion 1. In other words, the container holding portion 1 has openings on the top and side surfaces through the insertion hole 101, and the opening on the side surface is the retaining notch opening 103, and the opening width of the retaining notch opening 103 is smaller than the diameter of the insertion hole 101.

[0018] A holding position movement rail 104 and a holding position movement rack 105 are provided at the bottom of the container holding unit 1 for linear movement relative to the opening / closing mechanism support unit 3. The bottom of the container holding unit 1 is connected via a holding position drive pinion 701 to a holding position movement drive unit 7 that moves the container holding unit 1 in the horizontal direction (a direction parallel to the opening surface of the insertion hole 101).

[0019] The container holding unit 1 includes a generally plate-shaped lid opening / closing unit 2. The lid opening / closing unit 2 is provided on the upper part of the container holding unit 1 and is installed on the opening / closing mechanism support unit 3 so as to be rotatable around a lid opening / closing rotation axis 202 parallel to the horizontal plane. The lid opening / closing unit 2 includes a groove 201 at one end (tip) opposite to one end (rear end) close to the center of rotation. The groove 201 of the lid opening / closing unit 2 is located at the end (tip) of the lid opening / closing unit 2 and is recessed in a direction parallel to the surface of the lid opening / closing unit 2.

[0020] The lid opening / closing rotation shaft 202 is an axis that is parallel to the opening surface (horizontal surface) of the insertion hole 101 and perpendicular to the direction of movement of the container holding part 1. The lid opening / closing rotation shaft 202 is connected to a lid opening / closing rotation shaft gear 203 and is also connected to a lid opening / closing rotation drive part 8 that rotates the lid opening / closing part 2 via a lid opening / closing rotation drive transmission gear 801.

[0021] The opening / closing mechanism support part 3 is roughly U-shaped and includes a holder support rail 301 that supports and linearly moves the container holder 1. The opening / closing mechanism support part 3 is installed on the device support part 4 so that it can rotate on an opening / closing mechanism support shaft 302 that is parallel to the lid opening / closing rotation shaft 202. The opening / closing mechanism support shaft 302 is connected to a device rotation drive part 6 that rotates the opening / closing mechanism support part 3 via a device rotation bearing 402 of the device support part 4. A lower cutout part 401 is provided in the lower part of the device support part 4.

[0022] The container holding portion 1 has a container fixing pin 5 therein that can protrude into the insertion hole 101. The container fixing pin 5 is a container fixing portion that fixes the container portion of the tube to the container holding portion 1 by pressing the container portion of the tube, and is moved by a fixing pin drive unit (fixing pin drive unit 9 shown in FIG. 4B) that is not shown in FIGS. 1 and 2A to 2C. The fixing pin drive unit is a container fixing drive unit that drives the container fixing portion. The container fixing pin 5 moves due to the action of the fixing pin drive unit to fix the container portion of the tube to the container holding portion 1 or to release the fixation of the container portion fixed to the container holding portion 1.

[0023] The device rotation drive unit 6 is fixed to the device support unit 4. The holding position movement drive unit 7 and the lid opening / closing rotation drive unit 8 are fixed to the opening / closing mechanism support unit 3. The lid opening / closing rotation drive unit 8 rotates the lid opening / closing unit 2 around a lid opening / closing rotation shaft 202 that is parallel to the horizontal plane.

[0024] The device rotation drive unit 6 rotates the opening / closing mechanism support unit 3, thereby rotating the lid opening / closing unit 2, the container holding unit 1, the holding position movement drive unit 7, and the lid opening / closing rotation drive unit 8. The opening / closing mechanism support unit 3 rotates around an opening / closing mechanism support shaft 302 that is parallel to the lid opening / closing rotation shaft 202. The lid opening / closing rotation shaft 202 is an axis that is parallel to the opening surface (horizontal plane) of the insertion hole 101 and perpendicular to the movement direction of the container holding unit 1. In other words, the opening / closing mechanism support shaft 302 is also an axis that is parallel to the opening surface (horizontal plane) of the insertion hole 101 and perpendicular to the movement direction of the container holding unit 1.

[0025] Next, a method for engaging the tube lid with the tube opening and closing device according to this embodiment and opening and closing the tube lid will be described with reference to FIGS. 3A to 3E and 4A to 4E.

[0026] The tube 10 includes a container 11 having an opening, and a lid 12 connected to the container 11 and adapted to open and close the opening of the container 11. The lid 12 can seal the opening of the container 11.

[0027] The lid 12 has a protrusion 13 at one end and a connection part for connecting to the container part 11 at the other end opposite to the one end. The protrusion 13 protrudes in a direction parallel to the lid 12. The protrusion 13 can enter and engage with a groove 201 in the lid opening / closing part 2 of the tube opening / closing device.

[0028] 3A to 3E are external views of a tube opening and closing device, showing how the tube opening and closing device opens and closes the tube 10. FIG. 3A is an external view showing the tube 10 inserted into the tube opening and closing device with the lid 12 of the tube 10 in an open state. FIG. 3B is an external view showing the protrusion 13 of the lid 12 of the tube 10 engaging with the groove 201 of the lid opening and closing unit 2 with the lid 12 of the tube 10 in an open state. FIG. 3C is an external view showing the lid 12 of the tube 10 being opened or closed. FIG. 3D is an external view showing the protrusion 13 of the lid 12 of the tube 10 engaging with the groove 201 of the lid opening and closing unit 2 with the lid 12 of the tube 10 in a closed state. FIG. 3E is an external view showing the tube 10 inserted into the tube opening and closing device with the lid 12 of the tube 10 in a closed state.

[0029] 4A to 4E are cross-sectional views of a tube opening and closing device, showing how the tube opening and closing device opens and closes the tube 10. FIG. 4A is a cross-sectional view showing the tube 10 being inserted into the tube opening and closing device with the lid 12 of the tube 10 in an open state. FIG. 4B is a cross-sectional view showing the protrusion 13 of the lid 12 of the tube 10 engaging with the groove 201 of the lid opening and closing unit 2 with the lid 12 of the tube 10 in an open state. FIG. 4C is a cross-sectional view showing the lid 12 of the tube 10 being opened or closed. FIG. 4D is a cross-sectional view showing the protrusion 13 of the lid 12 of the tube 10 engaging with the groove 201 of the lid opening and closing unit 2 with the lid 12 of the tube 10 in a closed state. FIG. 4E is a cross-sectional view showing the tube 10 being inserted into the tube opening and closing device with the lid 12 of the tube 10 in a closed state.

[0030] 3A and 4A and the states shown in 3E and 4E, the protrusion 13 of the lid 12 of the tube 10 is not engaged with the groove 201 of the lid opening / closing part 2. In the states shown in 3C and 4C, the protrusion 13 of the lid 12 of the tube 10 is engaged with the groove 201 of the lid opening / closing part 2.

[0031] As shown in Figures 3A and 4A, when the container portion 11 of the tube 10 is inserted into or removed from the insertion hole 101 with the lid 12 of the tube 10 open, the container holding unit 1 is moved by the holding position movement drive unit 7 to a position where the tip of the protrusion 13 of the lid 12 and the end of the groove 201 of the lid opening / closing unit 2 are in the same position (position P1) in the movement direction (horizontal direction) of the container holding unit 1. The end of the groove 201 of the lid opening / closing unit 2 is the end of the groove 201 that is closest to the rotation center (lid opening / closing rotation axis 202) of the lid opening / closing unit 2 and is the end where the groove 201 is open. At this time, the container fixing pin 5 is moved by the fixing pin drive unit 9 (not shown in Figures 3A and 4A) to a position where it does not contact the container portion 11, and the tube 10 can move relative to the insertion hole 101. In the state shown in FIGS. 3A and 4A, the protrusion 13 of the lid 12 and the groove 201 of the lid opening / closing part 2 are not engaged with each other.

[0032] In the state shown in Figures 3A and 4A, the tip of the protrusion 13 of the lid 12 and the end of the groove 201 of the lid opening / closing part 2 are at the same position (position P1) in the direction of movement of the container holding part 1, so the lid opening / closing part 2 is not positioned directly above the lid 12 of the tube 10, and the tube 10 can be placed in or removed from the insertion hole 101.

[0033] 3B and 4B, when starting the operation of closing the lid 12 of the tube 10 or completing the operation of opening the lid 12, the container holding unit 1 is moved by the holding position movement drive unit 7 to a position where the protrusion 13 of the lid 12 engages with the groove 201 of the lid opening / closing unit 2 (or is moved to this position). At this time, the container fixing pin 5 is moved by the fixing pin drive unit 9 shown in FIG. 4B to a position where it contacts the container unit 11, and the tube 10 cannot move relative to the insertion hole 101. In the state shown in FIGS. 3B and 4B, the protrusion 13 of the lid 12 engages with the groove 201 of the lid opening / closing unit 2.

[0034] The fixed pin drive unit 9 is shown in FIG. 4B, but is not shown in the other drawings.

[0035] 3C and 4C, during the operation of closing or opening the lid 12 of the tube 10, the container holding part 1 maintains the position shown in Figures 3B and 4B or 3D and 4D, and the lid opening / closing part 2 rotates integrally with the lid 12 by the lid opening / closing rotation drive part 8, with the groove part 201 remaining engaged with the protrusion part 13 of the lid 12. At this time, the container fixing pin 5 maintains a position in contact with the container part 11.

[0036] When transitioning from the state shown in Figures 3B and 4B to the state shown in Figures 3C and 4C, or from the state shown in Figures 3C and 4C to the state shown in Figures 3B and 4B, the lid opening / closing rotation drive unit 8 rotates the lid opening / closing unit 2 to open or close the lid 12 while keeping the groove 201 of the lid opening / closing unit 2 engaged with the protrusion 13 of the lid 12.

[0037] 3D and 4D , when starting the operation of opening the lid 12 of the tube 10 or completing the operation of closing the lid 12, the container holding unit 1 is moved by the holding position movement drive unit 7 to a position where the protrusion 13 of the lid 12 engages with the groove 201 of the lid opening / closing unit 2 (or is moved to this position). At this time, the container fixing pin 5 is moved by the fixing pin drive unit 9 to a position where it contacts the container unit 11, preventing the tube 10 from moving relative to the insertion hole 101. In the state shown in FIGS. 3D and 4D , the protrusion 13 of the lid 12 engages with the groove 201 of the lid opening / closing unit 2.

[0038] When transitioning from the state shown in Figures 3C and 4C to the state shown in Figures 3D and 4D, or from the state shown in Figures 3D and 4D to the state shown in Figures 3C and 4C, the lid opening / closing rotation drive unit 8 rotates the lid opening / closing unit 2 to open or close the lid 12 while keeping the groove 201 of the lid opening / closing unit 2 engaged with the protrusion 13 of the lid 12.

[0039] As shown in FIGS. 3E and 4E , when inserting the container portion 11 of the tube 10 into the insertion hole 101 or removing the tube 10 from the insertion hole 101 with the lid 12 of the tube 10 closed, the container holder 1 is moved by the holding position movement drive unit 7 to a position where the tip of the protrusion 13 of the lid 12 and the rear end of the lid opening / closing unit 2 are in the same position (position P2) in the movement direction (horizontal direction) of the container holder 1. The rear end of the lid opening / closing unit 2 is the end closest to the rotation center (lid opening / closing rotation axis 202) of the lid opening / closing unit 2, i.e., the end opposite the groove 201. At this time, the container fixing pin 5 is moved by the fixing pin drive unit 9 to a position where it does not contact the container portion 11, and the tube 10 can move relative to the insertion hole 101. In the state shown in FIGS. 3E and 4E , the protrusion 13 of the lid 12 and the groove 201 of the lid opening / closing unit 2 are not engaged.

[0040] In the state shown in Figures 3E and 4E, the tip of the protrusion 13 of the lid 12 and the rear end of the lid opening / closing part 2 are at the same position (position P2) in the direction of movement of the container holding part 1, so the lid opening / closing part 2 is not positioned directly above the lid 12 of the tube 10, and the tube 10 can be installed in or removed from the insertion hole 101.

[0041] The tube opening and closing device of this embodiment can easily transition between the state shown in Figure 3A and the state shown in Figure 3B, between the state shown in Figure 3B and the state shown in Figure 3C, between the state shown in Figure 3C and the state shown in Figure 3D, and between the state shown in Figure 3D and the state shown in Figure 3E (the same applies to each of the states shown in Figures 4A to 4E).

[0042] For example, a case will be described in which the tube 10 is placed in the insertion hole 101 with the lid 12 of the tube 10 open, and then the lid 12 of the tube 10 is closed and the tube 10 is removed from the insertion hole 101. In this case, the tube opening and closing device first moves the container holding unit 1 and rotates the lid opening and closing unit 2 to the states shown in FIGS. 3A and 4A . When the tube 10 with the lid 12 open is placed in the insertion hole 101, the container holding unit 1 and the container fixing pin 5 move in this state, and the tube opening and closing device transitions to a state in which the protrusion 13 engages with the groove 201, as shown in FIGS. 3B and 4B . Then, the lid 12 rotates integrally with the lid opening and closing unit 2 from the state shown in FIGS. 3B and 4B , transitioning to the state shown in FIGS. 3C and 4C . As the lid 12 and the lid opening and closing unit 2 continue to rotate further, the state transitions to the state shown in FIGS. 3D and 4D , i.e., a state in which the lid 12 is closed and the protrusion 13 engages with the groove 201. Finally, the container holding portion 1 and the container fixing pin 5 move, transitioning from the state shown in Figures 3D and 4D to the state shown in Figures 3E and 4E, i.e., a state in which the lid 12 of the tube 10 is closed and the tube 10 can be removed from the insertion hole 101.

[0043] Note that the above-described state transitions can be reversed when opening the closed lid 12. Alternatively, the tube 10 may be placed in the insertion hole 101 with the lid 12 in the closed state shown in Figures 3E and 4E, and the lid 12 may be opened by transitioning from the state shown in Figures 3E and 4E to the state with the lid 12 open shown in Figures 3B and 4B, and then the state transitions from Figures 3C to 3E and from Figure 4C to 4E, which are the operations for closing the lid 12, may be performed, and the tube 10 may be removed from the insertion hole 101 with the lid 12 in the closed state.

[0044] In this way, with the tube opening and closing device of this embodiment, the positional relationship between the container holding unit 1 and the lid opening and closing unit 2 can be changed in a direction parallel to the opening surface of the insertion hole 101 (the left-right direction in Figures 4A to 4E, i.e., the horizontal direction) so that the lid opening and closing unit 2 is not positioned directly above the lid 12 of the tube 10, and therefore the tube 10 can be placed in or removed from the insertion hole 101 regardless of the open or closed state of the lid 12. Furthermore, with the tube opening and closing device of this embodiment, the lid 12 can be easily and continuously transitioned from an open state to a closed state and from a closed state to an open state, allowing each operation required for clinical testing to be performed quickly.

[0045] In the tube opening and closing device according to this embodiment, the lid opening and closing unit 2 has a notch between the two lid opening and closing rotation shafts 202 (see, for example, FIGS. 2A and 3D ). Therefore, even if the container holding unit 1 is positioned closer to the lid opening and closing unit 2 than in the states shown in FIGS. 3E and 4E , the lid opening and closing unit 2 can be prevented from being positioned directly above the lid 12 of the tube 10, allowing the tube 10 to be placed in or removed from the insertion hole 101 regardless of the open or closed state of the lid 12. Even in this case, the tip of the protrusion 13 of the lid 12 and the rear end of the notch in the lid opening and closing unit 2 can move to the same position (position P2) in the movement direction (horizontal direction) of the container holding unit 1, and the above description remains applicable.

[0046] As described above, the tube opening and closing device according to this embodiment allows the tube 10 to be placed in the insertion hole 101 and the tube 10 to be removed from the insertion hole 101 regardless of whether the lid 12 is open or closed.

[0047] A tube opening and closing device according to a second embodiment of the present invention will be described with reference to Figures 5A to 5F and 6A to 6D. In the tube opening and closing device according to this embodiment, a mechanism for opening and closing the lid 12, including the container holding unit 1 and the lid opening and closing unit 2, rotates, and operations different from those described in the first embodiment can be performed on the tube 10. The following description will focus on the differences between the tube opening and closing device according to this embodiment and the tube opening and closing device according to the first embodiment.

[0048] The tube opening and closing device according to this embodiment can release the contents of the tube 10 by tilting the tube 10 .

[0049] Figures 5A to 5F are views of a tube opening and closing device showing how the tube opening and closing device tilts the tube 10 to release the contents of the tube 10. Figure 5A is an external view showing the tube 10 inserted into the tube opening and closing device with the lid 12 of the tube 10 in an open state, and the protrusion 13 of the lid 12 engaged with the groove 201 of the lid opening and closing part 2. Figure 5B is a cross-sectional view in the same state as Figure 5A. Figure 5C is an external view showing the tube 10 in the middle of being tilted. Figure 5D is a cross-sectional view in the same state as Figure 5C. Figure 5E is an external view showing the tube 10 in a tilted state. Figure 5F is a cross-sectional view in the same state as Figure 5E. Note that Figures 5A and 5B show the same states as Figures 3B and 4B, respectively.

[0050] 5A and 5B, when starting to tilt the tube 10 or returning the tube 10 from the tilted state, the protrusion 13 of the lid 12 engages with the groove 201 of the lid opening / closing part 2. At this time, the container fixing pin 5 is in contact with the container part 11, and the tube 10 cannot move relative to the insertion hole 101.

[0051] 5C and 5D , when tilting the tube 10, the container fixing pin 5 contacts the container part 11 to fix the container part 11, and the opening / closing mechanism support part 3 is rotated around the opening / closing mechanism support shaft 302 and the device rotation bearing 402 by the device rotation drive part 6. At this time, the opening / closing mechanism support shaft 302 and the device rotation bearing 402 are at the same position in the horizontal direction as one end of the opening surface of the container part 11 of the tube 10.

[0052] As shown in Figures 5E and 5F, when the tilting of the tube 10 is completed, the container fixing pin 5 contacts the container portion 11, fixing the container portion 11, and the opening / closing mechanism support portion 3 is rotated to a predetermined angle by the device rotation drive portion 6.

[0053] The tube opening and closing device according to this embodiment can easily transition between the states shown in Figures 5A and 5B and the states shown in Figures 5C and 5D, and between the states shown in Figures 5C and 5D and the states shown in Figures 5E and 5F.

[0054] The tube 10 releases the contents of the container portion 11 by tilting. When a container such as a test tube is placed in the lower cutout portion 401 provided in the lower part of the device support portion 4, the contents of the tube 10 can be transferred to the container by tilting the tube 10. When the tube 10 is tilted, it rotates around one end of the opening surface of the container portion 11. Therefore, if the position of the end of the opening surface of the container to which the contents of the tube 10 are to be transferred is approximately the same as the position of one end of the opening surface of the container portion 11 of the tube 10 in the horizontal direction, the contents of the tube 10 can be transferred to the container such as a test tube without spilling.

[0055] The container for transferring the contents of the tube 10 does not necessarily have to be placed at the lower notch 401 of the device support part 4. Even if the container is placed at a position other than this, for example, by placing it at an angle to the horizontal plane, the contents of the tube 10 can be stored without spilling.

[0056] The tube opening and closing device according to this embodiment allows the tube 10 to be disposed of by placing it in a disposal box.

[0057] 6A to 6D are diagrams of a tube opening and closing device showing a method for disposing of a tube 10 by the tube opening and closing device. Fig. 6A is an external view showing a state in which the lid 12 of the tube 10 is closed and the mechanism for opening and closing the lid 12 is rotating while the container fixing pin 5 is in contact with the container part 11 to fix the container part 11. Fig. 6B is a cross-sectional view in the same state as Fig. 6A. Fig. 6C is an external view showing a state in which the container fixing pin 5 has moved and no longer fixes the container part 11, causing the tube 10 to fall off the container holding part 1. Fig. 6D is a cross-sectional view in the same state as Fig. 6C.

[0058] 6A and 6B, when the tube 10 is tilted so that the lid 12 faces downward, the lid 12 of the tube 10 is closed and the protrusion 13 of the lid 12 is not engaged with the groove 201 of the lid opening / closing part 2. In this state, the opening / closing mechanism support part 3 is rotated by the device rotation drive part 6 in the container holding part 1. At this time, the container fixing pin 5 is in contact with the container part 11, so the tube 10 cannot fall off the container holding part 1. A waste box 14 for storing discarded tubes 10 is provided below the device support part 4.

[0059] 5C and 5D, when removing the tube 10 from the container holder 1, the container fixing pin 5 is moved to a position where it does not come into contact with the container 11, so that the tube 10 is not fixed to the container holder 1. Then, the tube 10 falls off the container holder 1 and goes into the disposal box 14.

[0060] As described above, the tube opening and closing device of this embodiment is configured so that the mechanism for opening and closing the lid 12, which includes the container holding section 1 and the lid opening and closing section 2, rotates, and can perform operations such as not only opening and closing the lid 12 of the tube 10, but also transferring the contents of the tube 10 and disposing of the tube 10.

[0061] A tube opening and closing device according to a third embodiment of the present invention will be described with reference to Fig. 7. The tube opening and closing device according to this embodiment is capable of recognizing the contents of the tube 10. The following description will focus on the differences between the tube opening and closing device according to the first embodiment and the tube opening and closing device according to the third embodiment.

[0062] 7 is an external view of the tube opening and closing device, showing a method for recognizing the contents of the tube 10. The tube opening and closing device according to this embodiment includes a camera 15.

[0063] As already explained, the container holding portion 1 has a retaining notch opening 103 that opens to the outside on a surface perpendicular to the opening surface of the insertion hole 101, i.e., on a side surface. The opening width of the retaining notch opening 103 is smaller than the diameter of the insertion hole 101. In other words, the container holding portion 1 opens to the outside with a width smaller than the diameter of the insertion hole 101 due to the retaining notch opening 103. In the tube 10 installed in the insertion hole 101, the contents stored in the container portion 11 can be seen from outside the container holding portion 1 through the retaining notch opening 103.

[0064] When camera 15 is installed in front of container holder 1, i.e., at a position facing the opening surface of holder notch opening 103, camera 15 can photograph tube 10 installed in insertion hole 101 through holder notch opening 103. By performing image analysis on the image photographed by camera 15, the contents of tube 10 can be recognized and analyzed. For example, by performing blob analysis or edge extraction on the image photographed by camera 15 to analyze the amount and color of the contents, it is possible to detect abnormalities in the contents.

[0065] As described above, in the tube opening and closing device of this embodiment, the container holding portion 1 is provided with a holding notch opening 103, so that the tube 10 can be seen from outside the container holding portion 1 regardless of the open / closed state of the lid 12 of the tube 10 or the state of operation on the tube 10.

[0066] A tube opening and closing device according to a fourth embodiment of the present invention will be described with reference to Figures 8 and 9A to 9C. In the tube opening and closing device according to this embodiment, the orientation of the tube 10 can be changed by rotating the tube 10 installed in the insertion hole 101. The following mainly describes the differences between the tube opening and closing device according to this embodiment and the tube opening and closing device according to the first embodiment.

[0067] Fig. 8 is an external view showing the configuration of a tube opening / closing device capable of rotating the tube 10. Figs. 9A to 9C are external views of a tube opening / closing device showing a method of rotating the tube 10 to change the orientation of the tube 10. Fig. 9A is an external view showing the tube 10 installed in the insertion hole 101 with the tip of the protrusion 13 of the lid 12 facing away from the lid opening / closing unit 2 (Fig. 8). Fig. 9B is an external view showing the tube 10 in the middle of rotating and changing its orientation. Fig. 9C is an external view showing the tube 10 rotated so that the protrusion 13 of the lid 12 of the tube 10 faces the lid opening / closing unit 2.

[0068] As shown in FIG. 8, the tube opening and closing device according to this embodiment includes a container rotating roller 16 and a container rotation driving unit 17.

[0069] As already explained, the container holder 1 has a retaining notch opening 103 that opens to the outside on a surface perpendicular to the opening surface of the insertion hole 101, i.e., on the side surface. The opening width of the retaining notch opening 103 is smaller than the diameter of the insertion hole 101. When the tube 10 is installed in the insertion hole 101, a portion of the circumferential direction of the container portion 11 protrudes from the retaining notch opening 103 toward the outside of the container holder 1.

[0070] The container rotation roller 16 is a container rotation unit installed in front of the holding notch opening 103 of the container holding unit 1. One or both of the container holding unit 1 and the container rotation roller 16 can move to a position where the portion of the container unit 11 protruding from the holding notch opening 103 comes into contact with the container rotation roller 16.

[0071] The container rotation drive unit 17 is connected to the container rotation roller 16 and can rotate the container rotation roller 16 around an axis perpendicular to the opening surface of the insertion hole 101 .

[0072] The container rotating roller 16 rotates while in contact with the container portion 11 of the tube 10 installed in the insertion hole 101, thereby rotating the container portion 11 around an axis perpendicular to the opening surface of the insertion hole 101, and changing the orientation of the lid 12, i.e., the direction in which the tip of the protrusion portion 13 of the lid 12 is facing.

[0073] As shown in Figure 9A, when the tip of the protrusion 13 of the lid 12 of the tube 10 faces in the opposite direction to the lid opening / closing part 2, even if the container holding part 1 is moved, the protrusion 13 of the lid 12 cannot engage with the groove part 201 (Figure 8) of the lid opening / closing part 2.

[0074] At this time, one or both of the container holding part 1 and the container rotation roller 16 are moved to bring the container part 11 of the tube 10 into contact with the container rotation roller 16, and rotate the container rotation roller 16. Then, as shown in Fig. 9B, the container part 11 rotates, and the orientation of the lid 12 (the direction in which the tip of the protrusion 13 of the lid 12 faces) can be changed.

[0075] As the container rotation roller 16 continues to rotate, the tip of the protrusion 13 of the lid 12 faces the lid opening / closing unit 2 (FIG. 8) as shown in FIG. 9C. At this time, the connection between the container unit 11 and the lid 12 comes into contact with the container support protrusion 106 provided on the container support unit 102, increasing the rotation load on the container rotation roller 16. Then, the container rotation drive unit 17 stops due to overload, or slippage occurs between the container rotation roller 16 and the container unit 11, causing the rotation of the container unit 11 to stop and the orientation of the lid 12 to be fixed.

[0076] As described above, the tube opening and closing device according to this embodiment includes the container rotating roller 16 that rotates the container portion 11 of the tube 10 installed in the insertion hole 101, and can change the orientation of the lid 12 of the tube 10. Therefore, with the tube opening and closing device according to this embodiment, even if the lid 12 is facing in any direction when the tube 10 is installed in the insertion hole 101, the orientation of the lid 12 can be changed and the protrusion 13 of the lid 12 can be engaged with the groove 201 of the lid opening and closing part 2.

[0077] The method of rotating the container part 11 does not have to be the method shown in Fig. 8, i.e., the method of rotating the container part 11 protruding from the holding notch opening 103 by contacting it with an externally disposed container rotating roller 16. For example, the container holding part 1 may be provided with a rotating roller inside, and the container part 11 may be rotated by contacting this roller.

[0078] Furthermore, the method of stopping the rotation of the container part 11 does not have to be a method of bringing the connection part between the container part 11 and the lid 12 into contact with the container support protrusion 106. For example, the orientation of the lid 12 may be detected using a camera, and the rotation of the container part 11 may be stopped when the tip of the protrusion 13 of the lid 12 faces the lid opening / closing part 2 by visual feedback.

[0079] A tube opening and closing device according to a fifth embodiment of the present invention will be described with reference to Figures 10, 11A to 11B, and 12A to 12C. In the tube opening and closing device according to this embodiment, even if the opening angle of the lid 12 of the tube 10 is small, the protrusion 13 of the lid 12 can engage with the groove 201 of the lid opening and closing part 2. Below, the differences between the tube opening and closing device according to this embodiment and the tube opening and closing device according to the first embodiment will be mainly described.

[0080] Fig. 10 is a block diagram showing a schematic configuration of a system that controls the operation of the tube opening and closing device. Figs. 11A and 11B are views of a tube opening and closing device showing a state in which a tube 10 is installed in the tube opening and closing device with the lid 12 of the tube 10 at a small opening angle. Fig. 11A is an external view of the tube opening and closing device. Fig. 11B is a cross-sectional view of the tube opening and closing device. Figs. 12A to 12C are cross-sectional views of the tube opening and closing device showing a state in which the lid 12 is engaged with the lid opening and closing unit 2. Fig. 12A is a cross-sectional view showing a state in which the tube 10 is installed in the tube opening and closing device. Fig. 12B is a cross-sectional view showing a state in which the lid 12 of the tube 10 is engaged with the lid opening and closing unit 2. Fig. 12C is a cross-sectional view showing a state in which the lid 12 of the tube 10 is engaged with the lid opening and closing unit 2.

[0081] As shown in Figure 10, the tube opening and closing device of this embodiment includes the device rotation drive unit 6, holding position movement drive unit 7, lid opening and closing rotation drive unit 8, fixed pin drive unit 9, and camera 15, as already described, and further includes an opening and closing control device 20.

[0082] The opening and closing control device 20 is configured as a computer and includes a control device 21, a storage device 22, a control interface 23, and an input device 24, which are electrically connected to each other. The opening and closing control device 20 controls the operations of, for example, the device rotation drive unit 6, the holding position movement drive unit 7, the lid opening and closing rotation drive unit 8, the fixed pin drive unit 9, and the camera 15, thereby controlling the tube opening and closing device.

[0083] The control device 21 includes a central processing unit (CPU), a random access memory (RAM), a read-only memory (ROM), and the like, and is configured to execute information processing based on programs and various data.

[0084] The storage device 22 is an auxiliary storage device such as a hard disk drive, and stores a control program 221 executed by the control device 21 and operation setting values ​​222 that set the operation amount of each drive unit of the tube opening and closing device.

[0085] The control interface 23 is connected to the device rotation drive unit 6, the holding position movement drive unit 7, the lid opening / closing rotation drive unit 8, the fixed pin drive unit 9, and the camera 15. The control interface 23 is an interface (I / F) for transmitting and receiving control commands to the tube opening / closing device and data related to the state of the tube opening / closing device between these drive units and the like.

[0086] The input device 24 is a device such as a mouse or keyboard that receives input from the user, and controls the execution of the control program 221 and changes the operation setting values ​​222 .

[0087] When the opening and closing control device 20 is started by turning on the power or the like, it loads the control program 221 and operation set values ​​222 stored in the storage device 22 into the control device 21 and executes the control program 221. The control program 221 generates control commands to each drive unit of the tube opening and closing device based on the state of the tube opening and closing device input from the control interface 23, and outputs the control commands to each drive unit through the control interface 23.

[0088] 11A and 11B , when the opening angle of the lid 12 of the tube 10 is small and the opening surface of the container portion 11 and the lid 12 are not on the same plane, and the tube 10 is installed in the tube opening and closing device, the protrusion 13 of the lid 12 cannot engage with the groove 201 of the lid opening and closing portion 2 even when the container holding portion 1 is moved. Causes of a small opening angle of the lid 12 include, for example, an error in manufacturing the tube 10 and bending of the connection portion of the lid 12 due to a force being applied in the closing direction of the lid 12. The opening angle of the lid 12 often differs for each individual tube 10.

[0089] 12A to 12C, the opening and closing control device 20 installs the tube 10 in the tube opening and closing device and engages the protrusion 13 of the lid 12 with the groove 201 of the lid opening and closing part 2. The opening angle of the lid 12 of the tube 10 is small, so even when the tube 10 is installed in the tube opening and closing device with the lid 12 open, the lid 12 is not flush with the opening surface of the container part 11.

[0090] 12A , when the tube 10 with the lid 12 open is placed in the insertion hole 101 of the tube opening / closing device, the opening / closing control device 20 rotates the lid opening / closing part 2 by a predetermined angle in the direction of closing the lid 12 from a position (horizontal position) parallel to the opening surface of the insertion hole 101. In this way, the lid 12 is pressed against the lid opening / closing part 2 by the force of inserting the tube 10 into the insertion hole 101, and rotates along the lid opening / closing part 2.

[0091] This predetermined angle can be arbitrarily determined depending on the angle at which the lid 12 is opened, and can be set in the opening / closing control device 20 via the input device 24 as an operation setting value 222 (FIG. 10).

[0092] After the opening / closing control device 20 rotates the lid opening / closing unit 2 by a predetermined angle in the direction in which the lid 12 is closed, the tube 10 is inserted into the insertion hole 101 of the tube opening / closing device. In this embodiment, the tube 10 with the lid 12 open is thus placed in the insertion hole 101 of the tube opening / closing device ( FIG. 12A ).

[0093] 12B , the opening / closing control device 20 rotates the lid opening / closing unit 2 in the direction in which the lid 12 closes, and simultaneously moves the container holding unit 1 horizontally. Due to this rotation of the lid opening / closing unit 2 and movement of the container holding unit 1, the lid 12 becomes upright, and the protrusion 13 begins to engage with the groove 201 of the lid opening / closing unit 2. Thereafter, the rotation of the lid opening / closing unit 2 and the movement of the container holding unit 1 continue. Due to the rotation of the lid opening / closing unit 2 and the movement of the container holding unit 1, the lid 12 rotates while its tip slides on the lid opening / closing unit 2, becoming upright.

[0094] Then, as shown in FIG. 12C, with the lid 12 and the lid opening / closing part 2 standing upright, the protrusion 13 engages with the groove 201, and the lid opening / closing part 2 and the lid 12 become parallel and substantially integrated.

[0095] In the tube opening and closing device of this embodiment, as described above, by simultaneously driving the lid opening and closing unit 2 and the container holding unit 1, the lid 12 can be engaged with the lid opening and closing unit 2 even for tubes 10 in which the opening angle of the lid 12 is small when opened and the opening surface of the container unit 11 and the lid 12 are not on the same plane.

[0096] For simplicity of explanation, the present embodiment has been described only in the case where the lid opening / closing unit 2 and the container holding unit 1 are operated in the direction to close the lid 12. The tube opening / closing device according to the present embodiment can similarly engage the lid 12 with the lid opening / closing unit 2 even when the lid opening / closing unit 2 and the container holding unit 1 are operated in the direction to open the lid 12.

[0097] Furthermore, in the tube opening and closing device according to this embodiment, the operation setting value 222 may be changed via the input device 24 (FIG. 10) depending on the type and size of the tube 10, thereby changing the amount of operation of the container holding unit 1 and the rotation angle of the lid opening and closing unit 2. Furthermore, the angle of the lid 12 may be estimated using the camera 15 (FIGS. 7 and 10), and the rotation angle of the lid opening and closing unit 2 may be adjusted depending on the estimated angle of the lid 12.

[0098] A tube opening and closing device according to a sixth embodiment of the present invention will be described with reference to Figures 13A to 13B, 14, and 15A to 15E. The tube opening and closing device according to this embodiment can open and close the lid 12 of the tube 10 even when the size of the lid 12 and the size of the lid opening and closing part 2 are different from each other. The size of the lid 12 refers to the size of the surface of the lid 12, and the size of the lid opening and closing part 2 refers to the size of the surface of the lid opening and closing part 2, which is generally plate-shaped.

[0099] 13A and 13B are diagrams showing the configuration of a tube opening and closing device according to this embodiment. FIG. 13A is an external view of the tube opening and closing device. FIG. 13B is a cross-sectional view of the tube opening and closing device. FIG. 14 is an enlarged cross-sectional view of the tube opening and closing device, showing how the lid 12 of the tube 10 and the lid opening and closing unit 2 are different in size. FIGS. 15A to 15E are cross-sectional views of the tube opening and closing device, showing how the lid 12 of the tube 10 is opened. FIG. 15A is a cross-sectional view showing how the lid 12 of the tube 10 begins to open. FIG. 15B is a cross-sectional view showing how the lid opening and closing unit 2 is rotating in the direction to open the lid 12. FIG. 15C is a cross-sectional view showing how the lid 12 is being opened and is standing upright. FIG. 15D is a cross-sectional view showing how the lid 12 is being opened and is almost open. FIG. 15E is a cross-sectional view showing how the lid 12 is being opened and is completely open.

[0100] 13A to 13B, 14, and 15A to 15E show an example in which the lid 12 is larger than the lid opening / closing part 2. In FIG.

[0101] 13A, 13B, and 14, the tube opening and closing device according to this embodiment includes a movable container support part 110 connected to the container holder 1 above the container holder 1. The movable container support part 110 includes a container support part 102 and is connected to the container holder 1 so as to be movable in a direction perpendicular to the opening surface of the insertion hole 101 (the up and down direction in FIGS. 13B and 14).

[0102] A force is applied to the movable container support part 110 by a spring or the like (not shown) in a direction perpendicular to the opening surface of the insertion hole 101, moving it away from the container holding part 1, and a stopper (not shown) is configured to prevent the distance from the container holding part 1 from exceeding a predetermined distance. This predetermined distance can be determined arbitrarily in advance.

[0103] In addition, the movable container support part 110 is configured so that when the container fixing pin 5 moves to a position where it comes into contact with the container part 11, its position in the direction perpendicular to the opening surface of the insertion hole 101 is fixed, and when the container fixing pin 5 moves to a position away from the container part 11, its position in the direction perpendicular to the opening surface of the insertion hole 101 is no longer fixed.

[0104] The tube opening and closing device according to this embodiment also includes the opening and closing control device 20 (FIG. 10) described in the fifth embodiment.

[0105] The dimensions and shape of the lid 12 of the tube 10 may differ depending on the manufacturer. For this reason, depending on the tube 10, when the tube 10 is installed in the insertion hole 101 of the tube opening and closing device, the horizontal positions of the rotation center C1 of the lid opening and closing part 2 and the rotation center C2 of the lid 12 may differ from each other, as shown in FIG.

[0106] When the movable container support part 110 is fixed and cannot move in a direction perpendicular to the opening of the insertion hole 101 (i.e., in the case of the same configuration as shown in FIGS. 1 and 2A to 2C ), and the rotation center C1 of the lid opening / closing part 2 and the rotation center C2 of the lid 12 are in different positions as shown in FIG. 14 , rotating the lid opening / closing part 2 places an excessive downward load on the connection between the container part 11 and the lid 12. This load may damage the lid 12. On the other hand, when the container holding part 1 is moved so that the rotation center C1 of the lid opening / closing part 2 and the rotation center C2 of the lid 12 are in the same position in the horizontal direction, the engagement between the protrusion 13 of the lid 12 and the groove 201 of the lid opening / closing part 2 may be disengaged, making it impossible to open or close the lid 12.

[0107] In the tube opening and closing device of this embodiment, the opening and closing control device 20 (Figure 10) executes the method shown in Figures 15A to 15E, so that the lid 12 can be opened and closed even if the sizes of the lid 12 and the lid opening and closing part 2 are different from each other.

[0108] 15A, when starting to open the lid 12 of the tube 10, the protrusion 13 of the lid 12 is engaged with the groove 201 of the lid opening / closing part 2. Also, the container fixing pin 5 is brought into contact with the container part 11 to fix the container part 11 so that the lid 12 sealing the container part 11 can be removed.

[0109] 15B , when the lid 12 rotates and moves away from the container part 11, the container fixing pin 5 moves away from the container part 11, releasing the fixation of the container part 11 by the container fixing pin 5. As a result, the movable container support part 110 is no longer fixed in position in the direction perpendicular to the opening surface of the insertion hole 101. Then, the lid 12 is pushed in by the tube 10 engaged with the lid opening / closing part 2, and the movable container support part 110 moves downward in accordance with the positional deviation between the rotation center C1 of the lid opening / closing part 2 and the rotation center C2 of the lid 12.

[0110] At this time, the container holding part 1 is moved horizontally (to the left in FIG. 15B in this embodiment) simultaneously with the rotation of the lid opening / closing part 2 so as to absorb the misalignment between the rotation center C1 of the lid opening / closing part 2 and the rotation center C2 of the lid 12. Thereafter, the rotation of the lid opening / closing part 2 and the movement of the container holding part 1 are continued.

[0111] 15C, the lid 12 and the lid opening / closing part 2 are in an upright position. At this time, the movable container support part 110 moves to the lowest position. After this, the rotation of the lid opening / closing part 2 and the movement of the container holding part 1 continue.

[0112] 15D, the lid 12 is in a substantially open state. As the lid 12 opens from the state shown in FIG. 15C, the effect of the lid 12 on the tube 10 weakens, and the movable container support part 110 moves upward.

[0113] 15E, the lid 12 is in a completely open state. In this state, the movable container support part 110 moves to the same height as when the operation started (the position shown in FIG. 15A).

[0114] As described above, in the tube opening and closing device of this embodiment, the movable container support part 110 moves vertically to change the vertical position of the tube 10, and further, the position of the container holding part 1 is changed simultaneously with the rotational movement of the lid opening and closing part 2, so that the lid 12 can be opened and closed even if the sizes of the lid 12 and the lid opening and closing part 2 are different from each other.

[0115] When the container holding unit 1 is moved horizontally simultaneously with the rotation of the lid opening / closing unit 2, the amount of movement of the container holding unit 1 is preferably determined according to the amount of rotation of the lid opening / closing unit 2. By matching the amount of movement of the container holding unit 1 with the amount of rotation of the lid opening / closing unit 2, the rotation of the lid opening / closing unit 2 and the movement of the container holding unit 1 can be carried out smoothly, and any misalignment between the center of rotation C1 of the lid opening / closing unit 2 and the center of rotation C2 of the lid 12 can be effectively absorbed.

[0116] For simplicity of explanation, the present embodiment only describes the operation of opening the lid 12. The tube opening and closing device according to the present embodiment can perform the operation of closing the lid 12 by performing the operations shown in Figures 15A to 15E in the order of Figures 15E to 15A.

[0117] The movable container support unit 110 may be replaceable with a unit of a different size depending on the dimensions of the tube 10. The operation setting value 222 shown in FIG. 10 can be changed depending on the replacement of the movable container support unit 110. Furthermore, the movable container support unit 110 does not have to be a unit that operates passively by a spring. For example, the tube opening and closing device according to this embodiment may be provided with a drive unit for the movable container support unit 110, and the operation of the movable container support unit 110 may be controlled by this drive unit.

[0118] The tube opening and closing devices according to the embodiments described above can be modified in various ways. For example, although the tube opening and closing device in the embodiments has a configuration in which the container holding unit 1 moves, it may also have a configuration in which the container holding unit 1 does not move and the lid opening and closing unit 2 moves. Furthermore, although the tube opening and closing device in the embodiments has a configuration in which the container fixing pin 5 is used to fix the container unit 11 to the container holding unit 1, it may also have a container fixing unit that grips and fixes the container unit 11 without using the container fixing pin 5. Furthermore, the tube opening and closing device may have a container fixing unit with a balloon-like mechanism, and the container fixing unit may fix the container unit 11 to the container holding unit 1 by pressing the container fixing unit against the container unit 11 or by having the container fixing unit wrap the entire container unit 11.

[0119] 6A to 6D, 7 and 8 show a configuration in which the tube opening and closing device includes a disposal box 14, a camera 15, a container rotation roller 16, and a container rotation drive unit 17. The tube opening and closing device may include a plurality of these devices or apparatuses, or may include a combination of these devices or apparatuses.

[0120] FIG. 16 is a top view showing an example of the configuration of a tube opening and closing device according to an embodiment of the present invention, and is a diagram showing an example of a tube opening and closing device that includes a combination of multiple tools and devices.

[0121] This tube opening and closing device includes a swivel drive unit 18 below the device support unit 4. The swivel drive unit 18 can swivel the tube opening and closing device on a horizontal plane to change the orientation of the tube opening and closing device.

[0122] Around the tube opening and closing device, there are installed tools and devices, such as a disposal box 14, a camera 15, a container rotation roller 16, and a container rotation drive unit 17. By changing the orientation of the tube opening and closing device using a turning drive unit 18, these tools and devices can be used to perform operations such as discarding the tube 10, recognizing the contents of the tube 10, and changing the orientation of the tube 10.

[0123] By configuring the tube opening and closing device in this manner, operations other than opening and closing the lid 12 of the tube 10 can be continuously performed. Note that the tube opening and closing device may be provided with a mechanism for linearly moving the tube opening and closing device, without including the rotation drive unit 18 for rotating the tube opening and closing device. Also, the tube opening and closing device may be configured so that instruments and devices arranged around it move relative to the tube opening and closing device, without rotating or moving linearly. In other words, the tube opening and closing device may be configured so that the relative positional relationship between the tube opening and closing device and the instruments and devices arranged around it can be changed.

[0124] It should be noted that the present invention is not limited to the above-described embodiments, and various modifications are possible. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to embodiments that include all of the described configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment. It is also possible to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to delete part of the configuration of each embodiment, or to add or replace other configurations.

[0125] 1...container holding section, 2...lid opening / closing section, 3...opening / closing mechanism support section, 4...device support section, 5...container fixing pin, 6...device rotation drive section, 7...holding position movement drive section, 8...lid opening / closing rotation drive section, 9...fixing pin drive section, 10...tube, 11...container section, 12...lid, 13...projection section, 14...disposal box, 15...camera, 16...container rotating roller, 17...container rotation drive section, 18...swivel drive section, 20...opening / closing control device, 21...control device, 22...storage device, 23...control interface, 24...input device, 101 ...insertion hole, 102...container support part, 103...holding notch opening, 104...holding position moving rail, 105...holding position moving rack, 106...container support protrusion, 110...movable container support part, 201...groove part, 202...lid opening / closing rotation shaft, 203...lid opening / closing rotation shaft gear, 221...control program, 222...operation setting value, 301...holding part support rail, 302...opening / closing mechanism support shaft, 401...lower notch part, 402...device rotation bearing, 701...holding position drive pinion, 801...lid opening / closing rotation drive transmission gear.

Claims

1. A device for opening and closing a lid of a tube having a lid with a protrusion at one end and a container having an opening that is opened and closed by the lid, the device comprising: a container holding section having an insertion hole on its upper surface to hold the tube; a lid opening / closing section provided on the upper part of the container holding section and having a groove at its end that can engage with the protrusion of the lid; a lid opening / closing rotation drive section that rotates the lid opening / closing section around an axis parallel to a horizontal plane; and a holding position movement drive section that moves the container holding section in a horizontal direction, wherein the holding position movement drive section, when the lid is open, performs the following operations: move the container holding section from a position where the tip of the protrusion of the lid and the end of the groove of the lid opening / closing section are aligned in the horizontal direction to a position where the protrusion of the lid and the groove of the lid opening / closing section engage; and move the container holding section from the position where the protrusion of the lid and the groove of the lid opening / closing section engage to a position where the tip of the protrusion of the lid and the end of the groove of the lid opening / closing section are aligned in the horizontal direction. and the lid opening / closing rotation drive unit rotates the lid opening / closing unit to open and close the lid while the protrusion of the lid and the groove of the lid opening / closing unit are engaged.

2. A tube opening and closing device as described in claim 1, wherein the holding position movement drive unit, when the lid is closed, performs at least one of the following operations: moving the container holding unit from a position where the protrusion of the lid engages with the groove of the lid opening and closing unit to a position where the end of the protrusion of the lid and the end opposite the groove of the lid opening and closing unit are at the same position in the horizontal direction; and moving the container holding unit from a position where the end of the protrusion of the lid and the end opposite the groove of the lid opening and closing unit are at the same position in the horizontal direction to a position where the protrusion of the lid engages with the groove of the lid opening and closing unit.

3. A tube opening and closing device as described in claim 2, comprising: a container fixing part that fixes the container part to the container holding part; a container fixing drive part that drives the container fixing part; and a device rotation drive part that rotates the lid opening and closing part, the container holding part, the holding position movement drive part, and the lid opening and closing rotation drive part around an axis that is parallel to the opening surface of the insertion hole and perpendicular to the movement direction of the container holding part.

4. A tube opening and closing device as described in claim 2, wherein the container holding portion has a holding notch opening located on the side of the insertion hole in a plane perpendicular to the opening plane of the insertion hole and opening to the outside of the container holding portion, the opening width of the holding notch opening being smaller than the diameter of the insertion hole, and the holding notch opening causes a part of the container portion to protrude towards the outside of the container holding portion when the tube is installed in the insertion hole.

5. A tube opening and closing device as described in claim 4, further comprising a container rotation unit that can come into contact with the container portion of the tube installed in the insertion hole and rotate the container portion, and the container rotation unit rotates the container portion around an axis perpendicular to the opening surface of the insertion hole.

6. A tube opening and closing device as described in claim 2, further comprising a movable container support part connected to the container holding part at the top of the container holding part and movable in a direction perpendicular to the opening surface of the insertion hole, the movable container support part comprising a container support part that supports the container part of the tube installed in the insertion hole.

7. A tube opening and closing device as described in claim 2, further comprising a control device that controls the operation of the lid opening and closing rotation drive unit and the holding position movement drive unit, wherein the control device rotates the lid opening and closing unit by a predetermined angle in the direction in which the lid closes from a position parallel to the opening surface of the insertion hole, and then rotates the lid opening and closing unit in the direction in which the lid closes while simultaneously moving the container holding unit in the horizontal direction.

8. A tube opening and closing device as described in claim 6, further comprising a control device that controls the operation of the lid opening and closing rotation drive unit and the holding position movement drive unit, wherein the control device moves the container holding unit in the horizontal direction in accordance with the amount of rotation of the lid opening and closing unit simultaneously with the rotational operation of the lid opening and closing unit.

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