Cap replacement device

Abstract

This cap replacement device is used in a centrifuge that centrifuges a sample by rotating a zonal rotor containing a solution including the sample and a density gradient medium, and is a device for replacing a cap that is detachably attached to a mounting port of the zonal rotor while the zonal rotor is rotating, the cap replacement device comprising a gripping portion that grips the cap, and a movement mechanism that moves the gripping portion between an attachment / detachment position where the cap is attached or detached, and a retracted position retracted from the attachment / detachment position.

Description

Cap exchange device

[0001] The present disclosure relates to a cap exchange device.

[0002] Currently, as a method for introducing a gene into mammalian cells for the purpose of gene therapy, a method using a viral vector has become mainstream. As viruses from which viral vectors are derived, there are envelope viruses such as retroviruses, lentiviruses, herpesviruses, or Sendai viruses, and non-envelope viruses (i.e., viruses without an envelope) such as adenoviruses or adeno-associated viruses (AAV). Among these, AAV is used in gene therapy for the treatment of various diseases because it can infect many types of cells, has no pathogenicity to humans, and viral particles are physically stable.

[0003] Since the AAV vector enables efficient gene introduction for stable expression of the target gene intracellularly, it is useful as a means for gene delivery to target cells. Also, in its production, purification of the AAV vector is required.

[0004] So far, as methods for purifying the AAV vector, methods including a filtration step by chromatography using an ion exchange column, an affinity purification column, or tangential flow filtration (TFF) are known. These methods have a certain effect in removing impurities from the AAV vector fraction, but are still insufficient. Therefore, as described in International Publication No. 2022 / 220273, Japanese Patent Application Laid-Open No. 2008-542015, Japanese Patent Application Laid-Open No. 2010-082567, or Japanese Patent Application Laid-Open No. 2016-013538, studies on a centrifugal purification method using a zonal rotor have been conducted.

[0005] International Publication No. 2022 / 220273 describes a method for producing complete virus particles, comprising a step of purifying complete virus particles from a mixture of virus particles containing hollow virus particles, intermediate virus particles, and complete virus particles, the method comprising: (a) rotating a zonal rotor at a low speed and arranging the mixture of virus particles, a liquid with a density lower than that of complete virus particles (liquid L), and a liquid with a density higher than that of liquid L (liquid H1) in this order from the rotation axis side of the rotor outwards; (b) operating the zonal rotor after step (a) in ultracentrifugal mode to separate the hollow virus particles, intermediate virus particles, and complete virus particles; and (c) fractionating and removing the contents of the zonal rotor after step (b) to recover the fraction containing complete virus particles.

[0006] Japanese Patent Publication No. 2008-542015 describes a rotor for a centrifuge, comprising a rotor housing that is substantially cylindrical in shape and has an inner wall and a substantially uniform opening extending along its longitudinal direction through its center, and a rotor core that is substantially cylindrical in shape and adapted to be housed within the substantially 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 rotor for a centrifuge has an L / D ratio in the range of about 0.9 to about 1.3.

[0007] Japanese Patent Publication No. 2010-082567 describes a rotor having a sample containment section, a rotor rotation chamber in which the rotor is installed, a drive unit for rotating the rotor, a first tube having one end connected to the containment section and having a first passage for injecting density gradient liquid and sample into the containment section or for retrieving the sample from within the containment section, and a second passage for injecting liquid to push the sample from within the containment 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 comprising: a first sealing member having a second hole formed therein; a second sealing member positioned opposite the first sealing member and having a third hole and a fourth hole opposite to the first hole and the second hole of the first sealing member, respectively; and a second tube having one end connected to the second sealing member and having a third passage communicating with the third hole and a fourth passage communicating with the fourth hole, and comprising a joining portion for joining and separating the first sealing member and the second sealing member.

[0008] Japanese Patent Publication No. 2016-013538 describes a centrifuge (1), particularly a laboratory centrifuge, comprising: a housing (23) having 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 connecting device that allows the rotor cover (3) and the lid (2) to be detachably connected to each other via a holding arm (11) and a holder (12) such that the rotor cover (3) is lifted away from the rotor (5) when the lid (2) is opened and placed on the rotor (5) when the lid (2) is closed, wherein the holding arm (11) is mounted inside the holder (12) so as to be detachable and movable when the lid (2) is opened and 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 centrifugal separators using zonal rotors, it is sometimes necessary to replace the caps attached to the zonal rotors while they are rotating. In this case, it is necessary to attach and detach the caps to the rotating zonal rotors. Traditionally, this cap replacement work was performed manually by workers while taking safety precautions, but there was still room for improvement.

[0010] The technology disclosed herein provides a cap replacement device that can further improve the safety of cap replacement work.

[0011] The cap replacement device of the present disclosure is used in a centrifuge that centrifuges a sample by rotating a zonal rotor containing a sample and a solution containing a density gradient medium, and is a device for replacing a detachable cap attached to the mounting port of the zonal rotor while the zonal rotor is rotating, and comprises a gripping part for gripping the cap and a moving mechanism for moving the gripping part between an attachment / detachment position for attaching and detaching the cap and a retracted position for retracting from the attachment / detachment position.

[0012] The moving mechanism is preferably a robotic arm.

[0013] The cap replacement device of this disclosure preferably further comprises a control unit, the control unit being configured to control the moving mechanism based on coordinate information.

[0014] The gripping portion preferably has a stopper that prevents a pressing force exceeding the pressing force during normal operation from being applied to the mounting opening when attaching the cap to the mounting opening.

[0015] The cap replacement device of this disclosure may include two types of caps: a first cap having an outer surface that does not rotate even when the zonal rotor rotates, and a second cap that rotates in conjunction with the rotation of the zonal rotor.

[0016] Preferably, the first cap has a connection port to which a pipe for injecting or discharging a solution is connected, and is used when injecting or discharging a solution to or from the zonal rotor with the first cap attached to the mounting port, while the second cap 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.

[0017] The cap replacement device of the present disclosure preferably comprises a gripping portion having a first gripping portion having a plurality of first claws for gripping a first cap, which is used selectively, and a second gripping portion having a plurality of second claws for gripping a second cap, and the moving mechanism preferably has a mounting portion to which the first gripping portion is attached when the first cap is attached or detached, and to which the second gripping portion is attached when the second cap is attached or detached.

[0018] In the cap replacement device of the present disclosure, when the gripping portion comprises a first gripping portion and a second gripping portion, it is preferable that the second gripping portion has a stopper that prevents a pressing force exceeding the pressing force during normal operation from being applied to the mounting opening when the second cap is mounted to the mounting opening. Furthermore, it is preferable that the first gripping portion grips the first cap by bringing a plurality of first claws into contact with the first cap from the radial direction, and the second gripping portion grips the second cap by bringing a plurality of second claws into contact with the second cap from the radial direction. It is preferable that the second claws include an upper contact surface that contacts the upper surface of the second cap and an outer contact portion that contacts the outer circumferential surface of the second cap from the radial direction. Moreover, when the outer circumferential surface of the second cap that connects to the upper surface has a gradient portion in which the diameter gradually decreases downward from the position where it connects to the upper surface, it is preferable that the second claws have a recess between the upper contact surface and the outer contact portion into which a flange portion formed from the upper surface and the gradient portion of the outer circumferential surface of the second cap is fitted. Preferably, the first claw is made of metal, and the portion of the second claw that contacts the second cap is made of hard resin. Preferably, the first gripping part has actuators that move a plurality of first claws in the radial direction of the first cap, and preferably the second gripping part has actuators that move a plurality of second claws in the radial direction of the second cap. Preferably, the first gripping part is configured to allow the first cap to be rotated while gripping it. Preferably, the second gripping part has a pressing mechanism that presses a button provided on the second cap.

[0019] The cap replacement device of the present disclosure has a gripping portion having a plurality of claws, each of which has a first locking portion for gripping a first cap and a second locking portion for gripping a rotating second cap, and the moving mechanism may be configured to move the gripping portion to a first attachment / detachment position in which the gripping portion attaches to and detaches the first cap to the mounting opening, and to a second attachment / detachment position in which the second cap attaches to and detaches.

[0020] In the cap replacement device of the present disclosure, the gripping portion has a plurality of claws, each of which has a first locking portion for gripping a first cap and a second locking portion for gripping a rotating second cap, and it is preferable that the plurality of claws are configured to grip the first cap by bringing the first locking portion into contact with the first cap radially, and to grip the second cap by bringing the second locking portion into contact with the second cap radially. Furthermore, it is preferable that the second locking portion includes an upper contact surface that contacts the upper surface of the second cap and an outer contact portion that contacts the outer circumferential surface of the second cap radially. Moreover, in the case where the outer circumferential surface of the second cap that connects to the upper surface has a gradient portion in which the diameter gradually decreases downward from the position where it connects to the upper surface, it is preferable that the second locking portion has a recess between the upper contact surface and the outer contact portion into which a flange portion formed from the upper surface and the gradient portion of the outer circumferential surface of the second cap is fitted. Preferably, the first locking portion is made of metal, and the portion of the second locking portion that contacts the second cap is made of hard resin. Preferably, the gripping portion has an actuator that moves a plurality of claws in the radial direction of the first cap and the second cap. Preferably, the gripping portion is configured to allow the first cap to be rotated while gripping the first cap. Preferably, the gripping portion has a pressing mechanism that presses a button provided on the second cap. When the first cap has a larger diameter than the second cap, preferably, the gripping portion has the first locking portion at its tip, the second locking portion is located closer to the base end than the first locking portion, and the second locking portion is configured to protrude radially inward from the first locking portion.

[0021] The technology disclosed herein provides a cap replacement device that can further improve the safety of cap replacement work.

[0022] This is a cross-sectional view showing the schematic configuration of a centrifuge equipped with a zonal rotor. This is an explanatory diagram for cap replacement used in the zonal rotor. This is a cross-sectional view showing the first cap attached to the mounting port of the zonal rotor. This is a cross-sectional view showing the second cap attached to the mounting port of the zonal rotor. This is a diagram showing an example of a cap replacement device of the first embodiment. This is a cross-sectional view showing an example of how the cap replacement device is used. This is a cross-sectional view showing an example of how the cap replacement device is used. This is a front view showing a modified example of the cap replacement device. This is a diagram for explaining modified example 1 of the gripping part's claws. This is a diagram for explaining modified example 1 of the gripping part's claws. This is a perspective view of modified example 1 of the gripping part's claws. This is a diagram showing modified example 2 of the gripping part's claws. This is a schematic plan view showing the overall configuration of the centrifuge and the second cap replacement device. This is a schematic side view showing the overall configuration of the centrifuge and the second cap replacement device. This is an explanatory diagram of the first gripping part. This is an explanatory diagram of the second gripping part. This is a diagram showing a modified example of the second claw of the second gripping part.

[0023] Embodiments of this disclosure will be described in detail below with reference to the drawings. In the following drawings, the same parts are denoted by the same reference numerals, and repeated descriptions are omitted. In this specification, the directions of up, down, left, and right are those shown in the drawings.

[0024] First, the zonal rotor 10 in which the cap replacement device 1 (see Figure 5) according to this embodiment is used will be described. Figure 1 is a cross-sectional view showing the schematic configuration of a centrifugal apparatus 100 in which the zonal rotor 10 is installed and which rotates the zonal rotor 10. The centrifugal apparatus 100 comprises a housing 102, a rotor chamber 104 provided inside the housing 102, a motor 106 arranged inside the housing 102, and a door 108 attached to the upper opening of the rotor chamber 104. The rotor chamber 104 houses the zonal rotor 10. The motor 106 is located below the rotor chamber 104 and rotates the zonal rotor 10 installed in the rotor chamber 104. The centrifugal apparatus 100 also includes a guard plate 109 installed on the zonal rotor 10 after the zonal rotor 10 is installed in the rotor chamber 104, and has a circular opening 109A in the center.

[0025] As an example, as shown in Figure 1, the zonal rotor 10 is a cylindrical container for centrifugation in which a density gradient solution and a solution containing a sample are placed. Centrifugation by the zonal rotor 10 is performed by rotating the container around its central axis. The zonal rotor 10 rotates within the centrifuge 100, and the solution contained inside is centrifuged. Examples of samples include viruses. Viruses are manufactured for gene therapy, and these viruses contain a mixture of complete viruses with their full genomes packaged and hollow viruses that do not contain genomes. These are purified using the zonal rotor to extract complete viruses. For more details on viruses, refer to and incorporate herein by reference the contents described in International Publication No. 2022 / 220273 and International Publication No. 2018 / 128688. There are no particular restrictions on the viruses used, but AAV is preferred. Of course, substances other than viruses (e.g., biological preparations) may also be used as samples.

[0026] Furthermore, while there are no particular restrictions on the density gradient medium, it may contain cesium chloride or sucrose, or other substances. Multiple solutions with different concentrations may be used as the density gradient medium.

[0027] As shown in Figure 1, the zonal rotor 10 has a lid 10A, a rotor body 10B, a shaft 10C, and a septum 10E. A space S is formed inside the zonal rotor 10, and the space S contains a density gradient solution and a solution containing a sample. The zonal rotor 10 is an example of a "zonal rotor" according to the technology of this disclosure.

[0028] An opening is provided in the radial center of the lid 10A, and the tip of the shaft 10C protrudes from this opening. The tip of the shaft 10C constitutes the mounting opening 11 for the cap. The scepter 10E has four blades and divides the internal space S of the rotor into four fan-shaped sections. The shaft 10C is inserted into the center of the scepter 10E. The blades have holes that extend radially outward from the center. The shaft 10C has a liquid passage from its tip to the holes in the blades, forming a liquid passage 10D that connects the shaft 10C to the internal space S of the zonal rotor 10 via the blades of the scepter 10E. With the zonal rotor 10 rotating, a solution is injected into or discharged from the shaft 10C to the zonal rotor 10 via the liquid passage 10D. When the zonal rotor 10 is in use, a cap is attached to the mounting opening 11.

[0029] The caps of the zonal rotor 10 will be described with reference to Figures 2 to 4. Two types of caps are included as caps that can be attached to the mounting opening 11 of the zonal rotor 10: a first cap 12 and a second cap 14. As shown in Figure 2, the first cap 12 or the second cap 14 can be detachably attached to the mounting opening 11. The mounting opening 11 is an example of a "mounting opening" according to the technology of this disclosure.

[0030] As shown in Figures 1 and 2, a guard plate 109 is attached above the zonal rotor 10. The guard plate 109 is attached in such a manner that the shaft 10C is exposed through its opening 109A. The first cap 12 is attached and detached with the guard plate 109 installed. On the other hand, the second cap 14 may be attached and detached with the guard plate 109 not installed.

[0031] The first cap 12 is a cap used when injecting or discharging a solution to or from the zonal rotor 10 while it is attached to the mounting port 11. As shown in Figure 2, the first cap 12 has connection ports 12A to 12D to which piping such as tubes for injecting or discharging a solution is connected. The first cap 12 is an example of the "cap" and "first cap" according to the technology of this disclosure. The connection ports 12A to 12D are also examples of the "connection ports" according to the technology of this disclosure. The number of connection ports provided on the first cap 12 is an example and is not limited to four. There may be two or three connection ports, etc. Attaching and detaching the first cap 12 to the mounting port 11 is performed with tubes connected to the connection ports 12A to 12D, but the tubes are omitted in each figure.

[0032] As shown in Figures 2 and 3, the first cap 12 has an adapter portion 12F connected to the mounting opening 11 and a cover portion 12E provided on the upper part of the adapter portion 12F. The first cap 12 also has a ball bearing 12G between the cover portion 12E and the adapter portion 12F. As shown in Figure 3, the cover portion 12E of the first cap 12 is supported by the guard plate 109, and the adapter portion 12F is attached to the mounting opening 11. The adapter portion 12F attached to the mounting opening 11 rotates with the rotation of the shaft 10C, but the cover portion 12E does not rotate because it is equipped with a ball bearing 12G. That is, when the first cap 12 is attached to the mounting opening 11, at least the cover portion 12E that constitutes the outer circumferential surface of the first cap 12 does not rotate even when the zonal rotor 10 rotates. In this example, the first cap 12 is configured such that the cover portion 12E is fixed to the guard plate 109 by rotating the first cap 12 by a predetermined angle after it has been brought into contact with the mounting opening 11. Therefore, when removing the first cap 12 from the mounting opening 11, it is necessary to rotate the first cap 12 by a predetermined angle in the opposite direction to when it was installed to release the fixation before removing it.

[0033] The second cap 14 is used when the zonal rotor 10 is rotated at a rotational speed (e.g., 30,000 rpm) that is faster than the rotational speed used for injecting or discharging the solution (e.g., 3,000 rpm). 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 the "cap" and "second cap" related to the technology of this disclosure. In the following description, when it is not necessary to distinguish between the first cap 12 and the second cap 14, they will simply be referred to as "cap".

[0034] As shown in Figure 4, the second cap 14 is attached to the mounting opening 11 at the tip of the shaft 10C without being supported by the guard plate 109. The second cap 14 is attached so as to cover the mounting opening 11 and its tip 14B contacts the lid 10A. The second cap 14 is prevented from coming off by a projection (not shown) that serves as a check mechanism provided on a part of the shaft 10C. The second cap 14 rotates in conjunction with the rotation of the zonal rotor 10. However, it is not fixed to the lid 10A, and it is configured so that the rotation of the second cap 14 can be stopped by applying an external force to the second cap 14 even when the zonal rotor 10 is rotating. The second cap 14 is equipped with a button 14A for releasing engagement with the projection on the shaft 10C. When removing the second cap 14, pressing the button 14A releases the fixation with the shaft 10C and pushes the outer circumference of the second cap 14 upward, allowing the second cap to be removed from the mounting opening 11. In this example, button 14A is located in the center of the upper surface of the second cap 14.

[0035] Next, the flow of centrifugal separation by the zonal rotor 10 will be explained. First, a solution is injected into the space S inside the zonal rotor 10 while it is rotating at a low speed (for example, 3,000 rpm). Specifically, the solution is injected from the connection port 12C of the first cap 12, and the solution gradually fills the space S from the outer circumference. In this case, the solution containing the sample is injected into the space S of the zonal rotor 10 first. Subsequently, a solution containing only the density gradient medium is injected. Due to the low-speed rotation of the zonal rotor 10, the density gradient medium in the space S is arranged outward along the radial direction of the space S without mixing with the solution containing the sample. That is, a layered structure is formed along the radial direction of the zonal rotor 10 from the inside out, in the order of the solution containing the sample and the density gradient medium.

[0036] Subsequently, the first cap 12 is removed from the zonal rotor 10 and the second cap 14 is attached. In other words, the first cap 12 and the second cap 14 are exchanged. After the second cap 14 is attached, the zonal rotor 10 is rotated at high speed (for example, 30,000 rpm). This causes the sample to be centrifuged in a density gradient.

[0037] After the centrifugation of the sample is complete, the high-speed rotation ends and the system switches to low-speed rotation. During low-speed rotation, the second cap 14 is replaced with the first cap 12. Furthermore, during low-speed rotation, a solution with a density greater than the density gradient medium inside space S is injected. Specifically, the solution is injected from the connection port 12C of the first cap 12, gradually injecting from the outer circumference of space S, and the solution containing the centrifuged sample and density gradient medium is discharged from the inner circumference through the connection port 12A. In this way, the zonal rotor 10 allows the desired sample to be obtained by centrifugation.

[0038] As described above, in the centrifugal separation process using the zonal rotor 10, the operation of replacing the first cap 12 and the second cap 14 (hereinafter also simply referred to as "cap replacement operation") occurs. Since the cap replacement operation is performed while the zonal rotor 10 is rotating, attention had to be paid 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 device 1.

[0039] The cap replacement devices 1, 2, and 201 according to the embodiments described below are devices for replacing a first cap 12 and a second cap 14, which are detachably attached to the mounting opening 11 of the zonal rotor 10, while the zonal rotor 10 is rotating.

[0040] (Cap replacement device 1 of the first embodiment) As shown in Figure 5, the cap replacement device 1 of the first embodiment includes a robot arm 20 and a gripping part 30 attached to the tip of the robot arm 20. The robot arm 20 is a moving mechanism for moving the gripping part 30 and is an example of a "moving mechanism" of the technology disclosed herein. The robot arm 20 is installed on a support base 22. The robot arm 20 is movable together with the support base 22. The cap replacement work is performed with the support base 22 positioned next to the centrifugal device 100. The cap replacement device 1 also includes a control device 50 for controlling the robot arm 20.

[0041] The robot arm 20 has a plurality of links 24A to 24D and a plurality of joints 25A to 25C that connect the links 24A to 24D to each other. In this example, the gripping part 30 is attached to the tip of the outermost end link 24D among the plurality of links 24A to 24D of the robot arm 20. There is no limit to the number of links and joints that make up the robot arm 20. The robot arm 20 moves the gripping part 30 between an attachment / detachment position for attaching and detaching the cap and a retracted position from which it is moved away from the attachment / detachment position. Here, the attachment / detachment position is a position in which the cap can be attached to and detached from the zonal rotor 10. The retracted position is a position away from the attachment / detachment position in which the cap is attached and detached. There is a first attachment / detachment position for attaching and detaching the first cap 12 and a second attachment / detachment position for attaching and detaching the second cap 14. The first attachment / detachment position and the second attachment / detachment position are at different heights. When attaching or detaching the first cap 12, the robot arm 20 moves its gripping portion 30 to the first attachment / detachment position, and when attaching or detaching the second cap 14, it moves its gripping portion 30 to the second attachment / detachment position.

[0042] The gripping portion 30 includes a gripping portion main body 31 having one end connected to the link 24D, and claws 32, 34, and 36 provided at the other end of the gripping portion main body 31. The claws 32, 34, and 36 are configured to be movable in the radial direction in order to grip the cap from the radial direction. In this example, the three claws 32, 34, and 36 are arranged at equal intervals in the circumferential direction (that is, at 120-degree intervals). By the three claws 32, 34, and 36 moving in the radial direction, the cap is gripped.

[0043] FIG. 6 shows a state in which the first cap 12 is gripped by the gripping portion 30, and FIG. 7 is a cross-sectional view showing a state in which the second cap 14 is gripped by the gripping portion 30. FIGS. 6 and 7 show a cross-section obtained by cutting the gripping portion 30 along a cutting plane passing through the claws 32 and 34. In FIGS. 6 and 7, the first cap 12 and the second cap 14 are shown in side view.

[0044] As described above, the gripping portion 30 has a gripping portion main body 31 and a plurality of claws 32, 34, and 36. The claws 32, 34, and 36 have proximal ends attached to the lower end of the gripping portion main body 31. The plurality of claws 32, 34, and 36 each have a first locking portion 32A, 34A, and 36A and a second locking portion 32B, 34B, and 36B for gripping the second cap 14. The claws 32, 34, and 36 grip the cap from the radial direction by the first locking portions 32A, 34A, and 36A or the second locking portions 32B, 34B, and 36B. In this example, the three claws 32, 34, and 36 are arranged at equal intervals in the circumferential direction (that is, at 120-degree intervals). By the three claws 32, 34, and 36 moving inward in the radial direction, the outer peripheral portion of the first cap 12 is gripped by the first locking portions 32A, 34A, and 36A, or the outer peripheral portion of the second cap 14 is gripped by the second locking portions 32B, 34B, and 36B. Also, by the three claws 32, 34, and 36 moving outward in the radial direction, the gripping of the first cap 12 or the second cap 14 is released.

[0045] In this example, the tips of the claws 32, 34, and 36 are provided with first locking portions 32A, 34A, and 36A, and the second locking portions 32B, 34B, and 36B are provided closer to the base end than the first locking portions 32A, 34A, and 36A. Furthermore, in each of the claws 32, 34, and 36, the second locking portions 32B, 34B, and 36B protrude radially inward from the first locking portions 32A, 34A, and 36A. Note that the arrangement of the first locking portions 32A, 34A, and 36A and the second locking portions 32B, 34B, and 36B is not limited to this, and the first locking portions 32A, 34A, and 36A may be provided closer to the base end than the second locking portions 32B, 34B, and 36B. Since the first cap 12 has a larger diameter than the second cap 14, the second locking portions 32B, 34B, and 36B are provided to protrude radially inward from the first locking portions 32A, 34A, and 36A in order to grip the second cap 14, which has a smaller diameter.

[0046] The gripping portion 30 grips the first cap 12 with the first locking portions 32A, 34A, and 36A. Taking the claw 32 shown in Figure 6 as an example, the first locking portion 32A is a hook-shaped portion provided at the tip of the claw 32 and includes a radially recessed recess 32A1 at the tip of the claw 32. When gripping the first cap 12, the recess 32A1 engages with a projection 12E1 provided along the circumferential direction of the first cap 12. The projection 12E1 is part of the cover portion 12E. The three claws 32, 34, and 36 are configured to lock the first cap 12 by engaging the projection 12E1 of the first cap 12 with the recess provided in each of them. The recess 32A1 is configured to sandwich the protruding portion 12E1, thereby increasing the contact area between the first locking portion 32A and the first cap 12, increasing the gripping force, and making it easier to support the first cap 12 from below.

[0047] Furthermore, the gripping portion 30 grips the second cap 14 with the second locking portions 32B, 34B, and 36B. Taking the claw 32 shown in Figure 7 as an example, the second locking portion 32B is provided on the base end side of the claw 32 than the first locking portion 32A, and the radially protruding convex portion 32B1 engages with the curved recess 14C provided along the circumferential direction of the second cap 14. This increases the contact area between the second locking portion 32B and the second cap 14, increasing the gripping force and making it easier to support the second cap 14 from below.

[0048] In the claws 32, 34, and 36, the protrusions 32B1 that contact the second cap 14 are preferably made of a hard resin material (for example, monomer cast nylon (hereinafter referred to as MC nylon)). Here, the entire protrusion 32B1 is made of a hard resin material, but it is sufficient if at least the portion that contacts the second cap 14 is made of a hard resin material. The other parts of the claws 32, 34, and 36 are made of metal, such as aluminum. In one example, the second cap 14 has at least a metal outer surface. Since the second cap 14 is gripped while rotating, if the part that contacts the second cap 14 is metal, metal-to-metal contact may occur, potentially causing scratches on the second cap 14. In contrast, if the part that contacts the second cap 14 is made of a resin material, the occurrence of scratches can be suppressed. Furthermore, hard resin materials have excellent durability, so damage and debris caused by friction that may occur when in contact with the second cap 14 are suppressed. The rigid resin is preferably a material having heat resistance of 100°C or higher, and engineering plastics are preferred. Specifically, engineering plastics include polyamides (e.g., nylon, MC nylon), polycarbonate, polyacetal, modified polyphenylene ether, and polybutylene terephthalate. Among these, polyamides are preferred, and MC nylon is particularly preferred. The rigid resin may also be a super engineering plastic. The rigid resin preferably has one of the following properties, and more preferably two of the following properties: The deflection temperature at a load of 1.820 MPa as specified in ASTM D-648 (hereinafter referred to as the deflection temperature) is preferably 90°C or higher, more preferably 110°C or higher, and even more preferably 140°C or higher. The upper limit is preferably 300°C or lower. For example, MC nylon with a deflection temperature of around 200°C is known and preferred.The notched Izod impact value (hereinafter referred to as the Izod impact value) measured based on ASTM D-256 is preferably 40 J / m or more and 230 J / m or less, more preferably 40 J / m or more and 150 J / m or less, and even more preferably 40 J / m or more and 100 J / m or less. For example, as MC nylon, those with an Izod impact value of around 50 J / m are known and are preferred. The zonal rotor is used for the purification in the manufacturing process of biopharmaceuticals. Therefore, a clean environment is required for the manufacturing equipment. The above-mentioned hard resin used for the second locking portions 32B, 34B, and 36B is suitable for the manufacturing process of biopharmaceuticals because no shaving waste is generated.

[0049] The gripping portion main body 31 supports the claws 32, 34, and 36 and houses a drive mechanism (not shown) for driving the claws 32, 34, and 36. Specifically, the gripping portion main body 31 has a cylindrical housing, and the claws 32, 34, and 36 are attached to the lower end portion of the housing. Further, the drive mechanism is housed inside the housing of the gripping portion main body 31. As the drive mechanism, a known actuator can be applied. The actuator moves the claws 32, 34, and 36 in the radial direction when gripping and releasing the cap.

[0050] In addition, the gripping portion 30 includes a pressing mechanism 40 that presses a button 14A provided on the second cap 14. The pressing mechanism 40 has a pressing rod 42 that is a rod-shaped member provided along the longitudinal direction of the gripping portion 30, and an actuator 44 that drives the pressing rod 42. As shown in FIGS. 6 and 7, the pressing rod 42 is a rod-shaped member having a circular cross section. The actuator 44 moves the pressing rod 42 between a position housed inside the gripping portion main body 31 and a position where the tip 42A of the pressing rod 42 presses the button 14A.

[0051] Next, a usage example of the cap replacement device 1 according to the present embodiment will be described. First, during the low-speed rotation of the zonal rotor 10, the procedure from removing the first cap 12 attached to the zonal rotor 10 to attaching the second cap 14 will be described.

[0052] The robot arm 20 moves the gripping portion 30 to a predetermined first attachment / detachment position above the mounting opening of the zonal rotor 10. Here, the first attachment / detachment position is a position in which the gripping portion 30 can attach and detach the first cap 12 to the zonal rotor 10. In other words, it is a position in which the gripping portion 30 can attach or detach the first cap 12 to the zonal rotor 10. Specifically, the gripping portion 30 is positioned so that the first locking portions 32A, 34A, and 36A of the claws 32, 34, and 36 (see Figure 6) face the outer circumferential surface of the first cap 12 in the radial direction.

[0053] In this state, the claws 32, 34, and 36 are driven by an actuator inside the gripping body 31 to move toward the outer circumferential surface of the first cap 12. As a result, the first cap 12 is gripped by the claws 32, 34, and 36 of the gripping unit 30, as shown in Figure 6. Specifically, taking the claw 32 as an example, the gripping unit 30 grips the first cap 12 by engaging the recess 32A1 of the first locking portion 32A provided at the tip of the claw 32 with the projection 12E1 provided along the circumferential direction of the first cap 12.

[0054] To remove the first cap 12, it is necessary to rotate the first cap 12 to release its fixation. Therefore, while the gripping part 30 is gripping the first cap 12, the first cap 12 is rotated by rotating the gripping part 30. For example, a rotation mechanism is provided in the joint 25C to which the end link 24D of the robot arm 20 is connected, and the gripping part 30 is rotated by rotating the end link 24D. After that, the first cap 12 is removed from the mounting opening 11 by pulling the gripping part 30 upward with the robot arm 20.

[0055] After the first cap 12 is removed, the robot arm 20 moves the first cap 12 to a retracted position. The retracted position is, for example, on the support base 22 to which the robot arm 20 is fixed. For example, a cap storage area is provided on the support base 22, the gripping part 30 is moved onto the support base 22, and the grip of the first cap 12 is released at the cap storage area. The actuator moves the claws 32, 34, and 36 that are gripping the first cap 12 away from the outer circumferential surface of the first cap 12, that is, radially outward. This releases the grip of the first cap 12 by the gripping part 30.

[0056] After the first cap 12 is removed, the second cap 14 is installed. The robot arm 20 grasps the second cap 14, which is set in the cap holder on the support base 22, with the gripping part 30. The robot arm 20 moves the gripping part 30 to a predetermined second attachment / detachment position above the mounting opening of the zonal rotor 10. Here, the second attachment / detachment position is a position in which the gripping part 30 can attach and detach the second cap 14 to the zonal rotor 10. In other words, it is a position in which the gripping part 30 can attach or detach the second cap 14 to the zonal rotor 10. Specifically, the gripping part 30 is moved to a position in which the second cap 14 is attached to the zonal rotor 10 and the claws 32, 34, and 36 can be separated from the second cap 14.

[0057] In the second attachment / detachment position, the second cap 14 is attached to the mounting opening 11 of the zonal rotor 10. Subsequently, the actuator moves the claws 32, 34, and 36 in a direction away from the outer circumferential surface of the second cap 14, thereby releasing the grip on the second cap 14.

[0058] After the gripping part 30 releases the grip of the second cap 14, the robot arm 20 moves the gripping part 30 to the retracted position. In this way, the first cap 12 is removed and the second cap 14 is attached. To remove the second cap 14 and attach the first cap 12, the procedure is generally reversed. The procedure will be briefly explained below.

[0059] First, the robot arm 20 moves the gripping portion 30 to a predetermined second attachment / detachment position above the mounting opening of the zonal rotor 10. Specifically, the gripping portion 30 is positioned so that the second locking portions 32B, 34B, and 36B of the claws 32, 34, and 36 (see Figure 6) face each other radially with respect to the outer circumferential surface of the second cap 14.

[0060] In this state, the claws 32, 34, and 36 are driven by an actuator in the gripping body 31 to move toward the outer circumferential surface of the second cap 14. As a result, the second cap 14 is gripped by the claws 32, 34, and 36 of the gripping unit 30, as shown in Figure 7. Specifically, taking the claw 32 as an example, the protrusion 32B1 of the second locking portion 32B provided on the claw 32 engages with the recess 14C provided along the circumferential direction of the second cap 14. The second cap 14, which is attached to the zonal rotor 10, rotates with the rotation of the zonal rotor 10, but since the second cap 14 is not fixed to the rotating part, it is possible to stop the rotation of the second cap 14 and grip it using the gripping unit 30. As previously described, in order to remove the second cap 14, it is necessary to press the button 14A provided on the upper surface of the second cap 14 in order to release the engagement with the projection on the shaft 10C. In other words, by pressing the button 14A on the second cap 14, the second cap 14 can be made removable from the mounting opening 11. With the second cap 14 being held by the gripping part 30, the actuator 44 of the pressing mechanism 40 is driven to lower the pressing rod 42. This causes the tip 42A of the pressing rod 42 to press the button 14A. With the pressing rod 42 pressing the button 14A, the second cap 14 is pulled upward by the second locking parts 32B, 34B and 36B, thereby removing the second cap 14 from the mounting opening 11. The pulling up of the second cap 14 by the second locking parts 32B, 34B and 36B is performed, for example, by driving a linear actuator provided on the joint 25C to which the end link 24D is connected.

[0061] After the second cap 14 is removed, the robot arm 20 moves the gripping part 30 that is holding the second cap 14 to a retracted position. The gripping of the second cap 14 is released at the cap storage area on the support base 22. Then, the gripping part 30 is made to grip the first cap 12, and the gripping part 30 is moved to the first attachment / detachment position to attach the first cap 12. In this way, the operation of removing the second cap 14 and attaching the first cap 12 is performed.

[0062] As described above, the cap replacement device 1 according to this embodiment is a device for replacing the first cap 12 and the second cap 14 while the zonal rotor 10 is rotating. This allows the cap replacement work, which was conventionally performed manually by an operator, to be performed by the cap replacement device 1, thereby improving the safety of the cap replacement work.

[0063] Furthermore, for example, while manual cap replacement required skill, the moving mechanism (in this case, the robot arm 20) moves the gripping unit 30 to the attachment / detachment position, and the drive mechanism provided in the gripping unit 30 automatically replaces the cap, significantly reducing the burden on the worker.

[0064] Since the claws 32, 34, and 36 of the gripping part 30 each have first locking parts 32A, 34A, and 36A and second locking parts 32B, 34B, and 36B, respectively, there is no need to prepare a separate gripping part for each of the two types of caps, thus reducing costs.

[0065] Furthermore, in the cap replacement device 1 according to this embodiment, the gripping portion 30 has claws 32, 34, and 36, which contact and grip the first cap 12 and the second cap 14 from the radial direction. Since the first cap 12 and the second cap 14 are gripped by multiple claws, gripping force is ensured, and the first cap 12 and the second cap 14 are prevented from falling off. In addition, fine operations such as rotating the first cap 12 can be performed while gripping.

[0066] Furthermore, in the cap replacement device 1 according to this embodiment, the gripping section 30 has three claws 32, 34, and 36. Having three claws ensures both sufficient gripping force and a degree of freedom in the gripping state (the degree to which gripping can be permitted even if the claws are misaligned from the cap's position when viewed from above). With three claws, compared to two claws, the gripping force is ensured, and the three-point support provides stable gripping. Also, with three claws, the gripping force is not excessively strong compared to four claws, and the three-point support reduces contact points, making misalignment less likely.

[0067] Furthermore, in the cap replacement device 1 according to this embodiment, the portions of the second locking parts 32B, 34B, and 36B that contact the second cap 14 are made of hard resin. Here, since the cap is made of metal, using a hard resin, which generally has lower hardness than metal, will suppress damage to the cap. Also, in the case of a soft resin such as rubber, if it comes into contact with a rotating body, a part of it may peel off from the contact area, and foreign matter may enter the centrifugal separator. With a hard resin, since it has greater hardness than rubber, the generation of foreign matter due to partial peeling is suppressed.

[0068] Furthermore, the cap replacement device 1 according to this embodiment is equipped with a pressing mechanism 40 for pressing a button 14A provided on the second cap 14. The pressing mechanism 40 is provided on the gripping part 30. When attaching or detaching the second cap 14 (for example, when removing it), it may be necessary to press the button 14A. In this configuration, the button 14A on the second cap 14 is pressed when the pressing rod 42 is lowered while the second cap 14 is gripped by the claws 32, 34, and 36 of the gripping part 30. This automates the operation of pressing the button 14A on the second cap 14.

[0069] Furthermore, the cap replacement device 1 according to this embodiment is equipped with a robotic arm 20 as a moving mechanism for moving the gripping portion 30. The gripping portion 30 can be freely moved between the attachment / detachment position and the retracted position by operating the robotic arm 20, and the cap can be replaced using the gripping portion 30 supported by the robotic arm 20. Therefore, there is no need for manual work, and a high level of safety is ensured.

[0070] Furthermore, although the above embodiment described an example in which the first cap 12 and the second cap 14 are exchanged, the cap exchange device 1 according to the present disclosure is also applicable when three or more caps are exchanged.

[0071] Furthermore, although the above embodiment described an example in which the gripping portion 30 has three claws, the technology of this disclosure is not limited to this. The number of claws may be two or four or more. However, as mentioned above, it is desirable to have three claws from the viewpoint of ensuring both gripping force and degrees of freedom in the gripping state.

[0072] Furthermore, in the above embodiment, the claws 32, 34, and 36 are provided with first locking portions 32A, 34A, and 36A at their tips, and second locking portions 32B, 34B, and 36B are provided closer to the base end than the first locking portions 32A, 34A, and 36A. However, the technology of this disclosure is not limited to this embodiment, and the claws 32, 34, and 36 may be provided with the second locking portions 32B, 34B, and 36B on the tip side, and the first locking portions 32A, 34A, and 36A closer to the base end than the second locking portions 32B, 34B, and 36B.

[0073] The control device 50 for the robot arm 20 is configured to include, for example, a processor, memory, and storage. In this case, the control program stored in the storage is executed on the memory, and the processor functions as a control unit that controls the operation of drive mechanisms such as motors provided at each joint of the robot arm 20 and actuators provided at the gripping section 30. When an operator inputs an instruction to the control device 50 to start the cap replacement work, the control device 50 outputs an operation signal to each drive mechanism that drives each part of the cap replacement device 1. For example, the movement of the gripping section 30 by the robot arm 20 and the gripping operation of the cap by the gripping section 30 are realized by the operation of the drive mechanism. As a result, the cap replacement work by the cap replacement device 1 is realized without manual operation of each part. The control device 50 is configured to control the robot arm 20, which is the moving mechanism, based on information regarding the position coordinates of the cap. More specifically, the control device 50 calculates the position coordinates of the cap from the encoder information of the motors provided at the joints 25A to 25C of the robot arm 20, and controls the robot arm 20 based on those position coordinates.

[0074] Furthermore, it is preferable to configure the system to check whether each operation, such as the movement of the gripping part 30 by the robot arm 20 driven by each drive mechanism, and the gripping operation of the cap by the gripping part 30, is performed correctly before proceeding to the next operation. The drive mechanisms are pre-set for movement to the appropriate position and gripping operations, and are driven by the control device 50 based on these settings. However, slight deviations may occur in each operation. While slight deviations may not have a significant impact in a single cap replacement operation, repeated operation can put a load on the parts around the axis of the zonal rotor 10, potentially causing malfunctions. To prevent cap replacement operations from being performed with such deviations, it is desirable to provide sensors for operation monitoring to check whether each operation is performed correctly. In particular, since the parts around the axis of the zonal rotor 10 are delicate, it is preferable to position the gripping part 30 with high precision when removing and installing the cap to avoid putting a load on the parts around the axis, and it is important to check whether there is any axial misalignment when gripping the cap.

[0075] Furthermore, in controlling the robot arm 20 with the control device 50, it is conceivable to include a force detection sensor as one of the motion monitoring sensors to detect the force when the cap is attached, and to control the robot arm 20 based on the information acquired by the force detection sensor along with the position coordinates. However, according to the inventors' studies, because the force in the Z direction fluctuates and escapes due to the rotation of the zonal rotor 10, it was difficult to stably measure the force in the Z direction with the force detection sensor. For this reason, it is preferable to control the robot arm 20 with the control device 50 based solely on the position coordinates. By controlling based solely on the position coordinates, it is possible to perform stable and highly accurate control.

[0076] Sensors for monitoring operation include sensors that detect whether the gripping part 30 is positioned correctly, particularly in the attachment / detachment position; sensors that detect whether the gripping part 30 is gripping the cap without misalignment; and sensors that detect whether the first cap 12 is rotating with the correct amount of rotation. Appropriate sensors such as proximity sensors, position detection sensors, and rotation sensors may be used. Furthermore, cameras that capture images of the state of each component may be provided as sensors, and positional misalignment may be detected through image analysis.

[0077] (Modified Cap Replacement Device 2 of the First Embodiment) In the above embodiment, a case in which a robot arm 20 is provided as a moving mechanism for the gripping part 30 has been described, but the technology of this disclosure is not limited thereto. For example, as shown in the modified cap replacement device 2 of Figure 8, the device can also be configured to include a frame 80 that supports the gripping part 30 above the cap attachment / detachment position of the mounting opening 11 of the zonal rotor 10, and a moving means 90 that moves the gripping part 30 at least in the vertical direction. The moving means 90 is, for example, a linear actuator that moves the gripping part 30 in the vertical direction, and an electric, pneumatic, or hydraulic actuator can be applied. The frame 80 is installed above the zonal rotor 10 of the centrifugal apparatus 100 by an operator or by a separately provided moving mechanism for the frame 80 while supporting the gripping part 30. The frame 80 only needs to be designed so that when installed in the centrifugal apparatus 100, the gripping part 30 is in a position facing the mounting opening 11.

[0078] (Modification of the claws 1) Here, modification 1 of the claws 32, 34, and 36 of the gripping part 30 will be described with reference to Figures 9 to 11. Figure 9 is a plan view from the gripping part body 31 side showing the state in which the second cap 14 is gripped by the claws 132, 134, and 136 of modification 1. In Figure 9, the gripping part body 31 is omitted. The claws 132, 134, and 136 are arranged at an angle of 120° to each other with respect to the center of the second cap 14. Figure 10 is a cross-sectional view taken along the dashed line A-A in Figure 9. However, in Figure 10, the second cap 14 is shown in a side view.

[0079] As described in the above embodiment, the three claws 132, 134, and 136 are moved radially to grip and release the first cap 12 or the second cap 14. Each claw 132, 134, and 136 is provided with a first locking portion 132A, 134A, and 136A, and a second locking portion 132B, 134B, and 136B, respectively. The first locking portions 132A, 134A, and 136A are the same as the first locking portions 32A, 34A, and 36A of the claws 32, 34, and 36 described in the above embodiment, so details are omitted. Here, we will mainly describe the configuration that differs from the above-described claws 32, 34, and 36. Since the claws 132, 134, and 136 have the same shape, the following description will use one claw 134 as an example.

[0080] Figure 11 is a perspective view of the claw 134. As shown in Figures 10 and 11, the claw 134 consists of a main body 140 made of metal and a resin member 142 fixed to the inner diameter side of the main body 140. The resin member 142 is made of hard resin. The first locking portion 134A is provided at the tip of the main body 140. The second locking portion 134B is provided on the resin member 142.

[0081] The resin member 142 is fixed to the main body 140 by a screw 144 inserted from the radially outer side of the main body 140 (see Figure 10). The second locking portion 134B includes an upper contact surface 134B1 that abuts against the upper surface 14D of the second cap 14, and an outer circumferential contact portion 134B2 that abuts against the outer circumferential surface 14E of the second cap 14 from the radial direction. The upper contact surface 134B1 is flat. The outer circumferential contact portion 134B2 is semi-cylindrical. The axis of the semi-cylindrical shape is parallel to the tangential direction of the outer circumference of the upper surface 14D of the second cap 14. The second locking portion 134B also has a recess 134B3 between the upper contact surface 134B1 and the outer circumferential contact portion 134B2. The recess 134B3 is provided along the outer circumferential contact portion 134B2.

[0082] As shown in Figure 10, the second cap 14 has a tapered portion 14E1 on its outer peripheral surface 14E that connects to the upper surface 14D, where the diameter gradually decreases downward from the point where it connects to the upper surface 14D. When gripping the second cap 14 with the second locking portions 132B, 134B, and 136B, the second cap 14 is gripped such that the flange portion 14F, which is composed of the upper surface 14D and the tapered portion 14E1, fits into the recess 134B3.

[0083] When gripping the rotating second cap 14, the semi-cylindrical outer peripheral contact portion 134B2 of the claw 134 contacts the flange portion 14F from the outer peripheral side, and the flange portion 14F slides along the semi-cylindrical surface and fits into the recess 134B3 of the second locking portion 134B. The outer circumference of the flange portion 14F makes point contact with the recess 134B3, which is parallel to the tangential direction of its outer circumference. The point P2 where the outer circumference of the flange portion 14F and the recess 134B3 make contact is the point of contact between the outer circumference of the flange portion 14F and the straight line (shown as a dashed line in the figure) along the recess 134B3. A force F is applied to the second cap 14 from the radially outward side at the point of contact P2 between the flange portion 14F and the second locking portion 134B. The second locking portions 132B, 134B, and 136B of the three claws 132, 134, and 136 each contact the flange portion 14F at points P1, P2, and P3, and a force F is applied equally from three radial directions, thereby stopping the rotation of the second cap 14 and gripping it.

[0084] In this modified form, the claws 132, 134, and 136 support the outer circumference of the second cap 14 by applying a uniform force F in the radial direction at three points P1, P2, and P3 at 120° intervals, thereby stopping the rotation of the second cap 14 and stably gripping the second cap 14.

[0085] When removing the second cap 14 from the zonal rotor 10 by pulling the claws 132, 134, and 136 upward from the gripping state of the second cap 14, a force is applied to push up the flange portion 14F by the semi-cylindrical surface of the outer peripheral contact portion 134B2. As described in the previous embodiment, when removing the second cap 14, the claws 132, 134, and 136 are pulled up while the button 14A is pressed down by the pressing rod 42. On the other hand, when attaching the second cap 14 to the zonal rotor 10, the claws 132, 134, and 136 gripping the second cap 14 are pulled downward, and the upper surface 14D of the second cap 14 is pressed by the upper contact surface 134B1.

[0086] In this example, the entire second locking portion 134B is made of hard resin, but it is preferable that at least the portion of the second locking portion 134B that is in direct contact with the second cap 14 is made of hard resin. As already mentioned, this is because it can suppress damage and debris caused by friction that occurs when the second locking portion 134B comes into contact with the metal outer surface of the rotating second cap 14.

[0087] (Modification of the claws 2) Furthermore, modification 2 of the claws 32, 34, and 36 of the gripping part 30 will be explained, mainly in terms of the differences from modification 1, with reference to Figure 12. Figure 12 shows two of the three claws, claws 152 and 154, which correspond to claws 132 and 134 of modification 1 shown in Figure 10. With respect to claws 152 and 154 shown in Figure 12, elements equivalent to claws 132 and 134 in Figure 10 are given the same reference numerals and detailed explanations are omitted.

[0088] The claws 152 and 154 of Modification 2 differ from the claws 132 and 134 of Modification 1 in that they have a stopper 158 that prevents a pressing force exceeding the pressing force during normal operation from being applied to the mounting opening 11 when attaching the second cap 14 to the mounting opening 11.

[0089] The stopper 158 comprises a plate-shaped horizontal extension portion 158A that extends horizontally radially outward from the claws 152 and 154, a bolt 158B inserted from the lower side into a hole provided in the horizontal extension portion 158A, and a nut 158C positioned on the upper side of the horizontal extension portion 158A and screwed onto the bolt 158B. The head surface 158B1 of the bolt 158B faces the upper surface of the guard plate 109. Therefore, when the gripping portion 30 is lowered toward the mounting opening 11, the gripping portion 30 does not lower beyond the position where the head surface 158B1 of the bolt 158B contacts the upper surface of the guard plate 109. In other words, the stopper 158 has the function of suppressing the application of a pressing force to the mounting opening 11 that exceeds the pressing force during normal operation when attaching and / or removing the second cap 14 from the mounting opening 11.

[0090] When the robot arm 20 lowers the gripping portion 30 toward the mounting opening 11, the position of the gripping portion 30 is controlled. However, if the position control is inaccurate and the gripping portion 30 descends below a predetermined position, excessive force may be applied to the mounting opening 11. Excessive force applied to the mounting opening 11, i.e., the shaft 10C, can lead to malfunctions of the zonal rotor 10, such as shaft misalignment. As in this modified example, if the gripping portion 30 is equipped with a stopper 158, the application of excessive force to the mounting opening 11 can be suppressed, thereby preventing malfunctions.

[0091] The stopper 158 shown in Figure 12 can be adjusted in its restricting position by adjusting the threaded length of the bolt 158B and nut 158C. On the other hand, if no adjustment is necessary, the stopper may be made to function solely with the horizontal extension portion 158A without an adjustment mechanism such as the bolt 158B and nut 158C. In that case, the lower surface of the horizontal extension portion 158A may be configured to restrict the downward movement of the gripping portion 30 by contacting the guard plate 109. Alternatively, a projection may be provided on the lower surface of the horizontal extension portion 158A. Furthermore, a ball roller may be used instead of the bolt 158B, or a rod-shaped member inserted and fixed into the hole of the horizontal extension portion 158A may be used. Thus, the stopper 158 is a mechanical stopper that physically stops the downward movement of the gripping portion 30 by mechanical contact or the like. A mechanical stopper is preferred as the "stopper" in this disclosure.

[0092] (Cap replacement device 201 of the second embodiment)

[0093] Next, the cap replacement device 201 of the second embodiment will be described with reference to Figures 13 to 16. The cap replacement device 201 of the second embodiment differs from the cap replacement device 1 of the first embodiment in that it includes a first gripping part 230 and a second gripping part 240 as gripping parts. Figures 13 and 14 are schematic plan and side views showing the overall configuration of the centrifuge 100 and the cap replacement device 201. Figure 15 is an explanatory diagram of the first gripping part, and Figure 16 is an explanatory diagram of the second gripping part. In Figures 13 and 14, the direction of alignment of the centrifuge 100 and the cap replacement device 201 is the X direction, the depth direction is the Y direction, and the vertical direction is the Z direction.

[0094] The configuration of the zonal rotor 10 and the centrifuge 100 equipped with the zonal rotor 10, which are subject to cap replacement, are the same as those shown in Figure 1, and the same reference numerals are used for the same components, and detailed explanations are omitted.

[0095] As shown in Figures 13 and 14, the cap replacement device 201 of the second embodiment includes a robot arm 20 and a first gripping part 230 and a second gripping part 240, which are gripping parts attached to the tip of the robot arm 20. The robot arm 20 is a moving mechanism for moving the gripping part 30 and is an example of a "moving mechanism" in the technology of this disclosure. The robot arm 20 is installed on a support base 210. The configuration of the robot arm 20 is the same as that of the first embodiment. The robot arm 20 is movable together with the support base 210. The cap replacement work is performed with the support base 210 positioned next to the centrifugal unit 100. The cap replacement device 201 also includes a control device 250 for controlling the robot arm 20.

[0096] Furthermore, the cap replacement device 201 of this embodiment is equipped with a first cap holder 211, a second cap holder 213, a first gripping part holding stand 220, and a second gripping part holding stand 224 on a support base 210. In other words, the support base 210 constitutes a station for replacing the gripping part and the cap.

[0097] The first cap holder 211 includes a housing portion 212 having a hole into which the adapter portion 12F of the first cap 12 is inserted and a support portion that supports the cover portion 12E. The second cap holder 213 includes a housing portion 214 having a hole into which the tip portion of the second cap 14 is inserted and a support portion that supports the main body portion.

[0098] The first gripping part holding stand 220 is a support base for supporting the first gripping part 230, and has a U-shaped notch 221 on its stand surface. The first gripping part 230 is held by the first gripping part holding stand 220 by being locked into this U-shaped notch 221.

[0099] The second gripping part holding stand 224 is a support base for supporting the second gripping part 240, and a U-shaped notch 225 is formed on the stand surface. The second gripping part 240 is held by the second gripping part holding stand 224 by being locked into this U-shaped notch 225.

[0100] As previously described, the details of the configuration of the robot arm 20 are as described in the first embodiment. The tip of the outermost link 24D of the robot arm 20 is provided with a mounting portion 26 to which either the first gripping portion 230 or the second gripping portion 240 is attached. The first gripping portion 230 is attached to the mounting portion 26 when attaching or detaching the first cap 12, and the second gripping portion 240 is attached when attaching or detaching the second cap 14. Figures 13 and 14 show the state in which the second gripping portion 240 is attached to the mounting portion 26 and the second gripping portion 240 is gripping the second cap 14.

[0101] The robot arm 20 moves the first gripping part 230 between a first attachment / detachment position for attaching and detaching the first cap 12 and a retracted position where it is moved away from the first attachment / detachment position. The robot arm 20 also moves the second gripping part 240 between a second attachment / detachment position for attaching and detaching the second cap 14 and a retracted position where it is moved away from the second attachment / detachment position. The retracted position is a position away from the attachment / detachment position where the caps are attached and detached. In this embodiment, the retracted position of the first gripping part 230 is the first gripping part holding stand 220, and the retracted position of the second gripping part is the second gripping part holding stand 224. Note that the first attachment / detachment position and the second attachment / detachment position are the same in the horizontal direction (X-Y direction), but their height direction (vertical direction = Z direction) is different.

[0102] The first gripping section 230 comprises a first gripping section body 231, one end of which is connected to the mounting section 26 of the robot arm 20, and first claws 232, 234, and 236 provided at the other end of the first gripping section body 231 (see Figure 14). The first claws 232, 234, and 236 are configured to be movable in the radial direction in order to grip the first cap 12 from the radial direction. In this example, the three first claws 232, 234, and 236 are arranged at equal intervals (i.e., 120-degree intervals) in the circumferential direction. The first cap 12 is gripped by the radial movement of the three first claws 232, 234, and 236.

[0103] Figure 15 shows the state in which the first gripping portion 230 grips the first cap 12. In Figure 15, the first gripping portion 230 is shown in a cross-sectional view passing through the first claws 232 and 234, and the first cap 12 is shown in a side view.

[0104] The base ends of the first claws 232, 234, and 236 of the first gripping part 230 are attached to the lower end of the first gripping part body 231. The three first claws 232, 234, and 236 move radially inward to grip the first cap 12, and the three first claws 232, 234, and 236 move radially outward to release the grip on the first cap 12.

[0105] The shapes of the first claws 232, 234, and 236 are identical, and here we will explain using the first claw 232 shown in Figure 15 as an example. The first claw 232 has a hook-shaped portion with a recess 232A formed on the inner diameter side of its tip, which is recessed radially outward. When gripping the first cap 12, the recess 232A engages with a projection 12E1 provided along the circumferential direction of the first cap 12. The projection 12E1 is part of the cover portion 12E. The three first claws 232, 234, and 236 are configured to lock the first cap 12 by engaging the projection 12E1 of the first cap 12 with the recess provided in each of them. The hook-shaped portion has the same shape as the first locking portions 32A, 34A, and 36A in the gripping portion 30 of the first embodiment. The first claws 232, 234, and 236 are made of metal such as aluminum.

[0106] The first gripping body 231 has a cylindrical housing 231a that supports the first claws 232, 234, and 236, and also houses a drive mechanism (not shown) for driving the first claws 232, 234, and 236. A known actuator can be used as the drive mechanism. The actuator moves the first claws 232, 234, and 236 radially when gripping and releasing the cap. For example, the first claws 232 and 234 are movable from the gripping position shown by the solid line in Figure 15 to the release position shown by the dashed line.

[0107] The second gripping section 240 comprises a second gripping section body 241, one end of which is connected to the mounting section 26 of the robot arm 20, and second claws 242, 244, and 246 provided at the other end of the second gripping section body 241 (see Figure 14). The second claws 242, 244, and 246 are configured to be movable in the radial direction in order to grip the second cap 14 from the radial direction. In this example, the three second claws 242, 244, and 246 are arranged at equal intervals (i.e., 120-degree intervals) in the circumferential direction. The second cap 14 is gripped by the radial movement of the three second claws 242, 244, and 246.

[0108] Figure 16 shows the state in which the second gripping portion 240 grips the second cap 14. In Figure 16, the second gripping portion 240 is shown in a cross-sectional view passing through the second claws 242 and 244, and the second cap 14 is shown in a side view.

[0109] The base ends of the second claws 242, 244, and 246 of the second gripping part 240 are attached to the lower end of the second gripping part body 241. The three second claws 242, 244, and 246 move radially inward to grip the second cap 14, and the three second claws 242, 244, and 246 move radially outward to release the grip on the second cap 14.

[0110] The shapes of the second claws 242, 244, and 246 are identical, and here we will explain using the second claw 242 shown in Figure 16 as an example. The second claw 242 includes a main body 247 made of metal and a resin member 248 fixed to the inner diameter side of the main body 247. The resin member 248 is made of hard resin. The resin member 248 is fixed to the main body 247 by a screw 249 inserted from the radially outer side of the main body 247 (see Figure 16). The resin member 248 of the second claw 242 includes an upper contact surface 242B1 that abuts against the upper surface 14D of the second cap 14, and an outer circumferential contact portion 242B2 that abuts against the outer circumferential surface 14E of the second cap 14 from the radial direction. The upper contact surface 242B1 is flat. The outer circumferential contact portion 242B2 is semi-cylindrical in shape. The semi-cylindrical axis is parallel to the tangential direction of the outer circumference of the upper surface 14D of the second cap 14. The second claw 242 has a recess 242B3 between the upper contact surface 242B1 and the outer circumference contact portion 242B2. The recess 242B3 is provided along the outer circumference contact portion 242B2.

[0111] As shown in Figure 16, when the second claws 242, 244, and 246 grip the second cap 14, the second cap 14 is gripped such that the flange portion 14F, which is composed of the upper surface 14D and the sloped portion 14E1, fits into the recess 242B3.

[0112] The manner in which the second cap 14 is gripped by the second claws 242, 244, and 246 is the same as the gripping manner according to the modified claw 1 of the first embodiment of the cap replacement device 1 shown in Figure 10, and achieves the same effect.

[0113] The second gripping body 241 has a cylindrical housing 241a that supports the second claws 242, 244, and 246, and also houses a drive mechanism (not shown) for driving the second claws 242, 244, and 246. A known actuator can be used as the drive mechanism. The actuator moves the second claws 242, 244, and 246 radially when gripping and releasing the cap. For example, the second claws 242 and 244 are movable from the gripping position shown by the solid line to the release position shown by the dashed line in Figure 16.

[0114] Furthermore, the second gripping portion 240 is equipped with a pressing mechanism 260 that presses the button 14A provided on the second cap 14. The configuration and operation of the pressing mechanism 260 are the same as those of the pressing mechanism 40 provided on the gripping portion 30. The pressing mechanism 260 has a pressing rod 262, which is a rod-shaped member provided along the longitudinal direction of the second gripping portion 240, and an actuator 264 that drives the pressing rod 262. The pressing rod 262 is a rod-shaped member with a circular cross-section. The actuator 264 moves the pressing rod 262 between a position where it is housed inside the second gripping portion body 241 and a position where its tip 262A presses the button 14A.

[0115] Next, an example of using the cap replacement device 201 according to this embodiment will be described. Here, the procedure for removing the first cap 12 attached to the zonal rotor 10 and attaching the second cap 14 while the zonal rotor 10 is rotating at a low speed will be described.

[0116] The robot arm 20 is equipped with a first gripping section 230. The robot arm 20 moves the first gripping section 230 to a predetermined first attachment / detachment position above the mounting opening of the zonal rotor 10. Specifically, the first gripping section 230 is positioned so that the first claws 232, 234, and 236 face the outer circumferential surface of the first cap 12 in the radial direction.

[0117] In this state, the first claws 232, 234, and 236 are driven by an actuator in the first gripping body 231 to move toward the outer circumferential surface of the first cap 12. As a result, the first cap 12 is gripped by the first claws 232, 234, and 236 of the first gripping part 230, as shown in Figure 15. Specifically, the first gripping part 230 grips the first cap 12 by engaging the recesses provided at the tips of the first claws 232, 234, and 236 with the protrusions 12E1 provided along the circumferential direction of the first cap 12.

[0118] To remove the first cap 12, it is necessary to rotate the first cap 12 to release its fixation. Therefore, while the first gripping part 230 is gripping the first cap 12, the first cap 12 is rotated by rotating the first gripping part 230. For example, a rotation mechanism is provided in the joint 25C to which the end link 24D of the robot arm 20 is connected, and the first gripping part 230 is rotated by rotating the end link 24D. After that, the first cap 12 is removed from the mounting opening 11 by pulling the first gripping part 230 upward with the robot arm 20.

[0119] After the first cap 12 is removed, the robot arm 20 first moves the first gripping part 230, which is gripping the first cap 12, to the first cap holder 211. The robot arm 20 then inserts the adapter part 12F of the first cap 12 into the housing part 212 of the first cap holder 211 to release the grip on the first cap 12. After that, the robot arm 20 moves the first gripping part 230 to the first gripping part holding stand 220. The robot arm 20 inserts the first gripping part 230 into the notch 221 and brings the base end of the first gripping part body 231 into contact with the stand surface to remove the first gripping part 230 from the mounting part 26. As a result, the first gripping part 230 is locked and held in place by the first gripping part holding stand 220.

[0120] Next, in order to attach the second cap 14, the robot arm 20 positions the mounting part 26 above the second gripping part 240 of the second gripping part holding stand 224 and attaches the second gripping part 240 to the mounting part 26. With the second gripping part 240 attached, the robot arm 20 moves the second gripping part 240 to the second cap holder 213. At this point, the second gripping part 240 grips the second cap 14. The robot arm 20 then moves the second gripping part 240, which is gripping the second cap 14, to the second attachment / detachment position. Specifically, the second gripping part 240 is moved to the attachment position of the second cap 14 to the zonal rotor 10.

[0121] In the second attachment / detachment position, the second cap 14 is attached to the mounting opening 11 of the zonal rotor 10. Subsequently, the grip of the second cap 14 by the second gripping part 240 is released. The actuator moves the second claws 242, 244, and 246 in a direction away from the outer circumferential surface of the second cap 14, thereby releasing the grip of the second cap 14.

[0122] After the gripping of the second cap 14 by the second gripping part 240 is released, the robot arm 20 moves the second gripping part 240 to the retracted position, which is the second gripping part holding stand 224.

[0123] Following the above procedure, the first cap 12 is removed and the second cap 14 is installed.

[0124] Furthermore, when removing the second cap 14 and attaching the first cap 12, the procedure is generally reversed. The procedure is briefly explained below.

[0125] First, the robot arm 20 moves the second gripping portion 240, which is attached to the mounting portion 26, to a predetermined second attachment / detachment position above the mounting opening of the zonal rotor 10. Specifically, the second gripping portion 240 is positioned so that the second claws 242, 244, and 246 face the outer circumferential surface of the second cap 14 in the radial direction.

[0126] In this state, the second claws 242, 244, and 246 are driven by an actuator in the second gripping body 241 to move toward the outer circumferential surface of the second cap 14. As a result, as shown in Figure 16, the second cap 14 is gripped by the second claws 242, 244, and 246 of the second gripping unit 240. Specifically, the second cap 14 is gripped by the second gripping unit 240 such that the flange portion 14F is fitted into the respective recesses 242B3 of the second claws 242, 244, and 246. The second cap 14, which is attached to the zonal rotor 10, rotates in conjunction with the rotation of the zonal rotor 10, but since the second cap 14 is not fixed to the rotating shaft 10C, it is possible to stop the rotation of the second cap 14 and grip it using the second gripping unit 240.

[0127] Next, the second cap 14 is made removable from the mounting opening 11 by pressing the button 14A on the second cap 14. Specifically, with the second cap 14 being gripped by the second gripping part 240, the actuator 264 of the pressing mechanism 260 is driven to lower the pressing rod 262. This causes the tip 262A of the pressing rod 262 to press the button 14A. With the pressing rod 262 pressing the button 14A, the second cap 14 is pulled upward by the second claws 242, 244, and 246, thereby removing the second cap 14 from the mounting opening 11. The pulling up of the second cap 14 by the second claws 242, 244, and 246 is performed, for example, by driving a linear actuator provided on the joint 25C to which the end link 24D is connected.

[0128] After the second cap 14 is removed, the robot arm 20 moves the second gripping part 240, which is gripping the second cap 14, to the second cap holder 213. The robot arm 20 inserts the tip of the second cap 14 into the housing part 214 of the second cap holder 213 to release the grip on the second cap 14. Then, the robot arm 20 moves the second gripping part 240 to the second gripping part holding stand 224. The robot arm 20 inserts the second gripping part 240 into the notch 225 and brings the base end of the second gripping part body 241 into contact with the stand surface to remove the second gripping part 240 from the mounting part 26. As a result, the second gripping part 240 is locked and held in place by the second gripping part holding stand 224.

[0129] Next, in order to attach the first cap 12, the robot arm 20 positions the mounting portion 26 above the first gripping portion 230 of the first gripping portion holding stand 220, and attaches the first gripping portion 230 to the mounting portion 26. With the first gripping portion 230 attached, the robot arm 20 moves the first gripping portion 230 to the first cap holder 211. After that, the first cap 12 is gripped by the first gripping portion 230, and the robot arm 20 moves the first gripping portion 230, which is gripping the first cap 12, to the first attachment / detachment position.

[0130] In the first attachment / detachment position, the first cap 12 is attached to the mounting opening 11 of the zonal rotor 10. Subsequently, the gripping part 230 releases its grip on the first cap 12, and the robot arm 20 moves the first gripping part 230 to the retracted position.

[0131] Following the above procedure, the second cap 14 is removed and the first cap 12 is installed.

[0132] The operation of attaching and detaching the cap by the robot arm 20 is controlled by the control device 250. The configuration of the control device 250 is substantially the same as that of the control device 50 in the cap replacement device 1 of the first embodiment. The control device 250 is also configured to control the robot arm 20, which is a moving mechanism, based on information regarding the position coordinates of the cap. More specifically, the control device 250 calculates the position coordinates of the cap from the encoder information of the motors provided in the joints 25A to 25C of the robot arm 20, and controls the robot arm 20 based on those position coordinates.

[0133] As described above, the cap replacement device 201 according to the second embodiment is also a device for replacing the first cap 12 and the second cap 14 while the zonal rotor 10 is rotating, and the same effects as in the case of the cap replacement device 1 according to the first embodiment can be obtained.

[0134] (Modified versions of the second claws) Furthermore, modified versions of the second claws 242, 244, and 246 of the second gripping portion 240 will be described with reference to Figure 17. Figure 17 shows two of the three second claws, 272 and 274, which correspond to the second claws 242 and 244 shown in Figure 16. With respect to the second claws 272 and 274 shown in Figure 17, elements equivalent to those of the second claws 242 and 244 in Figure 16 are given the same reference numerals and detailed explanations are omitted.

[0135] The second claws 272 and 274 differ from the second claws 242 and 244 in that they have a stopper 270 that prevents a pressing force exceeding the pressing force during normal operation from being applied to the mounting opening 11 when attaching the second cap 14 to the mounting opening 11. The configuration of the stopper 270 is substantially the same as that of the stopper 158 in the modified claw 2 of the first embodiment, and it provides the same effect. It can also be replaced in the same way as the stopper 158.

[0136] The stopper 270 comprises a plate-shaped horizontal extension portion 270A extending horizontally radially outward from the second claws 272 and 274, a bolt 270B inserted from the lower side into a hole provided in the horizontal extension portion 270A, and a nut 270C positioned on the upper side of the horizontal extension portion 270A and screwed onto the bolt 270B. In this example, the horizontal extension portion 270A is integrally formed with the main body portion 247 of the second claw 272 and is provided as part of an L-shaped member. The head surface 270B1 of the bolt 270B attached to the horizontal extension portion 270A faces the upper surface of the guard plate 109. Therefore, when the second gripping portion 240 is lowered toward the mounting opening 11, the second gripping portion 240 does not lower beyond the position where the surface 270B1 of the bolt 270B contacts the upper surface of the guard plate 109. In other words, the stopper 270 has the function of preventing a pressing force exceeding the pressing force during normal operation from being applied to the mounting opening 11 when the second cap 14 is attached to and / or removed from the mounting opening 11, thereby suppressing the occurrence of failure of the zonal rotor 10.

[0137] The descriptions and illustrations presented above are detailed explanations of the technical aspects of this disclosure and are merely examples of the technical aspects. For example, the above descriptions of the structure, function, operation, and effect are examples of the structure, function, operation, and effect of the technical aspects of this disclosure. Therefore, it goes without saying that you may delete unnecessary parts, add new elements, or replace elements in the descriptions and illustrations presented above, as long as you do not deviate from the essence of the technical aspects of this disclosure. Furthermore, in order to avoid confusion and facilitate understanding of the technical aspects of this disclosure, explanations of common technical knowledge and the like that do not require special explanation to enable the implementation of the technical aspects of this disclosure have been omitted from the descriptions and illustrations presented above.

[0138] The disclosures of Japanese Patent Application No. 2025-010921, filed on 24 January 2025, and Japanese Patent Application No. 2025-041862, filed on 14 March 2025, are incorporated herein by reference in their 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 noted to be incorporated by reference.

[0139] The following further notes are disclosed regarding the above embodiments. <Note 1> A cap replacement device used in a centrifuge that centrifuges a sample by rotating a zonal rotor containing a sample and a solution containing a density gradient medium, for replacing a detachable cap attached to the mounting port of the zonal rotor while the zonal rotor is rotating, comprising: a gripping part for gripping the cap; and a moving mechanism for moving the gripping part between a detachable position for attaching and detaching the cap and a retracted position for retracting from the detachable position. <Note 2> The cap replacement device according to Note 1, wherein the moving mechanism is a robotic arm. <Note 3> The cap replacement device according to Note 1 or 2, further comprising a control unit, the control unit controlling the moving mechanism based on coordinate information. <Note 4> The cap replacement device according to any one of Notes 1 to 3, wherein the gripping part has a stopper that prevents a pressing force exceeding the pressing force during normal operation from being applied to the mounting port when attaching the cap to the mounting port. <Note 5> The cap replacement device according to any one of Notes 1 to 4, comprising two types of caps: a first cap having an outer surface that does not rotate even when the zonal rotor rotates, and a second cap that rotates in conjunction with the rotation of the zonal rotor. <Note 6> The cap replacement device according to Note 5, wherein the first cap has a connection port to which a pipe for injecting or discharging a solution is connected, and is used when injecting or discharging a solution to or from the zonal rotor with the first cap attached to the mounting port, and the second cap is used when the zonal rotor is rotated at a second rotational speed that is faster than the first rotational speed when injecting or discharging a solution. <Note 7> The cap replacement device according to Note 5 or Note 6, comprising, as a gripping part, a first gripping part having a plurality of first claws for gripping a first cap, which is used selectively, and a second gripping part having a plurality of second claws for gripping a second cap, wherein the moving mechanism has a mounting part to which the first gripping part is attached when the first cap is attached or detached, and to which the second gripping part is attached when the second cap is attached or detached.<Note 8> The cap replacement device according to Note 6, wherein the first gripping part grips the first cap by bringing a plurality of first claws into contact with the first cap from the radial direction, and the second gripping part grips the second cap by bringing a plurality of second claws into contact with the second cap from the radial direction. <Note 9> The cap replacement device according to Note 8, wherein the second claw includes an upper contact surface that contacts the upper surface of the second cap and an outer contact portion that contacts the outer circumferential surface of the second cap from the radial direction. <Note 10> The cap replacement device according to Note 9, wherein the second cap has a gradient portion on the outer circumferential surface connected to the upper surface, where the diameter gradually decreases downward from the position where it connects to the upper surface, and the second claw has a recess between the upper contact surface and the outer contact portion into which a flange portion formed from the upper surface and the gradient portion of the outer circumferential surface of the second cap is fitted. <Note 11> The cap replacement device according to any one of Notes 7 to 10, wherein the first claw is made of metal, and the portion of the second claw that contacts the second cap is made of hard resin. <Note 12> The cap replacement device according to any one of Notes 7 to 11, wherein the first gripping part has actuators that move a plurality of first claws in the radial direction of the first cap, and the second gripping part has actuators that move a plurality of second claws in the radial direction of the second cap. <Note 13> The cap replacement device according to any one of Notes 7 to 12, wherein the first gripping part is capable of rotating the first cap while gripping it. <Note 14> The cap replacement device according to any one of Notes 7 to 13, wherein the second gripping part has a pressing mechanism that presses a button provided on the second cap. <Note 15> The cap replacement device according to Note 5 or 6, wherein the gripping portion has a plurality of claws, each of which has a first locking portion for gripping the first cap and a second locking portion for gripping the rotating second cap, and the moving mechanism moves the gripping portion to a first attachment / detachment position where the gripping portion attaches to and detaches the first cap to the mounting opening, and to a second attachment / detachment position where the gripping portion attaches to and detaches the second cap. <Note 16> The cap replacement device according to Note 15, wherein the plurality of claws grip the first cap by bringing the first locking portion into contact with the first cap from the radial direction, and grip the second cap by bringing the second locking portion into contact with the second cap from the radial direction.<Note 17> The cap replacement device according to Note 16, wherein the second locking portion includes an upper contact surface that abuts against the upper surface of the second cap and an outer contact portion that abuts against the outer circumferential surface of the second cap from the radial direction. <Note 18> The cap replacement device according to Note 17, wherein the second cap has a gradient portion on the outer circumferential surface connected to the upper surface, the diameter of which gradually decreases downward from the position where it connects to the upper surface, and the second locking portion has a recess between the upper contact surface and the outer contact portion into which a flange portion formed from the upper surface and the gradient portion of the outer circumferential surface of the second cap is fitted. <Note 19> The cap replacement device according to any one of Notes 15 to 18, wherein the first locking portion is made of metal, and the portion of the second locking portion that abuts against the second cap is made of hard resin. <Note 20> The cap replacement device according to any one of Notes 15 to 19, wherein the gripping portion has an actuator that moves a plurality of claws in the radial direction of the first cap and the second cap. <Note 21> The cap replacement device according to any one of Notes 15 to 20, wherein the gripping part is capable of rotating the first cap while gripping the first cap. <Note 22> The cap replacement device according to any one of Notes 15 to 21, wherein the gripping part is equipped with a pressing mechanism for pressing a button provided on the second cap. <Note 23> The cap replacement device according to any one of Notes 16 to 22, wherein the first cap has a larger diameter than the second cap, the gripping part is equipped with a first locking part at its tip and a second locking part closer to the base end than the first locking part, and the second locking part protrudes radially inward from the first locking part.

Claims

1. A cap replacement device used in a centrifuge that centrifuges a sample by rotating a zonal rotor containing a sample and a solution containing a density gradient medium, the device being used to replace a detachable cap attached to the mounting port of the zonal rotor while the zonal rotor is rotating, the device comprising: a gripping portion for gripping the cap; and a moving mechanism for moving the gripping portion between a detachment position for attaching and detaching the cap and a retracted position for retracting from the detachment position.

2. The cap replacement device according to claim 1, wherein the moving mechanism is a robotic arm.

3. The cap replacement device according to claim 1, further comprising a control unit, wherein the control unit controls the moving mechanism based on information regarding the position coordinates of the cap.

4. The cap replacement device according to claim 1, wherein the gripping portion has a stopper that prevents a pressing force exceeding the pressing force during normal operation from being applied to the mounting opening when the cap is attached to the mounting opening.

5. The cap replacement device according to any one of claims 1 to 4, wherein the cap includes two types of caps: a first cap having an outer surface that does not rotate even when the zonal rotor rotates, and a second cap that rotates in conjunction with the rotation of the zonal rotor.

6. The cap replacement device according to claim 5, wherein the first cap has a connection port to which a pipe for injecting or discharging the solution is connected, and is used when injecting or discharging the solution to or from the zonal rotor with the first cap attached to the mounting port, and the second cap is 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.

7. The cap replacement device according to claim 5, wherein the gripping portion comprises a first gripping portion having a plurality of first claws for gripping the first cap, which is used selectively, and a second gripping portion having a plurality of second claws for gripping the second cap, and the moving mechanism has a mounting portion to which the first gripping portion is mounted when the first cap is attached or detached, and to which the second gripping portion is mounted when the second cap is attached or detached.

8. The cap replacement device according to claim 7, wherein the first gripping portion grips the first cap by bringing the plurality of first claws into contact with the first cap from the radial direction, and the second gripping portion grips the second cap by bringing the plurality of second claws into contact with the second cap from the radial direction.

9. The cap replacement device according to claim 8, wherein the second claw includes an upper contact surface that contacts the upper surface of the second cap and an outer contact portion that contacts the outer circumferential surface of the second cap from the radial direction.

10. The cap replacement device according to claim 9, wherein the second cap has a sloping portion on its outer circumferential surface that connects to the upper surface, the diameter of which gradually decreases downward from the position where it connects to the upper surface, and the second claw has a recess between the upper surface contact surface and the outer circumferential contact portion into which a flange portion formed from the upper surface and the sloping portion of the outer circumferential surface of the second cap is fitted.

11. The cap replacement device according to claim 7, wherein the first claw is made of metal, and the portion of the second claw that contacts the second cap is made of hard resin.

12. The cap replacement device according to claim 7, wherein the first gripping portion has an actuator for moving the plurality of first claws in the radial direction of the first cap, and the second gripping portion has an actuator for moving the plurality of second claws in the radial direction of the second cap.

13. The cap replacement device according to claim 7, wherein the first gripping portion is capable of rotating the first cap while gripping the first cap.

14. The cap replacement device according to claim 7, wherein the second gripping portion is equipped with a pressing mechanism for pressing a button provided on the second cap.

15. The cap replacement device according to claim 5, wherein the gripping portion has a plurality of claws, each of which has a first locking portion for gripping the first cap and a second locking portion for gripping the rotating second cap, and the moving mechanism moves the gripping portion to a first attachment / detachment position in which the gripping portion attaches and detaches the first cap to the mounting opening, and to a second attachment / detachment position in which the second cap attaches and detaches.

16. The cap replacement device according to claim 15, wherein the plurality of claws grip the first cap by bringing the first locking portion into contact with the first cap from the radial direction, and grip the second cap by bringing the second locking portion into contact with the second cap from the radial direction.

17. The cap replacement device according to claim 16, wherein the second locking portion includes an upper contact surface that abuts against the upper surface of the second cap and an outer contact portion that abuts against the outer circumferential surface of the second cap from the radial direction.

18. The cap replacement device according to claim 17, wherein the second cap has a sloping portion on its outer circumferential surface that connects to the upper surface, the diameter of which gradually decreases downward from the position where it connects to the upper surface, and the second locking portion has a recess between the upper surface contact surface and the outer circumferential contact portion into which a flange portion formed from the upper surface and the sloping portion of the outer circumferential surface of the second cap is fitted.

19. The cap replacement device according to claim 15, wherein the first locking portion is made of metal, and the portion of the second locking portion that contacts the second cap is made of hard resin.

20. The cap replacement device according to claim 15, wherein the gripping portion has an actuator for moving the plurality of claws in the radial direction of the first cap and the second cap.

21. The cap replacement device according to claim 15, wherein the gripping portion is capable of rotating the first cap while gripping the first cap.

22. The cap replacement device according to claim 15, wherein the gripping portion is equipped with a pressing mechanism for pressing a button provided on the second cap.

23. The cap replacement device according to claim 16, wherein the first cap has a larger diameter than the second cap, the gripping portion has the first locking portion at its tip and the second locking portion is located closer to the base end than the first locking portion, and the second locking portion protrudes radially inward from the first locking portion.

Images