JP7747464B2 - Capping and Inspection Systems - Google Patents

Description

The present disclosure relates to a capping device and an inspection system, and more particularly to a capping device and an inspection system for closing a lid on a container.

Robots that close container lids have been disclosed in the past. For example, Patent Document 1 discloses a robot that closes the lid of a composite container that contains a specimen. The robot is a vertically articulated robot. The robot includes an arm and a hand attached to the end of the arm. Two fingers are arranged on the hand. The composite container is made of a resin material. The composite container includes a tubular body that contains the specimen. The lid is connected to the body by an elastically deformable band-like strap. The lid includes a plate-shaped flange and a fitting portion that protrudes from the flange and fits into the tubular body. The robot pushes the outside of the lid with one finger of the hand to move the lid, thereby inserting the fitting portion of the lid into the opening of the body. The robot further pushes the outside of the lid with one finger of the hand to fit the fitting portion of the lid into the opening of the body. This closes the lid of the composite container.

Patent No. 6413972

When closing the lid of a composite container using a vertical articulated robot, as in Patent Document 1, the robot must be taught the operation required to close the lid of the composite container. Composite containers are made of a resin material, and although this is not explicitly stated in Patent Document 1, they are generally flexible. Teaching a robot to work on such flexible composite containers requires precision in the teaching. For this reason, a skilled operator is needed to teach the robot. Therefore, there is a demand for a lid closing device and inspection system that can close a container lid without the need for instruction from a skilled operator.

This disclosure provides a lid closing device and inspection system that can close a container lid without the need for instruction from a skilled operator.

A lid closing device according to a first aspect of the present disclosure is a lid closing device that closes a lid connected to the open end of a flexible container that contains at least one of a sample and a reagent, and is equipped with a positioning unit that has a hole into which the container is inserted and positions the container inserted into the hole, a lid closing unit that moves the lid to cover the open end of the container to close the lid, a drive unit that moves the lid closing unit in a linear manner, and a control unit that controls the movement of the lid closing unit by the drive unit, and the control unit moves the lid closing unit upward to lift the lid, moves the lid closing unit sideways to move the lid above the open end of the container, and moves the lid closing unit downward to close the lid .

In the lid closing device according to the first aspect of this disclosure, as described above, the lid closing unit is driven by a drive unit that moves the lid closing unit linearly. Here, because the drive unit performs relatively simple linear movements, there is no need for a skilled worker to teach it complex movements, unlike in the case of a vertical articulated robot. Furthermore, because the container is positioned by the positioning unit, it will not shift position due to the operation of the lid closing unit driven by the drive unit. As a result, the lid of the container can be closed without the need for instruction from a skilled worker.

A testing system according to a second aspect of the present disclosure is a testing system that collects a sample from a subject and performs testing by measuring the collected sample, and includes a first unit for collecting and receiving the sample, a second unit for pre-processing the collected sample before measuring it, and a third unit for measuring the pre-processed sample, and the third unit includes a lid closing device that closes a lid connected to an open end of a flexible container that contains at least one of a sample and a reagent, and the lid closing device has a hole into which the container is inserted and includes a positioning unit that positions the container inserted in the hole, a lid closing unit that moves the lid to cover the open end of the container to close the lid, a drive unit that moves the lid closing unit linearly, and a control unit that controls the movement of the lid closing unit by the drive unit , and the control unit closes the lid by moving the lid closing unit upward to lift the lid, moving the lid closing unit sideways to move the lid above the open end of the container, and moving the lid closing unit downward to block the open end of the container with the lid .

In the inspection system according to the second aspect of this disclosure, as described above, the lid closing unit is driven by a drive unit that moves the lid closing unit linearly. Here, because the drive unit performs relatively simple linear movements, there is no need for a skilled worker to teach it complex movements, unlike in the case of a vertical articulated robot. Furthermore, because the container is positioned by the positioning unit, it will not shift position due to the operation of the lid closing unit driven by the drive unit. As a result, an inspection system can be provided that is capable of closing the lid of a container without the need for instruction from a skilled worker.

This disclosure allows the lid of a container to be closed without instruction from a skilled worker.

1 is a diagram showing an outline of the overall configuration of an inspection system according to a first embodiment; 1 is a diagram showing a specific configuration of the overall configuration of an inspection system according to a first embodiment. FIG. 2 is a diagram showing a configuration of a first unit of the inspection system according to the first embodiment. 1 is a diagram showing a specimen collection container of a testing system according to a first embodiment. FIG. FIG. 2 is a diagram showing a disinfectant tank of the testing system according to the first embodiment. FIG. 2 is a diagram showing a specimen collection container transport unit of the testing system according to the first embodiment. FIG. 10 is a diagram showing a configuration for performing the unplugging and dispensing process and the inactivation process of the second unit of the testing system according to the first embodiment. FIG. 4 is a diagram showing a configuration for performing nucleic acid extraction processing in a second unit of the testing system according to the first embodiment. FIG. 2 is a diagram showing a plate for performing a nucleic acid extraction process in the testing system according to the first embodiment. FIG. 10 is a diagram showing a waste box of a second unit of the inspection system according to the first embodiment. FIG. 2 is a diagram showing a configuration of a third unit of the inspection system according to the first embodiment. FIG. 10 is a diagram showing a multi-tube arrangement. FIG. 1 shows one tube. FIG. 2 is a top view of a capping device of the inspection system according to the first embodiment. FIG. 2 is a side view of a capping device of the inspection system according to the first embodiment. 3A and 3B are diagrams showing a positioning portion and a pressing portion of the lid closing device according to the first embodiment. 2 is a top view showing the lid closing portion and the holding portion of the lid closing device according to the first embodiment. FIG. 3 is a top view showing a guide portion and a holding portion of the lid closing device according to the first embodiment. FIG. 3A and 3B are views showing one guide portion of the lid closing device according to the first embodiment. 20 is a cross-sectional view taken along line 400-400 in FIG. 19. 20 is a cross-sectional view taken along line 450-450 in FIG. 19. FIG. 10 is a view of the tube and the pressing portion as seen from above. FIG. 10 shows the height of the tube cap and band. FIG. FIG. 4 is a flow chart for explaining the operation of the lid closing device according to the first embodiment. 10A and 10B are diagrams for explaining an operation of detecting the presence or absence of a lid by a first detection unit. FIG. 10 is a diagram showing the state before the lid is lifted by the lid closing part. 10A and 10B are diagrams illustrating the operation of lifting the lid by the lid closing part. 10A and 10B are diagrams for explaining the operation of moving the lid closing part in the lateral direction. 10A and 10B are diagrams illustrating the operation of closing the lid by moving the lid closing part downward. 10A and 10B are diagrams for explaining an operation of the second detection unit to detect whether the lid is closed or not. 10A and 10B are diagrams illustrating the operation of pressing the lid into the tube by the pressing portion. FIG. 10 is a perspective view showing the entire lid closing device according to a second embodiment. FIG. 10 is a top view of a guide portion of the lid closing device according to the second embodiment. FIG. 10 is a perspective view of a guide portion of a lid closing device according to a second embodiment.

[First embodiment]
A testing system 1100 according to a first embodiment will be described with reference to FIGS. 1 to 32. The testing system 1100 of the first embodiment collects a sample from a subject and measures and tests the collected sample. For example, the testing system 1100 is used to perform RT-PCR testing for infectious viruses. The infectious virus is not particularly limited, but COVID-19 is one example.

As shown in Figures 1 and 2, the inspection system 1100 includes a first unit 1001, a second unit 1002, and a third unit 1003. Each of the first unit 1001, second unit 1002, and third unit 1003 of the inspection system 1100 is provided with a robot 1004. The first unit 1001, second unit 1002, and third unit 1003 are provided within a container 1005. The first unit 1001, second unit 1002, and third unit 1003 are provided within a single container 1005, separated from one another by partitions. It is sufficient that at least one of the first unit 1001, second unit 1002, and third unit 1003 is provided within the container 1005. This allows the inspection system 1100 to be easily transported and installed.

The testing system 1100 also includes transport units 1006a and 1006b that interconnect the first unit 1001, the second unit 1002, and the third unit 1003. Specifically, the first unit 1001 and the second unit 1002 are connected by the transport unit 1006a. The second unit 1002 and the third unit 1003 are connected by the transport unit 1006b. This allows samples to be easily moved between the first unit 1001, the second unit 1002, and the third unit 1003 by the transport units 1006a and 1006b.

The first unit 1001 collects and accepts a sample. For example, the first unit 1001 collects a sample from a subject and dilutes the collected sample with a diluent. The first unit 1001 also stirs the diluted sample. The first unit 1001 also centrifuges the diluted sample. The second unit 1002 is connected to the first unit 1001 and performs pre-processing on the sample before measurement. For example, the second unit 1002 performs inactivation processing as pre-processing of the sample. The second unit 1002 also performs nucleic acid extraction processing as pre-processing of the sample. The third unit 1003 is connected to the second unit 1002 and measures the pre-processed sample. For example, the third unit 1003 performs processing to determine whether the sample contains an infectious virus using an RT-PCR test.

The robots 1004 provided in each of the first unit 1001, second unit 1002, and third unit 1003 of the testing system 1100 perform processing on the samples. For example, the robots 1004 transport and open containers containing samples. The robots 1004 also dispense samples and reagents. The robots 1004 also transport items such as containers, reagents, and pallets required for processing. Note that it is sufficient for the robot 1004 to be provided in at least one of the first unit 1001, second unit 1002, and third unit 1003.

The testing system 1100 is also installed at a mobile base where passengers board and disembark mobile objects. For example, the testing system 1100 is installed at a mobile base such as an airport, train station, bus terminal, or ferry terminal. Mobile objects are, for example, airplanes, trains, buses, or ships. This allows testing for infectious diseases to be performed using the testing system 1100 at the mobile base, making it possible to immediately confirm whether a person is positive for an infectious disease at the mobile base. As a result, the spread of infectious diseases from mobile bases can be effectively prevented.

An example will be described in which the inspection system 1100 is installed in an airport. An airport has a terminal building, as well as train and bus stations, taxi stands, and parking lots. Airline passengers travel between the stations, stands, and parking lots and the entrances and exits of the terminal building.

A terminal building includes entrances and exits, check-in counters for boarding procedures, security checkpoints using X-ray screening and metal detectors, boarding waiting areas, boarding gates, baggage claim areas, and arrival gates. Passengers departing from an airport proceed through the check-in counters, security checkpoints, boarding waiting areas, and boarding gates in that order. Passengers arriving at an airport proceed through the baggage claim area and arrival gate in that order.

The inspection system 1100 is then placed at at least one of the entrance/exit points, check-in counters, and security checkpoints. This makes it possible to prevent passengers who have not undergone inspection from passing through the security checkpoint. Furthermore, the inspection system 1100 may be placed at at least one of the baggage claim area and the arrival gate. This makes it possible to prevent passengers who have not undergone inspection from passing through the arrival gate.

If an airport has multiple terminal buildings, the inspection system 1100 may be installed in the above-mentioned locations for each terminal building. Furthermore, the inspection system 1100 may be installed not only in terminal buildings, but also in stations, boarding areas, and parking lots.

The first unit 1001 collects a saliva sample or a nasal sample and receives the sample. As shown in FIG. 3, the first unit 1001 is provided with a first robot 1004a as a robot 1004 for processing the sample. The first robot 1004a includes robot arms 1041 and 1042. That is, the first robot 1004a performs processing using two robot arms. Furthermore, the robot arms 1041 and 1042 each include a horizontal joint and an elevating mechanism connected to the horizontal joint. The horizontal joint moves the tips of the robot arms 1041 and 1042 horizontally. Furthermore, the elevating mechanism moves the tips of the robot arms 1041 and 1042 in the vertical direction.

The first unit 1001 includes a subject area 1011 where a subject is placed. The first unit 1001 also includes a robot area 1012 that is separated from the subject area 1011 and where a first robot 1004a for processing samples is placed.

As shown in Figure 3, the subject area 1011 is divided into multiple booths by partitions 1111. This makes it possible to prevent infection between multiple subjects. In addition, the subject area 1011 and the robot area 1012 are separated by partitions 1112. This makes it possible to prevent subjects from entering the robot area 1012.

The first unit 1001 includes a weighing unit 1014 that weighs the collected sample. The first unit 1001 also dilutes the sample by adjusting the amount of diluent according to the amount of sample weighed by the weighing unit 1014. That is, if the amount of sample is small, the amount of diluent is reduced, and if the amount of sample is large, the amount of diluent is increased, thereby diluting the sample. This allows the sample to be diluted to an appropriate concentration range. The first unit 1001 may also dilute the collected sample with a diluent containing an inactivating component that inactivates viruses. This allows the sample to be inactivated in addition to being diluted.

The first unit 1001 includes a diluent supply unit 1016 that supplies diluent for diluting the specimen. The diluent supply unit 1016 supplies diluent to the specimen collection container 1007a held by the first robot 1004a.

The first unit 1001 includes a notification unit 1113 that notifies the subject to re-collect the sample if the amount of sample weighed by the weighing unit 1014 is insufficient. The notification unit 1113 is provided, for example, in the subject area 1011. The notification unit 1113 is, for example, a display unit that displays an image. The notification unit 1113 may also be a speaker that outputs sound. This makes it possible to prevent the test from being unable to be performed correctly due to an insufficient amount of sample.

The first unit 1001 is provided with an ultraviolet ray irradiation unit 1017a. The first robot 1004a sterilizes the inside of the first unit 1001 using the ultraviolet ray irradiation unit 1017a. Specifically, the first robot 1004a performs sterilization by grasping the ultraviolet ray irradiation unit 1017a and irradiating the inside of the robot area 1012 of the first unit 1001 with ultraviolet rays while the ultraviolet lamp of the ultraviolet ray irradiation unit 1017a is turned on. This allows the first unit 1001 to be sterilized by ultraviolet rays, thereby effectively suppressing contamination and infection.

As shown in Figure 4, the first unit 1001 collects and accepts a sample in a sample collection container 1007a, which is marked with a recommended sample collection amount. This allows the subject to easily understand the amount of sample to be dispensed, making it easy to collect the correct amount of sample. The sample collection container 1007a can be closed with a lid 1071. The sample collection container 1007a also has attached to it an identifier (e.g., a barcode) containing information about the subject and a label on which the recommended sample collection amount is printed.

As shown in FIG. 3, the first unit 1001 includes a disinfectant tank 1015 for disinfecting the outer surface of the specimen collection container 1007a in which a specimen has been collected. As shown in FIG. 5, the disinfectant tank 1015 has a sponge 1151 disposed therein. The sponge 1151 is soaked in a disinfectant (e.g., ethanol or hypochlorous acid water). The sponge 1151 also has multiple holes 1152 into which the specimen collection container 1007a can be inserted. When the specimen collection container 1007a is inserted into the holes 1152 of the sponge 1151, the outer surface of the specimen collection container 1007a is disinfected by the disinfectant. This allows the outer surface of the specimen collection container 1007a to be disinfected, effectively preventing contamination and infection.

As shown in FIG. 6, the first unit 1001 includes a specimen collection container transport unit 1013 that transports a specimen collection container 1007a containing a specimen from the subject area 1011 to the robot area 1012. The specimen collection container transport unit 1013 has a mounting unit 1131 on which the specimen collection container 1007a is placed, and an air cylinder 1132 that is driven by air pressure. The specimen collection container transport unit 1013 also transports the specimen collection container 1007a by moving the mounting unit 1131 by driving the air cylinder 1132. The specimen collection container transport unit 1013 may move the mounting unit 1131 from the subject area 1011 to the robot area 1012 based on the cover 1133 arranged in the subject area 1011 being closed. Here, the cover 1133 is rotatable around a horizontal rotation axis. The cover 1133 can be moved between a closed position where it rotates downward to cover the mounting section 1131 and an open position where it rotates upward to expose the mounting section 1131. The mounting section 1131 may be moved from the subject area 1011 to the robot area 1012 based on the cover 1133 being moved to the closed position. The specimen collection container transport unit 1013 may also move the mounting section 1131 from the subject area 1011 to the robot area 1012 based on the operation of a switch 1134 located in the subject area 1011. The specimen collection container 1007a placed on the mounting section 1131 moved to the robot area 1012 is grasped by the first robot 1004a and taken into the robot area 1012. This allows the specimen to be easily moved from the subject area 1011 to the robot area 1012 while reliably isolating the subject area 1011 and the robot area 1012.

As shown in FIG. 3, the first unit 1001 includes an air conditioning unit 1121 that adjusts the air flow in the subject area 1011. The air conditioning unit 1121 creates a positive or negative pressure in the environment of the subject area 1011. This allows the subject area 1011 to be kept clean.

The first unit 1001 includes a sterilization section 1017b that sterilizes the first robot 1004a used to process specimens. This allows the first robot 1004a to be sterilized, thereby effectively preventing contamination and infection.

The first unit 1001 includes a transport unit 1061 that transports a specimen collection container 1007a containing a specimen diluted with a diluent. The transport unit 1061 transports the specimen collection container 1007a downstream toward the first robot 1004b.

The first unit 1001 includes a first centrifuge 1018 capable of centrifuging multiple samples. The first unit 1001 also drives the first centrifuge 1018 at predetermined time intervals to perform centrifugation processing of the samples. In other words, even if the first centrifuge 1018 is not fully loaded with samples, centrifugation processing is performed at predetermined time intervals. This prevents delays in sample processing due to waiting for samples to accumulate.

The first unit 1001 includes a first robot 1004b as a robot 1004 for processing specimens. The first robot 1004b has a vertical articulated robot arm 1043. The first robot 1004b transports the specimen collection container 1007a transported by the transport unit 1061 to the shaking unit 1019, and after shaking, transports it to the first centrifuge 1018. The first robot 1004b also transports the specimen collection container 1007a after centrifugation to the transport unit 1006a.

The first unit 1001 uses the first robot 1004b to place balance centrifuge tubes in the first centrifuge 1018 and drive the first centrifuge 1018 to perform centrifugal separation of the specimens. This allows for centrifugation at predetermined intervals, so even if the number of specimen collection containers 1007a to be centrifuged varies each time, the balance can be adjusted using the balance centrifuge tubes.

The first unit 1001 includes an imaging unit 1181 that captures images to obtain the position of the specimen within the first centrifuge 1018. The first unit 1001 also uses a first robot 1004b for processing the specimen to remove the specimen (specimen collection container 1007a) from the first centrifuge 1018. Specifically, the first unit 1001 recognizes the position of the specimen collection container 1007a within the first centrifuge 1018 based on the image captured by the imaging unit 1181. The first unit 1001 then uses the first robot 1004b to remove the specimen collection container 1007a from the recognized position. This allows the first robot 1004b to easily remove the specimen collection container 1007a from the first centrifuge 1018.

When a sample is to be retested, the first unit 1001 receives the sample for retesting from the second unit 1002 and subjects the received sample for retesting to centrifugation processing by the first centrifuge 1018. This allows the sample to be retested without having to be collected again.

The first unit 1001 includes a shaking unit 1019 that shakes the specimen. The shaking unit 1019 can hold multiple specimen collection containers 1007a. The shaking unit 1019 is used to agitate the specimens in the placed specimen collection containers 1007a. The shaking unit 1019 periodically moves the placed specimen collection container 1007a to shake it. The shaking unit 1019 stops at a fixed position after the shaking process is completed. This allows the first robot 1004b to easily remove the shaken specimen collection container 1007a from the shaking unit 1019, since it only needs to go to the position where the specimen collection container 1007a was placed on the shaking unit 1019 to retrieve the shaken specimen collection container 1007a.

As shown in FIG. 7, the second unit 1002 is provided with a second robot 1004c as the robot 1004 that dispenses diluted samples onto a plate 1007b having a plurality of wells 1073. Plate 1007b has, for example, 96 deep wells arranged in 8 columns and 12 rows, as shown in FIG. 9. The second robot 1004c includes robot arms 1041 and 1042 having horizontal joints.

The second unit 1002 is also provided with a third robot 1004d as the robot 1004 that supplies plates 1007b to the dispensing position. The third robot 1004d has a vertical articulated robot arm 1043. The third robot 1004d grasps empty plates 1007b supplied from the feeder 1023 and transports them to the supply table 1631. The third robot 1004d also moves specimen collection containers 1007a transported by the transport unit 1006a to the transport unit 1062. The third robot 1004d also transports tip racks supplied from the feeder 1023 to the tip supply slider 1064. The third robot 1004d also transports specimen collection containers 1007a, in which some of the specimens contained therein have been dispensed onto plates 1007b, from the transport unit 1062 to the storage rack 1022. In addition, the third robot 1004d transports the plate 1007b discharged from the discharge table 1635 to the transport section 1065.

The second robot 1004c dispenses the sample from the sample collection container 1007a transported by the transport unit 1062 onto the plate 1007b.

The second unit 1002 includes a plate transport unit 1063 that transports the plate 1007b over a predetermined time period to inactivate the specimen on the plate. The plate transport unit 1063 includes transport units 1632, 1633, and 1634. Transport units 1632, 1633, and 1634 of the plate transport unit 1063 are arranged in a roughly U-shape so as to surround the second robot 1004c.

The transport unit 1632 transports the plate 1007b from the supply table 1631 to the transport unit 1633. The supply table 1631 supplies the inactivation solution, cleaning solution A, cleaning solution B, and elution solution (water) to the plate 1007b. The transport unit 1633 dispenses the sample from the sample collection container 1007a onto the plate 1007b. The transport unit 1633 then transports the plate 1007b to the transport unit 1634 over the time required for inactivation (for example, 10 minutes). The transport unit 1634 transports the plate 1007b to the discharge table 1635. This allows the inactivation process to be performed on multiple plates 1007b in parallel.

The second unit 1002 includes a storage rack 1022 that stores the specimen collection container 1007a containing the remaining specimen for a predetermined period of time after dispensing a portion of the specimen from the specimen collection container 1007a onto a plate 1007b. The storage rack 1022 stores the specimen collection container 1007a for, for example, two hours. This allows the specimen to be removed from the storage rack 1022 and retested if retesting is required, eliminating the need to collect the specimen again.

The second unit 1002 includes a cabinet 1021 having an internal space in which the diluted sample is dispensed onto the plate 1007b by the second robot 1004c. In other words, the second robot 1004c drives its hand (end effector) while moving it within the internal space of the cabinet 1021. This allows the sample to be dispensed within the cabinet 1021, effectively preventing the sample from spreading to the outside and increasing the risk of infection.

The second unit 1002 includes a chute 1241 that discards tips used to dispense diluted samples. Tips discarded by the chute 1241 are moved to and stored in a waste box 1024. This allows used tips to be easily discarded.

As shown in Figure 9, the second unit 1002 dispenses multiple diluted samples into multiple wells 1073 of the plate 1007b, with empty wells 1073 spaced apart. This allows the samples to be dispensed at intervals, effectively preventing contamination.

As shown in FIG. 8, the second unit 1002 includes multiple robots 1004e as the robot 1004 that performs the nucleic acid extraction process. The robot 1004e has a vertical articulated robot arm 1043. During the nucleic acid extraction process, the plate 1007b is transported by the transport unit 1065. The plate 1007b transported by the transport unit 1065 is then moved to the work table by the robot 1004e, where the nucleic acid extraction process is performed. The second unit 1002 includes a magnet unit 1025, a tip rack storage area 1026, a heating unit 1027, a shaking unit 1028, and a disposal box 1029. The second unit 1002 also includes a magnetic particle supply unit 1025a and a tip rack storage area 1026a.

The magnet unit 1025 is used to collect magnetic particles supplied from the magnetic particle supply unit 1025a to the specimen on the plate 1007b. Specifically, the magnet unit 1025 collects magnetic particles by applying a magnet to the specimen on the plate 1007b while the plate 1007b is placed on it.

Tip rack storage area 1026 stores tip racks supplied from tip rack storage area 1026a. Used tip racks are returned to tip rack storage area 1026a.

The heating unit 1027 heats the sample on the plate 1007b. The shaking unit 1028 shakes and mixes the sample on the plate 1007b.

The waste box 1029 is used to discard tips and plates 1007b for dispensing samples. As shown in FIG. 10, the waste box 1029 has a storage section 1291 and a tapered section 1292. In other words, the waste box 1029 has a tapered tip (entrance). This helps prevent liquid splashing.

As shown in FIG. 11, the third unit 1003 includes a reagent preparation chamber 1031 in which reagent for measuring a sample is prepared, and a measurement chamber 1032 in which the sample is measured. The reagent preparation chamber 1031 is under positive pressure. The measurement chamber 1032 is under negative pressure. This prevents floating foreign matter from entering the reagent preparation chamber 1031. It also prevents viruses from escaping from the measurement chamber 1032.

The third unit 1003 includes a shutter 1033 that opens and closes an opening that connects the reagent preparation chamber 1031 and the measurement chamber 1032. The shutter 1033 is opened when materials are being exchanged between the reagent preparation chamber 1031 and the measurement chamber 1032, and is closed otherwise. This allows samples and prepared reagents to be easily moved from the reagent preparation chamber 1031 to the measurement chamber 1032 while reliably isolating the reagent preparation chamber 1031 and the measurement chamber 1032.

The third unit 1003 includes a robot 1004f as the robot 1004 that performs the reagent preparation process. The robot 1004f has a vertical articulated robot arm 1043. The reagent preparation chamber 1031 of the third unit 1003 is also provided with a freezer 1311, a refrigerator 1312, a cap removal device 1313, a preparation area 1314, a tip storage area 1315, and a waste box 1316.

Freezer 1311 stores a reagent (Enzyme Mix) that is stored at below freezing (e.g., -18°C). Refrigerator 1312 stores a reagent (Reaction Mix) that is stored at a low temperature (e.g., 4°C). The reagent (Enzyme Mix) and reagent (Reaction Mix) are mixed and prepared according to use.

In other words, the third unit 1003 prepares reagents in the reagent preparation chamber 1031 based on the acceptance status of sample tests. This allows the reagents to be prepared in the correct amount.

The capping device 1313 opens the caps of reagent containers. In the preparation location 1314, the reagent (Enzyme Mix) and the reagent (Reaction Mix) are mixed and prepared.

The third unit 1003 includes a fourth robot 1004g, which serves as a robot 1004 that supplies samples to the sample measurement unit 1034. The fourth robot 1004g has a vertical articulated robot arm 1043. The measurement chamber 1032 of the third unit 1003 also includes a plurality of sample measurement units 1034, a second centrifuge 1035, a tube holder 1036, a lid closing device 100, and a waste box 1038.

The specimen measurement unit 1034 measures specimens stored in a multi-tube array 210, which is a series of multiple tubes 200 each capable of storing multiple specimens, as shown in FIG. 12. The specimen measurement unit 1034 performs measurements using RT-PCR, for example. As shown in FIG. 12, the multi-tube array 210 is formed by linearly connecting, for example, eight tubes 200. The tubes 200 are connected to each other by a band 204.

As shown in FIG. 13 , the tube 200 is flexible. The tube 200 is made of resin or the like. The lid 201 includes a flat first portion 201a and a cylindrical second portion 201b protruding from the first portion 201a. The lid 201 is closed by moving the lid 201 so that the connection portion 202 is folded back, and the second portion 201b is pushed into the open end 203 of the tube 200. In the first embodiment, the specimen contained in the tube 200 is a specimen for PCR (Polymerase Chain Reaction) testing. The tube 200 is an example of a container.

As shown in FIG. 11, the second centrifuge 1035 centrifuges the specimen. Furthermore, the second centrifuge 1035 stops after the centrifugation process is completed, with the stopping position aligned. This allows the fourth robot 1004g to retrieve the specimen after centrifugation process from the aligned stopping position, allowing the fourth robot 1004g to easily remove the specimen after centrifugation process from the second centrifuge 1035.

The tube holding portion 1036 holds multiple multi-tubes 210. Specifically, the tube holding portion 1036 holds the multi-tubes 210 stacked vertically.

The fourth robot 1004g transports the multi-tube 210. Furthermore, the third unit 1003 uses the fourth robot 1004g to remove the multi-tube 210 downward from the tube holding section 1036, dispense the sample into the multi-tube 210, and then transport it to the capping device 100.

In the first embodiment, as shown in Figures 14 to 16, the lid closing device 100 includes a positioning unit 10, a lid closing unit 20, a drive unit 21, and a control unit 30. The positioning unit 10 has a hole 11 into which a tube 200 is inserted. The positioning unit 10 positions the tube 200 inserted into the hole 11. Specifically, the positioning unit 10 includes a flat base 12 and a rectangular parallelepiped main body 13. The main body 13 has the same number of hole 11 as the number of connected tubes 200. A tube 200 is placed in each of the multiple hole 11. For example, the number of hole 11 is eight.

In the first embodiment, the positioning unit 10 includes a suction unit 14 that sucks air from the hole 11 into which the tube 200 is inserted. The control unit 30 controls the suction unit 14 to suck air from the hole 11 into which the tube 200 is inserted, thereby positioning the tube 200. Specifically, the suction unit 14 vacuum-sucks the air from the hole 11. This determines the position of the tube 200 in the X, Y, and Z directions.

In the first embodiment, the control unit 30 controls the suction unit 14 to eject air into the hole 11 before the tube 200 is inserted into the hole 11. Specifically, the suction unit 14 ejects air into the hole 11 before the fourth robot 1004g transports the multi-tube 210 into which the sample has been dispensed to the positioning unit 10. This removes any foreign matter that has entered the hole 11 from the hole 11.

In the first embodiment, the lid closing unit 20 closes the lid 201 by moving the lid 201 so as to cover the open end 203 of the tube 200. Specifically, as shown in FIG. 17, multiple lid closing units 20 are arranged. The number of lid closing units 20 is, for example, four. The multiple lid closing units 20 are held by a holding unit 22. The holding unit 22 has a side surface 22a formed in a stepped shape. Four lid closing units 20 are arranged on the stepped side surface 22a. The four lid closing units 20 are arranged alternately on the stepped side surface 22a. As shown in FIG. 15, the lid closing unit 20 has a substantially L-shape when viewed from the side. The lid closing unit 20 extends downward from the side surface 22a of the holding unit 22, then bends approximately 90 degrees and protrudes toward the tube 200. The lid closing unit 20 and the holding unit 22 are formed, for example, from metal. As shown in Figure 17, the lid closing portion 20 has a tapered shape when viewed from above, with the width at the tip end being narrower than the width at the base end.

As shown in FIG. 14, after the fourth robot 1004g transports the multi-tube 210 into which the sample has been dispensed to the positioning unit 10, the linear motion mechanism 40 moves the positioning unit 10 in a straight line from the A1 side toward the A2 side. As a result, the multi-tube 210 is transported between the lid closing unit 20 and the guide unit 50 described below. The four lid closing units 20 are arranged along the A direction. The lids 201 of the eight tubes 200 of the multi-tube 210 are also arranged along the A direction. The four lid closing units 20 are arranged below the lids 201 of four tubes 200 of the multi-tube 210.

In the first embodiment, as shown in FIG. 15 , the drive unit 21 moves the lid closing unit 20 linearly. The drive unit 21 is made up of an air cylinder. The air cylinder drives the lid closing unit 20 by air pressure. Note that the drive unit 21 may also be made up of an electric cylinder. The drive unit 21 moves the lid closing unit 20 vertically and horizontally. Specifically, the drive unit 21 moves the holder 22 that holds the four lid closing units 20.

In the first embodiment, as shown in FIG. 14 , the control unit 30 controls the movement of the lid closing unit 20 by the drive unit 21. The control unit 30 controls the guide unit 50, the pressing unit 60, the first detection unit 41, and the second detection unit 42, which will be described later. In other words, the control unit 30 controls the entire lid closing device 100.

In the first embodiment, the lid closing device 100 is equipped with a first detection unit 41 that detects the presence or absence of the lid 201. If the control unit 30 detects the presence of the lid 201 before the lid 201 is closed, it causes the lid closing unit 20 to perform an operation to close the lid 201. Specifically, the first detection unit 41 is composed of, for example, a reflective laser sensor. The first detection unit 41 is disposed above the lid 201. The first detection unit 41 emits laser light toward the lid 201. The first detection unit 41 detects the laser light reflected by the lid 201. The detection result of the first detection unit 41 is transmitted to the control unit 30, and the control unit 30 detects the presence or absence of the lid 201 based on the detection result of the first detection unit 41.

14 and 15, the lid closing device 100 is provided with a guide portion 50. When the lid closing portion 20 is moved laterally, the guide portion 50 guides the lid 201 moved by the lid closing portion 20 to the open end 203 of the tube 200. Specifically, as shown in FIG. 18, a plurality of guide portions 50 are arranged. The number of guide portions 50 is, for example, four. The number of guide portions 50 is equal to the number of lid closing portions 20. The plurality of guide portions 50 are held by a holding portion 52. The holding portion 52 has a side surface 52a formed in a stepped shape. Four guide portions 50 are arranged on the stepped side surface 52a. The four guide portions 50 are arranged alternately on the stepped side surface 52a. The guide portion 50 and the holding portion 52 are formed, for example, from metal. As shown in Figure 15, the guide portion 50 extends downward from the side surface 52a of the holding portion 52, then bends approximately 90 degrees, protrudes toward the tube 200, and then protrudes downward.

In the first embodiment, as shown in FIG. 18, the guide portion 50 includes a pair of claw portions 50a that horizontally clamp the lid 201 from both sides. Specifically, the pair of claw portions 50a is formed at the tip of the guide portion 50. A pair of claw portions 50a is formed on each of the multiple guide portions 50. The claw portion 50a includes a first portion 50b on the tip side that extends toward the tube 200, and a second portion 50c on the base side that connects the pair of claw portions 50a.

In the first embodiment, as shown in FIGS. 19 and 20 , opposing first inner surfaces 50d are disposed at the tip ends of a pair of claws 50a. The first inner surfaces 50d are tapered such that the distance between them increases downward. Specifically, the first inner surfaces 50d of the first portions 50b of the claws 50a are tapered such that the distance between them increases downward. In other words, the first inner surface 50d of one of the pair of claws 50a is inclined diagonally downward so as to move away from the first inner surface 50d of the other claw 50a. Before being closed, the lid 201 may be inclined relative to the horizontal direction. In this case, the inclination of the lid 201 can be corrected to align with the horizontal direction by moving the lid 201 upward between the tapered first inner surfaces 50d. At the upper ends of the first inner surfaces 50d, the horizontal distance L between the first inner surfaces 50d is greater than the width W of the lid 201. Additionally, the horizontal distance a between the lid closing portion 20 and the lower end of the first inner surface 50d is set so that the lid 201 does not get stuck. The distance b is a width that allows the lid 201 to be closed even if the lid 201 is horizontally offset by b/2. In this way, the distance between the first inner surfaces 50d is set from the distance a and the distance b.

In the first embodiment, as shown in FIG. 21 , the second inner surface 50e on the base end side of the claw portion 50a, where the pair of claw portions 50a are connected, is inclined in the direction opposite to the tip of the claw portion 50a. Specifically, the second inner surface 50e of the second portion 50c of the claw portion 50a is inclined in the direction opposite to the tip of the claw portion 50a.

As shown in Figure 15, the guide units 50 are moved vertically and horizontally by the drive units 51. Specifically, the drive units 51 move the holders 52 that hold the four guide units 50. The drive units 51 are made up of air cylinders. However, the drive units 51 may also be made up of electric cylinders.

In the first embodiment, as shown in Figures 15 and 16, the lid closing device 100 includes a pressing unit 60. The pressing unit 60 presses the lid 201 into the tube 200. Specifically, the pressing unit 60 is disposed above the tube 200 when it is positioned by the positioning unit 10. The pressing unit 60 has a generally cylindrical shape. The pressing unit 60 is moved vertically by a driving unit 61. The driving unit 61 may be, for example, an air cylinder or an electric cylinder. A plurality of pressing units 60 are disposed to correspond to the plurality of lid closing units 20 of the lid closing unit 20. The number of pressing units 60 is, for example, four. The plurality of pressing units 60 are held by a holding unit 62 that is generally flat. The plurality of pressing units 60 are disposed along the direction in which the plurality of tubes 200 are arranged. The plurality of pressing units 60 press every other one of the plurality of tubes 200.

In the first embodiment, as shown in FIG. 14, the lid closing device 100 is equipped with a second detection unit 42. The second detection unit 42 detects whether the lid 201 is closed. When the second detection unit 42 detects that the lid 201 is closed, the control unit 30 causes the pressing unit 60 to press the lid 201. Specifically, the second detection unit 42 is, for example, a transmissive laser sensor. The second detection unit 42 includes an emission unit 42a that emits a band-shaped laser beam horizontally toward the lid 201, and a detection unit 42b that detects the band-shaped laser beam. The laser beam is emitted so as to intersect with direction A. This makes it possible to detect both the height h1 of the lid 201 and the height h2 of the band portion 204 connecting the tubes 200 together, as shown in FIG. 23.

The detection results of the second detection unit 42 are transmitted to the control unit 30. The control unit 30 detects the height h1 of the lid 201 at the open end 203 of the tube 200 shown in FIG. 23 based on the detection results of the band-shaped laser light detected by the detection unit 42b. If the lid 201 is not properly closed, the height h1 will be large, and if the lid 201 is properly closed, the height h1 will be small. Specifically, the detection unit 42b detects the height h2 of the band portion 204 connecting the tubes 200 together and the height h1 of the lid 201. The control unit 30 then evaluates the degree of closure of the lid 201 based on the difference between the height h1 of the lid 201 and the height h2 of the band portion 204.

In the first embodiment, as shown in FIG. 22 , when viewed from the pressing direction of the pressing portion 60, the outer diameter r1 of the pressing portion 60 is smaller than the inner diameter r2 of the open end 203 of the tube 200. Specifically, when viewed from above, the outer diameter r1 of the substantially cylindrical pressing portion 60 is smaller than the inner diameter r2 of the open end 203 of the substantially circular tube 200. Furthermore, when viewed from above, the center of the substantially cylindrical pressing portion 60 and the center position of the open end 203 of the substantially circular tube 200 are approximately the same. As a result, even if the pressing portion 60 moves downward and enters the inside of the tube 200, the pressing portion 60 and the tube 200 do not come into contact with each other.

As shown in Figures 14 and 24, the lid closing device 100 is equipped with a pushing portion 43 that pushes the multi-tube 210 into the positioning portion 10. The pushing portion 43 has an L-shape when viewed from the side. Multiple pushing portions 43 are provided. The pushing portions 43 push the multi-tube 210 into the hole 11 of the positioning portion 10 by pressing from above on the band portion 204 that connects the tubes 200 together. Because the pushing portions 43 do not press on the open end 203 of the tube 200, contamination of the pushing portions 43 can be prevented. The pushing portions 43 are also used when removing the multi-tube 210 placed in the hole 11 of the positioning portion 10. The pusher 43 receives the band 204, which connects the tubes 200 together. The upper surface 43a of the pusher 43 is inclined, so that the band 204 is pushed up by moving the pusher 43 laterally. This removes the multi-tube 210 from the hole 11 of the positioning unit 10. At this time, the vacuum in the hole 11 is released, potentially releasing air and blowing the tube 200 away. However, the tube 200 abuts against a plate-like member 43b located above the pusher 43, preventing the tube 200 from being blown away. The pusher 43 is supported by a support 43c. The support 43c is driven vertically and horizontally by a drive unit 43d. The drive unit 43d may be an air cylinder or an electromagnetic cylinder.

Next, we will explain the operation of closing the lid 201 of the tube 200.

First, as shown in FIG. 25, in step S1, the control unit 30 controls the suction unit 14 to eject air from the suction unit 14 into the hole 11 before the tube 200 is inserted into the hole 11.

Next, in step S2, the fourth robot 1004g places the multi-tube 210 into which the sample has been dispensed into the hole 11 of the positioning unit 10.

Next, in step S3, the pushing unit 43 presses the band 204 connecting the tubes 200 from above. The suction unit 14 then sucks air out of the hole 11 into which the tube 200 has been inserted. This positions the tube 200.

Next, in step S4, the control unit 30 operates the linear motion mechanism 40 to transport the multiple tubes 200 placed in the positioning unit 10. Then, as shown in FIG. 26, the control unit 30 causes the first detection unit 41 to detect the presence or absence of lids 201 on the multiple tubes 200 transported by the linear motion mechanism 40. The first detection unit 41 detects the presence or absence of lids 201 on the multiple tubes 200 one by one. The multiple tubes 200 are then placed between the lid closing unit 20 and the guide unit 50.

If the first detection unit 41 detects all of the multiple lids 201 in step S4, the control unit 30 causes the lid closing unit 20 to close the lids 201 in step S5. Specifically, in the first embodiment, as shown in FIG. 27 , the control unit 30 moves the guide unit 50 above the open end 203 of the tube 200 before causing the lid closing unit 20 to close the lids 201. Note that if the first detection unit 41 does not detect all of the multiple lids 201 in step S4, the operation to close the lids 201 is not performed. In this case, the fourth robot 1004g discards the multi-tube 210. Then, the sample is placed in a new multi-tube 210, and the sample measurement operation is performed again.

Next, in step S6, as shown in FIG. 28, the control unit 30 moves the lid closing unit 20 upward so as to lift the lid 201. At this time, the lid 201 is guided by the first inner surfaces 50d of the pair of claws 50a of the guide unit 50. Therefore, even if the lid 201 is tilted relative to the horizontal direction, the position of the lid 201 is corrected so that it is aligned horizontally by moving along the first inner surfaces 50d of the claws 50a.

Next, in step S7, as shown in FIG. 29 , the control unit 30 moves the lid closing unit 20 laterally so as to move the lid 201 above the open end 203 of the tube 200. Specifically, the control unit 30 moves the lid closing unit 20 toward the guide unit 50. As a result, the connection portion 202 of the lid 201 is folded back, and the second portion 201b of the lid 201 is moved above the open end 203 of the tube 200. Furthermore, because the lid 201 is guided by the second inner surfaces 50e of the pair of claw portions 50a of the guide unit 50, the lid 201 is prevented from passing over the open end 203 of the tube 200, and the lid 201 is guided above the open end 203 of the tube 200.

Next, in step S8, in the first embodiment, as shown in FIG. 30, the control unit 30 retracts the guide unit 50 to the first retracted position P1.

Next, in step S9, the control unit 30 moves the guide unit 50 to the first retracted position P1, and then moves the lid closing unit 20 downward so that the lid 201 blocks the open end 203 of the tube 200, thereby closing the lid 201. Specifically, the lid 201 is closed by the lower end of the approximately L-shaped lid closing unit 20. The pressing unit 60 is also moved downward together with the lid closing unit 20 to close the lid 201. This temporarily closes the lid 201. Note that even if any of the four lids 201 have fallen off, as long as at least one lid 201 remains, the lid closing unit 20 will not move below the height h1 of this lid 201. This prevents the lid closing unit 20 from coming into contact with the tube 200 and becoming contaminated.

In the first embodiment, the control unit 30 moves the multiple lid closing units 20, which are arranged to correspond to the multiple tubes 200, so that they close the multiple lids 201 collectively. In other words, the control unit 30 moves the holding unit 22 on which the multiple lid closing units 20 are arranged, thereby moving the multiple lid closing units 20 collectively.

Next, in step S10, as shown in FIG. 31, the control unit 30 retracts the lid closing unit 20 to the second retracted position P2. It also retracts the pressing unit 60 upward.

Next, in step S11, the control unit 30 causes the second detection unit 42 to detect whether the lid 201 is closed. Specifically, whether the lid 201 is closed is detected based on the difference between the height h1 of the lid 201 and the height h2 of the band portion 204. If it is determined in step S11 that the lid 201 is not closed, the operations of steps S5 to S11 are repeated. The number of repetitions is, for example, three. If it is determined that the lid 201 is not closed even after the operations of steps S5 to S11 have been repeated, the multi-tube 210 is discarded by the fourth robot 1004g. Then, the sample is placed in a new multi-tube 210, and the sample measurement operation is performed again.

If the second detection unit 42 detects in step S11 that the lid 201 is closed, the control unit 30 moves the pressing unit 60 downward in step S12 to press the lid 201 into the inside of the tube 200, as shown in FIG. 32. Furthermore, with the lid closing unit 20 retracted to the second retracted position P2, the control unit 30 moves the pressing unit 60 downward to press the lid 201 into the inside of the tube 200.

The control unit 30 presses the four lids 201 together using the four pressing units 60 arranged to correspond to the four tubes 200. In other words, the control unit 30 moves the four pressing units 60 together by moving the holding unit 62 on which the four pressing units 60 are arranged. This causes the four lids 201, which are in a partially closed state, to be properly closed. The four pressing units 60 are also driven individually. Therefore, even if there is variation in the height h1 of the four lids 201, the pressing units 60 can properly close the lids 201.

Next, in step S13, the control unit 30 causes the second detection unit 42 to detect whether the lid 201 is closed. If it is determined in step S13 that the lid 201 is not closed, the operations of steps S12 and S13 are repeated. The number of repetitions is, for example, three. If it is determined that the lid 201 is not closed even after the operations of steps S12 and S13 have been repeated, the multi-tube 210 is discarded by the fourth robot 1004g. Then, the sample is placed in a new multi-tube 210, and the sample measurement operation is performed again.

By performing steps S4 to S13 twice, the lids 201 of all eight tubes 200 are closed. Note that if the second detection unit 42 does not detect that the lids 201 are closed in steps S11 and S13, the operation of moving the pressing unit 60 downward is not performed. In this case, the multi-tube 210 is discarded by the fourth robot 1004g. The sample is then placed in a new multi-tube 210, and the sample measurement operation is performed again.

[Effects of the first embodiment]
In the first embodiment, as described above, the lid closing unit 20 is driven by the drive unit 21 that moves the lid closing unit 20 linearly. Here, the drive unit 21 performs a relatively simple linear movement, so there is no need for a skilled worker to teach it complex operations. Furthermore, because the tube 200 is positioned by the positioning unit 10, it will not be displaced by the operation of the lid closing unit 20 driven by the drive unit 21. As a result, the lid 201 of the tube 200 can be closed without the need for instruction from a skilled worker.

In the first embodiment, as described above, the positioning unit 10 includes a suction unit 14 that sucks air from within the hole 11 into which the tube 200 is inserted, and the control unit 30 controls the suction unit 14 to suck air from within the hole 11 into which the tube 200 is inserted, thereby positioning the tube 200. As the tube 200 is thereby sucked, it is possible to more accurately position the tube 200 while preventing deformation of the flexible tube 200.

In the first embodiment, as described above, the control unit 30 controls the suction unit 14 to eject air from the suction unit 14 into the hole 11 before the tube 200 is inserted into the hole 11. As a result, even if foreign matter such as dust has entered the hole 11, the foreign matter can be removed by ejecting air.

In the first embodiment, as described above, the control unit 30 causes the lid closing unit 20 to perform an operation to close the lid 201 when the first detection unit 41 detects the presence of the lid 201 before the lid 201 is closed. This causes the lid closing unit 20 to perform an operation to close the lid 201 on a tube 200 that does not have the lid 201, thereby preventing the lid closing unit 20 from coming into contact with the open end 203 of the tube 200 when the lid 201 is not closed, and as a result, preventing contamination of the lid closing unit 20.

In the first embodiment, as described above, the control unit 30 moves the lid closing unit 20 upward to lift the lid 201, moves the lid closing unit 20 laterally to move the lid 201 above the open end 203 of the tube 200, and moves the lid closing unit 20 downward to close the open end 203 of the tube 200 with the lid 201. In this way, the lid 201 of the tube 200 can be closed by moving the lid closing unit 20 vertically and horizontally using the drive unit 21, which moves the lid closing unit 20 linearly.

In the first embodiment, as described above, the lid closing device 100 includes a guide unit 50 that guides the lid 201, which is moved by the lid closing unit 20, to the open end 203 of the tube 200 when the lid closing unit 20 is moved laterally. This prevents the lid 201 from misaligning with the open end 203 of the tube 200 when the lid 201 passes over the open end 203 of the tube 200. This allows the lid 201 to be properly closed. In particular, when the lid 201 and the tube 200 are connected by an elastically deformable connecting unit 202, the lid 201 and the open end 203 are likely to misalign, so providing a guide unit 50 is particularly effective.

In the first embodiment, as described above, the guide portion 50 includes a pair of claw portions 50a that sandwich the lid 201 from both sides in the horizontal direction. As a result, the lid 201 is sandwiched between the pair of claw portions 50a, and the lid 201 can be moved along the space between the pair of claw portions 50a and guided to the open end 203 of the tube 200. This allows the lid 201 to be closed more appropriately.

In the first embodiment, as described above, opposing first inner surfaces 50d are arranged on the tip sides of the pair of claw portions 50a. The first inner surfaces 50d are arranged in a tapered shape, with the distance between them increasing downward. Here, before being closed, the lid 201 may be arranged so that it is inclined relative to the horizontal. With the lid 201 in an inclined state, it may not be possible to close the lid 201 properly. Therefore, by moving the lid 201 upward between the tapered first inner surfaces 50d, the inclination of the lid 201 can be corrected so that it is aligned with the horizontal direction. This allows the lid 201 to be closed more properly.

In the first embodiment, as described above, the second inner surface 50e on the base end side of the claws 50a, where the pair of claws 50a are connected, is inclined in the direction opposite to the tip of the claws 50a. Here, when closing the lid 201 connected to the open end 203 of the tube 200, the lid 201 is folded back in an arc from diagonally above to below the open end 203 of the tube 200. Therefore, by inclining the second inner surface 50e on the base end side of the claws 50a in the direction opposite to the tip of the claws 50a as described above, the lid 201, which is folded back in an arc, can be guided along the inclined second inner surface 50e to the open end 203 of the tube 200.

In the first embodiment, as described above, the control unit 30 moves the guide unit 50 above the open end 203 of the tube 200 before the lid closing unit 20 closes the lid 201. This prevents the guide unit 50 from interfering with the series of operations for closing the lid 201 of the tube 200, unlike when the position of the guide unit 50 is fixed above the open end 203 of the tube 200.

In the first embodiment, as described above, the control unit 30 moves the guide unit 50 to the first retracted position P1, and then moves the lid closing unit 20 downward so that the lid 201 blocks the open end 203 of the tube 200, thereby closing the lid 201. As a result, because the guide unit 50 is retracted to the first retracted position P1, the guide unit 50 is prevented from interfering with the operation of the lid closing unit 20 to move the lid 201 downward to close the lid 201.

In the first embodiment, as described above, the lid closing device 100 includes a pressing unit 60 that presses the lid 201 into the inside of the tube 200 after the lid 201 is closed by the lid closing unit 20. This allows the lid 201 to be closed more reliably after being closed by the lid closing unit 20.

In the first embodiment, as described above, when the second detection unit 42 detects that the lid 201 is closed, the control unit 30 causes the pressing unit 60 to press the lid 201. This prevents the pressing unit 60 from entering the interior of a tube 200 that is not closed by the lid 201. This prevents the pressing unit 60 from becoming contaminated.

In the first embodiment, as described above, the control unit 30 moves the pressing unit 60 downward so as to press the lid 201 into the inside of the tube 200 while the lid closing unit 20 is retracted to the second retracted position P2. This prevents the lid closing unit 20 from interfering with the operation of the pressing unit 60 to press the lid 201.

In the first embodiment, as described above, the outer diameter r1 of the pressing portion 60 is smaller than the inner diameter r2 of the open end 203 of the tube 200 when viewed from the pressing direction of the pressing portion 60. This prevents the pressing portion 60 from coming into contact with the tube 200 even if the pressing portion 60 accidentally enters the inside of the tube 200 when the lid 201 is not closed. This prevents the pressing portion 60 from becoming contaminated.

In the first embodiment, as described above, the drive unit 21 includes an air cylinder. This allows the lid closing unit 20 to be easily moved linearly by the air cylinder.

In the first embodiment, as described above, eight tubes 200 are arranged in a straight line. The control unit 30 controls the four lid closing units 20 to move the four lids 201 so that they close the four lids 201 together. This reduces the time required to close the lids 201 of the four tubes 200 compared to closing the lids 201 of the four tubes 200 one by one. Furthermore, unlike closing the lids 201 of eight tubes 200 together, the four lids 201 can be closed together even with a relatively small driving force from the drive unit 21.

In the first embodiment, as described above, the specimen is a specimen for PCR testing. As a result, the lid 201 of the tube 200 containing the specimen for PCR testing is automatically closed by the lid closing unit 20, which prevents the operator from coming into contact with the specimen, unlike when the lid 201 of the tube 200 is closed manually.

Second Embodiment
A lid closing device 300 according to the second embodiment will be described with reference to Figures 33 to 35. In the lid closing device 300, the shape of the guide portion 350 is different from the shape of the guide portion 50 of the first embodiment.

The guide portion 350 includes a pair of claws 350a that clamp the lid 201 from both sides in the horizontal direction. When viewed from above, the claws 350a have a generally triangular shape. That is, the tip of the guide portion 350 is recessed. This makes it possible to guide the lid 201 toward the center. As shown in Figure 35, when viewed from the side, the tip of the claws 350a includes a first portion 350b that is aligned vertically and a second portion 350c that slopes downward and away from the tube 200. The other configurations and effects of the second embodiment are the same as those of the first embodiment described above.

[Modification]
It should be noted that the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not by the description of the above embodiments, and further includes all modifications and variations within the meaning and scope of the claims.

In the above first and second embodiments, an example was shown in which a specimen for PCR testing is contained in the tube 200, but the present disclosure is not limited to this. For example, a specimen other than a specimen for PCR testing may be contained in the tube 200. A reagent may be contained in the tube 200. Both a specimen and a reagent may be contained in the tube 200.

In the above first and second embodiments, an example was shown in which the tube 200 was positioned by suctioning the tube 200 inserted into the hole 11 of the positioning unit 10, but the present disclosure is not limited to this. The tube 200 may also be positioned by simply inserting the tube 200 into the hole 11.

In the above first and second embodiments, an example was shown in which air was discharged from the suction portion 14 into the hole 11 before the tube 200 was inserted into the hole 11, but the present disclosure is not limited to this. In situations where foreign matter is unlikely to enter the hole 11, it is not necessary to discharge air from the suction portion 14.

In the first and second embodiments described above, an example was shown in which the first detection unit 41 was composed of a reflective laser sensor, but the present disclosure is not limited to this. For example, the first detection unit 41 may be composed of a camera.

In the first embodiment, guide unit 50 is provided, and in the second embodiment, guide unit 350 is provided, but the present disclosure is not limited to this. For example, if lid 201 can be properly closed without guide unit 50 or guide unit 350, guide unit 50 and guide unit 350 do not need to be provided.

In the first embodiment described above, the guide portion 50 includes a pair of claw portions 50a, and in the second embodiment, the guide portion 350 includes a pair of claw portions 350a, but the present disclosure is not limited to this. For example, the guide portion may have a generally rectangular prism shape without being provided with claw portions.

In the first and second embodiments described above, an example was shown in which a pressing unit 60 was provided, but the present disclosure is not limited to this. For example, if the lid 201 can be properly closed by the lid closing unit 20 without the pressing unit 60 pressing the lid 201, then the pressing unit 60 need not be provided.

In the first and second embodiments described above, an example was shown in which the second detection unit 42 was composed of a transmissive laser sensor, but the present disclosure is not limited to this. For example, the second detection unit 42 may be composed of a camera.

In the above first and second embodiments, an example was shown in which four lids 201 were closed simultaneously, but the present disclosure is not limited to this. For example, the lids 201 may be closed one by one. That is, four lid closing units 20 may be operated sequentially to close the lids 201 one by one. Alternatively, only one lid closing unit 20 may be provided, and eight lids 201 may be closed sequentially by the single lid closing unit 20. Alternatively, eight lid closing units 20 may be provided, and eight lids 201 may be closed simultaneously.

The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and/or combinations thereof, configured or programmed to perform the disclosed functions. Processors are considered processing circuits or circuits because they include transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and/or processor.

REFERENCE SIGNS LIST 10 Positioning section 11 Hole section 14 Suction section 20 Lid closing section 21 Driving section 30 Control section 41 First detection section 42 Second detection section 50, 350 Guide section 50a, 350a Claw section 50d First inner surface 50e Second inner surface 60 Pressing section 100, 300 Lid closing device 200 Tube (container)
201 Lid 203 Open end 1001 First unit 1002 Second unit 1003 Third unit 1100 Inspection system P1 First retracted position P2 Second retracted position

Claims (18)

A lid closing device for closing a lid connected to an open end of a flexible container containing at least one of a sample and a reagent,
a positioning portion having a hole into which the container is inserted and positioning the container inserted into the hole;
a lid closing unit that moves the lid so as to cover the open end of the container and closes the lid;
a drive unit that moves the lid closing unit linearly;
a control unit that controls the movement of the lid closing unit by the drive unit ,
The control unit
The lid closing unit is moved upward so as to lift the lid,
moving the lid closure laterally to move the lid over the open end of the container;
The lid closing device closes the lid by moving the lid closing part downward so that the lid closes the open end of the container . the positioning portion includes a suction portion that sucks air from within the hole into which the container is inserted,
The lid fastening device according to claim 1 , wherein the control unit controls the suction unit to suck air from the hole into which the container is inserted, thereby positioning the container. The lid closing device according to claim 2, wherein the control unit controls the suction unit to eject air into the hole from the suction unit before the container is inserted into the hole. Further provided is a first detection unit that detects the presence or absence of the lid,
A lid closing device as described in any one of claims 1 to 3, wherein the control unit causes the lid closing unit to close the lid when the first detection unit detects the presence of the lid before the lid is closed. The lid closing device according to claim 1 , further comprising a guide portion that guides the lid moved by the lid closing portion to the open end of the container when the lid closing portion is moved laterally. The lid closing device according to claim 5 , wherein the guide portion includes a pair of claw portions that hold the lid from both sides in the horizontal direction. First inner surfaces facing each other are arranged on the tip sides of the pair of claw portions,
The lid-closing device according to claim 6 , wherein the first inner surfaces are arranged in a tapered shape such that the distance between them increases downward. The lid-closing device according to claim 7 , wherein a second inner surface on the base end side of the claw portion where the pair of claw portions are connected to each other is inclined in a direction opposite to the tip end of the claw portion. The lid closing device according to any one of claims 5 to 8 , wherein the control unit moves the guide unit above the open end of the container before the lid closing unit performs the operation of closing the lid. The lid closing device according to any one of claims 5 to 9, wherein the control unit moves the guide unit to a first retracted position and then moves the lid closing unit downward so that the lid closes the open end of the container. The lid closing device according to any one of claims 1 to 10 , further comprising a pressing part that presses the lid against the inside of the container. Further, a second detection unit is provided to detect whether the lid is closed or not,
The lid closing device according to claim 11 , wherein the control unit causes the pressing unit to press the lid when the second detection unit detects that the lid is closed. The lid closing device according to claim 11 or 12 , wherein the control unit moves the pressing unit downward so as to press the lid against the inside of the container while the lid closing unit is retracted to a second retracted position. The lid closing device according to any one of claims 11 to 13 , wherein the outer diameter of the pressing portion is smaller than the inner diameter of the open end of the container when viewed from the pressing direction of the pressing portion. The lid closing device according to any one of claims 1 to 14 , wherein the drive unit includes an air cylinder. The containers are arranged in a linear fashion,
The lid closing device according to any one of claims 1 to 15, wherein the control unit moves the plurality of lid closing units arranged to correspond to the plurality of containers so as to close the plurality of lids collectively. The lid closing device according to any one of claims 1 to 16 , wherein the specimen is a specimen for PCR (Polymerase Chain Reaction) testing. A testing system that collects a sample from a subject and measures and tests the collected sample,
a first unit for sample collection that collects the sample and receives the sample;
a second unit for performing pre-processing on the collected sample before measurement;
a third unit for performing sample measurement, which measures the sample that has been pretreated;
the third unit includes a lid closing device that closes a lid connected to an open end of a flexible container that contains at least one of a sample and a reagent;
The lid closing device is
a positioning portion having a hole into which the container is inserted and positioning the container inserted into the hole;
a lid closing unit that moves the lid so as to cover the open end of the container and closes the lid;
a drive unit that moves the lid closing unit linearly;
a control unit that controls the movement of the lid closing unit by the drive unit ,
The control unit
The lid closing unit is moved upward so as to lift the lid,
moving the lid closure laterally to move the lid over the open end of the container;
The inspection system closes the lid by moving the lid closing portion downward so that the lid closes the open end of the container .