Capping and de-capping apparatus and a method of operating such an apparatus
A capping and de-capping apparatus for capping and de-capping tubes disposed in a tube holding rack having a two-dimensional array of apertures for holding the tubes. The apparatus comprises a rack support for supporting the tube holding rack, a head unit adapted for carrying a cartridge comprising at least one capping and de-capping gripper, a drive system for moving the rack support and the head unit relatively towards and away from one another, in order to cause engagement or disengagement of the capping and de-capping gripper with or from a cap of at least one tube, and a drive system for rotating the capping and de-capping gripper, wherein rotation in one direction causes attachment of the cap to the tube and rotation in the opposite direction causes detachment of the cap from said tube.
1. A capping and decapping apparatus for capping and decapping tubes disposed in a tube holding rack having a two-dimensional array of tubes, the apparatus comprising:
a head unit carrying an array of rotary actuators, an array of ejector pins coaxial with the rotary actuators, and a drive system for translational movement of the ejector pins;
an exchangeable cartridge comprising an array of capping and decapping grippers, each gripper to be coaxial with and to engage a cap on a tube, the cartridge being configured to attach to and detach from the head unit from below the head unit, the cartridge permitting exchange of an entire array of capping and decapping grippers at once for rotation of the grippers;
the head unit and cartridge configured, when attached, to engage the rotary actuators with the capping and decapping grippers as the ejector pins pass axially through the capping and decapping grippers, wherein the grippers are rotated by the rotary actuators but are coupled to permit translational movement of the ejector pins through the grippers, rotation of a rotary actuator and gripper in one direction causing attachment of a cap to a tube and rotation in the opposite direction causing detachment of the cap from the tube, and translational movement of the ejector pins through the grippers effecting release of caps from the grippers.
2. The capping and decapping apparatus of claim 1 wherein the grippers and ejector pins are rotated by the rotary actuators.
3. The capping and decapping apparatus of claim 1 wherein the rotary actuators are operated independently such that each capping and decapping gripper may engage or disengage a cap independently of the other grippers.
4. The capping and decapping apparatus of claim 3 further comprising a control unit configured to permit a user to decide which capping and decapping grippers engage or disengage tubes.
5. A capping and decapping apparatus for capping and decapping tubes disposed in a tube holding rack having a two-dimensional array of tubes, the apparatus comprising:
a head unit carrying an array of rotary actuators, an array of ejector pins coaxial with the rotary actuators, and a drive system for translational movement of the ejector pins;
an exchangeable cartridge comprising an array of capping and decapping grippers, each gripper to engage a cap on a tube, the cartridge being configured to attach to and detach from the head unit, the cartridge permitting exchange of an entire array of capping and decapping grippers at once for rotation of the grippers;
the head unit and cartridge configured, when attached, to engage the rotary actuators with the capping and decapping grippers as the ejector pins pass axially through the capping and decapping grippers, wherein the grippers and ejector pins are rotated by the rotary actuators but are coupled to permit translational movement of the ejector pins through the grippers, rotation of a rotary actuator in one direction causing attachment of a cap to a tube and rotation in the opposite direction causing detachment of the cap from the tube, and translational movement of the ejector pins through the grippers effecting release of caps from the grippers.