Lid closing device and lid closing method
The present invention provides a lid closing device and a lid closing method, each of which does not require a high degree of accuracy when performing a lid closing operation. A holding portion moves such that a lid is located at a position above a container. Holding of the lid by the holding portion is released at the position above the container. The lid falls to cover the container. Thus, the lid closing operation is performed.
1. A lid closing device comprising:
a holding portion comprising a robot arm including a plurality of joints, and first and second finger portions provided at a distal end of the robot arm, wherein the first and second finger portions are configured to be movable so as to approach and separate from each other; and
a control portion configured to control the holding portion, wherein
the control portion performs a lid closing operation comprising:
controlling the robot arm to move the first and second finger portions to a first position for holding a lid;
controlling the first and second finger portions to hold the lid;
controlling the robot arm to move the first and second finger portions from the first position to a second position such that the lid held by the first and second finger portions is located at the second position above a container and parallel to an edge portion of the container;
controlling the first and second finger portions to tilt the held lid by bringing a first end portion of the lid around an axis parallel to the edge portion of the container into contact with a first end portion of the edge portion of the container; and
controlling the first and second finger portions to release the lid in a state where the first end portion of the lid and the first end portion of the edge portion contact each other.
2. The lid closing device according to claim 1 , further comprising a container installation portion at which the container is provided.
3. The lid closing device according to claim 1 , wherein the lid closing operation further comprises:
controlling the robot arm to move the first and second finger portions from the second position to a third position different from the second position.
4. The lid closing device according to claim 1 , wherein the robot arm includes a plurality of servo motors, and the respective servo motors are provided so as to correspond to the respective joints.
5. The lid closing device according to claim 4 , wherein the control portion controls driving of the servo motors corresponding to the respective joints of the robot arm.
6. The lid closing device according to claim 1 , wherein the container includes a microplate having a plurality of wells and the lid has a larger size than the microplate to cover the microplate.
7. The lid closing device according to claim 6 , wherein the microplate has 96 wells.
8. A lid closing method of performing a lid closing operation of covering an opening portion of a container with a lid by a lid closing device which comprises a robot arm including a plurality of joints, and first and second finger portions provided at a distal end of the robot arm, wherein the first and second finger portions are configured to be movable so as to approach and separate from each other,
the lid closing method comprising:
(a) moving the first and second finger portions by the robot arm to a first position for holding the lid;
(b) holding the lid with the first and second finger portions;
(c) moving the first and second finger portions from the first position to a second position by the robot arm such that the lid held by the first and second finger portions is located at the second position above the container and parallel to an edge portion of the container;
(d) moving the first and second finger portions to tilt the held lid around an axis parallel to the edge portion of the container by bringing a first end portion of the lid into contact with a first end portion of the edge portion of the container; and
(e) releasing the lid by the first and second finger portions in a state where the first end portion of the lid and the first end portion of the edge portion contact each other.
9. The lid closing method according to claim 8 , wherein the container is provided at a container installation portion.
10. The lid closing method according to claim 8 , further comprises:
moving the first and second finger portions from the second position to a third position different from the second position by the robot arm.
11. The lid closing method according to claim 8 , wherein the robot arm includes a plurality of servo motors, and the respective servo motors are provided corresponding to the respective joints.
12. The lid closing method according to claim 11 , wherein the control portion controls driving of the servo motors corresponding to the respective joints of the robot arm.
13. The lid closing method according to claim 8 , wherein the container includes a microplate having a plurality of wells and the lid has a larger size than the microplate to cover the microplate.
14. The lid closing method according to claim 13 , wherein the microplate has 96 wells.