Conveying device and experiment support system

Abstract

To provide a conveying device and an experiment support system that can automate the transport of objects between experimental devices while maintaining, as much as possible, the experimental devices and experimental protocols used in conventional experiments.SOLUTION: A conveying device 100 is capable of conveying an object to be conveyed by suspending it from above, and includes an arm unit 3 capable of holding the object to be conveyed, a long section 2 extending in a vertical direction V and suspending the arm unit 3, and a winding section connected to an upper side UP of the long section 2 and capable of winding and letting out the long section 2. When the distance from the winding section to the arm unit 3 becomes shorter, the long section 2 is wound up on the winding section, and when the distance from the winding section to the arm unit 3 becomes longer, it is let out from the winding section.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a transport device and an experiment support system. [Background technology]

[0002] Traditionally, research and development in the field of regenerative medicine has generally been conducted manually, and there is a demand for automation and remote operation of each experimental device to make experiments more efficient and labor-saving. The reasons why manual experiments are common include the difficulty of uniformly automating the wide variety of experimental protocols and materials (cells) involved, and the fact that the subjects of the experiment are living organisms such as cells. Since the subjects of the experiment are living organisms, cells, and their reactions to operations such as changing the medium are not consistent, it is difficult to automate experimental operations.

[0003] Furthermore, in experiments such as cell culture experiments in which the experimental protocol changes relatively frequently, an automated system is required that can perform experiments while maintaining as much as possible the experimental equipment and experimental protocols used in conventional manual experiments. For example, in conventional manual cell culture experiments, well plates containing cells and the like must be transported between experimental equipment such as incubators, microscopes, and safety cabinets. For this reason, automation using a transport device is required for the transport of well plates (transport objects) between experimental equipment, but such transport devices are required to have a space-saving mechanism that can be used in limited spaces such as laboratories where conventional experimental equipment is installed.

[0004] An example of a transport device that transports objects in a limited space is an article loading device described in Patent Document 1. The article loading device described in Patent Document 1 is a device that is installed on the ceiling of a building and loads articles from a transport conveyor installed on the floor of the building into a container installed on the floor of the building. This loading device also includes an article holding hand that holds an article, and a robot arm that moves the article holding hand between the transport conveyor and the container, and the article holding hand supports a holding part that holds the article in a floating state that is displaceable in the XYZ directions. Here, the X direction is the front-back direction, the Y direction is the left-right direction, and the Z direction is the up-down direction. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2020-193066 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, a transport device using an articulated robot arm, such as the loading device described in Patent Document 1, is over-specified for transporting small and lightweight objects such as well plates used in cell culture experiments, and there is a risk that the cost will be high due to the need for an unnecessarily high level of output.In addition, it occupies a lot of space in the laboratory where conventional cell culture experiments are performed, and there is a risk that it will be impossible to maintain the experimental equipment and experimental protocols used in conventional manual experiments.

[0007] In consideration of the above circumstances, the present invention aims to provide a transportation device and an experiment support system that can automate the transportation of objects between experimental equipment while maintaining, as much as possible, the experimental equipment and experimental protocols used in conventional experiments. [Means for solving the problem]

[0008] In order to solve the above problems, the present invention proposes the following means. The conveying device of the present invention is a conveying device capable of conveying an object to be conveyed by suspending it from above, and is equipped with an arm section capable of holding the object to be conveyed, a long section extending in the vertical direction and suspending the arm section, and a winding section connected to the above of the long section and capable of winding up and sending out the long section, wherein the long section is wound up on the winding section when the distance from the winding section to the arm section becomes shorter, and is sent out from the winding section when the distance from the winding section to the arm section becomes longer.

[0009] The experimental support system of the present invention comprises the transporting device described above, a detection unit capable of detecting the position of the object to be transported, and a control unit capable of acquiring the detection results of the detection unit, and the control unit controls the transporting device based on the detection results of the detection unit. Effect of the Invention

[0010] According to the transportation device and experiment support system of the present invention, it is possible to provide a transportation device and experiment support system that can automate the transportation of objects between experimental equipment while maintaining as much as possible the experimental equipment and experimental protocols used in conventional experiments. [Brief description of the drawings]

[0011] [Figure 1] 1 is a perspective view showing a schematic diagram of an experiment support system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a perspective view showing a schematic diagram of a lifting section in the experiment support system. [Diagram 3] FIG. 4 is a front view showing the lifting section in a schematic manner. [Figure 4] 4 is a perspective view showing a schematic diagram of a tip of an arm portion of the lifting section. FIG. [Diagram 5] 2 is a perspective view showing a schematic diagram of an object to be transported placed on a warmer in the experiment support system. FIG. [Figure 6] FIG. 2 is a perspective view showing a model of an object to be transported in the experiment support system. [Figure 7] 4 is a cross-sectional view showing the arm portion when holding an object to be transported. FIG. [Figure 8] 4 is a flowchart showing an example of the operation of the experiment support system. [Figure 9] FIG. 11 is a front view showing a schematic view of a lifting section according to the first modified example. [Figure 10] 13 is a front view showing a schematic diagram of another example of the lifting section according to the first modified example. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view that illustrates an experiment support system 1000 according to this embodiment.

[0013] The experiment support system 1000 includes a transport device 100, a warmer 200 (first experiment device), a microscope 300 (second experiment device), and a control unit 400. The transport device 100 is capable of transporting an object between a first experimental device and a second experimental device.

[0014] In this embodiment, as shown in Fig. 1, the vertical direction in the experiment support system 1000 is defined as the "up-down direction V", the vertical upward direction is defined as the "upward UP" in the vertical direction V, and the vertical downward direction is defined as the "downward LO" in the vertical direction V. In addition, of the horizontal directions perpendicular to the vertical direction V, the direction in which the transport device 100 mainly transports the transport object is defined as the "left-right direction H", one of the directions in the left-right direction H is defined as the "leftward LT" and the other is defined as the "rightward RT" in the left-right direction H. In addition, the direction perpendicular to the vertical direction V and the left-right direction H is defined as the "front-rear direction D", one of the directions in the front-rear direction D is defined as the "forward FR" and the other is defined as the "rearward RR" in the front-rear direction D.

[0015] The conveying device 100 includes a conveying section 10, a rail section 20, a connecting section 30, and a supporting section 40.

[0016] The conveying unit 10 is a part capable of holding and conveying an object to be conveyed in the conveying device 100. The conveying unit 10 will be described in detail later.

[0017] The rail portions 20 are members extending in the left-right direction H, and as shown in FIG. 1, the transport device 100 includes a pair of rail portions 20 arranged side by side in the front-rear direction D.

[0018] The connecting portion 30 is a member extending in the front-rear direction D, and connects a pair of rail portions 20 arranged side by side in the front-rear direction D, as shown in Fig. 1. The conveying device 100 is equipped with a pair of connecting portions 30, one of which connects the left ends LT of the pair of rail portions 20. The other connecting portion 30 connects the right ends RT of the pair of rail portions 20.

[0019] The pair of rail portions 20 and the pair of connecting portions 30 are connected to form a rectangle when viewed from above UP.

[0020] The support parts 40 are members extending in the vertical direction V, and support the rail parts 20 and the connecting parts 30 from the lower side LO. As shown in Fig. 1, the transport device 100 includes four support parts 40, and each support part 40 supports four corners of the rail parts 20 and the connecting parts 30 that form a rectangle when viewed from the upper side UP.

[0021] When viewed from the front FR in a plan view, two support parts 40 support the left LT and right RT ends of the rail part 20, respectively. A pair of rail parts 20 supported by the two support parts 40, respectively, are aligned in the front-rear direction D, and the pair of rail parts 20 are connected by a pair of connecting parts 30.

[0022] The transport unit 10 includes a first movable unit 11, a second movable unit 12, and a lifting unit 13. The first movable unit 11 and the second movable unit 12 are mechanisms that can move the lifting unit 13 in a direction different from the up-down direction V.

[0023] The first movable part 11 has a movement mechanism for transporting an object to be transported in a left-right direction H (first direction). The first movable part 11 extends in a front-rear direction D and is provided so as to span a pair of rail parts 20 aligned in the front-rear direction D.

[0024] The first movable part 11 is movable in the left-right direction H relative to the rail part 20. For example, an electric motor and wheels are provided on the rail part 20 or the first movable part 11, and the first movable part 11 moves in the left-right direction H relative to the rail part 20 by driving the wheels with the electric motor. In addition, the rail part 20 may have a linear motion mechanism composed of an electric motor and a ball screw, and the first movable part 11 moves in the left-right direction H relative to the rail part 20 by driving this linear motion mechanism.

[0025] The second movable part 12 is provided below the first movable part 11 LO. The lifting part 13 is provided on the first movable part 11 via the second movable part 12. The dimension of the second movable part 12 in the front-rear direction D is smaller than the dimension of the first movable part 11 in the front-rear direction D. In addition, the second movable part 12 is movable in the front-rear direction D relative to the first movable part 11.

[0026] For example, the first movable part 11 or the second movable part 12 is provided with an electric motor and wheels, and the wheels are driven by the electric motor to move the second movable part 12 in the front-rear direction D (second direction) relative to the first movable part 11. In addition, the first movable part 11 may have a linear motion mechanism composed of an electric motor and a ball screw, and the second movable part 12 may move in the front-rear direction D relative to the first movable part 11 by driving this linear motion mechanism.

[0027] Hereinafter, the first movable part 11 and the second movable part 12 may be collectively referred to simply as the "movable part".

[0028] Fig. 2 is a perspective view that typically shows the lifting / lowering unit 13. Fig. 3 is a front view that typically shows the lifting / lowering unit 13.

[0029] The lifting section 13 includes a winding section 1, a long section 2, an arm section 3, a motor 4, a wire 5, and a secondary rotating section 6, and is a section capable of moving an object to be conveyed in a vertical direction V.

[0030] The winding unit 1 is connected to an upper part UP of the long part 2. Inside the winding unit 1, a mechanism capable of winding and unwinding the long part 2 is provided. For example, inside the winding unit 1, a columnar or cylindrical member with a central axis extending in the left-right direction H is provided, and by rotating this columnar or cylindrical member about the central axis as the center of rotation, the long part 2 can be wound up on the outer circumferential surface of the columnar or cylindrical member. In addition, by rotating the columnar or cylindrical member in the opposite direction, the wound long part 2 can be unwound.

[0031] The long portion 2 is a member extending in the vertical direction V, and expands and contracts in the vertical direction V by being wound up and let out by the winding portion 1.

[0032] The winding section 1 and the long section 2 are configured, for example, as a convex (convex rule). The winding section 1 is the case part (main body part) of the convex, and the long section 2 is the tape part of the convex. Here, a convex is a measuring instrument that pulls out a tape part with printed measurement scales from the main body part and measures the length of an object using the scales on the tape part. A spring member such as a power spring is provided inside the main body part (winding section 1), and the tape part is wound up by biasing it with this spring member.

[0033] The long section 2 is made of a material containing metal, similar to the convex tape portion. The long section 2 is gutter-shaped. Here, the gutter shape refers to a curved shape in a cross section in a direction (horizontal direction) perpendicular to the up-down direction V, and is, for example, a semicircular shape in a cross section in the horizontal direction.

[0034] 2, the lifting section 13 includes a pair of long portions 2 (a first long portion 2a and a second long portion 2b) disposed opposite each other in the front-rear direction D. The first long portion 2a and the second long portion 2b have semicircular shapes convex toward each other in a horizontal cross section.

[0035] In the pair of long portions 2, the first long portion 2a provided on the front FR has a semicircular shape convex toward the rear RR in a horizontal cross section. Also, the second long portion 2b provided on the rear RR has a semicircular shape convex toward the front FR in a horizontal cross section.

[0036] The long section 2 is a trough-shaped metal member, and therefore has sufficient rigidity for the transport device 100 to transport the object to be transported. The shape of the long section 2 is not limited to a semicircular or trough shape as long as it has sufficient rigidity. From the viewpoint of ease of winding and unwinding by the winding section 1 and rigidity, it is desirable for the long section 2 to have a semicircular trough shape or a mountain-folded shape (approximately an L-shaped bend) in horizontal cross section.

[0037] The lifting section 13 also has a pair of winding sections 1 (first winding section 1a and second winding section 1b) arranged opposite each other in the front-rear direction D. The first winding section 1a arranged at the front FR is arranged above the first long section 2a UP and is capable of winding and feeding the first long section 2a. The second winding section 1b arranged at the rear RR is arranged above the second long section 2b UP and is capable of winding and feeding the second long section 2b.

[0038] An arm unit 3 is connected to the lower portion LO of the first long portion 2a and the second long portion 2b. The arm unit 3 is capable of holding an object to be transported. The arm unit 3 will be described in detail later.

[0039] The motor 4 has a columnar or cylindrical shape with a central axis R1 extending in the left-right direction H. The motor 4 is, for example, an electric motor, and can actively rotate around the central axis R1. The motor 4 is provided above the winding unit 1 (UP).

[0040] The wire 5 is a string-like member extending in the vertical direction V, and is made of a material having sufficient strength and rigidity, such as metal. The wire 5 is, for example, a metal wire. One end of the wire 5 is connected to the arm unit 3. The other end of the wire 5 is connected to the motor 4.

[0041] The motor 4 rotates about the central axis R1, thereby being able to pull and let out the wire 5. For example, in the front view shown in FIG. 3, when the motor 4 rotates counterclockwise, the wire 5 is pulled by the motor 4. When the motor 4 rotates clockwise, the wire 5 is let out from the motor 4.

[0042] The arm unit 3 is suspended from the upper side UP by the wire 5. Therefore, when the motor 4 is rotated about the central axis R1 as the center of rotation and the wire 5 is fed, the arm unit 3 can move downward LO by its own weight. After moving downward LO, the arm unit 3 is pulled upward UP by the wire 5 and stops when the wire 5 is not slackened and is taut in the vertical direction V. In other words, the arm unit 3 stops in the vertical direction V when the weight of the arm unit 3 and the tension on the wire 5 that pulls the arm unit 3 upward UP are balanced.

[0043] Furthermore, when the wire 5 is pulled by the motor 4 and the tension on the wire 5 is greater than the weight of the arm unit 3, the arm unit 3 is pulled upward UP by the wire 5 and moves upward UP. If the arm unit 3 is not heavy enough, a weight or the like may be provided on the arm unit 3 to increase its weight.

[0044] As described above, the arm unit 3 can be moved in the vertical direction V by rotating the motor 4 and pulling or letting out the wire 5.

[0045] Furthermore, when the arm unit 3 moves downward LO, the long section 2 connected to the arm unit 3 extends downward LO following the arm unit 3. At this time, while the long section 2 is wound up to a certain extent on the winding unit 1, it is pulled downward LO by the arm unit 3, and is pulled out from the winding unit 1 and extends downward LO.

[0046] That is, the long portion 2 is let out from the winding portion 1 when the length of the long portion 2 in the vertical direction V becomes shorter than the distance in the vertical direction V from the winding portion 1 to the arm portion 3.

[0047] Conversely, when the arm unit 3 is pulled by the wire 5 and moves upward UP, the long unit 2 is wound up by the winding unit 1, and its length in the vertical direction V becomes shorter. For example, when the wire 5 is pulled by the motor 4 and the arm unit 3 is pulled by the wire 5 and moves upward UP, the long unit 2 is pushed upward UP by the arm unit 3. At this time, since the long unit 2 has sufficient rigidity, the part protruding outside the winding unit 1 does not bend even when pushed from below LO by the arm unit 3.

[0048] The upper UP portion of the long section 2 pushed from the lower LO by the arm section 3 is stored inside the winding section 1. At this time, the long section 2 is wound up by a winding mechanism such as a cylindrical or cylindrical member or a spiral spring provided inside the winding section 1, and is stored inside the winding section 1.

[0049] That is, the long portion 2 is wound onto the winding portion 1 when the length of the long portion 2 in the vertical direction V becomes longer than the distance in the vertical direction V from the winding portion 1 to the arm portion 3.

[0050] When the arm unit 3 does not move in the vertical direction V, the arm unit 3 is held by a holding mechanism, and the position of the arm unit 3 in the vertical direction V is fixed. Examples of holding mechanisms that fix the position of the arm unit 3 in the vertical direction V include a mechanism in which an electromagnetic brake is attached to the motor 4 or the like and the brake is used to lock the motor 3 when it is not energized, and a mechanism in which a claw is pressed against the winding unit 1 when the motor 4 is not operating, thereby locking the pulling or letting-out of the long unit 2.

[0051] The arm unit 3, which moves in the vertical direction V by a motor 4 and a wire 5, is connected to a pair of long members 2 having sufficient rigidity. Furthermore, the long members 2 extend and retract in conjunction with the movement of the arm unit 3 in the vertical direction V, allowing the arm unit 3 to stably move in the vertical direction V. For example, if the lifting unit does not include the long members 2, the arm unit moving in the vertical direction may swing like a pendulum in the front-back direction D or the left-right direction H.

[0052] The sub-rotating portion 6 has a columnar or cylindrical shape with a central axis extending in the left-right direction H. The lifting portion 13 includes a pair of sub-rotating portions 6 (a front sub-rotating portion 6a and a rear sub-rotating portion 6b).

[0053] The front auxiliary rotating portion 6a is provided at the rear RR of the first long portion 2a in contact with the first long portion 2a and is rotatable about a central axis R2 extending in the left-right direction H. The front auxiliary rotating portion 6a is formed of, for example, a rubber material, and can generate a sufficient frictional force between the front auxiliary rotating portion 6a and the abutting first long portion 2a.

[0054] Therefore, when the wire 5 is pulled and sent out by the motor 4, the arm portion 3 moves in the vertical direction V, and the first long portion 2a expands and contracts in the vertical direction V, the front auxiliary rotating portion 6a rotates around the central axis R2 in conjunction with the expansion and contraction of the first long portion 2a.

[0055] 3, when the arm 3 moves downward LO and the first long portion 2a is fed out to the downward LO, the front sub rotating portion 6a rotates counterclockwise due to the frictional force between the front sub rotating portion 6a and the first long portion 2a fed out to the downward LO. Conversely, when the arm 3 moves upward UP, the front sub rotating portion 6a rotates clockwise due to the frictional force between the front sub rotating portion 6a and the first long portion 2a being wound up to the upward UP.

[0056] The rear auxiliary rotating portion 6b is provided in contact with the second long portion 2b at the front FR of the second long portion 2b and is rotatable about a central axis R3 extending in the left-right direction H. The rear auxiliary rotating portion 6b is formed of, for example, a rubber material, and can generate a sufficient frictional force between itself and the second long portion 2b with which it is in contact.

[0057] Therefore, when the wire 5 is pulled and sent out by the motor 4, the arm portion 3 moves in the vertical direction V, and the second long portion 2b expands and contracts in the vertical direction V, the rear auxiliary rotating portion 6b rotates around the central axis R3 in conjunction with the expansion and contraction of the second long portion 2b.

[0058] 3, when the arm 3 moves downward LO and the second long portion 2b is fed out to the downward LO, the rear auxiliary rotating portion 6b rotates clockwise due to the frictional force between the rear auxiliary rotating portion 6b and the second long portion 2b fed out to the downward LO. Conversely, when the arm 3 moves upward UP, the rear auxiliary rotating portion 6b rotates counterclockwise due to the frictional force between the rear auxiliary rotating portion 6b and the second long portion 2b being wound up to the upward UP.

[0059] The lifting section 13 is provided with the auxiliary rotating section 6 which abuts against the long section 2 and rotates in conjunction with the expansion and contraction of the long section 2 in the vertical direction V, so that the arm section 3 can move in the vertical direction V more stably.

[0060] For example, the sub-rotating parts 6 come into contact with the front FR or rear RR of the long part 2, restricting the movement of the long part 2 in the front FR or rear RR, thereby preventing the long part 2 from swinging in the front-to-rear direction D. Here, the pair of sub-rotating parts 6 are not in contact with the wire 5, so the rotation of the sub-rotating parts 6 is not linked to the expansion and contraction of the wire 5 in the up-down direction V.

[0061] Inside the winding unit 1, the long portion 2 wound around a spiral spring or the like generates a frictional force due to friction between the long portions 2 and a winding force due to the spiral spring winding the long portion 2. As described above, the long portion 2 in contact with the auxiliary rotating portion 6 generates a frictional force due to the auxiliary rotating portion 6. Therefore, when the wire 5 is fed from the motor 4, when the gravity acting on the arm portion 3 exceeds the frictional force and winding force generated in the long portion 2 inside the winding unit 1 and the frictional force due to the auxiliary rotating portion 6, the arm portion 3 moves downward LO.

[0062] FIG. 4 is a perspective view showing a schematic view of the tip of the arm portion 3. As shown in FIG. The arm portion 3 includes an arm body 3a and a holding portion 3b.

[0063] The arm body 3a is the main body of the arm section 3, and is the part to which the long section 2 and the wire 5 are connected. The shape of the arm body 3a is not particularly limited as long as it has a shape that allows it to move stably in the vertical direction V by the wire 5.

[0064] The holding portion 3b is a portion of the arm portion 3 that holds an object to be transported. As shown in Fig. 4, the holding portion 3b is provided at the rear RR of the arm body 3a and extends in the front-rear direction D. In addition, the holding portion 3b has a substantially L-shape with an end (rear end) of the rear RR extending upward UP in a plan view from the left LT or right RT. A tapered portion C1 that tapers upward UP is formed at the end of the upper UP at the rear end of the holding portion 3b.

[0065] Fig. 5 is a perspective view that typically shows the object W to be transported placed on the warmer 200. Fig. 6 is a perspective view that typically shows the object W to be transported.

[0066] The transport object W is, for example, a well plate used in a cell culture experiment. In a cell culture experiment, the well plate containing cells is generally kept in a warming device such as an incubator, and the cells are cultured.

[0067] As shown in FIG. 6, the transport target W includes a well plate body Wa and a held portion Wb.

[0068] The well plate body Wa is, for example, a well plate used in conventional cell culture experiments. The well plate body Wa is provided with wells (not shown) capable of accommodating cells, etc., and an experimenter accommodates and cultures the cells to be observed in the wells. The well plate body Wa may be provided with multiple wells, for example, 6 or 12 wells.

[0069] The held part Wb is a part that is connected to the well plate body Wa and is held by the holding part 3b of the arm part 3. As shown in Fig. 6, the held part Wb is connected to the outer periphery of the well plate body Wa and has a substantially L-shape formed by a part that extends upward UP and a part that extends in a direction perpendicular to the up-down direction V (horizontal direction).

[0070] The horizontally extending portion of the held portion Wb is connected to the upper end (top end) of the portion extending upward UP, and extends in a direction not overlapping with the well plate body Wa when viewed in a plan view from the upper UP.

[0071] Further, in the portion extending in the horizontal direction of the held portion Wb, a holding hole Wh which is an opening penetrating in the up-down direction V is formed.

[0072] FIG. 7 is a cross-sectional view showing the arm unit 3 when it holds an object W to be transferred. As shown in FIG. 7, the transport device 100 holds the transport object W by inserting the tip of the holding portion 3b of the arm portion 3 into the holding opening Wh in the held portion Wb of the transport object W from the lower side LO.

[0073] At this time, since the holding portion 3b has a tapered portion C1 tapered upward UP, the transport device 100 can easily insert the holding portion 3b into the holding opening Wh from the lower LO. Also, as shown in Fig. 7, by providing an opening tapered portion C2 formed so that the size of the opening widens toward the lower LO at the edge of the opening of the lower LO of the holding opening Wh, the transport device 100 can more easily insert the holding portion 3b into the holding opening Wh.

[0074] By inserting the holding portion 3b into the holding opening Wh from the bottom LO, the outer surface of the portion of the holding portion 3b inserted into the holding opening Wh and the inner surface of the holding opening Wh regulate the movement of the transported object W in the forward / backward direction D and the left / right direction H relative to the arm portion 3.

[0075] In addition, a portion of the held portion Wb forward of the holding opening Wh FR and a portion of the holding portion 3b extending in the front-rear direction D abut in the vertical direction V, restricting movement of the transport object W in the vertical direction V relative to the arm portion 3. Therefore, the arm portion 3 can stably hold the transport object W.

[0076] The incubator 200 is an incubator such as an incubator used in conventional cell culture experiments. In this embodiment, the incubator 200 is a floor-standing incubator that is installed on the floor of a laboratory, as shown in Fig. 1. Hereinafter, the incubator 200 is also referred to as a first experimental device.

[0077] The microscope 300 is a microscope used in conventional cell culture experiments. The microscope 300 is, for example, an electron microscope capable of observing and photographing a well plate or the like placed on a stage 301 at a desired magnification. As shown in FIG. 1, the microscope 300 is placed on the upper surface UP of a table T. Hereinafter, the microscope 300 is also referred to as a second experimental apparatus. The incubator 200 and the microscope 300 may also be collectively referred to as an "experimental apparatus."

[0078] The control unit 400 is, for example, a program executable device (computer) equipped with a processor, a memory, a storage unit, and the like. Each function of the control unit 400 is realized by, for example, one or more processors such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) executing a program stored in a program memory. However, all or part of these functions may be realized by hardware (e.g., a circuit unit; circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a PLD (Programmable Logic Device). In addition, all or part of the above functions may be realized by a combination of software and hardware. The storage unit is realized by a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), a ROM (Read-Only Memory), a RAM (Random Access Memory), or the like.

[0079] 1, the control unit 400 is disposed on the upper surface UP of the table T, and is capable of controlling a part or the whole of the experiment support system 1000. The control unit 400 is connected to the transport device 100 by wire or wirelessly, and controls the transport device 100. The control unit 400 may also be connected to the incubator 200 and the microscope 300 by wire or wirelessly, and be capable of controlling the incubator 200 and the microscope 300.

[0080] The experiment support system 1000 may include experimental equipment other than the incubator 200 and the microscope 300, for example, a safety cabinet. When the experiment support system 1000 includes experimental equipment other than the incubator 200 and the microscope 300, the control unit 400 may be capable of controlling the experimental equipment other than the incubator 200 and the microscope 300.

[0081] Next, an example of the operation and control method of the experiment support system 1000 will be described. 8 is a flow chart showing an example of the operation of the experiment support system 1000. The operation of the experiment support system 1000 described below is an operation of holding the transport object W stored in the incubator 200 (first experimental apparatus) and transporting the transport object W to the microscope 300 (second experimental apparatus).

[0082] (Step S1) When the experiment support system 1000 is started up, the control unit 400 performs step S1 (first holding step). In step S1, the control unit 400 controls the transport device 100 to move the arm unit 3 to the vicinity of the insulator 200.

[0083] At this time, the control unit 400 moves the first movable unit 11 in the left-right direction H to change the position of the arm unit 3 in the left-right direction H. The control unit 400 also moves the second movable unit 12 in the front-back direction D to change the position of the arm unit 3 in the front-back direction D. The control unit 400 also controls the lifting unit 13 to pull or feed the wire 5 using the motor 4 to change the position of the arm unit 3 in the up-down direction V.

[0084] In this way, the control unit 400 controls the position of the arm unit 3 in the left-right direction H, the front-back direction D, and the up-down direction V, and moves the arm unit 3 to the vicinity of the insulator 200. The movement of the arm unit 3 by the control unit 400 can be performed in an appropriate direction and amount depending on the position of the arm unit 3 when the experiment support system 1000 is started up. For example, when the experiment support system 1000 is started up, if the arm unit 3 can be moved to the vicinity of the insulator 200 by moving the arm unit 3 in the left-right direction H and the up-down direction V, it is not necessary to move the arm unit 3 in the front-back direction D.

[0085] Each experimental device in the experiment support system 1000 can also be used for conventional manual experiments. Therefore, when the experiment support system 1000 is not running, it is desirable for the arm unit 3 to be on standby in a position that does not interfere with conventional manual experiments.

[0086] For example, by pulling the wire 5 by the motor 4 and keeping the arm unit 3 on standby at a position higher than the height of an experiment operator, it is possible to prevent interference with manual experiments by humans.

[0087] (Step S2) Next, the control unit 400 performs step S2 (second holding step). In step S2, the control unit 400 controls the transport device 100 to adjust the position of the arm unit 3 and move the holding portion 3b of the arm unit 3 to the vicinity of the held portion Wb of the transport target object W.

[0088] Specifically, the portion of the holding part 3b where the tapered portion C1 is formed is moved to a position LO below the holding opening Wh of the held part Wb. At this time, in order to facilitate fine adjustment of the position of the holding part 3b relative to the holding opening Wh, it is preferable that the experiment support system 1000 includes a detection part (not shown) capable of detecting the position of the transport target object W.

[0089] For example, the transport object W is provided with a detection unit capable of transmitting position information of the transport object W. The control unit 400 has a receiving unit (not shown) capable of receiving the position information (detection result) of the transport object W transmitted from the detection unit. The control unit 400 acquires the detection result detected by the detection unit, and controls the transport device 100 based on this detection result, thereby adjusting the position of the holding part 3b with respect to the holding hole Wh.

[0090] Furthermore, in step S2, the control unit 400 may control the incubator 200 to automatically open the door of the incubator 200. Usually, when cells contained in a well plate are cultured, the well plate is stored inside the incubator 200, and the temperature inside the incubator 200 is kept constant to culture the cells.

[0091] During the period in which the cells are being cultured, the door of the incubator 200 in which the well plate is stored is closed in order to keep the internal temperature of the incubator 200 constant. Therefore, when the transport device 100 takes out the transport object W from the incubator 200, it is necessary to open the door of the incubator 200.

[0092] For example, the warmer 200 is provided with an automatic opening / closing device capable of automatically opening and closing the door of the warmer 200, and the control unit 400 opens the door of the warmer 200 by controlling this automatic opening / closing device.

[0093] The door of the warmer 200 may be opened by the arm unit 3 of the transport device 100. In this case, a holdable part that can be held by the arm unit 3 may be provided on the door of the warmer 200, and the door of the warmer 200 may be opened by holding the holdable part with the arm unit 3 and moving the arm unit 3 in a direction in which the door of the warmer 200 is opened.

[0094] For example, a member having a shape similar to the held portion Wb of the transported object W is provided on the door of the insulator 200, and the holding portion 3b of the arm portion 3 is inserted from the lower LO into the holding opening of the held portion provided on the door of the insulator 200, and the arm portion 3 in this state is moved in the direction of opening the door of the insulator 200 to open the door of the insulator 200.

[0095] (Step S3) Next, the control unit 400 performs step S3 (third holding step). In step S3, the control unit 400 moves the arm unit 3 upward UP and inserts the tip of the holding unit 3b from the downward LO into the holding opening Wh of the transport target W. By inserting the holding unit 3b into the holding opening Wh, the control unit 400 causes the transport device 100 to hold the transport target W.

[0096] After the arm unit 3 holds the transport target object W and removes it from the warmer 200, the control unit 400 may control the automatic opening and closing device described above to automatically close the door of the warmer 200. Furthermore, the control unit 400 may move the position of the arm unit 3 to operate the door of the warmer 200 using the arm unit 3, thereby closing the door of the warmer 200.

[0097] (Step S4) Next, the control unit 400 performs step S4 (first transfer step). In step S4, the control unit 400 moves the arm unit 3 to the vicinity of the microscope 300 in the transfer device 100 holding the transfer target W.

[0098] 1, the microscope 300 is disposed at a different position from the incubator 200 in the left-right direction H, the front-back direction D, and the up-down direction V. Therefore, the control unit 400 controls the transport device 100 to move the arm unit 3 in the left-right direction H, the front-back direction D, and the up-down direction V, and move the arm unit 3 to the vicinity of the microscope 300. Specifically, the control unit 400 moves the arm unit 3 upward UP, rightward RT, and backward RR, and moves it to the vicinity of the microscope 300.

[0099] (Step S5) Next, the control unit 400 performs step S5 (second conveying step). In step S5, the control unit 400 controls the conveying device 100 to adjust the position of the arm unit 3 and move the conveying target W held by the arm unit 3 to the vicinity of the stage 301 of the microscope 300.

[0100] At this time, in order to finely adjust the position of the transport object W relative to the stage 301, the control unit 400 may acquire position information (detection result) of the transport object W from the above-mentioned detection unit provided on the transport object W, and control the transport device 100 based on this detection result.

[0101] In addition, the experiment support system 1000 may be equipped with a sensor capable of detecting the transport object W or the arm section 3 near the microscope 300, and the control section 400 may acquire the detection results detected by this sensor and control the transport device 100 based on the detection results.

[0102] (Step S6) Next, the control unit 400 performs step S6 (third transport step). In step S6, the control unit 400 controls the transport device 100 to place the transport object W on the stage 301 of the microscope 300. With the transport object W placed on the stage 301, the control unit 400 moves the arm unit 3 downward LO and removes the holding portion 3b of the arm unit 3 from the inside of the holding opening Wh of the transport object W, thereby releasing the transport object W from the arm unit 3.

[0103] In this way, the experimental support system 1000 is equipped with an arm section 3 capable of holding the transported object W, and a configuration (such as a movable section and a lifting section 13) that allows the arm section 3 to move in the left-right direction H, the front-back direction D, and the up-down direction V, thereby enabling the transported object W to be transported between experimental apparatuses.

[0104] Furthermore, the transport device 100 capable of transporting the transport object W is a transport device suspended from above UP, and occupies almost no floor space in the laboratory where the experiment is performed. Therefore, the transport of the transport object W such as a well plate can be automated while maintaining as much of the experimental equipment used in conventional manual experiments as possible. Furthermore, since the experimental equipment used in conventional manual experiments can be maintained as much as possible, the experimental protocol used in conventional experiments can also be maintained as much as possible.

[0105] After performing step S6, the experiment support system 1000 may end or continue the operation. For example, after placing the transport object W on the stage 301 of the microscope 300 in step S6, the control unit 400 controls the microscope 300 to observe and photograph the transport object W.

[0106] The control unit 400 may acquire images (experimental data) captured by the microscope 300, or may transmit the acquired experimental data to an external device. For example, the control unit 400 transmits the experimental data to a computer, smartphone, tablet, or the like that is located away from the experimental location where the experiment support system 1000 is installed. The experimental operator or other viewer can check the experimental data in their own room or the like that is away from the experimental location by checking the experimental data transmitted from the control unit 400 on a local computer, smartphone, tablet, or the like.

[0107] Furthermore, after completing the experimental operation by the microscope 300, the control unit 400 may transport the transport object W again to the incubator 200. For example, the control unit 400 controls the transport device 100 to make the arm unit 3 hold the transport object W placed on the stage 301 of the microscope 300.

[0108] Specifically, the holding portion 3b of the arm portion 3 is inserted into the holding opening Wh of the transport object W from the lower side LO, and the transport object W is held by the arm portion 3 in the same manner as in the operation of step S3.

[0109] Next, the control unit 400 moves the arm unit 3 holding the transport object W to the vicinity of the warmer 200, adjusts the position of the arm unit 3, and places and releases the transport object W inside the warmer 200. At this time, the control unit 400 may open the door of the warmer 200 using the above-mentioned automatic opening and closing device or the like, and place the transport object W inside the warmer 200.

[0110] Furthermore, the control unit 400 may close the door of the warmer 200 using an automatic opening / closing device or the like, and store the transport target object W inside the warmer 200.

[0111] According to the conveying device 100 and experimental support system 1000 of this embodiment, the conveying device 100 is equipped with an arm section 3 suspended from above UP and capable of holding an object to be conveyed W, and a configuration (such as a movable section and a lifting section 13) that allows the arm section 3 to move in the left-right direction H, the front-back direction D and the up-down direction V, and can convey the object to be conveyed W between experimental apparatuses.

[0112] The conveying device 100 occupies almost no floor space in the laboratory where the experiment is performed, and therefore can automate the conveying of conveying objects W such as well plates while maintaining as much of the experimental equipment used in conventional manual experiments as possible. In addition, because the experimental equipment used in conventional manual experiments can be maintained as much as possible, the experimental protocols used in conventional experiments can also be maintained as much as possible.

[0113] As a result, it is possible to provide a transfer device 100 and an experiment support system 1000 that can automate the transfer of the transfer target object W between experimental devices while maintaining, as much as possible, the experimental devices and experimental protocols used in conventional experiments.

[0114] Although one embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design modifications and the like within the scope of the present invention are also included. In addition, the components shown in the above-mentioned embodiment and the modified examples shown below can be appropriately combined to form a configuration.

[0115] (Variation 1) In the above embodiment, the lifting unit 13 moves the arm unit 3 in the up-down direction V by the motor 4 winding and feeding the wire 5, but the aspect of the lifting unit is not limited to this.

[0116] FIG. 9 is a front view showing a schematic view of the lifting section 13A according to the first modification. The lifting unit 13A includes a winding unit 1, a long unit 2, an arm unit 3, a first rotating unit 7A, and a second rotating unit 8.

[0117] The first rotating portion 7A and the second rotating portion 8 have a columnar or cylindrical shape with a central axis extending parallel to the left-right direction H. The lifting portion 13A includes a pair of first rotating portions 7A (a front first rotating portion 7Aa and a rear first rotating portion 7Ab) and a pair of second rotating portions 8 (a front second rotating portion 8a and a rear second rotating portion 8b).

[0118] The pair of first rotating portions 7A are in contact with the first long portion 2a and the second long portion 2b, and are sandwiched between the first long portion 2a and the second long portion 2b in the front-rear direction D.

[0119] The first front rotating portion 7Aa is provided at the rear RR of the first long portion 2a in contact with the first long portion 2a, and is rotatable about a central axis R4 extending in the left-right direction H as a rotation center.

[0120] The rear first rotating portion 7Ab is provided in contact with the second long portion 2b at the front FR of the second long portion 2b, and is rotatable about a central axis R6 extending in the left-right direction H as the rotation center.

[0121] The first rotating part 7A has a gear shape, and the front first rotating part 7Aa and the rear first rotating part 7Ab are provided with gear teeth meshing with each other as shown in Fig. 9. In addition, the front first rotating part 7Aa or the rear first rotating part 7Ab is connected to an electric motor or the like and can actively rotate around the central axis R4 or the central axis R6.

[0122] Furthermore, the tips of the teeth of the first rotating part 7A are formed of, for example, a rubber material, and can generate sufficient frictional force between them and the abutting long part 2. Therefore, when the first rotating part 7A is rotated by the driving of the electric motor, the long part 2 in contact with the first rotating part 7A expands and contracts in the vertical direction V due to the frictional force generated between the first rotating part 7A and the long part 2.

[0123] For example, when the front first rotating part 7Aa is connected to an electric motor, the front first rotating part 7Aa rotates about a central axis R4 by being driven by the electric motor. In the front view of the lifting part 13A shown in Fig. 9, when the front first rotating part 7Aa rotates clockwise (first rotation direction), the first long part 2a is pulled upward UP by the frictional force between the front first rotating part 7Aa and the first long part 2a, and is wound up by the first winding part 1a.

[0124] At this time, the rear first rotating part 7Ab meshing with the front first rotating part 7Aa rotates counterclockwise around the central axis R6 in conjunction with the front first rotating part 7Aa. When the rear first rotating part 7Ab rotates counterclockwise, the second long part 2b is pulled upward UP by the frictional force between the rear first rotating part 7Ab and the second long part 2b, and is wound up by the second winding part 1b.

[0125] As a result, the arm portion 3 connected to the lower portion LO of the first long portion 2a and the second long portion 2b moves upward UP.

[0126] Conversely, when the front first rotating part 7Aa rotates counterclockwise (second rotation direction), the first long part 2a is pulled downward LO by the frictional force between itself and the front first rotating part 7Aa, and is sent out downward LO from the first winding part 1a.

[0127] Furthermore, the rear first rotating part 7Ab meshing with the front first rotating part 7Aa rotates clockwise around the central axis R6 in conjunction with the front first rotating part 7Aa. When the rear first rotating part 7Ab rotates clockwise, the second long part 2b is pulled downward LO by the frictional force between the rear first rotating part 7Ab and the second long part 2b, and is sent out downward LO from the second winding part 1b.

[0128] As a result, the arm portion 3 connected to the lower portions LO of the first long portion 2a and the second long portion 2b moves to the lower portion LO.

[0129] The front second rotating portion 8a is provided in contact with the first long portion 2a at the front FR of the first long portion 2a, and is rotatable about a central axis R5 extending in the left-right direction H as a rotation center.

[0130] That is, the front first rotating portion 7Aa and the front second rotating portion 8a are provided to sandwich the first long portion 2a in the front-rear direction D.

[0131] The rear second rotating portion 8b is provided at the rear RR of the second long portion 2b in contact with the second long portion 2b, and is rotatable about a central axis R7 extending in the left-right direction H as a rotation center.

[0132] That is, the rear first rotating portion 7Ab and the rear second rotating portion 8b are provided to sandwich the first long portion 2a in the front-rear direction D.

[0133] By sandwiching the long portion 2 in the front-rear direction D between the first rotating portion 7A and the second rotating portion 8, swinging of the long portion 2 in the front-rear direction D is restricted, and the arm portion 3 can be moved stably.

[0134] 9, the front second rotating part 8a or the rear second rotating part 8b may be connected to an electric motor and actively rotate around the central axis R5 or the central axis R7. In this case, it is preferable that the first rotating part 7A does not actively rotate.

[0135] For example, when the front second rotating part 8a is connected to an electric motor, the front second rotating part 8a rotates around the central axis R5 by the drive of the electric motor. In the front view of the lifting part 13A shown in FIG. 9, when the front second rotating part 8a rotates clockwise, the first long part 2a is pulled downward LO by the frictional force between the front second rotating part 8a and the first winding part 1a and is sent out downward LO. At this time, the outer peripheral surface of the front second rotating part 8a is formed of, for example, a rubber material.

[0136] When the first long portion 2a is fed downward LO, the front first rotating portion 7Aa rotates counterclockwise due to the frictional force between the front first rotating portion 7Aa and the first long portion 2a. Furthermore, the rear first rotating portion 7Ab meshing with the front first rotating portion 7Aa rotates clockwise in conjunction with the front first rotating portion 7Aa. The second long portion 2b is pulled downward LO by the frictional force between the rear first rotating portion 7Ab and the second long portion 2b is fed downward LO from the second winding portion 1b.

[0137] As a result, the arm portion 3 connected to the lower portions LO of the first long portion 2a and the second long portion 2b moves to the lower portion LO.

[0138] FIG. 10 is a front view showing a schematic view of another example of the lifting section (lifting section 13B) according to the first modification. The lifting section 13B includes a winding section 1, a long section 2, an arm section 3, a first rotating section 7B, a second rotating section 8, and a transmission member 9. The lifting section 13B includes a pair of first rotating sections 7B (a front first rotating section 7Ba and a rear first rotating section 7Bb) and a pair of second rotating sections 8 (a front second rotating section 8a and a rear second rotating section 8b).

[0139] The first rotating portion 7B has a columnar or cylindrical shape that is rotatable about the central axis R4 or R6. The first rotating portion 7B also has a convex portion 71B (a front convex portion 71Ba and a rear convex portion 71Bb) that is convex to the right RT.

[0140] The front convex portion 71Ba and the rear convex portion 71Bb are cylindrical in shape with a center axis R4 or R6 as the center axis and a radius smaller than the outer diameter of the first rotating portion 7B. The front convex portion 71Ba is provided on the front first rotating portion 7Ba, and the rear convex portion 71Bb is provided on the rear first rotating portion 7Bb.

[0141] The transmission member 9 is a looped string-like member made of rubber or the like. As shown in Fig. 10, the transmission member 9 is bridged in the shape of a figure eight across the outer circumferential surfaces of the front convex portion 71Ba and the rear convex portion 71Bb.

[0142] For example, in the front view shown in Figure 10, when the front first rotating portion 7Ba is connected to an electric motor and actively rotates counterclockwise around the central axis R4 as the center of rotation, the front convex portion 71Ba provided on the front first rotating portion 7Ba also rotates counterclockwise.

[0143] At this time, the rotation of the front convex portion 71Ba is transmitted to the transmission member 9 by the frictional force between the front convex portion 71Ba and the transmission member 9, and the transmission member 9 moves in conjunction with the front convex portion 71Ba. Furthermore, the motion of the transmission member 9 is transmitted to the rear convex portion 71Bb by the frictional force between the transmission member 9 and the rear convex portion 71Bb, and the rear convex portion 71Bb rotates clockwise around the central axis R6. Similarly, the rear first rotating portion 7Bb on which the rear convex portion 71Bb is provided also rotates clockwise around the central axis R6.

[0144] Moreover, the first long portion 2a is pulled downward LO by the frictional force between itself and the first front rotating portion 7Ba rotating counterclockwise, and is fed out downward LO from the first winding portion 1a.

[0145] The second long portion 2b is pulled downward LO by the frictional force between it and the rear first rotating portion 7Bb rotating clockwise, and is sent out downward LO from the second winding portion 1b.

[0146] As a result, the arm portion 3 connected to the lower portions LO of the first long portion 2a and the second long portion 2b moves to the lower portion LO. As a modified example, a columnar or cylindrical member in the winding unit 1 may be directly connected to an electric motor, and the long portion 2 may be let out or wound up by driving the electric motor connected to the winding unit 1. In this case, there is no need to use the first rotating units 7A and 7B and the second rotating unit 8 in Figures 9 and 10, and the configuration is further simplified.

[0147] In this way, even if the lifting units 13A, 13B do not have a motor 4 and a wire 5, they are provided with a first rotating unit 7A, 7B and a second rotating unit 8, and the first rotating unit 7A, 7B or the second rotating unit 8 can be actively rotated by an electric motor or the like, thereby moving the arm unit 3 in the vertical direction V.

[0148] (Variation 2) In the above embodiment, the arm portion 3 holds the transport object W by inserting the holding portion 3b into the holding opening Wh of the transport object W from the lower side LO, but the aspect of the arm portion is not limited to this.

[0149] The arm unit may have a hand mechanism such as a clamping hand or a suction hand, and may hold the transport object W by clamping or suctioning it. Since the transport object W transported by the transport device 100 is often a small and lightweight item such as a well plate, when the arm unit has a hand mechanism such as a clamping hand or a suction hand, it is preferable that the hand mechanism is not over-specified for transporting a well plate. [Explanation of symbols]

[0150] 1000 Experiment Support System 100 Transport device 10. Conveyor 11 First movable part (movable part) 12 Second movable part (movable part) 13, 13A, 13B Lifting section 1 Winding section 1a First winding section 1b Second winding section 2 Long section 2a First long part 2b Second long part 3 Arm section 3b Holding part C1 Tapered section 4 Motor 5 Wire 6 Sub-rotor 7A, 7B First rotating part 8 Second Rotating Section 200 Incubator (First Experimental Device) 300 Microscope (Second Experimental Equipment) 400 Control section W Transported object Wh Holding hole (hole) V vertical direction UP upward LO Downward H Left and right direction (first direction, horizontal direction) D Anteroposterior direction (second direction, horizontal direction)

Claims

1. A conveying device capable of conveying an object by suspending it from above, an arm portion capable of holding the object to be transported; A long portion extending in the vertical direction and suspending the arm portion; a winding section connected to the upper portion of the long portion and capable of winding and unwinding the long portion; Equipped with The long portion is When the distance from the winding portion to the arm portion becomes shorter, the wire is wound onto the winding portion, When the distance from the winding section to the arm section becomes longer, the wire is unwound from the winding section. Conveying device.

2. A wire connected to the arm portion and extending in the vertical direction; A motor capable of pulling and feeding the wire; Further equipped with The arm portion has a certain weight, When the motor pulls the wire, the arm moves upward, When the motor delivers the wire, the frictional force of the long portion wound on the winding portion becomes greater than the gravity acting on the arm portion, causing the arm portion to move downward. The conveying device according to claim 1 .

3. Further, a sub-rotating part is provided which abuts against the long portion and rotates in conjunction with the expansion and contraction of the long portion in the up-down direction. The conveying device according to claim 2 .

4. The winding portion and the long portion are provided as a pair facing each other in a horizontal direction, a first winding portion of the pair of winding portions is capable of winding up and feeding out one of the first long portions of the pair of long portions, The other second winding portion of the pair of winding portions is capable of winding and unwinding the other second long portion of the pair of long portions. The conveying device according to claim 1 .

5. a movable section that can move a lifting section including the arm section, the long section, and the winding section in a direction different from the up-down direction, The conveying device according to claim 1 .

6. The movable part is A first movable portion capable of moving the lift portion in a first direction; A second movable portion capable of moving the lifting portion in a second direction different from the first direction; having The lifting unit is provided on the first movable unit via the second movable unit. The conveying device according to claim 5.

7. the arm portion has a holding portion that can be inserted from below into an opening of the object to be transported, The upper end of the holding portion that is inserted into the opening is provided with a tapered portion that tapers upward. The conveying device according to claim 1 .

8. a pair of first rotating portions that are in contact with the first long portion and the second long portion and are sandwiched between the first long portion and the second long portion and are rotatable in conjunction with each other; A pair of second rotating portions provided by sandwiching the first long portion and the second long portion between the first rotating portion and the pair of second rotating portions; Further equipped with The first long portion and the second long portion are When the first rotating part rotates in a first rotation direction, the winding part is wound by the first rotating part, When the first rotating portion rotates in a second rotation direction different from the first rotation direction, the first rotating portion is unwound from the winding portion.

5. The conveying device according to claim 4.

9. The long portion is Contains metal, In horizontal cross section, it has a curved trough shape. The conveying device according to claim 1 .

10. The long portion includes a convex tape portion, The winding section includes a case portion in the convex portion capable of storing the tape portion.

10. The conveying device according to claim 9.

11. A conveying device according to any one of claims 1 to 10; A detection unit capable of detecting a position of the transport object; A control unit capable of acquiring a detection result of the detection unit; Equipped with The control unit controls the transport device based on a detection result of the detection unit. Experiment support system.

12. A first experimental device for performing an experimental operation on the transported object; A second experimental device that performs an experimental operation on the transported object different from that performed by the first experimental device; Further equipped with The control unit is The object to be transported is held by the transport device; Controlling the conveying device to convey the object between the first experimental device and the second experimental device. The experiment support system according to claim 11.

Images