Driving device and incubator

Abstract

To provide a driving device that can inhibit a sample housing chamber from becoming larger.SOLUTION: A driving device 5 comprises a first holding member 171, a first internal driven body 173, an external moving body 193, and an external moving mechanism 191. The first holding member 171 is arranged inside a sample housing chamber 3 of the incubator 1, and holds a sample arranging member 100 on which a sample is arranged. The first internal driven body 173 is arranged inside the sample housing chamber 3, and is fixed to the first holding member 171. The external moving body 193 is arranged outside the sample housing chamber 3. The external moving mechanism 191 is arranged outside the sample housing chamber 3, and moves the external moving body 193. One of the first internal driven body 173 and the external moving body 193 is a magnet. The other one of the first internal driven body 173 and the external moving body 193 is a magnet or a magnetic substance. The first internal driven body 173 moves with a movement of the external moving body 193 by the magnetic force.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a drive device and an incubator. [Background technology]

[0002] The transport device described in Patent Document 1 transports a petri dish to an incubator. The petri dish contains a sample.

[0003] Specifically, the conveying device includes a container, a conveying belt, two driving means, a first magnetic driving device, and a second magnetic driving device. The container accommodates the conveying belt, the two driving means, and the first magnetic driving device.

[0004] The conveyor belt is driven by two drive means. The conveyor belt is installed below the conveyor surface. A first magnetic drive is fixed to the conveyor belt. A second magnetic drive is positioned above the conveyor surface and driven by the first magnetic drive through the conveyor surface. And the second magnetic drive applies a contact force to the outer wall of the petri dish to enable a guided movement of the petri dish across the conveyor surface. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Special Publication No. 2016-534953 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the transport device described in Patent Document 1 only transports the petri dish to the incubator. In addition, when the transport device is installed inside the sample holding chamber of the incubator and transports the petri dish inside the sample holding chamber, the sample holding chamber becomes larger than a sample holding chamber without the transport device installed inside. This is because all the driving elements (the transport belt, the two driving means, the first magnetic driving device, and the second magnetic driving device) are installed inside the sample holding chamber.

[0007] The present invention has been made in view of the above problems, and has an object to provide a drive device and an incubator that can prevent a sample holding chamber from becoming large. [Means for solving the problem]

[0008] According to one aspect of the present invention, a drive device includes a first holding member, a first internal follower, an external mover, and an external movement mechanism. The first holding member is disposed inside a sample holding chamber of an incubator and holds a sample placement member on which a sample is placed. The first internal follower is disposed inside the sample holding chamber and is fixed to the first holding member. The external mover is disposed outside the sample holding chamber. The external movement mechanism is disposed outside the sample holding chamber and moves the external mover. One of the first internal follower and the external mover is a magnet. The other of the first internal follower and the external mover is a magnet or a magnetic body. The first internal follower moves in accordance with the movement of the external mover by magnetic force.

[0009] In one aspect of the present invention, the driving device preferably further includes an internal rotor, which is preferably disposed inside the sample holding chamber and rotatably disposed on the first holding member.

[0010] In one aspect of the present invention, the internal rotating body is preferably a sphere.

[0011] In one aspect of the present invention, the external movement mechanism preferably moves the external moving body in a first direction and a second direction, and the second direction preferably indicates a direction intersecting with the first direction.

[0012] In one aspect of the present invention, the driving device preferably further comprises a second holding member, a second internal driven body, an external rotating body, and an external rotation mechanism. The second holding member is disposed inside the sample holding chamber and holds the first holding member. The second internal driven body is preferably disposed inside the sample holding chamber and connected to the second holding member. The external driven body is preferably disposed outside the sample holding chamber. The external rotation mechanism is preferably disposed outside the sample holding chamber and rotates the external driven body. Each of the second internal driven body and the external driven body is preferably a magnet. The second internal driven body is preferably rotated in accordance with the rotation of the external driven body by a magnetic force.

[0013] According to another aspect of the present invention, an incubator includes the above-described drive device and the sample holding chamber. Effect of the Invention

[0014] According to the present invention, it is possible to prevent the sample holding chamber from becoming large. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram showing an incubator according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a plan view showing an external movement part of the incubator according to the first embodiment. [Diagram 3] FIG. 13 is a diagram showing an incubator according to a second embodiment of the present invention. [Figure 4] FIG. 11 is a block diagram showing an incubator according to a second embodiment. [Diagram 5] FIG. 11 is a plan view showing the inside of a sample holding chamber of an incubator according to a second embodiment. [Figure 6]FIG. 11 is a perspective view showing an internal moving part and a sample placement member of an incubator according to a second embodiment. [Figure 7] FIG. 11 is a rear view showing an internal moving part of the incubator according to the second embodiment. [Figure 8] FIG. 8 is a cross-sectional view taken along line VIII-VIII in FIG. 5. [Figure 9] FIG. 11 is a perspective view showing an internal rotating part and an internal moving part of an incubator according to a second embodiment. [Figure 10] FIG. 6 is a cross-sectional view taken along line XX in FIG. 5. [Figure 11] 13(a) is a diagram showing an example of a second internal follower of the incubator according to embodiment 2. FIG. 13(b) is a diagram showing an example of an external rotating body of the incubator according to embodiment 2. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference symbols, and the description will not be repeated. In addition, in this specification, to facilitate understanding of the invention, an X-axis, a Y-axis, and a Z-axis that are perpendicular to each other may be described. Typically, the X-axis and the Y-axis are parallel to the horizontal direction, and the Z-axis is parallel to the vertical direction.

[0017] (Embodiment 1) An incubator 1 according to a first embodiment of the present invention will be described with reference to FIG. 1 and FIG. 2. FIG. 1 is a diagram showing the incubator 1 according to the first embodiment. As shown in FIG. 1, the incubator 1 includes a sample storage chamber 3 and a driving device 5. The driving device 5 drives a first driven body (internal moving unit 17 in FIG. 1) inside the sample storage chamber 3. The sample storage chamber 3 is, for example, a housing or a chamber. The sample storage chamber 3 stores a sample. Specifically, the sample storage chamber 3 stores a sample together with a sample placement member 100. The sample is placed on the sample placement member 100. The sample is, for example, a biological sample. The biological sample is a sample obtained from a human, an animal, or a plant. The biological sample is, for example, a cell, a fertilized egg, a fertilized embryo, a sperm, a nucleic acid, or a biological tissue piece. The sample placement member 100 is, for example, a dish, a petri dish, a culture plate, a culture flask, a microwell plate, or a glass-bottom dish.

[0018] The driving device 5 includes a moving unit 13. The moving unit 13 moves in a substantially horizontal direction. The moving unit 13 moves the sample placement member 100.

[0019] Specifically, the moving unit 13 includes an internal moving unit 17 and an external moving unit 19. The internal moving unit 17 is disposed inside the sample holding chamber 3. Specifically, the internal moving unit 17 is disposed on a floor portion 37 of the sample holding chamber 3. That is, the sample holding chamber 3 accommodates the internal moving unit 17. A sample placement member 100 is disposed in the internal moving unit 17. The external moving unit 19 is disposed outside the sample holding chamber 3. The external moving unit 19 moves the internal moving unit 17 in a non-contact manner. For example, the external moving unit 19 moves the internal moving unit 17 in a non-contact manner from an initial position 1000 to a target position 1001.

[0020] Specifically, the external moving part 19 moves the internal moving part 17 by magnetic force. More specifically, the external moving part 19 moves the internal moving part 17 by magnetic coupling. In this specification, the magnetic coupling refers to a mechanism that transmits power in a non-contact manner by magnetic force.

[0021] In detail, the internal moving part 17 includes a first holding member 171 and a first internal follower 173. The first holding member 171 is disposed inside the sample holding chamber 3. The first holding member 171 holds the sample placement member 100 on which the sample is placed. The first internal follower 173 is disposed inside the sample holding chamber 3. The first internal follower 173 is fixed to the first holding member 171. The first internal follower 173 is, for example, a substantially rectangular parallelepiped or a substantially cylindrical shape.

[0022] The external moving unit 19 includes an external moving mechanism 191 and an external moving body 193. The external moving body 193 is disposed outside the sample holding chamber 3. The external moving body 193 is spaced vertically downward from the sample holding chamber 3. Specifically, the external moving body 193 is spaced vertically downward from the floor 37 of the sample holding chamber 3. The external moving body 193 is, for example, a substantially rectangular parallelepiped or a substantially cylindrical body. The external moving mechanism 191 is disposed outside the sample holding chamber 3. The external moving mechanism 191 moves the external moving body 193. In the example of FIG. 1, the external moving mechanism 191 moves the external moving body 193 in a substantially horizontal direction. The external moving body 193 is fixed to the external moving mechanism 191. The external moving mechanism 191 includes, for example, a ball screw mechanism and a motor, or a belt and a motor.

[0023] The first internal follower 173 and the external mover 193 face each other in the vertical direction via the floor 37 of the sample holding chamber 3. One of the first internal follower 173 and the external mover 193 is a magnet. The other of the first internal follower 173 and the external mover 193 is a magnet or a magnetic body. For example, each of the first internal follower 173 and the external mover 193 is a magnet. In this case, the N pole of the first internal follower 173 faces the S pole of the external mover 193, or the S pole of the first internal follower 173 faces the N pole of the external mover 193.

[0024] In this specification, the magnet is, for example, a permanent magnet or an electromagnet. The permanent magnet is, for example, a ferrite magnet, a neodymium magnet, a samarium-cobalt magnet, or an alnico magnet. The permanent magnet is, for example, made of a hard magnetic material. Also, in this specification, the magnetic body is typically a ferromagnetic body. The ferromagnetic body is, for example, made of a soft magnetic material.

[0025] An attractive force of a magnet acts between the first internal follower 173 and the external moving body 193. The first internal follower 173 and the external moving body 193 constitute a magnetic coupling. In the moving section 13, the magnetic coupling represents a mechanism for transmitting a translational force in a non-contact manner by magnetic force. Therefore, when the first internal follower 173 moves in conjunction with the movement of the external moving body 193, the first holding member 171 to which the first internal follower 173 is fixed moves. As a result, the sample placement member 100 held by the first holding member 171 is moved inside the sample holding chamber 3.

[0026] The internal moving part 17 may have a plurality of first internal followers 173. The external moving part 19 may have a plurality of external moving bodies 193.

[0027] As described above with reference to FIG. 1, according to the first embodiment, the first internal follower 173 moves in accordance with the movement of the external moving body 193 by a magnetic force. Therefore, the first holding member 171 to which the first internal follower 173 is fixed moves in accordance with the movement of the first internal follower 173. That is, the external moving mechanism 191 can move the first holding member 171 in a non-contact manner by moving the external moving body 193. Therefore, the mechanism for moving the first holding member 171 (the external moving mechanism 191) can be disposed outside the sample holding chamber 3, not inside the sample holding chamber 3. As a result, the sample holding chamber 3 can be made smaller than when a general mechanism for moving the first holding member 171 is disposed inside the sample holding chamber 3. In other words, the sample holding chamber 3 can be made smaller. In other words, the sample holding chamber 3 can be prevented from becoming larger. In other words, the sample holding chamber 3 can be prevented from becoming larger.

[0028] If the size of the sample holding chamber 3 can be prevented from increasing, for example, the consumption of gas supplied to the inside of the sample holding chamber 3 can be reduced. In addition, for example, it becomes easier to secure the installation space of the incubator 1. Furthermore, for example, it becomes easier to manage and control the internal environment of the sample holding chamber 3. The internal environment is, for example, one or more of the temperature, humidity, and gas concentration inside the sample holding chamber 3.

[0029] Moreover, according to the first embodiment, the first holding member 171 inside the sample holding chamber 3 is moved in a non-contact manner by a magnetic force from outside the sample holding chamber 3. Therefore, a mechanism (external moving mechanism 191) for moving the first holding member 171 can be disposed outside the sample holding chamber 3. As a result, even if the internal environment of the sample holding chamber 3 is set to be high temperature and high humidity, the possibility of rust occurring in the mechanism (mechanical elements) can be reduced. Furthermore, since the first holding member 171 is moved in a non-contact manner from outside the sample holding chamber 3, the number of sliding parts for moving the first holding member 171 can be reduced. As a result, the durability of the driving device 5 can be improved.

[0030] Furthermore, according to the first embodiment, when a load exceeding the allowable range is applied to the first holding member 171 due to an unpredictable cause, the magnetic coupling function is released and the translational force is no longer transmitted to the first holding member 171. As a result, it is possible to prevent an overload from being continuously applied to the first holding member 171. Therefore, the durability of the first holding member 171 can be improved.

[0031] Furthermore, in the first embodiment, it is preferable that the internal moving part 17 includes an internal rotor 175. The internal rotor 175 is disposed inside the sample holding chamber 3. The internal rotor 175 is disposed rotatably in the first holding member 171. Therefore, friction can be reduced compared to a case where the internal rotor 175 is not disposed in the first holding member 171. As a result, the first holding member 171 can be moved smoothly. In the example of FIG. 1, the internal rotor 175 is in contact with a floor surface 371 of the floor part 37 of the sample holding chamber 3. Therefore, the first holding member 171 moves along the floor surface 371 in response to the rotation of the internal rotor 175. That is, the internal moving part 17 moves on the floor surface 371.

[0032] More preferably, the internal rotor 175 is a sphere. Therefore, the first holding member 171 can move in any direction, not just in a straight line. The internal rotor 175 may be, for example, a caster.

[0033] Next, referring to FIG. 2, a preferred example of the external moving unit 19 when moving the first holding member 171 in an arbitrary direction will be described. FIG. 2 is a plan view showing the external moving unit 19. As shown in FIG. 2, the external moving mechanism 191 preferably moves the external moving body 193 in a first direction 501 and a second direction 502. The second direction 502 indicates a direction intersecting with the first direction 501. According to this preferred example, the external moving body 193 can be moved in an arbitrary direction on the same plane. Therefore, the first internal follower 173 (FIG. 1) that follows the external moving body 193 can be moved in an arbitrary direction on the same plane, and thus the first holding member 171 (FIG. 1) can be moved in an arbitrary direction on the same plane. The external moving mechanism 191 is, for example, an XY stage.

[0034] In the example of FIG. 2, the second direction 502 indicates a direction perpendicular to the first direction 501. Moreover, the first direction 501 and the second direction 502 indicate an approximately horizontal direction. Therefore, the external moving mechanism 191 can move the external moving body 193 in any direction on a plane approximately parallel to the horizontal plane (XY plane). As a result, the external moving mechanism 191 can move the first internal follower 173 in any direction on a plane approximately parallel to the horizontal plane by moving the external moving body 193. Therefore, the first holding member 171 can be moved in any direction on the floor surface 371 (FIG. 1).

[0035] Specifically, the external moving mechanism 191 includes a first moving unit 195, a second moving unit 197, and a moving member 199. The moving member 199 is disposed in the second moving unit 197. The second moving unit 197 moves the moving member 199 along the second direction 502. That is, the second moving unit 197 moves the moving member 199 along the second direction 502, thereby moving the external moving body 193 along the second direction 502.

[0036] Moreover, the first moving unit 195 moves the second moving unit 197 along the first direction 501. As a result, the moving member 199 disposed in the second moving unit 197 moves along the first direction 501. That is, the first moving unit 195 moves the second moving unit 197 along the first direction 501, thereby moving the moving member 199 along the first direction 501. As a result, the external moving body 193 moves along the first direction 501 together with the moving member 199.

[0037] Each of the first moving unit 195 and the second moving unit 197 includes, for example, a ball screw mechanism and a motor, or a belt and a motor.

[0038] (Embodiment 2) An incubator 1 according to a second embodiment of the present invention will be described with reference to Figures 3 to 11. A driving device 5 of the incubator 1 according to the second embodiment differs from the driving device 5 according to the first embodiment mainly in that the driving device 5 includes a rotating unit 15 in addition to a moving unit 13. Below, the differences between the second embodiment and the first embodiment will be mainly described.

[0039] 3 is a diagram showing an incubator 1 according to embodiment 2. The incubator 1 is, for example, a time-lapse incubator. The time-lapse incubator is an incubator that can culture a fertilized embryo and observe the fertilized embryo over time with a camera while the fertilized embryo is still stored therein.

[0040] As shown in FIG. 3, the incubator 1 includes a sample storage chamber 3, a driving device 5, a gas supply unit 7, a camera 9, and a controller 11.

[0041] The driving device 5 drives the first driven body (internal moving part 17 in FIG. 1) and the second driven body (internal rotating part 21 in FIG. 3). The driving device 5 includes a moving part 13 and a rotating part 15. The moving part 13 performs translational motion. Otherwise, the configuration of the moving part 13 in the second embodiment is similar to the configuration of the moving part 13 in the first embodiment.

[0042] The rotating unit 15 rotates around a rotation axis 503. Specifically, the rotating unit 15 includes an internal rotating unit 21 and an external rotating unit 23. The internal rotating unit 21 is disposed inside the sample holding chamber 3. That is, the sample holding chamber 3 accommodates the internal rotating unit 21. When the internal moving unit 17 is moved from the initial position to the internal rotating unit 21 by the external moving unit 19 of the moving unit 13, the internal rotating unit 21 holds the internal moving unit 17 on which the sample placement member 100 is disposed.

[0043] The external rotation unit 23 is disposed outside the sample holding chamber 3. The external rotation unit 23 rotates the internal rotation unit 21 around the rotation axis 503 in a non-contact manner. Specifically, the external rotation unit 23 rotates the internal rotation unit 21 by magnetic force. More specifically, the external rotation unit 23 rotates the internal rotation unit 21 by magnetic coupling.

[0044] The gas supply unit 7 supplies gas to the inside of the sample holding chamber 3. The gas is, for example, one or more types selected from nitrogen, oxygen, carbon dioxide, and air. For example, the gas supply unit 7 adjusts a gas (for example, carbon dioxide) to a target concentration and supplies the gas of the target concentration to the inside of the sample holding chamber 3. The gas supply unit 7 includes, for example, a gas cylinder having a pressure regulator, a gas tank for storing the gas, and a gas concentration sensor for detecting the concentration of the gas. For example, the gas supply unit 7 may supply a mixed gas obtained by mixing two or more types of gases to the inside of the sample holding chamber 3. For example, the gas supply unit 7 may supply each of two or more types of gases to the inside of the sample holding chamber 3.

[0045] When the internal moving part 17 on which the sample placement member 100 is placed is held by the internal rotating part 21, the camera 9 photographs the sample placed on the sample placement member 100. For example, the camera 9 photographs the sample continuously or at regular time intervals. The camera 9 outputs an image showing the photographed result of the sample to the controller 11.

[0046] The controller 11 controls the external movement unit 19, the external rotation unit 23, the gas supply unit 7, and the camera 9. The controller 11 includes, for example, a processor and a storage device. The processor controls the external movement unit 19, the external rotation unit 23, the gas supply unit 7, and the camera 9 by executing a computer program stored in the storage device. The processor includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The storage device includes, for example, a main storage device and an auxiliary storage device. The main storage device is, for example, a semiconductor memory. The auxiliary storage device is, for example, a semiconductor memory, a solid state drive, or a hard disk drive. The controller 11 further includes a display that displays various information, and an input device such as a touch panel and a switch.

[0047] Fig. 4 is a block diagram showing the incubator 1 according to embodiment 2. As shown in Fig. 4, the incubator 1 further includes a concentration detection unit 25, a temperature adjustment unit 27, and a temperature detection unit 29. The concentration detection unit 25, the temperature adjustment unit 27, and the temperature detection unit 29 are accommodated in the sample holding chamber 3.

[0048] The concentration detection unit 25 detects the concentration of a specific gas (e.g., oxygen) inside the sample holding chamber 3. The concentration detection unit 25 is, for example, a gas concentration sensor. The concentration detection unit 25 outputs concentration information indicating the concentration of the specific gas to the controller 11. The controller 11 displays the concentration of the specific gas inside the sample holding chamber 3 on a display. The concentration detection unit 25 may detect the concentrations of two or more specific gases (e.g., oxygen and carbon dioxide) inside the sample holding chamber 3. In this case, the concentration detection unit 25 includes two or more gas concentration sensors for each of the two or more specific gases.

[0049] The temperature adjustment unit 27 heats or cools the inside of the sample holding chamber 3. The temperature adjustment unit 27 includes, for example, a heater or a Peltier element.

[0050] The temperature detection unit 29 detects the temperature inside the sample holding chamber 3. The temperature detection unit 29 is, for example, a temperature sensor. The temperature detection unit 29 outputs temperature information indicating the temperature inside the sample holding chamber 3 to the controller 11. The controller 11 displays the temperature inside the sample holding chamber 3 on a display.

[0051] The incubator 1 may further include a humidifier 31 and a humidity detector 33. In this case, the humidifier 31 and the humidity detector 33 are housed in the sample holding chamber 3.

[0052] The humidifier 31 humidifies the inside of the sample holding chamber 3. The humidifier 31 is, for example, a container that stores water.

[0053] The humidity detection unit 33 detects the humidity inside the sample holding chamber 3. The humidity detection unit 33 is, for example, a humidity sensor. The humidity detection unit 33 outputs humidity information indicating the humidity inside the sample holding chamber 3 to the controller 11. The controller 11 displays the humidity inside the sample holding chamber 3 on a display.

[0054] 3 and 4, the incubator 1 maintains, for example, the temperature of the sample holding chamber 3 at a target temperature. Specifically, the controller 11 monitors the temperature inside the sample holding chamber 3 based on temperature information from the temperature detection unit 29. Then, the controller 11 controls the temperature adjustment unit 27 based on the monitoring result of the temperature inside the sample holding chamber 3, thereby maintaining the temperature inside the sample holding chamber 3 at the target temperature.

[0055] Furthermore, the incubator 1 maintains, for example, the concentration of a specific gas (e.g., oxygen) inside the sample holding chamber 3 at a target concentration. Specifically, the controller 11 monitors the concentration of the specific gas inside the sample holding chamber 3 based on concentration information from the concentration detection unit 25. The controller 11 then controls the gas supply unit 7 based on the monitoring result of the concentration of the specific gas inside the sample holding chamber 3, thereby maintaining the concentration of the specific gas inside the sample holding chamber 3 at the target concentration. Specifically, the controller 11 maintains the concentration of the specific gas inside the sample holding chamber 3 at the target concentration by adjusting the gas supplied from the gas supply unit 7 to the sample holding chamber 3 based on the monitoring result of the concentration of the specific gas inside the sample holding chamber 3. Note that the incubator 1 may maintain, for example, the concentrations of two or more specific gases (e.g., oxygen and carbon dioxide) inside the sample holding chamber 3, respectively, at their target concentrations.

[0056] Furthermore, the incubator 1 may, for example, maintain the humidity inside the sample holding chamber 3 at a target humidity or higher. In this case, the controller 11 monitors the humidity inside the sample holding chamber 3 based on the humidity information from the humidity detection unit 33.

[0057] Next, the internal movement part 17 and the external movement part 19 will be described in detail with reference to Fig. 5 to Fig. 8. Fig. 5 is a plan view showing the inside of the sample holding chamber 3 of the incubator 1. As shown in Fig. 5, the internal movement part 17 is disposed inside the sample holding chamber 3.

[0058] FIG. 6 is a perspective view showing the internal moving section 17 and the sample placement member 100. FIG. 6 shows the sample placement member 100 removed from the internal moving section 17. As shown in FIG. 6, the sample placement member 100 includes a lid section 101 having a generally cylindrical shape with a lid and a dish section 103 having a generally cylindrical shape with a bottom. A sample is placed in the dish section 103. The lid section 101 covers the upper opening of the dish section. In the example of FIG. 6, the sample placement member 100 is a dish. The sample placement member 100 is preferably transparent to visible light. For example, the material of the sample placement member 100 is preferably transparent glass or transparent synthetic resin. It is sufficient that at least the bottom of the sample placement member 100 (the bottom of the dish section 103) is transparent to visible light.

[0059] The sample placement member 100 is placed in the internal movement section 17. Specifically, the internal movement section 17 includes a first holding member 171, a plurality of holders 177, a connection member 185, and a pressing member 183. The first holding member 171 also has a substantially annular support section 179, a substantially arc-shaped inner wall surface 180, and a substantially circular opening 181. The inner wall surface 180 extends vertically upward from the outer edge of the support section 179. The opening 181 is defined by the inner edge of the support section 179.

[0060] The first holding member 171 holds the sample placement member 100. Specifically, the support portion 179 supports the sample placement member 100. That is, the support portion 179 restricts the vertical downward movement of the sample placement member 100. Furthermore, the sample placement member 100 is supported by the support portion 179 such that the lower peripheral surface of the sample placement member 100 (the peripheral surface of the dish portion 103) faces the inner wall surface 180. That is, the inner wall surface 180 restricts the horizontal movement of the sample placement member 100.

[0061] The pressing member 183 protrudes from the inner wall surface 180 of the first holding member 171. The pressing member 183 uses elastic force to press the lower peripheral surface of the sample placement member 100 (the peripheral surface of the dish portion 103) while the sample placement member 100 is supported by the support portion 179. As a result, the sample placement member 100 can be prevented from coming off the first holding member 171. The pressing member 183 is, for example, a ball plunger.

[0062] The connecting member 185 is fixed to a distal end surface of the first holding member 171 in the forward movement direction 504 of the internal moving section 17. The connecting member 185 will be described in detail later.

[0063] The multiple holders 177 are disposed near the outer edge of the first holding member 171. The multiple holders 177 are disposed at intervals from one another. In the example of FIG. 6, three holders 177 are disposed on the first holding member 171 so as to form vertices of a triangle outside the inner wall surface 180. Specifically, one holder 177 is disposed on the tip side of the first holding member 171. Two holders 177 are disposed on the rear end side of the first holding member 171. Details of the holders 177 will be described later.

[0064] FIG. 7 is a back view showing the internal moving part 17. As shown in FIG. 7, the internal moving part 17 includes a plurality of internal rotors 175 and a first internal driven body 173. The plurality of holders 177 each hold a plurality of internal rotors 175. Specifically, each of the plurality of holders 177 rotatably holds a corresponding internal rotor 175. In the example of FIG. 7, the internal rotors 175 are spheres. One internal rotor 175 is disposed on the tip side of the first holding member 171. Two internal rotors 175 are disposed on the rear end side of the first holding member 171.

[0065] Further, a first internal follower 173 is fixed to the first holding member 171. Specifically, the first internal follower 173 is fixed to a rear surface 186 of the first holding member 171 at the rear end side of the first holding member 171. The first internal follower 173 is exposed at the rear surface 186 of the first holding member 171. In the example of FIG. 7, the first internal follower 173 is a substantially rectangular parallelepiped. The first internal follower 173 is disposed between the internal rotating bodies 175 and 175 adjacent to each other.

[0066] Fig. 8 is a cross-sectional view taken along line VIII-VIII in Fig. 5. As shown in Fig. 8, the internal moving part 17 is disposed inside the sample holding chamber 3. In the internal moving part 17, the internal rotor 175 protrudes vertically downward from the rear surface 186 of the first holding member 171. The internal rotor 175 contacts the floor surface 371 of the sample holding chamber 3. The first internal follower 173 is fixed to the first holding member 171 and faces the floor surface 371 in the vertical direction. The first internal follower 173 is spaced vertically upward from the floor surface 371.

[0067] Moreover, the external moving body 193 is disposed outside the sample holding chamber 3. In the external moving section 19, the external moving body 193 is fixed to the external moving mechanism 191. Specifically, the external moving body 193 is fixed to a moving member 199. More specifically, the external moving body 193 is embedded in the moving member 199. In the example of FIG. 8, the moving member 199 is substantially plate-shaped, and the external moving body 193 is substantially rectangular. The upper surface of the external moving body 193 and the upper surface of the moving member 199 are substantially flush with each other. The external moving body 193 and the first internal follower 173 face each other in the vertical direction via the floor 37 of the sample holding chamber 3. The external moving body 193 and the moving member 199 are spaced apart from each other in the vertical downward direction relative to the floor 37. Therefore, a gap 201 exists between the external moving body 193 and the floor 37, and between the moving member 199 and the floor 37.

[0068] One of the first internal follower 173 and the external moving body 193 is a magnet. The other of the first internal follower 173 and the external moving body 193 is a magnet or a magnetic body. For example, each of the first internal follower 173 and the external moving body 193 is a magnet.

[0069] An attractive force of a magnet acts between the first internal follower 173 and the external moving body 193. The first internal follower 173 and the external moving body 193 constitute a magnetic coupling. In the moving section 13, the magnetic coupling represents a mechanism for transmitting a translational force in a non-contact manner by a magnetic force. Therefore, when the first internal follower 173 moves with the movement of the external moving body 193, the first holding member 171 to which the first internal follower 173 is fixed moves. As a result, the sample placement member 100 held by the first holding member 171 moves inside the sample storage chamber 3. In this case, since the multiple internal rotors 175 are in contact with the floor surface 371, the first holding member 171 moves along the floor surface 371 as the multiple internal rotors 175 rotate. In particular, since the internal rotor 175 is a sphere, the first holding member 171 can move not only in a straight line but also in any direction. In this case, the external movement mechanism 191 is, for example, the external movement mechanism 191 shown in Fig. 2. The controller 11 (Fig. 4) controls the external movement mechanism 191 so that the external moving body 193 moves.

[0070] As described above with reference to FIG. 8, according to the second embodiment, the first internal follower 173 moves in accordance with the movement of the external moving body 193 by a magnetic force. Therefore, the first holding member 171 to which the first internal follower 173 is fixed moves in accordance with the movement of the first internal following body 173. That is, the external moving mechanism 191 can move the first holding member 171 in a non-contact manner by moving the external moving body 193. Therefore, the mechanism for moving the first holding member 171 (external moving mechanism 191) can be disposed outside the sample holding chamber 3, not inside the sample holding chamber 3. As a result, in the second embodiment, similarly to the first embodiment, it is possible to prevent the sample holding chamber 3 from becoming large.

[0071] If the size of the sample holding chamber 3 can be prevented from increasing, for example, the consumption of gas supplied from the gas supply unit 7 to the inside of the sample holding chamber 3 can be reduced. In addition, for example, it becomes easier to ensure the installation space of the incubator 1. Furthermore, for example, it becomes easier to manage and control the internal environment of the sample holding chamber 3 by the controller 11. The internal environment is, for example, one or more of the temperature, humidity, and gas concentration inside the sample holding chamber 3.

[0072] Moreover, according to the second embodiment, the first holding member 171 inside the sample holding chamber 3 is moved in a non-contact manner by a magnetic force from outside the sample holding chamber 3. Therefore, a mechanism (external moving mechanism 191) for moving the first holding member 171 can be disposed outside the sample holding chamber 3. As a result, even if the internal environment of the sample holding chamber 3 is set to be hot and humid, the possibility of rust occurring in the mechanism (mechanical elements) can be reduced. Furthermore, in the second embodiment, as in the first embodiment, the number of sliding parts for moving the first holding member 171 can be reduced, and therefore the durability of the drive unit 5 can be improved.

[0073] Furthermore, according to the second embodiment, even if a load exceeding the allowable range is applied to the first holding member 171 due to an unforeseen cause, it is possible to prevent an overload from being continuously applied to the first holding member 171, as in the first embodiment. Therefore, the durability of the first holding member 171 can be improved.

[0074] Next, the internal rotating part 21 and the external rotating part 23 will be described in detail with reference to Fig. 5 and Fig. 9 to Fig. 11. Fig. 9 is a perspective view showing the internal rotating part 21 and the internal moving part 17 of the incubator 1. In Fig. 5 and Fig. 9, the internal moving part 17 on which the sample placement member 100 is placed is moving in the forward direction 504 toward the internal rotating part 21.

[0075] 5 and 9, the internal rotating part 21 is accommodated inside the sample holding chamber 3. The internal rotating part 21 includes a second holding member 211, a rotation transmission member 213, a plurality of connecting parts 215, a first shaft 217, a bearing 219, and a bearing holding part 221.

[0076] The second holding member 211 is accommodated inside the sample holding chamber 3. The second holding member 211 holds at least one first holding member 171. In the example of Fig. 5, the second holding member 211 holds a plurality of first holding members 171. In detail, the second holding member 211 holds the first holding member 171 in a state in which the first holding member 171 holds the sample placement member 100.

[0077] Specifically, the second holding member 211 holds at least one internal moving part 17. In the example of Fig. 5, the second holding member 211 holds a plurality of internal moving parts 17 with each of the plurality of first holding members 171 holding a sample placement member 100.

[0078] The second holding member 211 includes an annular portion 2111 and a plurality of arm portions 2113. The annular portion 2111 is substantially annular. The annular portion 2111 extends along a circumferential direction 505 relative to the rotation axis 503. The annular portion 2111 is made up of a plurality of segments 2115. The multiple segments 2115 are arranged in a substantially annular shape along the circumferential direction 505.

[0079] The multiple arm portions 2113 are arranged at intervals in the circumferential direction 505. Each of the multiple arm portions 2113 extends from the annular portion 2111 toward the outside in a radial direction 506 relative to the rotation axis 503. In other words, the multiple arm portions 2113 extend radially from the annular portion 2111 toward the outside in the radial direction 506. The radial direction 506 is a direction perpendicular to the rotation axis 503. The radial direction 506 can be any direction within 360 degrees as long as it is perpendicular to the rotation axis 503.

[0080] The segment 2115 of the annular portion 2111 and two arm portions 2113 adjacent to each other in the circumferential direction 505 constitute a holder 2117. Thus, the second holding member 211 includes a plurality of holders 2117. The plurality of holders 2117 are arranged along the circumferential direction 505. The holder 2117 holds the internal moving portion 17 (first holding member 171). In particular, the first holding member 171 has a tapered shape in the forward movement direction 504 of the internal moving portion 17. Thus, the first holding member 171 can easily fit into the holder 2117.

[0081] 9, the second holding member 211 includes a plurality of connecting members 2119. The plurality of connecting members 2119 are arranged at intervals in the circumferential direction 505. The plurality of connecting members 2119 are provided corresponding to the plurality of segments 2115, respectively. Each connecting member 2119 is arranged on an outer wall surface 2121 of the corresponding segment 2115. The outer wall surface 2121 is a side surface on the outer side in the radial direction 506 of the segment 2115.

[0082] 6 is connected to the connection member 185 in Fig. 6 when the internal moving part 17 (first holding member 171) is held by the second holding member 211 (holder 2117). Therefore, when the second holding member 211 is rotating, it is possible to prevent the internal moving part 17 from coming off the second holding member 211 outward in the radial direction 506.

[0083] One of the connecting member 2119 and the connecting member 185 is a magnet. The other of the connecting member 2119 and the connecting member 185 is a magnet or a magnetic body.

[0084] 9, the rotation transmission member 213 is substantially disk-shaped. The rotation transmission member 213 is fixed to the first shaft 217. The rotation axis 503 passes through the first shaft 217.

[0085] The rotation transmission member 213 transmits the rotational force of the first shaft 217 to the second holding member 211. Specifically, the rotation transmission member 213 is connected to the second holding member 211 by a plurality of connecting portions 215. More specifically, the plurality of connecting portions 215 connect the rotation transmission member 213 and the annular portion 2111. The plurality of connecting portions 215 are arranged at intervals along the circumferential direction 505. The connecting portions 215 extend along an axial direction 507 parallel to the rotation axis 503. In the example of FIG. 9, the axial direction 507 is approximately parallel to the vertical direction.

[0086] Fig. 10 is a cross-sectional view taken along line XX in Fig. 5. As shown in Fig. 10, the sample holding chamber 3 includes a cylindrical portion 39. The cylindrical portion 39 is substantially cylindrical. Inside the sample holding chamber 3, the cylindrical portion 39 protrudes in an axial direction 507 from a floor surface 371 of the floor portion 37. The cylindrical portion 39 extends along a circumferential direction 505 around the first shaft 217 (rotation axis 503).

[0087] In the internal rotating part 21, the first shaft 217 extends along the axial direction 507. The first shaft 217 is substantially cylindrical. The rotation transmission member 213 extends outward in the radial direction 506 from the first shaft 217. The bearing holder 221 holds the bearing 219. The bearing holder 221 is fixed to the upper end of the cylindrical part 39. The bearing 219 supports the first shaft 217 so as to be rotatable. The bearing holder 221 and the bearing 219 are disposed below the rotation transmission member 213.

[0088] The internal rotating part 21 includes a second internal follower 223. The second internal follower 223 is accommodated inside the sample receiving chamber 3. Specifically, the second internal follower 223 is disposed inside the cylindrical part 39. The second internal follower 223 is fixed to the first shaft 217. In the example of FIG. 10, the second internal follower 223 is substantially cylindrical. The second internal follower 223 extends around the first shaft 217 along the circumferential direction 505. The second internal follower 223 is connected to the second holding member 211. Specifically, the second internal follower 223 is indirectly connected to the second holding member 211 via the first shaft 217, the rotation transmission member 213, and the coupling part 215.

[0089] The external rotation unit 23 includes an external rotor 231 and an external rotation mechanism 233. The external rotor 231 is disposed outside the sample holding chamber 3. Specifically, the external rotor 231 is disposed below the sample holding chamber 3. The external rotor 231 is spaced apart from the sample holding chamber 3 in the axial direction 507. Specifically, the external rotor 231 is spaced apart from the floor 37 of the sample holding chamber 3 in the axial direction 507. In the example of FIG. 10, the external rotor 231 is substantially cylindrical.

[0090] The external rotation mechanism 233 is disposed outside the sample holding chamber 3. The controller 11 ( FIG. 4 ) controls the external rotation mechanism 233 so that the external rotor 231 rotates. As a result, the external rotation mechanism 233 rotates the external rotor 231 around the rotation axis 503. The external rotor 231 is fixed to the external rotation mechanism 233.

[0091] Specifically, the external rotation mechanism 233 includes a motor 2313 and a second shaft 2315. The external rotating body 231 is inserted into the second shaft 2315 and fixed to the second shaft 2315. The second shaft 2315 is, for example, substantially cylindrical. The second shaft 2315 is coupled to the motor 2313. The motor 2313 rotates the second shaft 2315 around the rotation axis 503. As a result, the external rotating body 231 rotates around the rotation axis 503 in accordance with the rotation of the second shaft 2315. It should be noted that the second shaft 2315 may be a rotation shaft of the motor 2313.

[0092] The upper surface of the external rotor 231 and the upper end surface of the second shaft 2315 are substantially flush with each other. The first shaft 217 and the second shaft 2315 face each other in the axial direction 507 through the floor 37 of the sample holding chamber 3. The first shaft 217 and the second shaft 2315 are disposed on the rotation axis 503. The second internal driven body 223 and the external rotor 231 face each other in the axial direction 507 through the floor 37 of the sample holding chamber 3. The external rotor 231 and the second shaft 2315 are spaced apart from the floor 37 in the axial direction 507. Therefore, there are gaps 202 between the external rotor 231 and the floor 37 and between the second shaft 2315 and the floor 37.

[0093] The second internal follower 223 and the external rotor 231 face each other in the axial direction 507 via the floor 37 of the sample holding chamber 3. Each of the second internal follower 223 and the external rotor 231 is a magnet. The magnet is preferably a permanent magnet.

[0094] A magnetic force acts between the second internal driven body 223 and the external rotating body 231. The second internal driven body 223 and the external rotating body 231 constitute a magnetic coupling. In the rotating section 15, the magnetic coupling represents a mechanism for transmitting a rotational force in a non-contact manner by a magnetic force. Therefore, when the second internal driven body 223 rotates with the rotation of the external rotating body 231, the second holding member 211 to which the second internal driven body 223 is connected rotates. As a result, the first holding member 171 held by the second holding member 211 rotates. Therefore, the sample placement member 100 held by the first holding member 171 rotates. In particular, in a state in which the first holding member 171 is held by the second holding member 211, the internal rotating body 175 is in contact with the floor surface 371. Therefore, the internal rotating body 175 rotates with the rotation of the first holding member 171. As a result, the first holding member 171 can be smoothly rotated around the rotation axis 503.

[0095] As described above with reference to FIG. 10, according to the second embodiment, the second internal driven body 223 rotates according to the rotation of the external rotor 231 by the magnetic force. Therefore, the second holding member 211 to which the second internal driven body 223 is connected rotates according to the rotation of the external rotor 231. That is, the external rotation mechanism 233 can rotate the second holding member 211 without contact by rotating the external rotor 231. Therefore, the mechanism for rotating the second holding member 211 (the external rotation mechanism 233) can be arranged outside the sample holding chamber 3, not inside the sample holding chamber 3. As a result, the sample holding chamber 3 can be made smaller than when a general mechanism for rotating the second holding member 211 is arranged inside the sample holding chamber 3. In other words, the sample holding chamber 3 can be made smaller. In other words, the sample holding chamber 3 can be prevented from becoming larger. In other words, the sample holding chamber 3 can be prevented from becoming larger.

[0096] If the size of the sample holding chamber 3 can be prevented from increasing, for example, the consumption of gas supplied from the gas supply unit 7 to the inside of the sample holding chamber 3 can be reduced. In addition, for example, it becomes easier to ensure the installation space of the incubator 1. Furthermore, for example, it becomes easier to manage and control the internal environment of the sample holding chamber 3 by the controller 11. The internal environment is one or more of the temperature, humidity, and gas concentration inside the sample holding chamber 3.

[0097] Moreover, according to the second embodiment, the second holding member 211 inside the sample holding chamber 3 is rotated in a non-contact manner by a magnetic force from outside the sample holding chamber 3. Therefore, the mechanism (external rotation mechanism 233) for rotating the second holding member 211 can be disposed outside the sample holding chamber 3. As a result, even if the internal environment of the sample holding chamber 3 is set to be high temperature and high humidity, the possibility of rust occurring in the mechanism (mechanical element) can be reduced. Furthermore, since the second holding member 211 is rotated in a non-contact manner from outside the sample holding chamber 3, the number of sliding parts for rotating the second holding member 211 can be reduced. As a result, the durability of the driving device 5 can be improved. Furthermore, since it is not required to extend the first shaft 217 to the outside of the sample holding chamber 3 and drive it, it is not required to form a hole in the floor part 37 of the sample holding chamber 3. Therefore, the sealing performance of the sample holding chamber 3 can be improved. As a result, the concentration control of the gas inside the sample holding chamber 3 can be performed with high accuracy.

[0098] Furthermore, according to the second embodiment, when a load exceeding the allowable range is applied to the second holding member 211 due to an unpredictable cause, the magnetic coupling function is released and the rotational force is no longer transmitted to the second holding member 211. As a result, it is possible to prevent the second holding member 211 from being continuously subjected to an overload. Therefore, the durability of the second holding member 211 can be improved.

[0099] Furthermore, according to the second embodiment, the second holding member 211 can hold a plurality of first holding members 171, each holding a plurality of sample placement members 100. Therefore, the incubator 1 can, for example, culture samples placed on a plurality of sample placement members 100 all at once.

[0100] Next, an example of the second internal follower 223 and the external rotor 231 will be described with reference to FIG. 11. FIG. 11(a) is a diagram showing an example of the second internal follower 223. In FIG. 11(a), the second internal follower 223 is viewed from below. As shown in FIG. 11(a), the second internal follower 223 includes a plurality of magnets 2230. The plurality of magnets 2230 are arranged in a substantially annular shape in the circumferential direction 505. In this case, the N poles 2231 and the S poles 2233 are arranged alternately along the circumferential direction 505.

[0101] Fig. 11(b) is a diagram showing an example of the external rotor 231. In Fig. 11(b), the external rotor 231 is viewed from above. As shown in Fig. 11(b), the external rotor 231 includes a plurality of magnets 2310. The plurality of magnets 2310 are arranged in a substantially annular shape in the circumferential direction 505. In this case, the N poles 2312 and the S poles 2311 are arranged alternately along the circumferential direction 505.

[0102] 10, 11(a), and 11(b), the N pole 2231 of the magnet 2230 of the second internal driven body 223 and the S pole 2311 of the magnet 2310 of the external rotating body 231 face each other in the axial direction 507. Also, the S pole 2233 of the magnet 2230 of the second internal driven body 223 and the N pole 2312 of the magnet 2310 of the external rotating body 231 face each other in the axial direction 507. The magnetic coupling formed by the second internal driven body 223 and the external rotating body 231 transmits a rotational force by utilizing an attractive force of opposite poles and a repulsive force of the same pole.

[0103] Returning to FIG. 10 , the sample holding chamber 3 includes an opening 38 and a window member 40. The opening 38 is provided in a floor portion 37. The opening 38 penetrates the floor portion 37 in an axial direction 507. The window member 40 is disposed in the opening 38. A space between the window member 40 and the opening 38 is sealed. The window member 40 transmits visible light. For example, the material of the window member 40 is transparent glass or transparent synthetic resin.

[0104] The camera 9 faces the window member 40 in the axial direction 507. In the example of FIG. 10, the sample placement member 100 held by the first holding member 171 in the second holding member 211 is stopped above the camera 9. Therefore, the camera 9 takes an image of the sample placed on the sample placement member 100 held by the first holding member 171 through the window member 40. When the image of the sample placed on the sample placement member 100 is completed, the external rotation mechanism 233 rotates the external rotating body 231 to rotate the second internal driven body 223 and the second holding member 211, and the next sample placement member 100 is placed above the camera 9. Then, the camera 9 takes an image of the sample placed on the sample placement member 100 through the window member 40. Thereafter, the second holding member 211 is rotated in the same manner to place the sample placement member 100 above the camera 9, and the images of the samples placed on each sample placement member 100 are taken.

[0105] The embodiments of the present invention have been described above with reference to the drawings. However, the present invention is not limited to the above embodiments, and can be implemented in various aspects without departing from the gist of the present invention. In addition, the components disclosed in the above embodiments can be modified as appropriate. For example, a certain component among all the components shown in one embodiment may be added to a component of another embodiment, or some components among all the components shown in one embodiment may be deleted from the embodiment.

[0106] In addition, the drawings are mainly schematic illustrations of each component to facilitate understanding of the invention, and the thickness, length, number, spacing, etc. of each component shown in the drawings may differ from the actual ones due to the convenience of creating the drawings. In addition, the configurations of each component shown in the above embodiment are merely examples and are not particularly limited, and it goes without saying that various modifications are possible within a range that does not substantially deviate from the effects of the present invention. [Industrial Applicability]

[0107] The present invention relates to a drive device and an incubator, and has industrial applicability. [Explanation of symbols]

[0108] 1. Incubator 3. Sample storage chamber 5. Drive unit 100 Sample placement member 171 First retaining member 173 First inner follower 175 Internal Rotating Body 191 External Movement Mechanism 193 External Mobile Body 211 Second holding member 223 Second internal follower 231 External Rotating Body 233 External Rotation Mechanism

Claims

1. a first holding member that is arranged inside the sample storage chamber of the incubator and holds a sample placement member on which a sample is placed; a first internal follower disposed inside the sample receiving chamber and fixed to the first holding member; an external moving body disposed outside the sample holding chamber; an external moving mechanism that is disposed outside the sample holding chamber and moves the external moving body; Equipped with one of the first internal follower and the external mover is a magnet; the other of the first internal driven body and the external moving body is a magnet or a magnetic body, A drive device in which the first internal driven body moves in accordance with the movement of the external moving body by magnetic force.

2. The drive device according to claim 1 , further comprising an internal rotor that is disposed inside the sample holding chamber and rotatably disposed on the first holding member.

3. The drive unit according to claim 2 , wherein the internal rotor is a sphere.

4. The external movement mechanism moves the external moving body in a first direction and a second direction, The drive device according to claim 1 , wherein the second direction indicates a direction intersecting with the first direction.

5. a second holding member arranged inside the sample holding chamber and holding the first holding member; a second internal follower disposed within the sample receiving chamber and connected to the second holding member; an external rotor disposed outside the sample holding chamber; an external rotation mechanism that is disposed outside the sample holding chamber and rotates the external rotor; Further comprising: each of the second internal follower and the external rotor is a magnet; The drive device according to claim 1 , wherein the second internal driven body is rotated following the rotation of the external rotating body by a magnetic force.

6. A drive device according to any one of claims 1 to 3; The sample storage chamber; Equipped with an incubator.

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