Lid operating device and cell culture system

Abstract

To provide a lid operating device and a cell culture system which enable smooth operation of a lid with a simplified structure.SOLUTION: The lid operating device includes: a stage with a horizontal surface capable of mounting a tray; a positioning portion for positioning, in a horizontal direction, the tray placed on the stage; an operating portion for operating the lid of a work positioned by the positioning portion; and a lifting portion for displacing the operating portion in an up-and-down direction. The operating portion includes: a chuck portion that is movable between a first position gripping the lid and a second position not gripping the lid and is rotatable around an axis; and a compliance unit that, being supported by the lifting portion, supports the chuck portion so as to be displaceable in a horizontal direction, and absorbs a positional deviation of the lid with respect to the chuck portion.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a lid operating device and a cell culture system. [Background technology]

[0002] Patent Document 1 discloses a lid that is provided on the opening of a cell culture vessel that seals in a culture medium. This lid has a simple configuration and is adapted to be used in both manual and automated cell culture systems, and is equipped with a valve device suitable for at least one of injecting and discharging fluid, and a compensation opening suitable for at least one of feeding air and compensating for pressure during injection or discharge. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6322705 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, cell culture such as that described in Patent Document 1 may be performed using a vessel such as a flask with a screw-on lid at the top end. When automating cell culture using such a vessel with a screw-on lid, a lid operating device that automatically attaches and removes the lid is required. On the other hand, from the viewpoint of ease of transportation, containers such as flasks are sometimes placed on dedicated trays. However, when the lid operating device grips and rotates the lid, the tray and the flask or other container may become misaligned relative to the lid operating device and the tray. When the lid operating device is used to attach or detach the lid in such a misaligned state, unexpected forces may be applied to the container. On the other hand, accurately grasping and controlling the positions of the opening and lid of the flask or other container may result in a complex configuration.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a lid operating device and a cell culture system that can smoothly operate a lid with a simple configuration. [Means for solving the problem]

[0006] A lid operating device according to one embodiment of the present disclosure is a lid operating device that operates the lid of a workpiece having a screw-type lid that rotates around an axis extending in the vertical direction, a container to which the lid can be attached and detached at the top end, and a tray that supports the container from below, and includes: a stage having a horizontal surface on which the tray can be placed; a positioning unit that horizontally positions the tray placed on the stage; an operating unit that operates the lid of the workpiece positioned by the positioning unit; and a lifting unit that displaces the operating unit in the vertical direction, wherein the operating unit includes a chuck unit that is displaceable between a first position in which it grips the lid and a second position in which it does not grip the lid and that is rotatable around the axis; and a compliance unit that is supported by the lifting unit and supports the chuck unit so that it can be displaced horizontally, absorbing any positional misalignment of the lid relative to the chuck unit.

[0007] A cell culture system according to one embodiment of the present disclosure comprises: a stocker forming a storage area for storing workpieces, the stocker having a container with a screw-on lid at its upper end that rotates around an axis extending in the vertical direction, and a tray that supports the container from below; an incubator forming a culture area in which culture operations are performed on the workpieces; a clean bench having the lid operation device described in claim 1 or 8 and forming a liquid handling area in which dispensing operations are performed on the workpieces; a transport device that transports the workpieces between the stocker, the incubator, and the clean bench; and a pass box provided between the incubator and the clean bench that moves the workpieces between the liquid handling area and the culture area while maintaining the culture area and the liquid handling area in a non-communicating state. [Effects of the Invention]

[0008] The lid operating device and cell culture system of the present disclosure enable smooth operation of the lid with a simple configuration. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a plan view showing a schematic configuration of a cell culture system according to an embodiment of the present disclosure. [Figure 2] FIG. 1 is a perspective view of a workpiece according to an embodiment of the present disclosure. [Figure 3] 1 is a perspective view showing a schematic configuration of a lid operating device according to an embodiment of the present disclosure. [Figure 4] FIG. 2 is a plan view of a positioning portion according to an embodiment of the present disclosure. [Figure 5] FIG. 10 is a side view of the lid operating device showing the state immediately after the workpiece has been positioned. [Figure 6] FIG. 2 is a side view of the lid operating device in a state where the lid portion is gripped. [Figure 7] 10 is a side view of the lid operating device at the beginning of rotation when removing the lid portion. FIG. [Figure 8] 10 is a side view of the lid operating device at the end of rotation when removing the lid portion. FIG. [Figure 9] 10 is a side view of the lid operating device immediately after the removed lid is placed on the lid rest. FIG. [Figure 10] 10 is a side view of the lid operating device in a state in which the chuck portion is separated upward from the lid portion placed on the lid placing portion. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0010] <Embodiment> Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. The cell culture system 100 of this embodiment is a system that performs unmanned and automatic cell culture and analysis of the cultured cells.

[0011] <Cell culture system> FIG. 1 is a plan view showing a schematic configuration of a cell culture system according to an embodiment of the present disclosure. As shown in FIG. 1, the cell culture system 100 includes a stocker 110, an incubator 130, a clean bench 140, and a pass box 150.

[0012] <Stocker> The stocker 110 is a facility for storing a plurality of works W. The area inside the stocker 110 is designated as a storage area R1. A work storage device 112 capable of storing the works W is provided in the storage area R1. An operator can access the work storage device 112 from the outside via an opening / closing section (not shown).

[0013] <Incubator> The incubator 130 is a facility for growing cells in a culture solution. The area inside the incubator 130 is designated as the culture area R3. The atmosphere in the culture area R3 is controlled to a temperature, humidity, and carbon dioxide concentration suitable for cell culture. The culture area R3 is provided with a shaking stage (not shown) that can shake, for example, multiple workpieces W simultaneously.

[0014] <Clean bench> The clean bench 140 is a facility for performing various liquid manipulations and processes on the workpiece W. The area within the clean bench 140 is designated as a liquid manipulation area R4. The liquid manipulation area R4 is a highly clean, sterile space (a bio-clean room). The clean bench 140 is provided with various pieces of equipment such as a dispensing device 141, a lid manipulation device 142, a work table 144, a filtering device (not shown), a sealing device (not shown), a waste liquid draining device (not shown), and a workpiece discharging device (not shown). The clean bench 140 is disposed adjacent to the stocker 110.

[0015] Here, stocker door 110a is provided within stocker 110, separating storage area R1 and liquid handling area R4. When stocker door 110a is in an open state, storage area R1 and liquid handling area R4 are in a connected state, allowing workpieces to move between these areas. When stocker door 110a is in a closed state, storage area R1 and liquid handling area R4 are in a non-connected state, isolating these areas.

[0016] <Pass box> The pass box 150 is installed between the incubator 130 and the clean bench 140 so as to be in contact with them. The pass box 150 has a first pass door 150a and a second pass door 150b. When the first pass door 150a is open, the incubation area R3 and the area inside the pass box 150 are in communication with each other. When the second pass door 150b is open, the liquid handling area R4 and the area inside the pass box 150 are in communication with each other. Therefore, opening and closing the first pass door 150a and the second pass door 150b switches between an isolated state of the incubation area R3 and the liquid handling area R4 and a state where workpieces W can move between these areas. Note that the first pass door 150a and the second pass door 150b are never open at the same time. Therefore, the incubation area R3 and the liquid handling area R4 do not communicate with each other, and the atmospheric conditions of each area are maintained.

[0017] <Conveyor equipment> A transport device 113 is provided in storage area R1. A transport device 143 is provided in liquid manipulation area R4. Transport devices 113, 143 can be, for example, a transport robot capable of transporting workpiece W horizontally. These transport devices 113, 143 enable the movement of workpiece W between storage area R1 and liquid manipulation area R4. Furthermore, by linking the opening and closing of stocker door 110a with the operation of transport device 113, workpieces can be transported between areas, such as from storage area R1 to liquid manipulation area R4. Here, in this embodiment, workpiece W transported into liquid manipulation area R4 by transport device 113 is placed on workbench 144 installed in liquid manipulation area R4, and workpiece W placed on this workbench 144 is transported by transport device 143. Although not shown in FIG. 1 , another transport device for transporting workpiece W is also provided in incubation area R3.

[0018] <Outline of cell culture system operation> In the cell culture system 100 configured as described above, cell proliferation is promoted by shaking the culture solution in the work W in the incubator 130. The work W in which cell proliferation has progressed is transferred to the liquid manipulation area R4 via the pass box 150. In the liquid manipulation area R4, the culture solution in the work W is dispensed and the medium is supplied to the work W.

[0019] On the other hand, when cell proliferation is performed using a new work W, the following procedure is performed, for example. First, transport device 113 retrieves a new work W from work storage device 112 and transports it into liquid manipulation area R4. In liquid manipulation area R4, dispensing device 141 is used to supply culture medium to the new work W that does not contain culture medium, and the culture medium is dispensed from the work W that has been transferred from liquid manipulation area R4, which contains culture medium where cell proliferation has progressed, to the new work W. This completes the subculture operation of cells into the new work W. After the subculture operation, the new work W is transferred to incubator 130, where cells are propagated, and the above process is repeated.

[0020] <Work> FIG. 2 is a perspective view of a workpiece according to an embodiment of the present disclosure. 2, the work W includes a work body 21 and a work tray 22. In this embodiment, the work W having a flask capable of containing a culture medium as the work body 21 will be described as an example.

[0021] <Workpiece body> The work body 21 of this embodiment is a so-called Erlenmeyer flask with a lid, and includes a container part 30 and a lid part 31. Note that Fig. 2 shows a state in which the lid part 31 is removed from the container part 30.

[0022] <Container part> The container portion (container) 30 has a bottomed cylindrical shape centered on an axis O1 extending in the vertical direction. Specifically, the lower outer peripheral surface of the container portion 30 has a conical surface centered on the axis O1 that decreases in diameter as it extends upward, and the upper outer peripheral surface of the container portion 30 has a cylindrical shape centered on the axis O1. A male thread 33 centered on the axis O1 is formed on the upper outer peripheral surface of the container portion 30. An opening 32 that opens upward is formed at the upper end of the container portion 30.

[0023] <Lid> The lid (lid) 31 is formed so as to be able to open and close the opening 32 of the container 30. The lid 31 is, for example, cylindrical with a closed top and a closed bottom. In this embodiment, the outline of the lid 31 in a horizontal cross section is circular. A female thread (not shown) corresponding to the male thread 33 formed on the upper part of the container 30 is formed on the inner peripheral surface of the lid 31. The lid 31 is detachably attached to the upper part of the container 30 by the screw action between the male thread 33 and the female thread (not shown). By attaching the lid 31 illustrated in this embodiment to the container 30 while rotating it around the axis O1, the opening 32 of the container 30 is sealed. On the other hand, by removing the lid 31 from the container 30 while rotating it in the opposite direction from the attachment, the opening 32 of the container 30 is opened. In this embodiment, clockwise rotation in plan view is the mounting direction of the lid portion 31, and counterclockwise rotation in plan view is the removal direction of the lid portion 31. Note that, although the case where the upper end of the lid portion 31 is completely closed has been exemplified in this embodiment, this is not limiting. For example, an opening may be formed in the upper end of the lid portion 31.

[0024] <Work tray> The work tray 22 supports the work bodies 21. Two work bodies 21 can be placed side by side on the work tray 22. The work tray 22 has at least a placement plate 23, a support portion 24, an upper frame 25, and a fixing structure 26.

[0025] <Mounting plate> The loading plate 23 is a member that supports the two work bodies 21 from below. The loading plate 23 in this embodiment has a rectangular flat plate shape in a plan view. The two work bodies 21 are placed on the loading plate 23 side by side in the direction in which a pair of long sides of the rectangular shape in the plan view extend (hereinafter referred to as the first direction D1). In the following description, the horizontal direction that intersects with the first direction D1 is referred to as the second direction D2. Furthermore, the vertical direction that intersects with both the first direction D1 and the second direction D2 is referred to as the third direction D3.

[0026] <Support part> The support portion 24 is a rod-shaped member extending upward from the mounting plate 23. The upper end of the support portion 24 is located lower than the upper end of the work main body 21 placed on the mounting plate 23. A plurality of support portions 24 are provided, and the upper ends of these support portions 24 are at the same height. Note that, although the present embodiment illustrates a case where four support portions 24 are provided on one work tray 22, the number of support portions 24 provided on one work tray 22 is not limited to four, and may be three, five or more.

[0027] <Upper frame> The upper frame 25 is supported from below by the support portion 24. The contour shape of the upper frame 25 in a plan view is rectangular with the first direction D1 as the longitudinal direction, similar to the contour shape of the loading plate 23 in a plan view. The size of the upper frame 25 in a plan view is equal to the size of the loading plate 23. The upper frame 25 is arranged apart from the loading plate 23 in the third direction D3 and is arranged parallel to the loading plate 23. When the workpiece W in this embodiment is transported by the transport device 113, 143 (see FIG. 1 ) or the like, the lower surface of the upper frame 25 becomes a transport supported surface that is supported from below by the hands of the transport device 113, 143.

[0028] A through hole 25a is formed in the upper frame 25. This through hole 25a is for allowing the work body 21 to pass through the upper frame 25 in the vertical direction, i.e., in the third direction D3. In other words, the upper frame 25 is disposed below the upper end of the work body 21, so that the work body 21 protrudes above the work tray 22. The through hole 25a is formed to one side in the second direction D2 with reference to the center position of the upper frame 25 in the second direction D2.

[0029] On the other side of the upper surface of the upper frame 25, where the work body 21 is not placed with reference to the center position in the second direction D2, a lid placing portion 25b is provided for temporarily placing the lid portion 31 removed from the container portion 30. In this embodiment, the lid portion 31 is placed on the lid placing portion 25b with the bottomed cylindrical opening of the lid portion 31 facing downward.

[0030] <Fixed structure> The fixing structure 26 is a structure for stably disposing the work body 21 on the mounting surface 23a of the mounting plate 23. A plurality of fixing structures 26 (two in this embodiment) are provided spaced apart in the first direction D1 depending on the location of the work body 21. The fixing structures 26 in this embodiment regulate displacement of the work body 21 in the first direction D1, the second direction D2, and a third direction D3 (in other words, the up-and-down direction) intersecting the first direction D1 and the second direction D2. Note that the fixing structure 26 is not limited to the configuration shown in FIG. 2 as long as it is configured to enable the work body 21 to be stably disposed on the mounting surface 23a.

[0031] <Lid operating device> FIG. 3 is a perspective view showing a schematic configuration of a lid operating device according to an embodiment of the present disclosure. The lid operating device 142 operates the lid portion 31 of the workpiece W. Here, the operation of the lid portion 31 by the lid operating device 142 is at least one of an operation to remove the lid portion 31 from the container portion 30 and an operation to attach the lid portion 31 to the container portion 30. The operation of the lid operating device 142 is controlled by a computer device (not shown), and the lid operating device 142 automatically operates the lid portion 31.

[0032] 3, the lid operation device 142 includes a stage 51, a positioning unit 52, an operation unit 53, a lifting unit 54, a drive unit 55, a transmission unit 56, and a sensor 57. The lid operation device 142 of this embodiment further includes a frame unit 58 that supports the lifting unit 54 so that it can slide horizontally (in this embodiment, the left-right direction Dw). In the following description of the lid operation device 142, the left-right direction when viewed from the front of the lid operation device 142 is referred to as the left-right direction Dw, the front-rear direction intersecting the left-right direction Dw is referred to as the front-rear direction Dd, and the up-down direction intersecting the left-right direction Dw and the front-rear direction Dd is referred to as the up-down direction Dh.

[0033] <Stage> The stage 51 has a horizontal surface 51a on which the work tray 22 can be placed. Here, the work W carried into the liquid handling area R4 of the clean bench 140 is placed on the horizontal surface 51a by the transport device 143. At this time, the work W is placed in an orientation in which the first direction D1, which is the direction in which the work bodies 21 are arranged, coincides with the left-right direction Dw. The horizontal surface 51a is a smooth surface that allows the work W to easily slide by applying a force in the horizontal direction to the work tray 22.

[0034] The stage 51 further includes a displacement mechanism 63 (see FIG. 5) that horizontally moves the horizontal surface 51a in a direction (front-to-back direction Dd in this embodiment) in which the lid placing portion 25b and the upper end of the container portion 30 move away from each other in a plan view. In this embodiment, the horizontal direction connecting the lid placing portion 25b and the upper end of the container portion 30 coincides with the front-to-back direction Dd. Note that the horizontal direction connecting the lid placing portion 25b and the upper end of the container portion 30 is not limited to the front-to-back direction Dd. Here, the "direction in which the lid placing portion 25b and the upper end of the container portion 30 move away from each other in a plan view" does not necessarily have to coincide with the front-to-back direction Dd, and can be set appropriately depending on the relative positions of the lid placing portion 25b and the container portion 30 in a plan view.

[0035] Furthermore, the stage 51 of this embodiment is provided with a sensor 57 that detects that a workpiece W has been placed on the horizontal surface 51a. The sensor 57 is a so-called presence sensor, and may be, for example, a presence sensor that uses electromagnetic induction or laser light, or a presence sensor that uses a photographed image. Note that the sensor 57 is not limited to being provided on the stage 51 as long as it can detect that a workpiece W has been placed on the horizontal surface 51a.

[0036] <Positioning part> FIG. 4 is a plan view of a positioning portion according to an embodiment of the present disclosure. The positioning unit 52 positions the work tray 22 placed on the stage 51 in the horizontal direction. As shown in Figures 3 and 4, the positioning unit 52 includes a pressing unit 61 and a protruding unit 62. The pressing unit 61 and the protruding unit 62 are each capable of contacting two predetermined corners 27A, 27B arranged on a diagonal line L1 among the four corners 27 of the rectangular loading plate 23 of the work tray 22 in a plan view (see Figure 4).

[0037] <Pressing part> The pressing portion 61 presses and slides the work tray 22 of the work W placed on the horizontal surface 51a along the horizontal surface 51a. The pressing portion 61 in this embodiment protrudes upward from the horizontal surface 51a. The pressing portion 61 can be moved along the diagonal line L1 in directions toward and away from the protrusion 62 by a drive source (not shown) such as a hydraulic cylinder.

[0038] The pressing portion 61 of this embodiment has a V-shaped recess 28 that can accommodate the corner 27A of the mounting plate 23. The recess 28 has a first pressing surface 28a that extends in a first direction D1 (in other words, the left-right direction Dw) of the workpiece W placed on the horizontal surface 51a, and a second pressing surface 28b that extends in a second direction D2 (in other words, the front-back direction Dd). In this embodiment, the first pressing surface 28a and the second pressing surface 28b are both flat. In this embodiment, the second pressing surface 28b extends in a direction perpendicular to the first pressing surface 28a in a plan view, so that the first pressing surface 28a contacts the long sides of the mounting plate 23, and the second pressing surface 28b contacts the short sides of the mounting plate 23.

[0039] <Convex part> The protrusion 62 protrudes upward from the horizontal surface 51a. The protrusion 62 is formed so as to be able to restrict horizontal displacement of the work tray 22. In other words, the protrusion 62 is formed so as to abut against the work tray 22 that has been pressed and slid by the pressing portion 61, and to restrict further displacement of the work tray 22.

[0040] The protrusion 62 of this embodiment is formed in an L-shape in a plan view. The protrusion 62 includes a first restriction surface 62a extending in the left-right direction Dw and a second restriction surface 62b extending in the front-rear direction Dd. The first restriction surface 62a and the second restriction surface 62b of this embodiment are both flat surfaces extending upward from the horizontal plane 51a. In this embodiment, the second restriction surface 62b extends in a direction perpendicular to the first restriction surface 62a in a plan view, and is formed so that the first restriction surface 62a contacts the long sides of the mounting plate 23 and the second restriction surface 62b contacts the short sides of the mounting plate 23. Note that this embodiment illustrates a case in which the length of the first restriction surface 62a in the left-right direction Dw is greater than the length of the second restriction surface 62b in the front-rear direction Dd, but is not limited to this configuration.

[0041] <Operation of the positioning unit> First, the workpiece W is placed on the horizontal surface 51a of the stage 51 by the transport device 143. Here, in this embodiment, the workpiece W is placed in the posture shown in Fig. 4. Specifically, the workpiece W is placed in a posture such that the workpiece main body 21 is disposed closer to the first restriction surface 62a of the convex portion 62 than the lid placement portion 25b in the front-rear direction Dd, and the two workpiece main bodies 21 are disposed side by side in the left-right direction Dw.

[0042] When the workpiece W is placed on the stage 51, the sensor 57 detects the workpiece W. Then, the pressing portion 61 moves horizontally from the position indicated by the two-dot chain line in FIG. 4 in the direction indicated by the arrow. As a result, the workpiece tray 22 is pressed by the pressing portion 61 and slides until it hits the protrusion 62. Then, the apex of the corner 27A of the loading plate 23 in a plan view moves to the position where the first pressing surface 28a and the second pressing surface 28b intersect, and the apex of the corner 27B of the loading plate 23 in a plan view moves to the position where the first restricting surface 62a and the second restricting surface 62b intersect. As a result, the workpiece W is sandwiched between the pressing portion 61 and the protrusion 62 and comes to a stationary state, i.e., a positioned state.

[0043] Figure 5 is a side view of the lid operating device showing the state immediately after the workpiece has been positioned. Figure 6 is a side view of the lid operating device in a state in which the lid portion is gripped. Figure 7 is a side view of the lid operating device at the beginning of rotation when removing the lid portion. Figure 8 is a side view of the lid operating device at the end of rotation when removing the lid portion. Figure 9 is a side view of the lid operating device immediately after the removed lid portion has been placed on the lid placing portion. Figure 10 is a side view of the lid operating device in a state in which the chuck portion has been moved upward away from the lid portion placed on the lid placing portion.

[0044] <Operation section> The operating unit 53 operates the lid unit 31 of the workpiece W positioned by the positioning unit 52 . 3, the operation portion 53 includes a chuck portion 65, a compliance unit 66, and a cushion portion 67. In addition to the above configuration, the operation portion 53 of this embodiment further includes a support member 68.

[0045] <Chuck part> As shown in FIGS. 3 and 6, the chuck portion 65 is configured to be displaceable between a first position where it grips the lid portion 31 and a second position where it does not grip the lid portion 31. The chuck portion 65 of this embodiment has multiple (e.g., three) claws 65a arranged around the axis O2, and these multiple claws 65a are configured to be displaceable between a first position where it grips the lid portion 31 (position indicated by a solid line in FIG. 6) and a second position where it does not grip the lid portion 31 (position indicated by a two-dot chain line in FIG. 6). Examples of a configuration for displacing the claws 65a include a configuration using a working fluid such as air or oil supplied from the outside. Furthermore, as shown in FIG. 7, the chuck portion 65 is configured to be rotatable around the axis O2. The chuck portion 65 of this embodiment rotates while gripping the lid portion 31.

[0046] <Compliance Unit> The compliance unit 66 absorbs misalignment of the lid portion 31 relative to the chuck portion 65. The compliance unit 66 is supported by the lifting unit 54. The compliance unit 66 supports the chuck portion 65 so that it can be displaced at least horizontally. The compliance unit 66 of this embodiment can translate the chuck portion 65 in the horizontal directions (left-right direction Dw and front-back direction Dd) as well as the vertical direction Dh. Furthermore, the compliance unit 66 may be capable of absorbing misalignment along a total of six axes. Here, examples of the six axes include translation in the left-right direction Dw, front-back direction Dd, and vertical direction Dh (three translational axes), as well as oscillation around an axis O3 (see FIG. 5) extending in the vertical direction Dh and around two intersecting axes (not shown) extending horizontally (three rotational axes). Note that as long as the compliance unit 66 supports the chuck portion 65 so that it can be displaced at least horizontally, the number of axes of misalignment absorbed by the compliance unit 66 can be appropriately set.

[0047] A working fluid such as air or oil can be supplied to the compliance unit 66 of this embodiment from the outside (not shown), and by applying pressure to the compliance unit 66 with the working fluid, the compliance unit 66 can be fixed in the position when pressure is applied. On the other hand, in a state where pressure is not being applied by the working fluid, the compliance unit 66 is able to perform the above-mentioned displacement of the chuck portion 65.

[0048] <Supporting member> The support member 68 extends horizontally across the compliance unit 66 and the chuck portion 65. The compliance unit 66 supports the chuck portion 65 via this support member 68. The support member 68 of this embodiment has a flat plate shape that extends in the front-rear direction Dd and has its thickness direction in the up-down direction Dh.

[0049] 3, the support member 68 of this embodiment includes a main body portion 68a and an extension portion 68b. The main body portion 68a is a portion of the support member 68 that extends horizontally across the chuck portion 65 and the compliance unit 66. The extension portion 68b is a portion that extends horizontally from the compliance unit 66 toward the opposite side from the chuck portion 65. The extension portion 68b extends rearward continuously from the main body portion 68a, and supports the drive unit 55 from below.

[0050] <Cushion part> The cushion portion 67 allows displacement of the chuck portion 65 in the vertical direction Dh associated with the rotation of the lid portion 31. More specifically, the cushion portion 67 allows displacement of the chuck portion 65 in the vertical direction Dh associated with the rotation of the lid portion 31 while allowing rotation of the chuck portion 65. As shown in FIGS. 3, 7, and 8, the cushion portion 67 is provided between the compliance unit 66 and the chuck portion 65. The cushion portion 67 in this embodiment is disposed on the axis O2 and is disposed so as to be sandwiched between the support member 68 and the chuck portion 65 in the vertical direction Dh.

[0051] The cushion portion 67 has an elastic member such as a coil spring, and elastically absorbs displacement in the vertical direction Dh associated with the rotation of the lid portion 31. Specifically, when the lid portion 31 is removed, for example, it undergoes compressive deformation from its initial state as the lid portion 31 is rotated. On the other hand, when the lid portion 31 is attached, it expands from its compressively deformed state as the lid portion 31 is rotated, attempting to return to its initial state. While the cushion portion 67 is compressively deformed, the lid portion 31 is urged downward by the cushion portion 67. Note that the distance over which the chuck portion 65 can be displaced in the vertical direction Dh by the cushion portion 67 is greater than the distance over which the operating portion 53 can be displaced in the vertical direction Dh by the compliance unit 66 described above.

[0052] <Drive unit> The drive unit 55 outputs power to rotate the chuck unit 65. Examples of the drive unit 55 include an electric motor and a pressure motor. The drive unit 55 of this embodiment has a rotor shaft (not shown) that extends in the vertical direction Dh. This rotor shaft can be switched between clockwise and counterclockwise rotation.

[0053] <Transmission section> The transmission unit 56 transmits the power of the drive unit 55 to the chuck unit 65. The transmission unit 56 in this embodiment includes a drive pulley 69, a driven pulley 70, and a belt 71. The drive pulley 69 is attached to a rotor shaft of the drive unit 55 and rotates together with the rotor shaft of the drive unit 55. The driven pulley 70 is attached to the operation unit 53 and is rotatable together with the chuck unit 65 around the axis O2. The belt 71 is an endless annular band and is looped between the drive pulley 69 and the driven pulley 70. The rotational power of the drive pulley 69 is transmitted to the driven pulley 70 by the belt 71, causing the chuck unit 65 to rotate.

[0054] <Lifting section> The lifting / lowering unit 54 displaces the operating unit 53 in the up-down direction Dh. As shown in FIG.

[0055] <Lifting unit body> The lifting section main body 73 moves the lifting piece 74 in the vertical direction Dh. The lifting section main body 73 of this embodiment linearly moves the lifting piece 74 in the vertical direction Dh using power from a drive source (not shown) such as an electric motor or a pressure motor.

[0056] <Lifting piece> The compliance unit 66 is fixed to the lifting piece 74, and the lifting piece 74 is movable in the up-down direction Dh. In this embodiment, the lifting piece 74 supports the compliance unit 66 from below. In other words, the lower surface of the compliance unit 66 is fixed to the upper surface of the lifting piece 74. In this embodiment, the lifting piece 74 extends in the left-right direction Dw from vertically below the compliance unit 66 to reach the lifting section main body 73. In other words, by displacing the lifting piece 74 in the up-down direction Dh by the lifting section main body 73, the compliance unit 66, support member 68, cushion part 67, and chuck part 65 that constitute the operation section 53 are displaced in the up-down direction Dh.

[0057] <Frame section> The frame 58 supports the lifting unit main body 73 so that it can slide in the left-right direction Dw. The frame 58 in this embodiment is a so-called gate-shaped frame, and includes two legs 58a and a beam 58b that spans these two legs 58a. A mechanism (not shown) that slides the lifting unit main body 73 in the left-right direction Dw is provided on this beam 58b. The two legs 58a are spaced apart in the left-right direction Dw so that the horizontal surface 51a of the stage 51 can pass between the two legs 58a in the front-back direction Dd.

[0058] <Operation of the lid operating device> Next, the operation of the above-mentioned lid operating device 142 will be described with reference to Figures 5 to 10. Note that the operation of attaching the lid part 31 to the container part 30 is the reverse of the operation of removing the lid part 31 from the container part 30. Therefore, in this embodiment, the operation of removing the lid part 31 from the container part 30 will be described, and a detailed description of the operation of attaching the lid part 31 to the container part 30 will be omitted. Also, in Figures 5 to 10, the fixing structure 26 for the workpiece W is not shown.

[0059] In the cell culture system 100 of this embodiment, examples of the workpiece W for which the operation of removing the lid portion 31 from the container portion 30 is performed include the workpiece W that has returned from the incubator 130 to the clean bench 140 via the pass box 150, and the workpiece W that has been carried in from the stocker 110. On the other hand, examples of the workpiece W for which the operation of attaching the lid portion 31 to the container portion 30 is performed include the workpiece W after the lid portion 31 has been removed from the container portion 30 and the dispensing operation has been performed by the dispensing device 141.

[0060] 5, when the workpiece W is placed on the horizontal surface 51a, the sensor 57 detects the workpiece W, and the positioning unit 52 positions the work tray 22. That is, when the sensor 57 detects the workpiece W, the pressing unit 61 presses the loading plate 23 of the work tray 22 toward the protrusion 62, causing it to slide and move until it hits the protrusion 62 and is positioned. At this time, the frame unit 58 positions the chuck unit 65 at a predetermined position in the left-right direction Dw, and the displacement mechanism 63 of the stage 51 positions the work tray 22 at a predetermined position in the front-to-rear direction Dd.

[0061] Here, the predetermined position in the left-right direction Dw and the predetermined position in the front-rear direction Dd are positions where the axis O2 of the chuck portion 65 is located vertically above the axis O1 of the work body 21 when there is no positional displacement of the work body 21 with respect to the work tray 22. In this embodiment, two work bodies 21 are placed on one work tray 22, so two predetermined positions are set in the left-right direction Dw. One of these two predetermined positions in the left-right direction Dw is set as the initial position for initially operating the lid portion 31. Note that when the chuck portion 65 is moved by the frame portion 58 and when the work W is moved by the displacement mechanism 63, the position of the chuck portion 65 in the up-down direction Dh is set above and away from the work W so that the chuck portion 65 does not interfere with the work W.

[0062] Next, as shown in FIG. 6, the operation unit 53 is moved downward by the lifting unit 54, and the chuck unit 65 is placed in a position where it can grip the lid unit 31.

[0063] Here, there are cases where the work body 21 is misaligned with respect to the work tray 22. An example of such misalignment is when the axis O2 is not aligned with the axis O1, and the axis O1 and the axis O2 are misaligned horizontally. The claws 65a of the chuck 65 are arranged to allow for misalignment between the axis O1 and the axis O2 within an expected range. Specifically, the claws 65a are arranged on a circle centered on the axis O2, the circle having a radius greater than the radius of the lid 31 plus the amount of misalignment. This allows the lid 31 to be positioned radially inward of the claws 65a without interfering with the lid 31, as long as the misalignment is within the expected range. Furthermore, the claws 65a are formed longer than the lid 31 in the vertical direction Dh. Therefore, even if the lid 31 is misaligned in the vertical direction, the claws 65a can grip the lid 31 while allowing for this misalignment.

[0064] When the chuck portion 65 is positioned to grip the lid portion 31, the chuck portion 65 is displaced from the second position to the first position. That is, the claw portions 65a of the chuck portion 65 are displaced radially inward about the axis O2 to grip the lid portion 31. At this time, the multiple claw portions 65a are displaced uniformly radially inward about the axis O2, and the claw portions 65a press the lid portion 31.

[0065] Here, if the axis O2 is misaligned with respect to the axis O1, the compliance unit 66 operates due to the reaction force of the cover 31 against the pressing force from the claw 65a. This operation of the compliance unit 66 causes the operation unit 53 to move horizontally so that the axis O2 is aligned on an extension of the axis O1. In other words, the compliance unit 66 absorbs the misalignment, and the axis O1 and the axis O2 are aligned on the same line. The compliance unit 66 is fixed in position once the chuck 65 has completed gripping the cover 31. While the case where the compliance unit 66 absorbs misalignment in the horizontal direction has been described as an example, it can also absorb misalignment in the up-down direction Dh or misalignment caused by a difference in the angle of the axis O2 with respect to the axis O1.

[0066] Next, as shown in Fig. 7, the chuck portion 65 is rotated by the power of the drive portion 55 in the direction to remove the lid portion 31. Then, as shown in Fig. 8, the lid portion 31 is displaced upward. This upward displacement of the lid portion 31 is absorbed by the compressive deformation of the cushion portion 67. In other words, the upward displacement of the lid portion 31 is absorbed by the elastic upward displacement of the chuck portion 65, without the lifting / lowering portion 54 displacing the operation portion 53 in the up-down direction Dh.

[0067] When the lid 31 is removed from the container 30, the rotation of the chuck 65 is stopped, and the lifting unit 54 moves the operating unit 53 upward. That is, the lid 31 moves upward away from the container 30. At this time, the compressive force on the cushion 67 is no longer applied, and the cushion 67 expands from its compressed state to its uncompressed state.

[0068] When the lid portion 31 moves upward away from the container portion 30, the horizontal surface 51a is displaced in the front-to-rear direction Dd by the displacement mechanism 63. Then, the lid placing portion 25b of the work tray 22 positioned by the positioning portion 52 is positioned vertically below the lid portion 31. In this embodiment, since the lid placing portion 25b is located rearward in the front-to-rear direction Dd with respect to the container portion 30, the horizontal surface 51a is slid forward in the front-to-rear direction Dd.

[0069] When the lid placing part 25b is positioned vertically below the lid part 31, the operating part 53 is lowered by the lifting part 54, as shown in Fig. 9. At this time, the operating part 53 is lowered to a position where the lower edge of the lid part 31 contacts the lid placing part 25b. Then, the lowering of the operating part 53 by the lifting part 54 is stopped, and the grip of the lid part 31 by the chuck part 65 is released.

[0070] 10, the lifting unit 54 moves the operation unit 53 upward away from the lid unit 31. In this embodiment, two work bodies 21 are provided on one work W, so the operation of removing the lid units 31 from the work bodies 21 is performed again in the same manner as described above. Then, when all of the lid units 31 from the work bodies 21 are removed and placed on the lid placement unit 25b, the positioning by the positioning unit 52 is released, and the work W is transported by the transport device 143 to the dispensing device 141 or the like.

[0071] (Action and effect) According to the above embodiment, the positioning unit 52 that positions the tray 22 placed on the stage 51 in the horizontal directions Dw and Dd is provided, thereby enabling the tray 22 placed on the horizontal surface 51a of the stage 51 to be positioned relative to the operation unit 53. Furthermore, in the above embodiment, the compliance unit 66 is supported by the lifting unit 54 and supports the chuck unit 65 so as to be displaceable in the horizontal directions Dw and Dd, thereby absorbing positional deviation of the lid unit 31 relative to the chuck unit 65. Therefore, when the chuck unit 65 grips the lid 31, the compliance unit 66 can displace the chuck unit 65 in the horizontal directions Dw and Dd by an amount corresponding to the positional deviation of the container 30 in the horizontal directions Dw and Dd relative to the tray 22. This makes it possible to prevent unexpected force from being applied to the container 30 when the operation unit 53 operates the lid 31 without accurately determining the position of the container 30. Therefore, the lid 31 can be operated smoothly with a simple configuration.

[0072] Furthermore, in the above embodiment, a cushion portion 67 is provided between the compliance unit 66 and the chuck portion 65, which allows displacement of the chuck portion 65 in the vertical direction Dh associated with the rotation of the lid portion 31. Therefore, when the lid portion 31 is rotated, there is no need to perform complex control to displace the chuck portion 65 in the vertical direction Dh using the lifting unit 54. This makes it possible to perform the operations of removing and attaching the lid portion 31 with simple control.

[0073] Furthermore, in the above embodiment, the operation section 53 is provided with a support member 68 that extends in the horizontal direction Dd across the compliance unit 66 and the chuck section 65. This eliminates the need to arrange the compliance unit 66 above the chuck section 65, thereby reducing the height of the operation section 53 and preventing the lid operation device 142 from becoming larger in the vertical direction Dh. Furthermore, because it is not necessary to arrange the compliance unit 66 above the chuck section 65, the space above the chuck section 65 can be used, for example, as space for connecting wiring, piping, and the like for operating the chuck section 65. This improves the degree of freedom in arranging wiring, piping, and the like for operating the chuck section 65.

[0074] In the above embodiment, the extension 68b of the support member 68 extends from the compliance unit 66 to the side opposite the chuck portion 65 in a plan view. Furthermore, the drive unit 55 is provided with a transmission unit 56 that transmits the power of the drive unit 55 to the chuck portion 65, and the drive unit 55 is supported by the extension 68b. This eliminates the need to arrange the drive unit 55 above the chuck portion 65, thereby reducing the height of the operation unit 53 and preventing the lid operation device 142 from becoming larger in the vertical direction Dh. Furthermore, because the drive unit 55 does not need to be arranged above the chuck portion 65, the space above the chuck portion 65 can be used, for example, as space for connecting wiring, piping, and the like for operating the chuck portion 65. This improves the degree of freedom in arranging wiring, piping, and the like for operating the chuck portion 65.

[0075] Furthermore, in the above embodiment, the positioning unit 52 includes a pressing unit 61 that presses and slides the workpiece W placed on the horizontal surface 51a along the horizontal surface 51a, and a protrusion 62 that protrudes upward from the horizontal surface 51a and positions the workpiece W by abutting against the workpiece W pressed by the pressing unit 61 and restricting displacement of the workpiece W in the horizontal directions Dw and Dd. This makes it possible to easily position the tray 22 of the workpiece W placed on the horizontal surface 51a, and minimizes positional deviation of the tray 22 with respect to the operating unit 53.

[0076] Furthermore, in the above embodiment, a sensor 57 is provided that detects that the tray 22 has been placed on the horizontal surface 51a. Therefore, the placement of the workpiece W on the horizontal surface 51a can be used as a trigger to start the operation of the lid 31. Therefore, compared to the case where a timer or the like is used, it is possible to shorten the time from when the workpiece W is placed to when the process proceeds to the operation of the lid 31.

[0077] Furthermore, in the above embodiment, the displacement mechanism 63 is provided to horizontally move the horizontal surface 51a in the front-to-rear direction Dd, which is the direction in which the lid rest portion 25b and the upper end of the container 30 move away from each other in a plan view, so that the lid portion 31 removed from the container 30 can be placed on the lid rest portion 25b without moving it in the horizontal direction Dd. Therefore, if liquid is attached to the removed lid portion 31, it is possible to prevent the liquid attached to the lid portion 31 from splashing around.

[0078] Furthermore, in the above embodiment, the cell culture system 100 is able to operate the lid portion 31 using a lid operating device 142 with a simple configuration, which prevents the clean bench 140 and the cell culture system 100 from becoming larger due to the installation of the lid operating device 142.

[0079] <Other embodiments> Each embodiment of the present disclosure has been described above in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and design changes and the like are also included within the scope that does not deviate from the gist of the present disclosure.

[0080] In the above embodiment, a lidded Erlenmeyer flask has been described as an example of the work body 21, but the work body 21 is not limited to a flask as long as it is a container with an opening 32 that opens upward and a lid that can be attached to and detached from the opening 32 of the container by screw action. Furthermore, the configuration of the work tray 22 is not limited to the configuration of the above embodiment as long as it can accommodate the container part 30 and has the lid placement part 25b positioned horizontally offset from the container part 30. Furthermore, the shape of the positioning part 52 can be changed as appropriate to match the shape of the work tray 22.

[0081] In the above embodiment, the chuck portion 65 and the compliance unit 66 are connected by a support member 68, but the compliance unit 66 may be disposed above the chuck portion 65 without using the support member 68.

[0082] In the above embodiment, an example has been described in which the chuck portion 65 is operated using a working fluid, but the chuck portion 65 is not limited to a configuration in which it is operated using a working fluid, and may be configured to be electrically operable using, for example, an electromagnet or the like.

[0083] In the above embodiment, an example was given of the operating unit 53 being equipped with a cushion portion 67, but the cushion portion 67 may not be provided and the chuck portion 65 may be displaced in the vertical direction Dh by the lifting unit 54 when operating the lid portion 31.

[0084] In the above embodiment, the stage 51 is described as being equipped with a displacement mechanism 63 that horizontally moves the horizontal surface 51a in a direction in which the lid placing portion 25b and the upper end of the container portion 30 move away from each other in a plan view. However, the lid operating device 142 may be configured without the displacement mechanism 63. In this case, it is sufficient to provide the frame portion 58 with a mechanism that displaces the chuck portion 65 in the front-rear direction Dd.

[0085] In the above embodiment, the lid operating device 142 is described as having both the displacement mechanism 63 and the compliance unit 66, but an operating section 53 that does not have the compliance unit 66 may be provided in a configuration that has the displacement mechanism 63.

[0086] In the above embodiment, a case has been described in which the lid operating device 142 can both remove and attach the lid portion 31, but the lid operating device 142 may also be configured to only remove or attach the lid portion 31.

[0087] <Additional Notes> The sterilization unit, unit set, cell culture system, and sterilization method described in each embodiment can be understood, for example, as follows.

[0088] (1) The lid operating device 142 according to the first aspect is a lid operating device 142 for operating the lid 31 of a workpiece W, the lid 31 having a screw-type lid 31 that rotates around an axis O1 extending in the vertical direction Dw, a container 30 to which the lid 31 can be attached and detached at the top end, and a tray 22 that supports the container 30 from below, and the lid operating device 142 includes a stage 51 having a horizontal surface 51a on which the tray 22 can be placed, a positioning unit 52 that positions the tray 22 placed on the stage 51 in the horizontal directions Dw and Dd, and the workpiece W positioned by the positioning unit 52. The operating unit 53 includes an operating unit 53 that operates the lid 31 of the lid W, and an elevating unit 54 that displaces the operating unit 53 in the up-down direction Dh, and the operating unit 53 is displaceable between a first position in which the lid 31 is gripped and a second position in which the lid 31 is not gripped, and includes a chuck unit 65 that is rotatable around the axes O1 and O2, and a compliance unit 66 that is supported by the elevating unit 54 and supports the chuck unit 65 so that it can be displaced freely in the horizontal directions Dw and Dd, thereby absorbing positional deviation of the lid 31 relative to the chuck unit 65. An example of the container 30 is a flask. With this configuration, the tray 22 placed on the horizontal surface 51a of the stage 51 can be uniquely positioned with respect to the operation unit 53. Meanwhile, when the chuck unit 65 grips the lid 31, the compliance unit 66 can displace the chuck unit 65 in the horizontal directions Dw, Dd by an amount corresponding to a positional deviation of the container 30 in the horizontal directions Dw, Dd relative to the tray 22. Therefore, when the operation unit 53 operates the lid 31, it is possible to prevent unexpected force from being applied to the container 30 without accurately grasping the position of the container 30. Therefore, it is possible to operate the lid 31 smoothly with a simple configuration.

[0089] (2) The lid operating device 142 according to the second aspect is the lid operating device 142 of (1), wherein the operating portion 53 further includes a cushion portion 67 provided between the compliance unit 66 and the chuck portion 65, which allows displacement of the chuck portion 65 in the vertical direction Dh accompanying the rotation operation of the lid 31. With this configuration, the cushion portion 67 can allow the chuck portion 65 to be displaced in the vertical direction Dh when the lid 31 is rotated, eliminating the need for complex control to displace the chuck portion 65 in the vertical direction Dh using the lifting portion 54 when the lid 31 is rotated. This makes it possible to remove and attach the lid 31 with simple control.

[0090] (3) The lid operating device 142 of the third aspect is the lid operating device 142 of (1) or (2), wherein the lifting section 54 comprises a lifting piece 74 to which the compliance unit 66 is fixed and which is movable in the vertical direction Dh, and a lifting section main body 73 which moves the lifting piece 74 in the vertical direction Dh, and the operating section 53 comprises a support member 68 extending in the horizontal direction Dd across the compliance unit 66 and the chuck section 65. With this configuration, there is no need to place the compliance unit 66 above the chuck portion 65, which reduces the height of the operation portion 53 and prevents the lid operation device 142 from becoming larger in the vertical direction Dh. Furthermore, because there is no need to place the compliance unit 66 above the chuck portion 65, the space above the chuck portion 65 can be used, for example, as space for connecting wiring, piping, and the like for operating the chuck portion 65. This improves the degree of freedom in arranging the wiring, piping, and the like for operating the chuck portion 65.

[0091] (4) The lid operating device 142 of the fourth aspect is the lid operating device 142 of (3), further comprising a drive unit 55 that outputs power to rotate the chuck portion 65, and a transmission unit 56 that transmits the power of the drive unit 55 to the chuck portion 65, and the support member 68 has an extension portion 68b that extends from the compliance unit 66 in a planar view to the opposite side of the chuck portion 65 and supports the drive unit 55. With this configuration, there is no need to arrange the drive unit 55 above the chuck unit 65, which reduces the height of the operation unit 53 and prevents the lid operation device 142 from becoming larger in the vertical direction Dh. Furthermore, because there is no need to arrange the drive unit 55 above the chuck unit 65, the space above the chuck unit 65 can be used, for example, as space for connecting wiring, piping, and the like for operating the chuck unit 65. This improves the degree of freedom in arranging the wiring, piping, and the like for operating the chuck unit 65.

[0092] (5) The lid operating device 142 according to the fifth aspect is the lid operating device 142 of (1) or (2), and the positioning portion 52 includes a pressing portion 61 that presses and slides the workpiece W placed on the horizontal surface 51a along the horizontal surface 51a, and a convex portion 62 that protrudes upward from the horizontal surface 51a and abuts against the workpiece W pressed by the pressing portion 61, thereby regulating the displacement of the workpiece W in the horizontal directions Dw, Dd and positioning it. With this configuration, the tray 22 for the workpiece W placed on the horizontal surface 51a can be easily positioned, and the positional deviation of the tray 22 with respect to the operating unit 53 can be minimized.

[0093] (6) The lid operating device 142 according to the sixth aspect is the lid operating device 142 of (5), and includes a sensor 57 that detects that the tray 22 is placed on the horizontal surface 51a. With this configuration, the sensor 57 can detect the tray 22 of the workpiece W placed on the horizontal surface 51a, and the placement of the workpiece W on the horizontal surface 51a can be used as a trigger to start the operation of the lid 31. Therefore, compared to the case where a timer or the like is used, it is possible to shorten the time from when the workpiece W is placed to when the process proceeds to the operation of the lid 31.

[0094] (7) The lid operating device 142 of the seventh aspect is any one of the lid operating devices 142 of (1) to (6), wherein the tray 22 has a lid placing portion 25b that is arranged at a position offset in the horizontal direction Dd relative to the container 30 and on which the lid 31 can be placed, and the stage 51 has a displacement mechanism 63 that horizontally moves the horizontal surface 51a in a direction in which the lid placing portion 25b and the upper end of the container 30 move away from each other in a planar view. With this configuration, the lid 31 removed from the container 30 can be placed on the lid placement portion 25b without moving it in the horizontal direction Dd. Therefore, if liquid is attached to the removed lid 31, the liquid attached to the lid 31 can be prevented from scattering around.

[0095] (8) The lid operating device 142 according to the eighth aspect is a lid operating device 142 for operating the lid 31 of a workpiece W, which includes a screw-type lid 31 that rotates around an axis O1 extending in the vertical direction D3, Dh, a container 30 to which the lid 31 can be attached and detached at the top end, and a tray 22 that supports the container 30 from below and has a lid placing portion 25b on which the lid 31 can be placed at a position offset in the horizontal direction D2, Dd relative to the container 30, and the lid operating device 142 includes a stage 51 having a horizontal surface 51a on which the tray 22 can be placed, and a position of the tray 22 placed on the stage 51 in the horizontal direction Dw, Dd. The stage 51 is provided with a positioning unit 52 that performs positioning, an operating unit 53 that operates the lid 31 of the work W positioned by the positioning unit 52, and a lifting unit 54 that displaces the operating unit 53 in the vertical direction Dh, and the operating unit 53 is displaceable between a first position in which it grips the lid 31 and a second position in which it does not grip the lid 31, and is provided with a chuck unit 65 that is rotatable around the axes O1 and O2, and the stage 51 is provided with a displacement mechanism 63 that horizontally moves the horizontal surface 51a in a direction in which the lid placing portion 25b and the upper end of the container 30 move away from each other in a plan view. This configuration facilitates the operation of attaching and detaching the lid 31 to and from the container 30 placed on the tray 22. Furthermore, the lid 31 removed from the container 30 placed on the tray 22 can be placed on the lid placement portion 25b without moving it in the horizontal direction Dd. Therefore, if liquid is attached to the removed lid 31, it is possible to prevent the liquid attached to the lid 31 from scattering around.

[0096] (9) A cell culture system 100 according to a ninth aspect includes a container 30 having a screw-on lid 31 at the top end thereof that rotates around an axis O1 extending in the vertical directions D3 and Dh, a tray 22 that supports the container 30 from below, a stocker 110 that forms a storage area R1 for storing a work W, an incubator 130 that forms a culture area R3 in which a culture operation is performed on the work W, and a lid operation device 142 that is any one of (1) to (8). The system comprises a clean bench 140 that forms an operation area R4, conveying devices 113, 143 that convey the work W between the stocker 110, the incubator 130 and the clean bench 140, and a pass box 150 that is provided between the incubator 130 and the clean bench 140 and that moves the work W back and forth between the liquid operation area R4 and the culture area R3 while maintaining the culture area R3 and the liquid operation area R4 in a non-communicating state. By configuring in this manner, when cell culture is performed using a work W that includes a lid 31, a container 30, and a tray 22 having a lid placement portion 25b on which the lid 31 can be placed at a position offset in the horizontal directions D2 and Dd from the container 30, the lid 31 can be operated smoothly using a simply configured lid operating device 142, thereby preventing the clean bench 140 and cell culture system 100 from becoming larger due to the installation of the lid operating device 142. [Explanation of symbols]

[0097] 21...Workpiece body 22...Work tray 22...Tray 23...Placement plate 23a...Placement surface 24...Support part 25...Upper frame 25a...Through hole 25b…Lid rest part 26…Fixed structure 27,27A,27B…corner 28...recess 28a...first pressing surface 28b…Second pressing surface 30…Container part (container) 31…Lid (lid) 32...Opening 33...Male thread 51...Stage 51a...Horizontal surface 52... Positioning part 53...Operation unit 54...Lifting section 55...Drive unit 56...Transmission section 57...Sensor 58...Frame section 58a…legs 58b…beam part 61...Pressing part 62...Convex part 62a…First regulatory aspect 62b…Second regulatory surface 63...Displacement mechanism 65...Chuck part 65a...Claw part 66...Compliance Unit 67...Cushion part 68...Support member 68a...Main body 68b…Extension part 69...Drive pulley 70...Driven pulley 71...Belt 73...Elevation unit body 74...Lifting piece 100...Cell culture system 110... Stocker 110a... Stocker door 112...Work storage device 113,143...Transportation equipment 113...Transportation equipment 130...Incubator 140...Clean bench 141...Dispensing device 142…Lid operating device 144...Workbench 150...Pass box 150a...First pass door 150b...Second pass door L1...Diagonal O1,O2,O3…axis line R1: Storage area R3: Cultivation area R4: Liquid handling area W…Work

Claims

1. A lid operating device for operating the lid of a workpiece, the lid having a screw-type lid that rotates around an axis extending in the vertical direction, a container to which the lid can be attached and detached at the upper end, and a tray that supports the container from below, a stage having a horizontal surface on which the tray can be placed; a positioning unit that positions the tray placed on the stage in a horizontal direction; an operating unit for operating the lid of the workpiece positioned by the positioning unit; a lifting unit that displaces the operation unit in the up and down direction, The operation unit includes: a chuck portion that is displaceable between a first position that grips the lid and a second position that does not grip the lid and that is rotatable around the axis; a compliance unit supported by the lifting unit and supporting the chuck unit so as to be displaceable in a horizontal direction, thereby absorbing positional deviation of the lid relative to the chuck unit; A lid operating device comprising:

2. The operation section further includes a cushion section provided between the compliance unit and the chuck section, which allows the chuck section to be displaced in the up and down direction in accordance with the rotation operation of the lid. The lid operating device according to claim 1 .

3. The lifting unit is a lifting piece to which the compliance unit is fixed and which is movable in the up and down direction; a lifting unit body that moves the lifting piece in the up and down direction, The operation unit includes: A support member extending horizontally across the compliance unit and the chuck portion is provided. The lid operating device according to claim 1 or 2.

4. a drive unit that outputs power to rotate the chuck unit; a transmission unit that transmits the power of the drive unit to the chuck unit, The support member is an extension portion that extends from the compliance unit to the opposite side of the chuck portion in a plan view and supports the drive portion; The lid operating device according to claim 3.

5. The positioning unit is a pressing unit that presses and slides the workpiece placed on the horizontal surface along the horizontal surface; a protrusion that protrudes upward from the horizontal surface and abuts against the workpiece pressed by the pressing portion, thereby restricting horizontal displacement of the workpiece and positioning the workpiece; Equipped with The lid operating device according to claim 1 or 2.

6. A sensor is provided to detect when the tray is placed on the horizontal surface. The lid operating device according to claim 5.

7. the tray includes a lid placement portion that is horizontally offset from the container and on which the lid can be placed, The stage includes a displacement mechanism that moves the horizontal surface in a direction in which the lid placement portion and the upper end of the container move away from each other in a plan view. The lid operating device according to claim 1 or 2.

8. A lid operating device for operating the lid of a workpiece, the lid operating device comprising: a screw-type lid that rotates around an axis extending in the vertical direction; a container to which the lid can be attached and detached at the top end; and a tray that supports the container from below and has a lid placing portion on which the lid can be placed at a position horizontally offset from the container, a stage having a horizontal surface on which the tray can be placed; a positioning unit that positions the tray placed on the stage in a horizontal direction; an operating unit for operating the lid of the workpiece positioned by the positioning unit; a lifting unit that displaces the operation unit in the up and down direction, the operating portion is displaceable between a first position where the lid is gripped and a second position where the lid is not gripped, and includes a chuck portion that is rotatable around the axis; The stage includes a displacement mechanism that moves the horizontal surface in a direction in which the lid placement portion and the upper end of the container move away from each other in a plan view. Lid operating device.

9. a stocker that forms a storage area for storing workpieces, the stocker including a container having a screw-on lid at its upper end that rotates around an axis extending in the vertical direction, and a tray that supports the container from below; an incubator forming a culture area in which a culture operation is performed on the work; a clean bench comprising the lid operating device according to claim 1 or 8 and forming a liquid handling area in which a dispensing operation is performed on the workpiece; a transport device that transports the workpiece among the stocker, the incubator, and the clean bench; a pass box provided between the incubator and the clean bench, for moving the workpiece between the liquid handling area and the culture area while maintaining the culture area and the liquid handling area in a non-communicating state; A cell culture system comprising:

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