Incubator, method for moving shaking stage, and program

Abstract

To provide an incubator capable of improving arrangement efficiency of an internal space, a method for moving a shaking stage, and a program.SOLUTION: The incubator includes a casing that forms an internal space, a plurality of shaking stages that are disposed in the internal space and are provided so as to be movable in the internal space in a horizontal direction and on which a workpiece capable of accommodating a culture medium is placed, a pass box provided so as to be in contact with a side wall of the casing from the outside in the horizontal direction and allowing access to the internal space, and a conveyance mechanism provided in the pass box and capable of conveying the workpiece to a shaking stage located in an exchange area facing the pass box in the internal space. By moving each shaking stage, the selected one shaking stage is disposed in the exchange area.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an incubator, a method for moving a shaking stage, and a program. [Background technology]

[0002] Patent Document 1 discloses an automated culture facility, which includes multiple cell culture rooms (incubators), a raw material processing room, and a product processing room. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4803196 Summary of the Invention [Problem to be solved by the invention]

[0004] In the automated culture facility described above, the movement of workpieces, such as flasks containing culture media, within the incubator is typically performed by a robot also located within the incubator. The transport robot approaches the shaking stage on which the workpiece is placed, grasps the workpiece, and moves to the exit of the incubator. In this case, it is necessary to secure space within the incubator for the robot to move, which makes it difficult to efficiently utilize the internal space of the incubator. For example, it has been difficult to install the required number of shaking stages without increasing the size of the incubator.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide an incubator, a method for moving a shaking stage, and a program that can improve the layout efficiency of the internal space. [Means for solving the problem]

[0006] In order to solve the above problems, the incubator of the present disclosure comprises a casing that forms an internal space, a plurality of shaking stages that are arranged in the internal space and are movable horizontally in a moving area within the internal space, on which workpieces capable of containing culture media are placed, a pass box that is arranged so as to contact the side wall of the casing from the outside in the horizontal direction and that allows access to the internal space, and a transport mechanism that is arranged within the pass box and is capable of transporting the workpieces to the shaking stages that are located in an exchange area facing the pass box in the moving area, and by moving each of the shaking stages, a selected one of the shaking stages is positioned in the exchange area.

[0007] a transfer mechanism provided within the pass box and capable of transferring the work to the shaking stages located in an exchange area facing the pass box in the transfer area; and wherein each of the shaking stages moves so that a selected one of the shaking stages is placed in the exchange area. The transfer mechanism includes the steps of: identifying one of the shaking stages on which the work to be replaced is placed; after identifying the shaking stage, moving the identified shaking stage to the exchange area; and determining whether the identified shaking stage has been moved to the exchange area. When the identified shaking stage has been moved to the exchange area, the transfer mechanism terminates the movement of the shaking stage.

[0008] The program according to the present disclosure also includes a casing that forms an internal space, a plurality of shaking stages that are arranged in the internal space and are movable horizontally within a moving area within the internal space, and on which workpieces capable of containing culture media are placed, a pass box that is arranged in contact with a side wall of the casing from the outside in the horizontal direction and is accessible to the internal space, and a transport mechanism that is arranged within the pass box and is capable of transporting the workpiece to the shaking stage that is located in an exchange area facing the pass box in the moving area, wherein each shaking stage moves so that a selected one of the shaking stages is placed in the exchange area, and the program causes a computer equipped with a control device for an incubator to execute the following steps: identify one of the shaking stages on which the workpiece to be replaced is placed; after identifying the shaking stage, move the identified shaking stage to the exchange area; and determine whether the identified shaking stage has been moved to the exchange area; and if the identified shaking stage has been moved to the exchange area, terminate the movement of the shaking stage. [Effects of the Invention]

[0009] According to the incubator, the shaking stage moving method, and the program of the present disclosure, the layout efficiency of the internal space can be improved. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic configuration diagram of an incubator according to a first embodiment of the present disclosure. [Figure 2] FIG. 2 is a diagram showing the air intake section according to the first embodiment of the present disclosure as viewed from above. [Figure 3] FIG. 2 is a diagram showing an arrangement of multiple shaking stages according to the first embodiment of the present disclosure. [Figure 4] FIG. 2 is a functional block diagram of a control device according to the first embodiment of the present disclosure. [Figure 5] 10 is a flowchart showing a procedure for moving the shaking stage according to the first embodiment of the present disclosure. [Figure 6] 10A to 10C are diagrams illustrating a procedure for moving a shaking stage according to the first embodiment of the present disclosure. [Figure 7] 10A to 10C are diagrams illustrating a procedure for moving a shaking stage according to the first embodiment of the present disclosure. [Figure 8] FIG. 10 is a schematic configuration diagram of an incubator according to a modified example of the first embodiment of the present disclosure. [Figure 9] FIG. 10 is a schematic configuration diagram of an incubator according to a second embodiment of the present disclosure. [Figure 10] FIG. 10 is a top view of an air intake section according to a second embodiment of the present disclosure. [Figure 11] FIG. 10 is a schematic configuration diagram of an incubator according to a third embodiment of the present disclosure. [Figure 12] FIG. 10 is a diagram showing the internal configuration of a casing according to a third embodiment of the present disclosure, as viewed from above. [Figure 13] FIG. 10 is a schematic configuration diagram of an incubator according to a fourth embodiment of the present disclosure. [Figure 14] FIG. 10 is a diagram showing an arrangement of multiple shaking stages according to a fourth embodiment of the present disclosure. [Figure 15] FIG. 10 is a top view of a porous partition plate according to a fourth embodiment of the present disclosure. [Figure 16] FIG. 10 is a view of a shaking stage according to a fourth embodiment of the present disclosure, viewed from below. [Figure 17] FIG. 10 is a diagram showing a plurality of shaking devices and a moving mechanism according to a fourth embodiment of the present disclosure. [Figure 18] FIG. 10 is a side view of a shaking device according to a fourth embodiment of the present disclosure. [Figure 19] FIG. 10 is a top view of a rotation mechanism of a shaking device according to a fourth embodiment of the present disclosure. [Figure 20] FIG. 10 is a side view of a movement mechanism according to a fourth embodiment of the present disclosure. [Figure 21] 10A to 10C are diagrams illustrating the operation of a shaking device according to a fourth embodiment of the present disclosure. [Figure 22] 10A to 10C are diagrams illustrating the operation of a shaking device according to a fourth embodiment of the present disclosure. [Figure 23] 10A to 10C are diagrams illustrating the operation of a shaking device according to a fourth embodiment of the present disclosure. [Figure 24] FIG. 10 is a view of a shaking stage according to a modified example of the fourth embodiment of the present disclosure, viewed from below. [Figure 25] FIG. 10 is a schematic configuration diagram of an incubator according to a fifth embodiment of the present disclosure. [Figure 26] FIG. 10 is a functional block diagram of a control device according to a fifth embodiment of the present disclosure. [Figure 27] 13 is a flowchart showing a procedure for moving a shaking stage according to a fifth embodiment of the present disclosure. [Figure 28] FIG. 10 is a schematic configuration diagram of an incubator according to another embodiment of the present disclosure. [Figure 29] FIG. 2 is a hardware configuration diagram according to each embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0011] First Embodiment (Incubator configuration) An incubator 1 according to a first embodiment of the present disclosure will be described below with reference to FIGS. 1 to 7. Hereinafter, the vertical up-down direction Dv will be simply referred to as the up-down direction Dv. Hereinafter, one horizontal direction will be referred to as the horizontal first direction Dh1, and a direction intersecting the horizontal first direction Dh1 among the horizontal directions will be referred to as the horizontal second direction Dh2. In this embodiment, a case will be described in which the horizontal first direction Dh1 and the horizontal second direction Dh2 are orthogonal to each other. Note that the horizontal first direction Dh1 and the horizontal second direction Dh2 do not have to be orthogonal to each other.

[0012] The incubator 1 is a facility that performs unmanned and automatic cell culture using a workpiece 2 such as a flask, well plate, or test tube. The workpiece 2 contains cells and a culture solution containing a medium to which nutrients necessary for cell growth have been added. The incubator 1 constitutes, for example, a part of an automated cell culture system.

[0013] As shown in Figure 1, the incubator 1 includes a work 2, a tray 4, a casing 20, a porous partition plate 30, a shaker 40, a moving mechanism 50, a pass box 5 (see Figure 2), a conveying mechanism 6 (see Figure 3), an air supply section 60, an exhaust section 7, and a control device 70.

[0014] (Work) The work 2 is a container capable of containing a medium in which cells are cultured. In this embodiment, a flask is used as the work 2, but this is not limited thereto. The work 2 may also be a test tube or a well plate. The work 2 has an opening at the top. The work 2 is provided with a cap 3 that closes the opening. An air hole is formed in the cap 3, allowing air to move inside and outside the work 2.

[0015] (tray) The tray 4 is a container that stably holds the workpieces 2. The tray 4 of this embodiment holds a plurality of workpieces 2 together.

[0016] (Casing) The casing 20 defines an internal space 21. The casing 20 is formed, for example, in the shape of a rectangular parallelepiped. The casing 20 has a lower wall 22 extending horizontally, an upper wall 23 extending horizontally above the lower wall 22, and a side wall 24 connecting the lower wall 22 and the upper wall 23 in the up-down direction Dv. The lower wall 22 and the upper wall 23 are formed in a rectangular shape having edges extending in a first horizontal direction Dh1 and edges extending in a second horizontal direction Dh2 when viewed from above. The dimensions of the casing 20 can be appropriately modified depending on the arrangement and number of shakers 40 housed therein. As shown in FIG. 3, the internal space 21 is provided with a movement area 25 and a non-intrusion area 26.

[0017] (Moving area) The moving area 25 is an area in which a plurality of shakers 40, which will be described later, can move. The moving area 25 is provided on a perforated partition plate 30. The moving area 25 is provided in the shape of a rectangular ring along the side wall 24 of the casing 20. A stopping area 27 is provided in the moving area 25.

[0018] (Stop area) The stopping area 27 is an area where the shaker 40 stops. In the illustrated example, the stopping areas 27 are arranged in a circular shape. Eight stopping areas 27 are provided. One of the stopping areas 27 is an exchange area 27a facing the pass box 5 described below.

[0019] (non-intrusive area) The non-intrusion area 26 is an area into which the shaker 40 does not enter. The non-intrusion area 26 is provided on the perforated partition plate 30. The non-intrusion area 26 is located inside the moving area 25 when viewed from above. The non-intrusion area 26 is surrounded by the moving area 25.

[0020] (Perforated partition plate) The porous partition plate 30 divides the internal space 21 in the vertical direction Dv. The porous partition plate 30 has a plurality of holes penetrating in the vertical direction Dv. The porous partition plate 30 of this embodiment is a grating in which steel materials are welded in a grid pattern. Note that the porous partition plate 30 may also be a punched plate formed by punching a metal plate by punching.

[0021] (shaker) A plurality of shakers 40 are arranged in the internal space 21. The shakers 40 are located above the perforated partition plate 30. The shakers 40 are devices that shake the culture medium in the work 2. The shakers 40 are arranged so as to be movable horizontally in the moving area 25 in the internal space 21. The plurality of shakers 40 are arranged in a ring shape on the moving area 25. The number of shakers 40 is one less than the number of stopping areas 27. For example, seven shakers 40 are provided. One shaker 40 is arranged in each stopping area 27, and one stopping area 27 is an empty area 27b where no shaker 40 is arranged. The shaker 40 has a shaker main body 41 and a shaking stage 42.

[0022] (Shaker body) The shaker body 41 is placed on a moving mechanism 50, which will be described later. The shaker body 41 contains cables, a drive motor, and the like.

[0023] (Shaking stage) The shaking stage 42 is attached to the shaker body 41. A plurality of trays 4 containing the workpieces 2 are placed on the shaking stage 42. The shaking stage 42 is shaken in the horizontal direction by the shaker body 41. (For example, the shaking stage 42 performs eccentric motion.) As the shaking stage 42 shakes in the horizontal direction, the culture medium in the workpieces 2 on the shaking stage 42 is shaken.

[0024] The shaking stage 42 is formed in a rectangular shape. The shaking stage 42 is provided in the exchange area 27a so as to be rotatable about a rotation axis Or that extends in the vertical direction Dv and passes through the center of the shaking stage 42. In this embodiment, the shaking stage 42 rotates about the rotation axis Or by the shaker main body 41. Note that the entire shaker 40 may rotate about the rotation axis Or.

[0025] (moving mechanism) The moving mechanism 50 moves the multiple shaking stages 42 along the moving area 25. The moving mechanism 50 is, for example, a mechanism such as a lane or conveyor mounted on the porous partition plate 30. In this embodiment, the moving mechanism 50 moves the shaking stages 42 together with the shaker body 41. The moving mechanism 50 moves the shaker 40 adjacent to the empty area 27b to the empty area 27b on the moving area 25. In this manner, the moving mechanism 50 moves the shakers 40 one by one in a circular motion. As each shaking stage 42 is moved by the moving mechanism 50, the selected shaking stage 42 is placed in the exchange area 27a. Note that the moving mechanism 50 may be a drive wheel attached to each shaker 40. However, in order to maintain the cleanliness of the inside of the casing 20, the moving mechanism 50 is preferably a mechanism such as a lane or conveyor mounted on the porous partition plate 30, which is less likely to scatter dust.

[0026] (pass box) The pass box 5 is provided so as to contact the side wall 24 of the casing 20 from the horizontal outer side. The pass box 5 of this embodiment is disposed near a corner of the casing 20 when viewed from above, and is attached to the side wall 24 from one side in the horizontal first direction Dh1. The pass box 5 is accessible to the internal space 21.

[0027] (Transport mechanism) The transport mechanism 6 is provided in the pass box 5. The transport mechanism 6 is a device capable of transporting the workpiece 2 to the shaking stage 42 located in the exchange area 27a. One example of the transport mechanism 6 is a robot arm that grips the tray 4 on which the workpiece 2 is placed, but the transport mechanism 6 is not limited to a robot arm. The transport mechanism 6 may be, for example, a mechanism that incorporates a mechanism that scoops up the tray 4 from below or a mechanism that attracts the tray 4 with a magnet into a linear motion mechanism or a single-axis slider mechanism.

[0028] (Air supply part) The air intake section 60 supplies air from above the shaking stage 42. The air intake section 60 is provided above the shaking stage 42. The air intake section 60 of this embodiment guides air from above the casing 20 into the casing 20 and supplies it to each shaking stage 42. The air intake section 60 has a central air intake section 61, branch air intake sections 62, a bottom plate 63, and a filter 64.

[0029] (Central air supply section) The central air intake section 61 is provided in the internal space 21 of the casing 20. The central air intake section 61 is provided inside the moving area 25 when viewed from the vertical direction Dv. The central air intake section 61 is a duct formed in a rectangular tube shape that extends downward from the upper wall 23 of the casing 20. The central air intake section 61 guides air outside the casing 20 into the internal space 21. A filter 64 is provided above the central air intake section 61. The filter 64 collects contaminants such as dust contained in the air. The filter 64 is, for example, a HEPA filter. A blower fan (not shown) that blows air downward, for example, is provided further above the filter 64.

[0030] (Branch air supply section) The branch air supply section 62 distributes air from the central air supply section 61 to each shaking stage 42 inside the casing 20. A plurality of branch air supply sections 62 (four in the illustrated example) are provided surrounding the central air supply section 61 when viewed from above. When viewed from above, each branch air supply section 62 is an L-shaped duct extending from the central air supply section 61. The branch air supply section 62 has a blowing section 65, a first connecting section 66, and a second connecting section 67.

[0031] (Bubble section) Two blowing sections 65 are provided for each branch air supply section 62. In this embodiment, eight blowing sections 65 are provided for one central air supply section 61. These eight blowing sections 65 are arranged in a ring shape above and along the movement area 25 in the internal space 21. The blowing sections 65 are provided directly above each stop area 27. The blowing sections 65 have blowing openings 65a that open downward. The blowing openings 65a blow air sent from the central air supply section 61 to the shaking stage 42 below.

[0032] (First connection part) The first connection portion 66 is a cylindrical duct that extends horizontally, and connects the central air supply portion 61 and the blowing portion 65 together.

[0033] (Second connection part) The second connection portion 67 is a cylindrical duct that extends horizontally, and connects the two blowing portions 65 that make up one branch air supply portion 62.

[0034] (bottom plate) The bottom plate 63 is provided opposite the lower opening of the central air supply section 61. The bottom plate 63 converts the downward flow sent from the central air supply section 61 into a horizontal direction and guides it to each branch air supply section 62.

[0035] (Exhaust section) The exhaust section 7 exhausts air from the internal space 21 of the casing 20 to the outside of the casing 20. The exhaust section 7 is provided below the porous partition plate 30 and at the lower end of the side wall 24 of the casing 20. The exhaust section 7 is also provided with a suction fan (not shown) that exhausts air from the internal space 21 to the outside of the casing 20.

[0036] (Control device) The control device 70 controls the movement of the multiple shaking stages 42. In this embodiment, the shaking stages 42 are provided as part of the shaker 40. Therefore, the control device 70 controls the movement of the multiple shakers 40. The control device 70 has functional units, including an acquisition unit 71, an identification unit 72, an operation unit 73, and a determination unit 74.

[0037] The acquisition unit 71 acquires a command to start replacing the workpiece 2 from an external device or the like. The identifying unit 72 identifies one shaking stage 42 on which the workpiece 2 to be replaced is placed. The operating unit 73 moves the multiple shaking stages 42 . The determination unit 74 determines whether the shaking stage 42 on which the workpiece 2 to be replaced is placed has been moved to the replacement area 27a.

[0038] (How to move the shaking stage) Next, a method for moving the shaking stage 42 will be described with reference to the flow chart of FIG. First, the acquisition unit 71 acquires an operation command to start replacing the workpiece 2 from an external device or various devices inside the casing 20 (step S1). Next, the identification unit 72 identifies the shaking stage 42 on which the workpiece 2 to be replaced is placed based on the information included in the operation command (step S2). Next, the operation unit 73 moves the multiple shaking stages 42 and moves the shaking stage 42 identified by the identification unit 72 to the replacement area 27a (step S3).

[0039] The movement of the shaking stage 42 in step S3 will be described with reference to Figures 6 and 7. (Note that the workpiece 2 and tray 4 are omitted from Figures 6 and 7.) For example, as shown in Figure 6, the shaking stage 42 located adjacent to the empty area 27b in the counterclockwise direction moves to the empty area 27b. As the shaking stage 42 moves, a new empty area 27b is created, as shown in Figure 7. As the shaking stage 42 moves to the empty area 27b one after another in the counterclockwise direction, the multiple shaking stages 42 rotate and move on the movement area 25.

[0040] After step S3, the determination unit 74 determines whether the identified agitation stage 42 has been moved to the exchange area 27a (step S4). If the identified agitation stage 42 has not been moved to the exchange area 27a (step S4; NO), the movement of the agitation stage 42 continues. If the identified agitation stage 42 has been moved to the exchange area 27a (step S4; YES), the operation unit 73 stops the movement mechanism 50, and the movement of the agitation stage 42 is terminated. In this way, the movement of the agitation stage 42 is completed. Thereafter, the transport mechanism 6 in the pass box 5 takes out the workpiece 2 from the shaking stage 42 in the exchange area 27a and exchanges it for a new workpiece 2.

[0041] (Air flow inside the incubator) Next, the air flow inside the incubator 1 will be described with reference to Figure 1. In Figure 1, the air flow is shown by arrows. As shown in FIG. 1 , for example, by operating a blower fan (not shown) arranged above the central air supply section 61, a downward flow is generated within the central air supply section 61. This downward flow is converted into a horizontal flow by the bottom plate 63 and sent to the branch air supply section 62. The air sent to the branch air supply section 62 is supplied to the shaking stage 42 below from the blowing section 65. The air then passes through the porous partition plate 30 and is sent to the space below the porous partition plate 30. In addition, because a suction fan (not shown) provided in the exhaust section 7 is operating, the air sent below the porous partition plate 30 is exhausted from the exhaust section 7 to the outside of the casing 20. In this manner, air flows within the incubator 1.

[0042] (Action and effect) The incubator 1 of this embodiment can achieve the following effects.

[0043] In this embodiment, the incubator 1 includes a casing 20, a plurality of shaking stages 42, a pass box 5, and a transport mechanism 6. The casing 20 defines an internal space 21. The shaking stage 42 is disposed in the internal space 21 and is provided so as to be movable horizontally in a transfer area 25 within the internal space 21. A workpiece 2 capable of accommodating a culture medium is placed on the shaking stage 42. The pass box 5 is provided so as to contact the side wall 24 of the casing 20 from the outside in the horizontal direction. The pass box 5 is accessible to the internal space 21. The transport mechanism 6 is provided within the pass box 5. The transport mechanism 6 is capable of loading and unloading the workpiece 2 to and from shaking stages 42 located in an exchange area 27a facing the pass box 5 in the transfer area 25. As each shaking stage 42 moves, a selected shaking stage 42 is positioned in the exchange area 27a.

[0044] According to the above configuration, the shaking stage 42 on which the workpiece 2 to be replaced is placed moves to the replacement area 27a. Therefore, there is no need to provide movement space for the transport mechanism 6 in the internal space 21 of the casing 20, and the internal space 21 can be used without waste. This improves the layout efficiency of the internal space 21. Therefore, the required number of shaking stages 42 can be installed without increasing the size of the casing 20. This also makes it easier to maintain the transport mechanism 6. Furthermore, since the shaker 40 in the replacement area 27a can be easily removed from the pass box 5, maintenance of the shaker 40 is also easier.

[0045] In this embodiment, the moving area 25 is provided in an annular shape along the side wall 24 of the casing 20 .

[0046] This makes it possible to move all of the shaking stages 42 to the exchange area 27a simply by providing a relatively simple mechanism (for example, the above-mentioned moving mechanism 50) for moving the multiple shaking stages 42 in a circular manner.

[0047] In this embodiment, the shaking stage 42 is provided in the exchange area 27a so as to be rotatable about a rotation axis Or that extends in the vertical direction Dv and passes through the shaking stage 42.

[0048] This allows the workpiece 2 to be replaced to be moved to a position where the transport mechanism 6 can easily take it out.

[0049] The incubator 1 is equipped with an air supply section 60 that supplies air from above the shaking stage 42. The air supply section 60 has a central air supply section 61 and a blowing section 65. The central air supply section 61 is provided inside the moving area 25 when viewed from the vertical direction Dv in the internal space 21. The central air supply section 61 guides air outside the casing 20 into the internal space 21. A plurality of blowing sections 65 are arranged in a ring shape above and along the moving area 25 in the internal space 21. The blowing sections 65 blow the air sent from the central air supply section 61 downward.

[0050] This allows the incubator 1 to supply air from directly above each shaking stage 42. This makes it possible to supply fresh air that has not passed through other shaking stages 42 to each workpiece 2 on the shaking stage 42. It also makes it possible to supply air from above the casing 20 that is less contaminated with dust and the like to each shaking stage 42.

[0051] The shaking stage moving method of this embodiment includes the steps of: a step (step S2) in which the identifying unit 72 identifies one shaking stage 42 on which the workpiece 2 to be replaced is placed; a step (step S3) in which the operating unit 73 moves the identified shaking stage 42 to the replacement area 27a after the shaking stage 42 has been identified; and a step (step S4) in which the determining unit 74 determines whether the identified shaking stage 42 has been moved to the replacement area 27a. If the identified shaking stage 42 has been moved to the replacement area 27a (step S4; YES), the operating unit 73 ends the movement of the shaking stage 42.

[0052] This allows the shaking stage 42 on which the replacement object is placed to be automatically moved to the replacement area 27a.

[0053] (Modification of the first embodiment) Next, a modified example of the first embodiment will be described with reference to FIG. 8, in this modification, the blowing section 65 has an upper plate 65b provided above the blowing opening 65a. The upper plate 65b is inclined so that the further away from the central air supply section 61 in the horizontal direction the lower the position of the upper plate 65b. This allows the blowing section 65 to deliver air uniformly throughout the entire area of ​​the shaking stage 42.

[0054] In the above-described first embodiment, the case where only one stage of the porous partition plate 30 is provided inside the casing 20 has been described, but the present invention is not limited to this. Multiple stages (for example, three stages) of the porous partition plate 30 may be provided inside the casing 20 in the vertical direction Dv, and a shaker 40 may be placed on each of the porous partition plates 30.

[0055] Second Embodiment An incubator 101 according to a second embodiment of the present disclosure will be described below with reference to Figures 9 and 10. Components common to the above-described embodiments will be given the same names and reference numerals, and descriptions thereof will be omitted as appropriate. As with the first embodiment, the incubator 101 of this embodiment constitutes, for example, a part of an automated cell culture system.

[0056] As shown in Figure 9, the incubator 101 includes a work 2, a tray 4, a casing 20, a porous partition plate 30, a shaker 40, a moving mechanism 50, a pass box 5 (see Figure 10), a conveying mechanism 6 (see Figure 10), an air supply section 160, an exhaust section 7, and a control device 70.

[0057] (Air supply part) The air supply unit 160 supplies air from above the shaking stage 42. The air supply unit 160 is provided above the shaking stage 42. The air supply unit 160 has a peripheral air supply unit 161, a blowing unit 162, and a connecting pipe 163.

[0058] (Outer air intake section) The outer peripheral air intake section 161 is provided so as to surround the side walls 24 of the casing 20 from the outside when viewed from the up-down direction Dv. The outer peripheral air intake section 161 is, for example, a rectangular parallelepiped chamber. The outer peripheral air intake section 161 guides air outside the casing 20 into the internal space 21. Inside the outer peripheral air intake section 161, a filter (for example, a HEPA filter) that captures contaminants such as dust, a blower fan, etc. are provided. In this embodiment, one outer peripheral air intake section 161 is provided on each side wall 24 of the casing 20.

[0059] (Bubble section) The blowing section 162 is provided in the internal space 21 of the casing 20. A plurality of blowing sections 162 are arranged in a ring shape above the moving area 25 along the moving area 25. In this embodiment, eight blowing sections 162 are provided in the internal space 21. The blowing sections 162 are provided directly above each stopping area 27. The blowing sections 162 have blowing openings 162a that open downward. The blowing openings 162a are ducts that blow air sent from the outer peripheral air supply section 161 to the shaking stage 42 below.

[0060] (Connecting pipe) The connecting pipes 163 connect the outer circumferential air supply section 161 and the blowing section 162. The connecting pipes 163 extend horizontally from each blowing section 162 toward the outside of the casing 20. They penetrate the side wall 24 of the casing 20. Two connecting pipes 163 extending from two blowing sections 162 facing each other in the horizontal direction are connected to one outer circumferential air supply section 161. The connecting pipes 163 guide air from the outer circumferential air supply section 161 to the blowing section 162.

[0061] (Air flow inside the incubator) Next, the air flow inside the incubator 101 will be described with reference to Fig. 9. In Fig. 9, the air flow is shown by arrows. 9, for example, by operating a blower fan (not shown) arranged inside the outer peripheral air supply section 161, air is sent from the outer peripheral air supply section 161 to the blowing section 162. The air sent to the blowing section 162 is supplied from the blowing section 162 to the shaking stage 42 below. Thereafter, the air passes through the porous partition plate 30 and is sent to the space below the porous partition plate 30. In addition, since a suction fan (not shown) provided in the exhaust section 7 is operating, the air sent below the porous partition plate 30 is exhausted from the exhaust section 7 to the outside of the casing 20. In this manner, air flows inside the incubator 101.

[0062] (Action and effect) The incubator 101 of this embodiment has the same configuration as the above-described embodiment and can achieve the same effects as the above-described embodiment. Furthermore, the incubator 101 of this embodiment can achieve the following effects.

[0063] In this embodiment, the incubator 101 includes an air supply section 160 that supplies air from above the shaking stage 42. The air supply section 160 has a peripheral air supply section 161 and a blowing section 162. The peripheral air supply section 161 is provided so as to surround the side wall 24 of the casing 20 from the outside when viewed from the up-down direction Dv. The peripheral air supply section 161 guides air outside the casing 20 into the internal space 21. A plurality of blowing sections 162 are arranged in a ring shape above and along the movement area 25 in the internal space 21. The blowing section 162 blows the air sent from the peripheral air supply section 161 downward.

[0064] This allows the incubator 101 to supply air from directly above each shaking stage 42. This makes it possible to supply fresh air that has not passed through other shaking stages 42 to each workpiece 2 on the shaking stage 42. In addition, the worker can easily access the outer circumferential air supply section 161. This makes it easy to replace, for example, the filter or blower fan inside the outer circumferential air supply section 161. This makes maintenance of the air supply section 160 easier.

[0065] In the second embodiment described above, the case where only one stage of the porous partition plate 30 is provided inside the casing 20 has been described, but this is not limiting. Multiple stages (for example, three stages) of the porous partition plate 30 may be provided inside the casing 20 in the vertical direction Dv, and a shaker 40 may be placed on each of the porous partition plates 30.

[0066] <Third embodiment> An incubator 201 according to a third embodiment of the present disclosure will be described below with reference to Figures 11 and 12. Components common to the above-described embodiments will be given the same names and reference numerals, and descriptions thereof will be omitted as appropriate. As with the first embodiment, the incubator 201 of this embodiment constitutes, for example, a part of an automated cell culture system.

[0067] As shown in Figure 11, the incubator 201 includes a work 2, a tray 4, a casing 20, a porous partition plate 30, a shaker 40, a moving mechanism 50, a pass box 5 (see Figure 12), a conveying mechanism 6 (see Figure 12), an air supply section 260, an exhaust section 207, a second exhaust section 208 (see Figure 12), and a control device 70.

[0068] (Air supply part) The air intake section 260 is provided so as to surround the side wall 24 of the casing 20 from the outside when viewed from the up-down direction Dv. The air intake section 260 supplies air from above the shaking stage 42. In this embodiment, the air intake section 260 is provided on the entire outer peripheral surface of the side wall 24 of the casing 20 in the circumferential direction, excluding the pass box 5 described below. The air intake section 260 is provided above the porous partition plate 30. In this embodiment, the air intake section 260 is provided above the shaking stage 42. The air intake section 260 may be a duct, or the air intake section 260 itself may be a filter such as a HEPA filter. When the air intake section 260 is a duct, a filter such as a HEPA filter (not shown) is installed inside the air intake section 260. The air intake section 260 is provided with, for example, a blower fan (not shown). The air intake section 260 blows air toward the center of the casing 20. The air intake section 260 blows air downward and in an oblique direction toward the center of the casing 20 as it goes downward.

[0069] (Exhaust section) The exhaust section 207 exhausts air from the internal space 21 of the casing 20 to the outside of the casing 20. The second exhaust section 208 is provided below the porous partition plate 30 and at the lower end of the side wall 24 of the casing 20. The exhaust section 207 is provided inside the moving area 25 in the internal space 21. The exhaust section 207 exhausts air from the internal space 21 upward. The exhaust section 207 is a cylindrical member extending in the up-down direction Dv and having a plurality of holes penetrating horizontally formed throughout. The exhaust section 207 connects the porous partition plate 30 and the upper wall 23 of the casing 20. The exhaust section 207 is formed by connecting a plurality of perforated plates extending in the up-down direction Dv in the circumferential direction. A suction fan (not shown), for example, is provided inside the exhaust section 207. The suction fan draws air from the space outside the exhaust section 207 in the internal space 21. The suction fan blows the sucked air upward and discharges it outside the casing 20. In addition, the exhaust section 207 is provided with a filter (not shown), such as a HEPA filter, that collects contaminants. It is desirable that the inside of the exhaust section 207 be kept at a negative pressure relative to the outside of the exhaust section 207. For this reason, the aperture ratio of the exhaust section 207 is designed to be large enough to maintain this negative pressure inside the exhaust section 207.

[0070] (Second exhaust section) The second exhaust section 208 exhausts air in the internal space 21 of the casing 20 to the outside of the casing 20. The second exhaust section 208 is provided below the porous partition plate 30 and at the lower end of the side wall 24 of the casing 20. The exhaust section 207 is also provided with a suction fan (not shown) that exhausts air in the internal space 21 to the outside of the casing 20.

[0071] (Air flow inside the incubator) Next, the air flow inside the incubator 201 will be described with reference to Fig. 11. In Fig. 11, the air flow is shown by arrows. 11 , for example, by operating a blower fan (not shown) disposed within the air intake section 260, air is sent from the air intake section 260 toward the blowing section. The air sent to the blowing section is supplied from the blowing section to the shaking stage 42 below. Furthermore, since a suction fan (not shown) provided within the exhaust section 207 is operated, air in the internal space 21 is sucked into the exhaust section 207 and discharged above the casing 20. Furthermore, air in the space below the porous partition plate 30 is also discharged from the second exhaust section 208 to the outside of the casing 20 by a suction fan (not shown) provided within the second exhaust section 208. In this manner, air flows within the incubator 201.

[0072] (Action and effect) The incubator 201 of this embodiment has the same configuration as the above-described embodiment and can achieve the same effects as the above-described embodiment. Furthermore, the incubator 201 of this embodiment can achieve the following effects.

[0073] In this embodiment, the incubator 201 includes an air supply unit 260 and an exhaust unit 207. The air supply unit 260 is provided so as to surround the side wall 24 of the casing 20 from the outside when viewed from the vertical direction Dv. The air supply unit 260 supplies air from above the shaking stage 42. The exhaust unit 207 is provided inside the moving area 25 and exhausts air from the internal space 21 upward. The exhaust unit 207 is a cylindrical member extending in the vertical direction Dv and having a plurality of holes formed throughout it that penetrate horizontally.

[0074] This allows the incubator 201 to supply air from directly above each shaking stage 42. This makes it possible to supply fresh air that has not passed through other shaking stages 42 to each workpiece 2 on the shaking stage 42. Also, the air supply section 260 is easily accessible to the worker. This facilitates maintenance of the air supply section 260. Furthermore, since a filter (e.g., a HEPA filter) or an exhaust fan (not shown) can be disposed inside the exhaust section 207, it is possible to prevent the incubator 201 from becoming larger in the vertical direction Dv.

[0075] In this embodiment, the air intake section 260 may blow air downward and in an oblique direction toward the center of the casing 20 as it goes downward.

[0076] This allows the air intake section 260 to blow clean air evenly throughout the entire area inside the casing 20.

[0077] In the third embodiment described above, the case where only one stage of the porous partition plate 30 is provided inside the casing 20 has been described, but this is not limiting. Multiple stages (for example, three stages) of the porous partition plate 30 may be provided inside the casing 20 in the vertical direction Dv, and a shaker 40 may be placed on each of the porous partition plates 30.

[0078] <Fourth embodiment> An incubator 301 according to a fourth embodiment of the present disclosure will be described below with reference to Figures 13 to 23. Components common to the above-described embodiments will be given the same names and reference numerals, and descriptions thereof will be omitted as appropriate. As with the first embodiment, the incubator 301 of this embodiment constitutes, for example, a part of an automated cell culture system.

[0079] As shown in Figure 13, the incubator 301 includes a work 2, a tray 4, a casing 20, a porous partition plate 330 (an example of a partition plate), a shaking stage 340, a shaking device 341, a moving mechanism 350, a pass box 5 (see Figure 14), a conveying mechanism 6 (see Figure 14), an air supply section 360, an exhaust section 307, and a control device 70.

[0080] (Perforated partition plate) As shown in FIG. 15 , the porous partition plate 330 divides the internal space 21 of the casing 20 in the vertical direction. The porous partition plate 330 has shaking holes 331 and movement slits 332 formed therein. The shaking holes 331 are holes through which shaking pins 343, which will be described later, are inserted from below. The same number of shaking holes 331 as the shaking pins 343 are formed in each stopping area 27. In this embodiment, four shaking holes 331 are formed. The multiple shaking holes 331 are arranged in a ring at equal intervals. The movement slits 332 are slits through which moving pins 352, which will be described later, are inserted. The movement slits 332 are formed in a lattice pattern. The movement slits 332 divide the four shaking holes 331 in each stopping area 27.

[0081] (Shaking stage) A plurality of shaking stages 340 are arranged in the internal space 21. The shaking stages 340 are arranged above the porous partition plate 330. The shaking stages 340 are arranged so as to be movable horizontally in the moving area 25 in the internal space 21. These multiple shaking stages 340 are arranged in a ring shape on the moving area 25. The number of shaking stages 340 is one less than the number of stopping areas 27. For example, seven shaking stages 340 are provided. The shaking stage 340 is formed in a rectangular shape. A plurality of trays 4 containing workpieces 2 are placed on the shaking stage 340. The shaking stage 340 performs eccentric movement. The eccentric movement of the shaking stage 340 shakes the culture medium in the workpiece 2 on the shaking stage 340.

[0082] As shown in FIG. 16, first grooves 340a and second grooves 340b are formed on the underside of the shaking stage 340. Shaking pins 343, which will be described later, are inserted into the first grooves 340a. The first grooves 340a are formed, for example, in a circular shape. The number of first grooves 340a is the same as the number of shaking pins 343 (four in this embodiment). The four first grooves 340a are arranged in a rectangular shape. The second grooves 340b are inserted into the second grooves 340b, which will be described later. The second grooves 340b are formed, for example, in a circular shape. The number of second grooves 340b is the same as the number of moving pins 352 (four in this embodiment). The four second grooves 340b are arranged in a rectangular shape. The four second grooves 340b are arranged to surround the four first grooves 340a. The second grooves 340b are provided at the four corners of the shaking stage 340 when viewed from below.

[0083] (Shaker) The shaking device 341 is a device that causes the shaking stage 340 to perform eccentric motion. The shaking device 341 is disposed below the porous partition plate 330 and below the moving area 25. The number of shaking devices 341 provided is equal to or greater than the number of shaking stages 340. As shown in FIG. 17 , in this embodiment, eight shaking devices 341 are provided for seven shaking stages 340. One shaking device 341 is installed below each stopping area 27. As shown in FIG. 18 , the shaking device 341 includes a lifting platform 342, a shaking pin 343, and a rotation mechanism 344.

[0084] (lifting platform) The lifting platform 342 is placed on the bottom wall 22 of the casing 20. The lifting platform 342 is a platform that is extendable in the vertical direction Dv. By extending and contracting the lifting platform 342, a shaking pin 343 (described later) is inserted into and removed from the shaking hole 331.

[0085] (Shaking pin) The shaking pin 343 can be inserted into the shaking stage 340 from below upward and can be pulled out downward. A plurality of shaking pins 343 (four in this embodiment) are provided. Each shaking pin 343 is provided below a corresponding shaking hole 331. The shaking pin 343 is inserted into the first groove 340a of the shaking stage 340 from below. The shaking pin 343 is formed in a cylindrical shape extending in the up-down direction Dv. The shape of the shaking pin 343 can be modified as appropriate.

[0086] (Rotation mechanism) The rotation mechanism 344 synchronously rotates the multiple shaking pins 343 around a second axis O2 (an example of an axis) described below that extends in the vertical direction Dv. As shown in Fig. 18, the rotation mechanism 344 has a rotation shaft 345, a first gear 346, and a second gear 347. The rotation shaft 345 extends upward from the lifting platform 342. The rotation shaft 345 rotates around a first axis O1 that extends in the vertical direction Dv.

[0087] The first gear 346 is provided on the upper end of the rotating shaft 345. The first gear 346 rotates integrally with the rotating shaft 345 around the first axis O1. As shown in FIG. 19 , the second gears 347 are provided on the outer periphery of the first gear 346, and the number of second gears 347 is the same as the number of shaking pins 343 (four in this embodiment). Each second gear 347 meshes with the first gear 346. As the first gear 346 rotates around the first axis O1, each second gear 347 rotates around the second axis O2. The second axis O2 is an axis that passes through the center of the second gear 347 and extends in the up-down direction Dv. Each second gear 347 is provided with one shaking pin 343. When the shaking pin 343 is inserted into the shaking hole 331, the shaking pin 343 rotates within the shaking hole 331 around the second axis O2. The second gear 347 and the shaking pin 343 rotate in the opposite direction to the first gear 346. In one shaking device 341, the rotations of all the second gears 347 are synchronized. Therefore, in one shaking device 341, the rotations of all the shaking pins 343 are synchronized. That is, in one shaking device 341, all the shaking pins 343 are always in the same rotational position. As all the shaking pins 343 rotate in synchronization, the shaking stage 340 into which the shaking pins 343 are inserted performs eccentric motion.

[0088] In this embodiment, the case where four shaking pins 343 are provided has been described, but the number of shaking pins 343 is not limited to this and can be changed as appropriate. In addition, in this embodiment, the case where the rotation mechanism 344 synchronously rotates the multiple shaking pins 343 by a mechanism using gears (first gear 346, second gear 347) has been described, but the mechanism of the rotation mechanism 344 is not limited to this. For example, the rotation mechanism 344 may synchronously rotate the multiple shaking pins 343 by a link mechanism.

[0089] (moving mechanism) The moving mechanism 350 is a mechanism that rotates and moves the multiple shaking stages 340 along the moving area 25. The moving mechanism 350 moves the shaker adjacent to the empty area 27b to the empty area 27b on the moving area 25. In this way, the moving mechanism 350 moves the shakers one by one in a circular motion. As each shaking stage 340 is moved by the moving mechanism 350, a selected shaking stage 340 is placed in the exchange area 27a.

[0090] The moving mechanism 350 is provided on the bottom wall 22 of the casing 20. As shown in FIG. 20, the moving mechanism 350 of this embodiment has moving rails 351 and moving pins 352. The moving rails 351 are provided in a lattice pattern on the bottom wall 22 (see FIG. 17). The moving rails 351 partition each shaking device 341. The moving rails 351 have the same shape as the moving slits 332 of the porous partition plate 330 when viewed from above, and are formed at positions overlapping the moving slits 332. The moving pins 352 extend upward from the moving rails 351.

[0091] The moving pin 352 moves below the moving area 25 along the moving rail 351. The moving pin 352 is provided so as to be extendable and retractable in the vertical direction Dv. This allows the moving pin 352 to move in and out of the moving slit 332 in the vertical direction Dv. A plurality of moving pins 352 (four in this embodiment) are provided. The moving rail 351 is also arranged so that the moving pins 352 moving on the moving rail 351 do not interfere with the shaking stage 340. The moving pin 352 is formed in a cylindrical shape extending in the vertical direction Dv. The shape of the moving pin 352 can be modified as appropriate. The moving pin 352 can be inserted into the shaking stage 340 from below and pulled out downward. The moving pin 352 is inserted into the second groove 340b of the shaking stage 340 from below. With the moving pins 352 inserted into the shaking stage 340, the moving pins 352 move horizontally on the moving rails 351, thereby moving the shaking stage 340 horizontally. At this time, the moving pins 352 move within the moving slits 332, so the moving pins 352 do not interfere with the porous partition plate 330. By the above-mentioned moving mechanism 350, the shaking stage 340 is transported above the shaking device 341, as shown in FIG. The moving mechanism 350 may be a drive wheel attached to each shaking stage 340, but in order to maintain the cleanliness inside the casing 20, it is preferable that the moving mechanism 350 be a mechanism having the above-mentioned moving rails 351 and moving pins 352, which is less likely to cause dust to fly up.

[0092] (Air supply part) The air intake section 360 supplies air from above the shaking stage 340. In the illustrated example, the air intake section 360 is provided in the center of the upper wall 23 of the casing 20. The air intake section 360 can be selected as appropriate. The air intake sections 60, 160, and 260 of the first to third embodiments may be applied as the air intake section 360.

[0093] (Exhaust section) The exhaust section 307 exhausts air from the internal space 21 of the casing 20 to the outside of the casing 20. In the illustrated example, the exhaust section 307 is a plurality of holes formed around the entire outer periphery of the bottom wall 22 of the casing 20. Note that, like the air intake section 360, the exhaust section 307 can be selected as appropriate.

[0094] (How to move the shaking stage) Next, a method for moving the shaking stage 340 will be described. The shaking stage 340 moves circularly within the movement area 25 in the same procedure as in the first embodiment. The movement method of this embodiment can be explained by replacing "shaking stage 42" in (the movement method of shaking stage 42) of the first embodiment with "shaking stage 340," but it differs from the first embodiment in the following points.

[0095] As shown in Fig. 21, the shaking stage 340 with the moving pins 352 inserted is transported to the shaking device 341 in the adjacent empty area 27b. At this time, the shaking pins 343 in the destination empty area 27b are pulled downward from the shaking holes 331. As shown in Fig. 22, when the shaking stage 340 is transported onto the shaking device 341 in the empty area 27b, the moving pins 352 (see Fig. 20) are pulled downward. Thereafter, as shown in Fig. 23, the lifting platform 342 is actuated to insert the shaking pins 343 into the shaking stage 340, making the shaking stage 340 ready for shaking. Note that the moving mechanism 350 is omitted from Figs. 21 to 23 for simplification.

[0096] (Action and effect) The incubator 301 of this embodiment has the same configuration as the above-described embodiment and can achieve the same effects as the above-described embodiment. Furthermore, the incubator 301 of this embodiment can achieve the following effects.

[0097] In this embodiment, the incubator 301 is equipped with a shaking device 341 that causes the shaking stage 340 to move eccentrically. The shaking devices 341 are provided below the transfer area 25, and the number of shaking devices 341 is equal to or greater than the number of shaking stages 340. The shaking device 341 has a plurality of shaking pins 343 and a rotation mechanism 344. The shaking pins 343 are capable of being inserted into the shaking stage 340 from below to above and being pulled out downward. The rotation mechanism 344 rotates the plurality of shaking pins 343 synchronously around an axis extending in the vertical direction Dv.

[0098] As a result, electrical systems such as power cables and LAN cables do not need to be installed in the shaking stage 340, but can be installed in the shaking device 341 fixed inside the casing 20. This makes it possible to significantly reduce the weight of the moving body structure consisting of the shaking stage 340 and the workpiece 2. Furthermore, since the shaking device 341 can be installed in the space below the moving area 25, the incubator 301 can be made smaller in the vertical direction Dv.

[0099] (Modification of the fourth embodiment) Next, a modification of the fourth embodiment will be described with reference to FIG. 24, in this modification, the first groove 340a and the second groove 340b formed in the shaking stage 340 are formed in a polygonal shape (a square shape in the illustrated example). The cross-sectional shape of the shaking pin 343 inserted into the first groove 340a is formed in the same polygonal shape (a square shape in the illustrated example) as the first groove 340a. The cross-sectional shape of the moving pin 352 inserted into the second groove 340b is formed in the same polygonal shape (a square shape in the illustrated example) as the second groove 340b.

[0100] As a result, the engagement between the first groove 340a and the shaking pin 343 suppresses misalignment between the shaking pin 343 and the shaking stage 340. Furthermore, the engagement between the second groove 340b and the moving pin 352 suppresses misalignment between the moving pin 352 and the shaking stage 340. Note that only one of the first groove 340a and the second groove 340b may be formed in a polygonal shape. When the first groove 340a is formed in a polygonal shape, the cross-sectional shape of the shaking pin 343 inserted into the first groove 340a is formed in the same polygonal shape as the first groove 340a. When the second groove 340b is formed in a polygonal shape, the cross-sectional shape of the moving pin 352 inserted into the second groove 340b is formed in the same polygonal shape as the second groove 340b.

[0101] In the fourth embodiment described above, the case where only one stage of porous partition plates 330 is provided inside the casing 20 has been described, but the present invention is not limited to this. Multiple stages (for example, three stages) of porous partition plates 330 may be provided inside the casing 20 in the vertical direction Dv. In this case, a shaking stage 340 is disposed above each porous partition plate 330, and a shaking device 341 and a moving mechanism 350 are disposed below each porous partition plate 330. Note that for the shaking devices 341 and moving mechanisms 350 second and subsequent stages from the bottom, a partition plate (a porous plate similar to the porous partition plate 330) needs to be installed on which the shaking device 341 and moving mechanism 350 are placed.

[0102] Fifth Embodiment An incubator 401 according to a fifth embodiment of the present disclosure will be described below with reference to Figures 25 to 27. Components common to the above-described embodiments will be given the same names and reference numerals, and descriptions thereof will be omitted as appropriate. As with the first embodiment, the incubator 401 of this embodiment constitutes, for example, a part of an automated cell culture system.

[0103] As shown in Figure 25, the incubator 401 includes a work 2, a tray 4, a casing 20, an evacuation chamber 409, a porous partition plate 30, a shaker 40, a moving mechanism 50, a pass box 5, a conveying mechanism 6, an air supply section 60 (not shown, see Figure 1), an exhaust section 7 (not shown, see Figure 1), and a control device 470.

[0104] In this embodiment, the entire area of ​​the internal space 21 of the casing 20 is the movement area 25 for the shaking stage 42. In the illustrated example, nine shaking stages 42 are provided in a lattice pattern. The incubator 401 is also provided with an evacuation chamber 409 outside the casing 20 for the shaking stage 42 to retreat to. The evacuation chamber 409 is provided so as to contact the side wall 24 of the casing 20 from the horizontal outer side. The shaking stage 42 can be retreated to the evacuation chamber 409. In other words, the inside of the evacuation chamber 409 also serves as a movement area 25 and a stop area 27. A movement mechanism 50 is also provided throughout the movement area 25. In this embodiment, the movement mechanism 50 is provided in a lattice pattern. The movement mechanism 50 also extends into the evacuation chamber 409. In this embodiment, as in the first embodiment, the shaking stage 42 and the shaker main body 41 are integrated to form a single shaker 40.

[0105] 26 , the control device 470 has the following functional units: an acquisition unit 471, an identification unit 472, a shortest procedure calculation unit 473, an operation unit 474, and a determination unit 475.

[0106] The acquisition unit 471 acquires a command to start replacing the workpiece 2 from an external device or the like. The identifying unit 472 identifies one shaking stage 42 on which the workpiece 2 to be replaced is placed. The shortest procedure calculation unit 473 calculates the shortest movement procedure that can move the shaking stage 42 identified by the identification unit 472 to the exchange area 27a in the shortest time. The operation unit 474 moves the multiple shaking stages 42 based on the shortest movement procedure. The determination unit 475 determines whether the shaking stage 42 on which the workpiece 2 to be replaced is placed has been moved to the replacement area 27a.

[0107] (How to move the shaking stage) Next, a method for moving the shaking stage 42 will be described with reference to the flow chart of FIG. First, the acquisition unit 471 acquires an operation command to start replacing the workpiece 2 from an external device or various devices inside the casing 20 (step S11). Next, the identification unit 472 identifies the shaking stage 42 on which the workpiece 2 to be replaced is placed based on the information included in the operation command (step S12). Next, the shortest procedure calculation unit 473 calculates the shortest movement procedure by which the shaking stage 42 identified by the identification unit 472 can be moved to the exchange area 27a in the shortest time (step S13). Next, the operation unit 474 moves the multiple shaking stages 42 based on the shortest movement procedure, and moves the shaking stage 42 identified by the identification unit 472 to the exchange area 27a (step S14).

[0108] After step S14, the determination unit 475 determines whether the identified agitation stage 42 has been moved to the exchange area 27a (step S15). If the identified agitation stage 42 has not been moved to the exchange area 27a (step S15; NO), the movement of the agitation stage 42 continues. If the identified agitation stage 42 has been moved to the exchange area 27a (step S15; YES), the operation unit 474 stops the movement mechanism 50, and the movement of the agitation stage 42 is completed in this manner. Thereafter, the transport mechanism 6 in the pass box 5 takes out the workpiece 2 from the shaking stage 42 in the exchange area 27a and exchanges it for a new workpiece 2.

[0109] (Action and effect) The incubator 401 of this embodiment has the same configuration as the above-described embodiment and can achieve the same effects as the above-described embodiment. Furthermore, the incubator 401 of this embodiment can achieve the following effects.

[0110] In this embodiment, the incubator 401 includes an evacuation chamber 409 provided so as to contact the side wall 24 of the casing 20 from the horizontal outer side. The shaking stage 42 can be retracted into the evacuation chamber 409.

[0111] This allows the shaking stages 42 to be densely arranged in the casing 20 while still allowing the shaking stages 42 to move.

[0112] In this embodiment, the incubator 401 includes a control device 470 that controls the movement of multiple shaking stages 42. The control device 470 has an identification unit 472, a shortest procedure calculation unit 473, and an operation unit 474. The identification unit 472 identifies one shaking stage 42 on which the workpiece 2 to be replaced is placed. The shortest procedure calculation unit 473 calculates the shortest movement procedure that can move the shaking stage 42 identified by the identification unit 472 to the replacement area 27a in the shortest time. The operation unit 474 moves the multiple stages based on the shortest movement procedure.

[0113] This allows the shaking stage 42 to be moved in the shortest possible sequence, regardless of the arrangement of the shaking stage 42. Therefore, the shaking stage 42 can be moved even more efficiently.

[0114] The shaking stage moving method of this embodiment further includes a step of calculating the shortest movement procedure after identifying the shaking stage 42 (step S13). In step S13, the shortest movement procedure calculation unit 473 calculates the shortest movement procedure that can move the identified shaking stage 42 to the exchange area 27a in the shortest time. In a step of moving the shaking stage 420 (step S14), the operation unit 474 moves the identified shaking stage 42 based on the shortest movement procedure to the exchange area 27a.

[0115] This allows the shaking stage 42 to be moved to the exchange area 27a in the shortest procedure, regardless of the arrangement of the shaking stage 42.

[0116] (Other embodiments) The above describes in detail the embodiments of the present disclosure 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.

[0117] It is possible to appropriately change the size of the casing 20 and the arrangement and number of the shaking stages 42, 340. As shown in Fig. 28, the casing 20 may be designed to be smaller in the horizontal direction than in the above-described embodiment, and four stopping areas 27 and three shaking stages 42, 340 may be installed inside the casing 20, for example.

[0118] <Hardware configuration> The control devices 70 and 470 of the above-described embodiments and modifications are implemented in a computer 1100 shown in Fig. 29. Fig. 29 is a schematic block diagram showing the configuration of the computer 1100 according to each embodiment. The computer 1100 includes a processor 1110, a main memory 1120, a storage 1130, and an interface 1140.

[0119] The operations of the above-mentioned functional units of the control devices 70 and 470 are stored in the form of a program in the storage 1130. The processor 1110 reads the program from the storage 1130, loads it into the main memory 1120, and executes the above-mentioned processing in accordance with the program. The processor 1110 also allocates a storage area in the main memory 1120 in accordance with the program.

[0120] The program may be for realizing some of the functions to be performed by the computer 1100. For example, the program may be combined with other programs already stored in the storage 1130 or other programs implemented in other devices to perform the functions. Furthermore, the computer 1100 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or instead of the above configuration. Examples of PLDs include a PAL (Programmable Array Logic), a GAL (Generic Array Logic), a CPLD (Complex Programmable Logic Device), and an FPGA (Field Programmable Gate Array). In this case, some or all of the functions to be performed by the processor 1110 may be realized by the integrated circuit.

[0121] Examples of storage 1130 include a magnetic disk, a magneto-optical disk, and a semiconductor memory. Storage 1130 may be an internal medium directly connected to the bus of computer 1100, or an external medium connected to computer 1100 via interface 1140 or a communication line. Furthermore, when this program is distributed to computer 1100 via a communication line, computer 1100 that receives the program may load the program into main memory 1120 and execute the above-mentioned processing. Storage 1130 may also be a non-transitory tangible storage medium.

[0122] The program may also be a program for realizing part of the above-described functions. Furthermore, the program may be a so-called differential file (differential program) that realizes the above-described functions in combination with another program already stored in storage 1130.

[0123] <Additional Notes> The incubators 1, 101, 201, 301, and 401, the method of moving the shaking stage, and the program described in each embodiment can be understood, for example, as follows.

[0124] (1) The incubator 1, 101, 201, 301, 401 of the first aspect comprises a casing 20 forming an internal space 21, a plurality of shaking stages 42, 340 arranged in the internal space 21 and arranged to be movable horizontally in a moving area 25 within the internal space 21, on which a work 2 capable of containing a culture medium is placed, a pass box 5 arranged so as to be in contact with the side wall 24 of the casing 20 from the outside in the horizontal direction and to be accessible to the internal space 21, and a transport mechanism 6 arranged within the pass box 5 and capable of transporting the work 2 to the shaking stages 42, 340 located in an exchange area 27a facing the pass box 5 in the moving area 25, and by moving each of the shaking stages 42, 340, a selected one of the shaking stages 42, 340 is positioned in the exchange area 27a.

[0125] According to the above configuration, the shaking stages 42, 340 on which the workpiece 2 to be replaced is placed are moved to the replacement area 27a. This eliminates the need to provide a movement space for the transport mechanism 6 in the internal space 21 of the casing 20, allowing the internal space 21 to be used without waste. This improves the layout efficiency of the internal space 21.

[0126] (2) The incubator 1, 101, 201, 301, 401 of the second aspect is the incubator 1, 101, 201, 301, 401 of (1), and the shaking stage 42, 340 may be rotatably arranged in the exchange area 27a around a rotation axis Or extending in the vertical direction Dv so as to pass through the shaking stage 42, 340.

[0127] This allows the workpiece 2 to be replaced to be moved to a position where the transport mechanism 6 can easily take it out.

[0128] (3) The incubator 1, 101, 201, 301, 401 of the third aspect is the incubator 1, 101, 201, 301, 401 of (1) or (2), and the transfer area 25 may be provided in a ring shape along the side wall 24 of the casing 20.

[0129] This makes it possible to move all of the shaking stages 42, 340 to the exchange area 27a simply by providing a relatively simple mechanism for moving the multiple shaking stages 42, 340 in a circular fashion.

[0130] (4) The incubator 1 of the fourth aspect is the incubator 1 of (3), and is provided with an air supply section 60 that supplies air from above the shaking stage 42, and the air supply section 60 may have a central air supply section 61 that is provided inside the moving area 25 in the internal space 21 when viewed from the vertical direction Dv and that directs air outside the casing 20 into the internal space 21, and a plurality of blowing sections 65 that are arranged in a ring shape above the moving area 25 in the internal space 21 and along the moving area 25, and that blow the air sent from the central air supply section 61 downward.

[0131] This allows the incubator 1 to supply air from directly above each shaking stage 42. Also, it becomes possible to supply less contaminated air above the casing 20 to each shaking stage 42.

[0132] (5) The incubator 1 of the fifth aspect is the incubator 1 of (4), wherein the blowing section 65 may have a blowing opening 65a that opens downward and an upper plate 65b that is provided above the blowing opening 65a and moves away from the central air supply section 61 in the horizontal direction.

[0133] This allows the blowing section 65 to blow air evenly over the entire area of ​​the shaking stage 42.

[0134] (6) The incubator 101 of the sixth aspect is the incubator 101 of (3), and is provided with an air supply section 160 that supplies air from above the shaking stage 42, and the air supply section 160 may have an outer peripheral air supply section 161 that is arranged to surround the side wall 24 of the casing 20 from the outside when viewed from the vertical direction Dv and that directs air outside the casing 20 into the internal space 21, and a plurality of blowing sections 162 that are arranged in a ring shape above the moving area 25 in the internal space 21 and along the moving area 25, and that blow the air sent from the outer peripheral air supply section 161 downward.

[0135] This allows the incubator 101 to supply air from directly above each shaking stage 42. Also, it becomes easier for an operator to access the outer circumferential air supply part 161. This makes maintenance of the air supply part 160 easier.

[0136] (7) The incubator 201 of the seventh aspect is the incubator 201 of (3), and includes an air supply section 260 that is arranged to surround the side wall 24 of the casing 20 from the outside when viewed from the vertical direction Dv and supplies air from above the shaking stage 42, and an exhaust section 207 that is arranged inside the moving area 25 and exhausts air from the internal space 21 upward, and the exhaust section 207 may be a cylindrical member extending in the vertical direction Dv and having a plurality of holes formed throughout that penetrate horizontally.

[0137] This allows the incubator 201 to supply air from directly above each shaking stage 42. Also, the air supply unit 260 is easily accessible to the operator. This facilitates maintenance of the air supply unit 260. Furthermore, since a filter, an exhaust fan, and the like can be disposed inside the exhaust unit 207, it is possible to prevent the incubator 201 from becoming large in the vertical direction Dv.

[0138] (8) The incubator 201 of an eighth aspect is the incubator 201 of (7), wherein the air supply section 260 may blow air downward and in an oblique direction toward the center of the casing 20 as it goes downward.

[0139] This allows the air intake section 260 to blow clean air evenly throughout the entire area inside the casing 20.

[0140] (9) The incubator 1, 101, 201, 301, 401 of the ninth aspect is an incubator 1, 101, 201, 301, 401 of any one of (1) to (8), and is provided with shaking devices 341 provided below the moving area 25 in the same number or more as the shaking stages 340, for causing the shaking stages 340 to move eccentrically, and the shaking devices 341 may have a plurality of shaking pins 343 that can be inserted into the shaking stages 340 from below upward and pulled out downward, and a rotation mechanism 344 that rotates the plurality of shaking pins 343 synchronously around an axis extending in the vertical direction Dv. An example of an axis is the second axis O2 described above.

[0141] This allows electrical systems such as a power cable and a LAN cable to be installed in the shaking device 341 fixed inside the casing 20, without the need to install them in the shaking stage 340. This makes it possible to significantly reduce the weight of the moving body structure consisting of the shaking stage 340 and the workpiece 2.

[0142] (10) The incubator 1, 101, 201, 301, 401 of the tenth aspect is the incubator 1, 101, 201, 301, 401 of (9), and is provided with a partition plate provided within the casing 20 to divide the internal space 21 in the vertical direction, the shaking stage 340 is arranged above the partition plate, the shaking device 341 is arranged below the partition plate, and the partition plate may have a plurality of shaking holes 331 through which the shaking pins 343 are inserted. An example of the partition plate is the perforated partition plate 330 described above.

[0143] This allows the shaking pin 343 to be inserted into and removed from the shaking stage 340 through the shaking hole 331 while separating the space where the shaking stage 340 is placed from the space where the shaking stage 340 is placed.

[0144] (11) The incubator 1, 101, 201, 301, 401 of the eleventh aspect is the incubator 1, 101, 201, 301, 401 of (9) or (10), and is provided with a moving mechanism 350 that moves the shaking stage, and the moving mechanism 350 moves below the moving area 25 and has a moving pin 352 that can be inserted into the shaking stage 340 from below to above and can be pulled out downward, and the shaking stage 340 is formed with a first groove 340a into which the shaking pin 343 is inserted and a second groove 340b into which the moving pin 352 is inserted, and at least one of the first groove 340a and the second groove 340b may be formed in a polygonal shape.

[0145] This prevents misalignment between the shaking pin 343 and the shaking stage 340 and between the moving pin 352 and the shaking stage 340.

[0146] (12) The incubator 1, 101, 201, 301, 401 of the 12th aspect may be any of the incubators 1, 101, 201, 301, 401 of (1) to (11), and may include an evacuation chamber 409 that is arranged so as to contact the side wall 24 of the casing 20 from the horizontal outside and into which the shaking stage 42, 340 can be evacuated.

[0147] This allows the shaking stages 42, 340 to be densely arranged in the casing 20 while still allowing the shaking stages 42, 340 to move.

[0148] (13) The incubator 1, 101, 201, 301, 401 of the thirteenth aspect is an incubator 1, 101, 201, 301, 401 of any one of (1) to (12), and is equipped with a control device 470 that controls the movement of the multiple shaking stages 42, 340, and the control device 470 may have an identification unit 472 that identifies one shaking stage 42, 340 on which the work 2 to be replaced is placed, a shortest procedure calculation unit 473 that calculates the shortest movement procedure by which the shaking stage 42, 340 identified by the identification unit 472 can be moved to the replacement area 27a in the shortest time, and an operation unit 474 that moves the multiple shaking stages based on the shortest movement procedure.

[0149] This allows the shaking stages 42 and 340 to be moved in the shortest possible sequence, regardless of the arrangement of the shaking stages 42 and 340.

[0150] (14) A method for moving a shaking stage according to a fourteenth aspect includes a casing 20 forming an internal space, a plurality of shaking stages 42, 340 disposed in the internal space and movable horizontally in a moving area within the internal space, on which a work 2 capable of accommodating a culture medium is placed, a pass box 5 disposed in contact with a side wall of the casing 20 from the outside in the horizontal direction and accessible to the internal space, and a transport mechanism 6 disposed within the pass box 5 and capable of transporting the work 2 to the shaking stages 42, 340 located in an exchange area 27a facing the pass box 5 in the moving area, and wherein the selected one of the shaking stages 42, 340 is moved to the exchange area 27a. A method for moving a shaking stage 42, 340 in an incubator 1, 101, 201, 301, 401 to be placed therein, the method comprising the steps of identifying one shaking stage 42, 340 on which the work 2 to be replaced is placed (steps S2, S12), moving the identified shaking stage 42, 340 to the replacement area 27a after identifying the shaking stage 42, 340 (steps S3, S14), and determining whether the identified shaking stage 42, 340 has been moved to the replacement area 27a (steps S4, S15), and if the identified shaking stage 42, 340 has been moved to the replacement area 27a (steps S4, S15; YES), the movement of the shaking stage 42, 340 is terminated.

[0151] This allows the shaking stage 42, 340 on which the replacement object is placed to be automatically moved to the replacement area 27a.

[0152] (15) A fifteenth aspect of the method for moving an agitation stage is the method for moving an agitation stage of (14), which further includes a step (step S13) of calculating, after identifying the agitation stage 42, 340, the shortest movement procedure by which the identified agitation stage 42, 340 can be moved to the exchange area 27a in the shortest time, and in the step (step S14) of moving the agitation stage 42, 340, the agitation stage 42, 340 identified based on the shortest movement procedure may be moved to the exchange area 27a.

[0153] This allows the shaking stages 42 and 340 to be moved to the exchange area 27a in the shortest procedure, regardless of the arrangement of the shaking stages 42 and 340.

[0154] (16) A program of a 16th aspect includes a casing 20 that forms an internal space, a plurality of shaking stages 42, 340 that are arranged in the internal space and are arranged to be movable horizontally in a moving area within the internal space, and on which a work 2 that can accommodate a culture medium is placed, a pass box 5 that is arranged to be in contact with a side wall of the casing 20 from the outside in the horizontal direction and is accessible to the internal space, and a transport mechanism 6 that is arranged in the pass box 5 and is capable of transporting the work 2 to the shaking stages 42, 340 that are located in an exchange area 27a facing the pass box 5 in the moving area, and by moving each of the shaking stages 42, 340, a selected one of the shaking stages 42, 340 is placed in the exchange area 27a. The computer 1100, in which the control device 70, 470 of the incubator 1, 101, 201, 301, 401 is implemented, executes the steps of identifying one of the shaking stages 42, 340 on which the work 2 to be replaced is placed (steps S2, S12), moving the identified shaking stage 42, 340 to the exchange area 27a after identifying the shaking stage 42, 340 (steps S3, S14), and determining whether the identified shaking stage 42, 340 has been moved to the exchange area 27a (steps S4, S15).If the identified shaking stage 42, 340 has been moved to the exchange area 27a (steps S4, S15; YES), the movement of the shaking stage 42, 340 is terminated. [Explanation of symbols]

[0155] 1. Incubator 2 Work 3 Cap 4 trays 5 Pass Box 6. Conveyor mechanism 20 Casing 21 Interior Space 25 Moving Area 27 Stop Area 27a Exchange Area 27b Vacant Area 26 No-entry area 22 Lower wall 23 Upper Wall 24 Side wall 30 Perforated partition plate 40 Shaker 41 Shaker body 42 Shaking stage 50 Moving mechanism 60 Air supply section 61 Central air supply section 62 Branch air supply section 65 Speech bubble section 65a Air outlet 65b Upper board 66 First connection part 67 Second connection part 63 Bottom plate 64 filters 7 Exhaust section 70 Control device 71 Acquisition Department 72 Specific part 73 Operation section 74 Judgment section 101 Incubator 160 Air supply section 161 Peripheral air intake section 162 speech bubble 162a Air outlet 163 Connecting Pipe 201 Incubator 260 Air supply section 207 Exhaust section 208 Second Exhaust Section 301 Incubator 330 Perforated partition plate 331 Shaking hole 332 Moving Slit 340 Shaking Stage 340a 1st groove 340b 2nd groove 341 Shaking device 342 Lift Platform 343 Shaking Pin 344 Rotation Mechanism 345 Rotational Axis 346 1st Gear 347 2nd Gear 350 Moving mechanism 351 Moving Rail 352 Moving Pin 360 Air supply section 307 Exhaust section 401 Incubator 409 Evacuation Room 470 Control Device 471 Acquisition Department 472 Specific part 473 Shortest Route Calculation Unit 474 Operation section 475 Judgment section 1100 Computer 1110 processor 1120 main memory 1130 Storage 1140 Interface Dv vertical direction Dh1 horizontal 1st direction Dh2 Horizontal 2nd direction Or rotation axis O1 1st axis O2 2nd axis (axis)

Claims

1. a casing that forms an interior space; a plurality of shaking stages disposed in the internal space and movable in a horizontal direction within a moving area within the internal space, on which a workpiece capable of accommodating a culture medium is placed; a pass box provided in contact with the side wall of the casing from the horizontal outer side, allowing access to the internal space; a transport mechanism provided in the pass box and capable of transporting the workpiece to the shaking stage located in an exchange area facing the pass box in the movement area; Equipped with Each of the shaking stages is moved so that a selected one of the shaking stages is placed in the exchange area. incubator.

2. The shaking stage is provided in the exchange area so as to be rotatable about a rotation axis extending in a vertical direction so as to pass through the shaking stage.

2. The incubator of claim 1.

3. The movement area is provided in an annular shape along the side wall of the casing.

3. The incubator according to claim 1 or 2.

4. an air supply unit that supplies air from above the shaking stage; The air supply section is a central air supply unit that is provided inside the movement area when viewed from above in the internal space and that guides air outside the casing into the internal space; a plurality of blowing units arranged in an annular shape above the movement area in the internal space along the movement area, the blowing units blowing the air sent from the central air supply unit downward; having 4. The incubator of claim 3.

5. The blowout section is An air outlet opening facing downward; an upper plate provided above the air outlet and moving away from the central air supply section in a horizontal direction; having 5. The incubator of claim 4.

6. an air supply unit that supplies air from above the shaking stage; The air supply section is an outer circumferential air supply section that is provided so as to surround the side wall of the casing from the outside when viewed from above and below, and that guides air outside the casing into the internal space; a plurality of blowing units arranged in an annular shape above the movement area in the internal space along the movement area, the blowing units blowing the air sent from the outer peripheral air supply unit downward; having 4. The incubator of claim 3.

7. an air supply unit that is provided so as to surround the side wall of the casing from the outside when viewed from the top-bottom direction and that supplies air from above the shaking stage; an exhaust section provided inside the movement area and configured to exhaust air from the internal space upward; Equipped with The exhaust unit is a cylindrical member extending in the vertical direction and having a plurality of holes formed therethrough in the horizontal direction.

4. The incubator of claim 3.

8. The air supply unit blows air downward and in an oblique direction toward the center of the casing as it moves downward.

8. The incubator of claim 7.

9. shaking devices provided below the moving area in the same number as or greater than the number of the shaking stages, for eccentrically moving the shaking stages; The shaking device is a plurality of shaking pins that can be inserted into the shaking stage from below to above and pulled out downward; a rotation mechanism that rotates the plurality of shaking pins synchronously around an axis extending in the vertical direction; having 3. The incubator according to claim 1 or 2.

10. a partition plate provided in the casing to vertically divide the internal space, the shaking stage is disposed above the partition plate, The shaking device is disposed below the partition plate, The partition plate has a plurality of shaking holes through which the shaking pins are inserted.

10. The incubator of claim 9.

11. a moving mechanism for moving the shaking stage; the moving mechanism moves below the moving area and has a moving pin that can be inserted into the shaking stage from below to above and pulled out downward, The shaking stage is formed with a first groove into which the shaking pin is inserted and a second groove into which the moving pin is inserted, At least one of the first groove and the second groove is formed in a polygonal shape.

10. The incubator of claim 9.

12. a retreat chamber provided in contact with the side wall of the casing from the horizontal outer side, into which the shaking stage can retreat; 3. The incubator according to claim 1 or 2.

13. a control device for controlling the movement of the plurality of shaking stages; The control device an identification unit that identifies one of the shaking stages on which the workpiece to be replaced is placed; a shortest procedure calculation unit that calculates a shortest movement procedure that allows the shaking stage identified by the identification unit to move to the exchange area in the shortest time; an operation unit that moves the plurality of shaking stages based on the shortest movement procedure; having 3. The incubator according to claim 1 or 2.

14. a casing that forms an interior space; a plurality of shaking stages disposed in the internal space and movable in a horizontal direction within a moving area within the internal space, on which a workpiece capable of accommodating a culture medium is placed; a pass box provided in contact with the side wall of the casing from the horizontal outer side, allowing access to the internal space; a transport mechanism provided in the pass box and capable of transporting the workpiece to the shaking stage located in an exchange area facing the pass box in the movement area; Equipped with A method for moving shaking stages in an incubator, wherein each of the shaking stages is moved so that a selected one of the shaking stages is placed in the exchange area, Identifying one of the shaking stages on which the workpiece to be replaced is placed; After identifying the shaking stage, moving the identified shaking stage to the exchange area; determining whether the identified shaking stage has been moved to the exchange area; and When the identified shaking stage has been moved to the exchange area, the movement of the shaking stage is terminated. How to move the shaking stage.

15. After the shaking stage is identified, the method further includes a step of calculating a shortest movement procedure that can move the identified shaking stage to the exchange area in a shortest time, In the step of moving the shaking stage, the shaking stage identified based on the shortest movement procedure is moved to the exchange area. The method for moving a shaking stage according to claim 14.

16. a casing that forms an interior space; a plurality of shaking stages disposed in the internal space and movable in a horizontal direction within a moving area within the internal space, on which a workpiece capable of accommodating a culture medium is placed; a pass box provided in contact with the side wall of the casing from the horizontal outer side, allowing access to the internal space; a transport mechanism provided in the pass box and capable of transporting the workpiece to the shaking stage located in an exchange area facing the pass box in the movement area; Equipped with a computer in which a control device of an incubator is implemented, the computer being configured to move the shaking stages so that a selected one of the shaking stages is placed in the exchange area; Identifying one of the shaking stages on which the workpiece to be replaced is placed; After identifying the shaking stage, moving the identified shaking stage to the exchange area; determining whether the identified shaking stage has been moved to the exchange area; Execute When the identified shaking stage has been moved to the exchange area, the movement of the shaking stage is terminated. program.

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