Work device having opening / closing door

Abstract

This work device comprises: a housing including an opening / closing door; a work unit; a motor device; a first magnetic coupling member; a second magnetic coupling member; and a mechanical mechanism. The work unit is housed in the housing and performs prescribed work on an object disposed inside the housing. The motor device includes a motor shaft that outputs a driving force for operating the opening / closing door. The first magnetic coupling member is attached to the motor shaft. The second magnetic coupling member is magnetically coupled to the first magnetic coupling member. The mechanical mechanism mechanically connects the second magnetic coupling member and the opening / closing door and transmits the driving force of the motor shaft to the opening / closing door, the driving force being applied from the first magnetic coupling member to the second magnetic coupling member by means of the coupling.

Description

Work device with opening and closing door

[0001] The present invention relates to a working device having a housing and an opening / closing door attached to the housing.

[0002] Various types of working devices that have a housing that houses a working unit therein are often provided with an opening / closing door that opens and closes an opening or the like for access to the working unit. For example, a cell transfer device that transfers cells from a culture container to a test container using a head unit equipped with a head to which a suction tip is attached (see, for example, Patent Document 1) is also equipped with an opening / closing door. The opening / closing door opens and closes openings for access to the containers and head unit placed within the housing of the cell transfer device. The opening / closing door prevents dust from entering the housing through the opening and prevents workers from accessing the working unit while it is in operation.

[0003] The above-mentioned door may be an automatic door. In the case of an automatic door, the working device must be equipped with a safety mechanism to prevent accidents such as the worker's fingers being pinched. The safety mechanism includes at least a sensor that detects abnormal operation of the door due to the pinching of a foreign object, and a mechanism that reverses the door in the event of abnormal operation. The sensor must include multiple types of sensors that monitor the operation of the door from multiple angles. Furthermore, a backup mechanism is also required in case these sensors fail. This poses a problem of a complex structure for the working device.

[0004] Patent No. 6262254

[0005] An object of the present invention is to provide a working device having an opening and closing door that can avoid a complicated structure while ensuring safety.

[0006] A working device according to one aspect of the present invention includes a housing, a working unit housed in the housing and performing a predetermined task on an object placed inside the housing, an opening / closing door attached to the housing, a motor device including a motor shaft that outputs a driving force to operate the opening / closing door, a first magnetic coupling member attached to the motor shaft, a second magnetic coupling member that is magnetically coupled to the first magnetic coupling member, and a mechanical mechanism that mechanically couples the second magnetic coupling member to the opening / closing door and transmits the driving force of the motor shaft given from the first magnetic coupling member to the second magnetic coupling member by the coupling to the opening / closing door.

[0007] FIG. 1A is a perspective view showing the appearance of a cell movement device, which is an example of a working device according to the present invention, with the door open. FIG. 1B is a perspective view showing the cell movement device with the door closed. FIG. 2 is a perspective view showing a working unit provided in the cell movement device shown in FIGS. 1A and 1B. FIG. 3 is a perspective view of an automatic door device provided in the cell movement device. FIG. 4 is a perspective view of the automatic door device, with the perspective direction reversed from that of FIG. 3. FIG. 5 is a perspective view of a magnetic coupling unit. FIG. 6 is a perspective view of a magnetic coupling unit according to a modified example. FIG. 7A is a cross-sectional view showing an example of a guide member for the door. FIG. 7B is a cross-sectional view showing an example of a guide member for the door. FIG. 8A is a front view showing the operation of the automatic door device with the door closed. FIG. 8B is a side view of the automatic door device of FIG. 8A. FIG. 9A is a front view showing the operation of the automatic door device with the door open. FIG. 9B is a side view of the automatic door device of FIG. 9A. Fig. 10 is a cross-sectional view showing a modified example of the opening / closing door and its guide member, Fig. 11A is a perspective view showing a modified example of the automatic door device, and Fig. 11B is a schematic diagram of a magnetic coupling portion.

[0008] Embodiments of the present invention will be described in detail below with reference to the drawings. The present invention can be applied to various types of work devices including a housing, a work unit housed in the housing and performing a predetermined operation on an object placed inside the housing, and an openable / closable door attached to the housing. For example, in a surface mounting line where components are mounted on a substrate, the present invention can be applied to surface mounting machines, printers, bond application machines, and the like that have openable / closable doors. The present invention can also be applied to work devices that perform various operations inside a housing, such as assembly, bonding, transport, inspection, cleaning, heating, drying, welding, and laser irradiation / processing. In the embodiment described below, a cell transfer device is exemplified as the work device. A first container from which cells are transferred and a second container to which cells are transferred are placed inside the housing, and the cell transfer device picks cells from the first container and transfers them to the second container.

[0009] [Configuration of cell migration device] Figures 1A and 1B are perspective views showing the appearance of a cell migration device 1 according to this embodiment. The cell migration device 1 comprises a housing 10, a working unit 2 housed in the housing 10, and an opening / closing door 4 attached to the housing 10. Figure 1A shows the state in which the opening / closing door 4 is open, and Figure 1B shows the state in which the opening / closing door 4 is closed. Note that although Figure 1A and other figures show directional indications such as up / down, left / right, and front / back, these are merely examples and do not limit the directions in any way.

[0010] The housing 10 has a rectangular parallelepiped shape that is long in the left-right direction, and includes a front panel 11 located in front of the working unit 2, a pair of left and right side panels 12 that cover the left and right sides of the working unit 2, and a top panel 13 that covers the top of the working unit 2. The front panel 11 has a rectangular opening 14 near the middle in the vertical direction. The opening 14 allows access to the working unit 2 housed inside the housing 10. An operator can use the opening 14 to perform required tasks on the working unit 2, such as setting cells, replenishing consumables, or performing maintenance. The opening 14 is opened and closed by an opening door 4.

[0011] The working unit 2 performs a predetermined operation on an object placed inside the housing 10. In this embodiment, the object is a cell, and the predetermined operation is mainly cell movement, but it is also possible to perform operations such as cell cultivation, observation, and reagent administration. When the working unit 2 is in an operating state, the opening and closing door 4 is basically kept closed. A monitor 15 is attached near the top end of the front panel 11. The operating status of the working unit 2, the state of the cells, etc. can be confirmed through the monitor 15.

[0012] FIG. 2 is a perspective view of the working unit 2. The working unit 2 includes a cell migration line 20, a head unit 31, an illumination unit 32, and an imaging unit 33. The head unit 31 includes multiple heads 31H aligned in a row in the left-right direction. A mechanism for generating negative or positive pressure is attached to the head 31H. A suction tip T1 for suctioning cells is attached to the lower end of the head 31H. By generating positive or negative pressure in the head 31H, the suction tip T1 suctions or ejects cells. The head unit 31 is movable left-right and forward-backward as indicated by arrow A1, and can move along a predetermined movement path on the cell migration line 20. The head 31H can also move up and down.

[0013] A dish 34 serving as a first container from which cells are to be moved, and a microplate 35 serving as a second container to which the cells are to be moved, are arranged in the working unit 2 within the housing 10. The cell migration line 20 is configured by arranging, in the left-right direction, elements necessary for carrying out a series of cell migration steps in which a head unit 31 picks up cells contained in the dish 34 and moves them to the microplate 35. The cell migration line 20 includes, arranged in a line from left to right, a dispensing tip stock unit 22, a cell stock unit 21, a tip stock unit 24, a tip imaging unit 25, a cell sorting unit 23, a black cover mounting unit 27, a cell transfer unit 26, and a tip disposal unit 28.

[0014] The cell stock section 21 includes a tube 211 that stores the cell culture medium containing a large amount of dispersed cells, which serves as the dispensing source. The tube 211 is a cylindrical container with an open top. The dispensing tip stock section 22 is a section that stores a plurality of dispensing tips T2. The dispensing tip stock section 22 includes a holder 221 that holds the dispensing tips T2 arranged in a matrix in an upright position. The dispensing tips T2 are also attached to the head 31H. The dispensing tips T2 are used to aspirate the cell culture medium from the tube 211 and dispense it into the dish 34.

[0015] The cell sorting unit 23 is a section for sorting desired cells from a cell culture solution containing a large number of cells. The cell sorting unit 23 includes a holding table 231 that positions and holds a dish 34 containing a cell culture solution, and a table lid member 232 that covers the upper surface of the dish 34. The dish 34 has a plurality of recesses on its upper surface for holding cells. Images of the cells held in the recesses are captured by the imaging unit 33 under illumination by the illumination unit 32. This identifies the position of the target cells to be aspirated.

[0016] The tip stock unit 24 includes a holding box 241 that holds a large number of suction tips T1 arranged in a matrix. The suction tips T1 can be attached to and detached from the head 31H. The suction tips T1 are held in the holding box 241 in a state that allows easy attachment to the head 31H, which moves in the vertical direction. The suction tips T1 perform the function of suctioning cells held on the dish 34, transporting the cells as the head unit 31 moves, and discharging them to the cell transfer unit 26.

[0017] The tip imaging section 25 is a section that captures an image of the suction tip T1 attached to the head 31H. The imaging is performed by the imaging unit 33. The XYZ coordinate position of the tip suction port of the suction tip T1 is determined based on the image of the suction tip T1 and the focal position information at the time of imaging. A correction value is derived from the difference between the coordinate position and a predetermined reference position, and is used as the correction value when controlling the movement of the head 31H.

[0018] The cell transfer unit 26 is a location where a microplate 35 is placed, to which cells picked by the dish 34 of the cell sorting unit 23 are transferred. The microplate 35 is held by a holding table 261. The microplate 35 is a plate in which a large number of small wells 36, each with an open top, are arranged in a matrix. Cells held by the suction tip T1 are ejected into these wells 36. The microplate 35 may also be placed on the cell sorting unit 23.

[0019] The black cover mounting section 27 is a section where a first black cover 271 that covers the cell transfer section 26 and a second black cover 272 that covers the cell sorting section 23 are mounted. The first and second black covers 271, 272 are used to capture images of cell aggregates held on the dish 34 or microplate 35 in a light-shielded state for fluorescent cell observation. The tip disposal section 28 is a section where used suction tips T1 and dispensing tips T2 are disposed of after cell suction and discharge operations have been completed.

[0020] The illumination unit 32 is movably disposed above the cell migration line 20 in order to illuminate the cell selection section 23 and the cell transfer section 26 from above. The illumination is used as transmitted illumination when the cells held in the cell selection section 23 or the cell transfer section 26 are imaged by the imaging unit 33. The illumination unit 32 is movable left and right and forward and backward.

[0021] The imaging unit 33 captures images of the cells held in the cell selection unit 23 and the cell transfer unit 26 from below. The imaging unit 33 is movable left and right and front and rear below the cell migration line 20. The imaging unit 33 is also used in the tip imaging unit 25 to observe the attachment state of the suction tip T1 to the head 31H.

[0022] An example of an operation using cells as the target in the working unit 2 is as follows. The head 31H equipped with the dispensing tip T2 is moved to the cell stock unit 21, and the dispensing tip T2 is caused to aspirate a cell culture solution containing cells from the tube 211. The head 31H is moved above the cell selection unit 23, and the cell culture solution in the dispensing tip T2 is discharged into the dish 34. The dispensing tip T2 attached to the head 31H is discarded in the tip disposal unit 28, and the suction tip T1 is attached to the head 31H in the tip stock unit 24. After the tip of the suction tip T1 is imaged by the tip imaging unit 25, the head 31H is moved above the cell selection unit 23, and target cells stored in the dish 34 are aspirated into the suction tip T1. The head 31H is then moved above the cell transfer unit 26, and the cells in the suction tip T1 are discharged onto the microplate 65. The used suction tip T1 is discarded in the tip disposal unit 28.

[0023] [Configuration of the Automatic Door Device] Next, we will explain the automatic door device 100 that automatically opens and closes the opening and closing door 4. Figures 3 and 4 are perspective views of the automatic door device 100 provided in the cell movement device 1. The automatic door device 100 includes the opening and closing door 4, a motor device 5, a magnetic coupling unit 6, a mechanical mechanism 7, and a sensor 8. Figure 5 is an enlarged perspective view showing the locations where the motor device 5 and magnetic coupling unit 6 are located.

[0024] The door 4 is made of a flat plate that is rectangular in plan view and is larger than the opening 14 of the housing 10, and moves up and down to open and close the opening 14. The motor device 5 is a drive source that opens and closes the door 4. The motor device 5 includes a motor shaft 51 that outputs a drive force to operate the door 4. A DC or AC motor can be used as the motor device 5.

[0025] The magnetic coupling unit 6 is a mechanical component that transmits driving force without contact, utilizing the attractive and repulsive forces between magnets. The magnetic coupling unit 6 includes a first magnetic coupling member 61 and a second magnetic coupling member 62 that are magnetically coupled to each other. Both the first magnetic coupling member 61 and the second magnetic coupling member 62 are cylindrical bodies through which a shaft can be inserted. The cylindrical bodies are configured with sector-shaped south-pole magnets and north-pole magnets arranged alternately in the circumferential direction. The first magnetic coupling member 61 is attached to the motor shaft 51. The second magnetic coupling member 62 is attached to a shaft 71 (described below). The motor shaft 51 and the shaft 71 are positioned orthogonally to each other. That is, the axis on which the first magnetic coupling member 61 is attached (motor shaft 51) extends in the front-rear direction, and the axis on which the second magnetic coupling member 62 is attached (shaft 71) extends in the left-right direction, so that the two axes are perpendicular to each other.

[0026] The first magnetic coupling member 61 and the second magnetic coupling member 62 are not in mechanical contact with each other but are arranged to face each other with a gap Ga of a predetermined width therebetween. Despite the gap Ga, when the first magnetic coupling member 61 rotates about its axis due to the operation of the motor shaft 51, a rotational force is transmitted based on the magnetic coupling force, causing the second magnetic coupling member 62 to also rotate about its axis. However, when the rotational load of the second magnetic coupling member 62 becomes greater than the magnetic coupling force, the transmission of the rotational force ceases and the first magnetic coupling member 61 begins to spin freely. The magnetic coupling force can be adjusted by the width of the gap Ga. The width of the gap Ga is set assuming that the magnetic coupling unit 6 will function as a torque limiter if an operator's fingers are pinched by the door 4.

[0027] The mechanical mechanism 7 mechanically connects the second magnetic coupling member 62 and the door 4, and transmits the rotational driving force of the motor shaft 51, which is applied from the first magnetic coupling member 61 to the second magnetic coupling member 62 by magnetic coupling, to the door 4. The mechanical mechanism 7 includes a shaft 71, a belt gear 72, a belt 73, a movable pulley 74, and a weight unit 75.

[0028] The shaft 71 is a cylindrical body extending laterally and disposed near the top plate 13 of the housing 10. A second magnetic coupling member 62 is attached to the shaft 71 at its axially intermediate position. The rotational driving force of the motor shaft 51 is applied from the first magnetic coupling member 61 to the second magnetic coupling member 62, causing the shaft 71 to rotate about its axis. The left and right ends of the shaft 71 are rotatably supported by end supports 711. The shaft 71 is rotatably supported near its center by a pair of intermediate supports 712 arranged to sandwich the second magnetic coupling member 62 in the axial direction. A bearing 713, through which the shaft 71 is inserted, is attached to the intermediate supports 712. The end supports 711 and the intermediate supports 712 are fixed to the top plate frame 131 shown in FIG. 4.

[0029] The belt gears 72 are attached to the left end (one end) and the right end (the other end) of the shaft 71. The belt gears 72 are engagement rings with multiple engagement teeth protruding from their circumferential surfaces. The belts 73 are arranged in pairs on the left and right sides and suspend the opening / closing door 4. The pair of belts 73 are so-called toothed belts and engage with the shaft 71 via the belt gears 72. One side of the belt gear 72 has multiple ribs protruding at a constant pitch that engage with the engagement teeth of the belt gear 72. The left belt 73 (first belt) engages with the belt gear 72 at the left end of the shaft 71, and the right belt 73 (second belt) engages with the belt gear 72 at the right end. In this manner, two belts 73 are attached to the left and right ends of the shaft 71. Note that a high-friction pulley may be used instead of the belt gear 72, and a wire may be used instead of the belt 73, and the opening / closing door 4 may be suspended and supported by the wire.

[0030] The left belt 73 is disposed at a position corresponding to the left side edge 43 of the door 4, and the right belt 73 is disposed at a position corresponding to the right side edge 43. The lower end of each belt 73 is a hanging support portion 731. The hanging support portion 731 is connected to the side edge 43 near the upper edge 41 of the door 4, and supports the door 4 in a hanging manner. A terminal fixing portion 732 is attached to the upper end of each belt 73. The terminal fixing portion 732 is fixed to the top panel frame 131, as shown in FIG. 4 .

[0031] The movable pulley 74 has a belt 73 stretched across it, and moves up and down in conjunction with the up and down movement of the opening / closing door 4. The position of the movable pulley 74 shown in Figures 3 and 4 is the position when the opening / closing door 4 is lowered, that is, the position when the opening 14 is closed. The operation of the opening / closing door 4 will be described with reference to Figures 8A to 9B. When viewed from the hanging support part 731, the belt 73 is folded downward by the belt gear 72, and then folded back upward by the movable pulley 74, and is stretched across the upper end to reach the terminal fixing part 732. A weight unit 75 is attached to the movable pulley 74.

[0032] The weight unit 75 includes a base plate 751 and a weight member 752. The base plate 751 is a flat plate having the same left-to-right width as the opening and closing door 4. The movable pulleys 74 are rotatably supported on both the left and right ends of the base plate 751. The weight member 752 is a plate material having a predetermined weight, and is held by the base plate 751. The weight of the weight unit 75 can be set appropriately depending on the capacity of the motor device 5.

[0033] The sensor 8 detects the open / close state of the door 4. In this embodiment, a limit switch type sensor 8 is used. The main body of the sensor 8 is attached to the top frame 131. Meanwhile, a dog 81 that operates the actuator of the main body of the sensor 8 protrudes from the upper surface of the weight unit 75. The weight unit 75 rises in conjunction with the movable pulley 74, and the dog 81 interferes with the actuator, thereby detecting the position of the door 4.

[0034] In the above embodiment, an example has been shown in which a pair of left and right belts 73 are engaged with the left and right ends of the shaft 71. If the opening / closing door 4 is small, a single belt 73 may connect the shaft 71 and the opening / closing door 4. Conversely, if the opening / closing door 4 is large, three or more belts 73 may connect the shaft 71 and the opening / closing door 4. Also, a pair of left and right belts 73 may be engaged with the shaft 71 not at the end of the shaft 71 but at a position closer to the center from the end. However, if a pair of belts 73 are engaged with the left and right ends of the shaft 71 as in this embodiment, a rectangular opening / closing door can be stably supported and stably moved up and down.

[0035] In the above embodiment, the magnetic coupling unit 6 is disposed at the middle position of the shaft 71. Alternatively, the magnetic coupling unit 6 may be disposed at a position offset to the left or right of the middle position of the shaft 71. However, according to this embodiment, the left and right belts 73 are engaged with both ends of the shaft, respectively, and the magnetic coupling unit 6 to which the driving force is applied is disposed at the center of the shaft 71. Therefore, well-balanced power transmission can be achieved.

[0036] Furthermore, the installation manner of the magnetic coupling unit 6 is not limited to the example shown in Fig. 5. Fig. 6 is a perspective view showing a magnetic coupling unit 60 according to a modified example. In the magnetic coupling unit 60, a first magnetic coupling member 61 and a second magnetic coupling member 62 face each other across a gap Ga, as in the example shown in Fig. 5. The difference from the example shown in Fig. 5 is that the axis of the first magnetic coupling member 61 and the axis of the second magnetic coupling member 62 are in the same direction.

[0037] 6, the motor shaft 51 and the shaft 71 are arranged to extend in the same direction. Therefore, the first magnetic coupling member 61 attached to the motor shaft 51 and the second magnetic coupling member 62 attached to the shaft 71 are oriented in the same direction. This magnetic coupling unit 60 also allows the rotational driving force of the motor shaft 51 to be transmitted to the shaft 71.

[0038] However, arranging the first magnetic coupling member 61 and the second magnetic coupling member 62 so that they intersect each other at right angles as illustrated in Fig. 5 has the advantage of improving the housing 10's accommodating ability. Generally, the motor device 5 is larger than the shaft 71. Therefore, the arrangement shown in Fig. 6 requires the housing 10 to be enlarged or have an irregular shape that bulges forward in order to accommodate the portion of the motor device 5 that protrudes beyond the shaft 71. With the arrangement shown in Fig. 5, the motor device 5 can be arranged behind the front panel 11, improving the housing 10's accommodating ability.

[0039] The opening / closing door 4 moves up and down while being suspended and supported by the belt 73, and therefore can swing. For this reason, it is desirable to include a guide member that guides the opening / closing door 4's movement in the up and down direction. Fig. 7A is a cross-sectional view showing an example of the guide member 9 of the opening / closing door 4. The guide member 9 is disposed on the housing 10 at a position corresponding to the side edge 43 (side edge) of the opening / closing door 4.

[0040] The front panel 11 includes an opening edge portion 111 that defines the opening 14 around the periphery of the opening 14. The guide member 9 includes a resin rail 91 extending in the vertical direction and a bracket 92. The resin rail 91 is the portion that contacts the door 4 and has a U-shaped cross section that can accommodate the side edge 43. That is, the portion of the guide member 9 that contacts the door 4 is made of resin. The bracket 92 is a metal fitting that holds the resin rail 91 and secures the resin rail 91 to the opening edge portion 111. The guide member 9 guides the side edge 43 when the door 4 moves in the vertical direction, thereby stabilizing the opening and closing operation of the door 4. Note that, as illustrated in FIG. 7B , the bracket 92 may be omitted and the resin rail 9A may be secured directly to the edge of the opening 14.

[0041] [Operation of the Automatic Door System] Next, the operation of the automatic door system 100 will be described with reference to Figures 8A to 9B. Figure 8A is a front view of the door 4 in a closed state, and Figure 8B is a side view thereof. Figure 9A is a front view of the door 4 in an open state, and Figure 9B is a side view thereof.

[0042] 8A and 8B, the door 4 covers the opening 14, closing it. The movable pulley 74 of the mechanical mechanism 7 is in its highest position. A dog 81 (FIGS. 3 and 4) mounted on a weight unit 75 linked to the movable pulley 74 activates the sensor 8, which detects the closure of the door 4. As described above, in the magnetic coupling unit 6, the first magnetic coupling member 61 and the second magnetic coupling member 62 are magnetically coupled, enabling the transmission of driving force.

[0043] When a command to open the door 4 is given from the state shown in FIGS. 8A and 8B , the motor device 5 operates. When the motor shaft 51 is driven, the first magnetic coupling member 61 also rotates. When the first magnetic coupling member 61 rotates, the second magnetic coupling member 62 also rotates based on the magnetic coupling force, and as a result, the shaft 71 also rotates about its axis. In other words, the rotational driving force of the motor shaft 51 is transmitted to the shaft 71 through the magnetic coupling unit 6. The rotation of the shaft 71 also rotates the belt gears 72 located at both ends of the shaft 71. The belt 73 engaged with the belt gear 72 moves in accordance with the rotation of the belt gear 72. The movement of the belt 73 moves the door 4 in the vertical direction. In the example shown in FIGS. 8A and 8B , the belt 73 moves so that the door 4 is lifted upward. The rotation direction of the motor shaft 51 is selected so that the belt 73 moves in this manner.

[0044] 9A and 9B show the state in which the door 4 has been completely lifted. The door 4 has been lifted above the opening 14, which is open to the outside. The movable pulley 74 is in its lowest position. In this embodiment, the weight of the weight unit 75 acts to reduce the lifting load of the door 4. In other words, the door 4 can be operated with a small driving force. This allows the magnetic coupling force of the magnetic coupling unit 6 to be set relatively small, thereby enabling the magnetic coupling members 61 and 62 to be made smaller. This also reduces the load on the motor device 5, allowing a smaller motor device to be used. Furthermore, the weight unit 75 is integrated with the movable pulley 74. This reduces the vertical movement of the weight unit 75 by approximately half compared to when a weight member is simply attached to the end of the belt 73, contributing to the miniaturization of the automatic door device 100.

[0045] 9A and 9B, when the door 4 is to be closed, the motor shaft 51 is driven in the reverse direction. The driving force of the motor shaft 51 is transmitted to the shaft 71 through the magnetic coupling unit 6, causing the belt 73 to move in the opposite direction. In other words, the belt 73 is moved in the direction that lowers the door 4. The door 4 continues to lower until it closes the opening 14. When the sensor 8 detects that the door 4 is closed, that is, when the state returns to that of FIG. 8, the driving of the motor shaft 51 is stopped.

[0046] If an event occurs that inhibits the opening and closing operation of the door 4 due to the operation of the motor device 5, the magnetic coupling unit 6 cuts off the transmission of motor torque to the door 4. For example, suppose that a foreign object or an object such as an operator's finger is caught between the lower edge of the opening 14 and the lower edge of the door 4 while the door 4 is descending. In this case, the object prevents the door 4 from descending, and even if the motor shaft 51 and the first magnetic coupling member 61 rotate, the second magnetic coupling member cannot rotate. In other words, the magnetic coupling unit 6 does not transmit driving force through magnetic coupling force, and only the first magnetic coupling member 61 rotates freely. As a result, no downward force acts on the door 4.

[0047] If the driving force is transmitted mechanically, such as by gear meshing, rather than by the magnetic coupling unit 6, even if an object becomes trapped in the door 4, the meshing does not disengage, and a downward force continues to act on the door 4. The driving force of the motor shaft 51 continues to be applied to the trapped object via the door 4. If a finger becomes trapped, this could pose a dangerous situation. Therefore, it is necessary to provide a sensor to detect abnormal operation of the door 4 and a mechanism to automatically reverse the motor shaft 51 when an abnormality is detected. In contrast, according to this embodiment, if excessive force acts on the door 4 due to factors such as an object being trapped, the magnetic coupling unit 6 is magnetically disengaged. Therefore, the driving force of the motor shaft 51 does not continue to be applied to an object trapped in the door 4, and a mechanism to automatically reverse the door 4 is not required. Furthermore, the number of sensors monitoring the operation of the door 4 can be kept to a minimum. This simplifies the safety mechanism for the door 4.

[0048] 8A to 9B show an example in which the opening 14 is opened by the opening / closing door 4 rising from a state in which the opening / closing door 4 closes the opening 14. Alternatively, the opening 14 may be opened by the opening / closing door 4 lowering from the state shown in Fig. 8A and 8B. Alternatively, the automatic door device 100 may be disposed in the housing 10 so that the shaft 71 is positioned near the upper edge of the opening 14, and Fig. 8A and Fig. 8B show a state in which the opening / closing door 4 opens the opening 14, while Fig. 9A and Fig. 9B show a state in which the opening / closing door 4 closes the opening 14.

[0049] [Modification] FIG. 10 is a cross-sectional view showing a modification of the door 4 and its guide member 9. The resin rail 91 of the guide member 9 may be disposed so as to extend vertically, or, as shown in FIG. 10 , may be disposed so as to extend in a direction inclined by a predetermined angle θ relative to the vertical. According to this modification, the door 4 is guided by the inclined resin rail 91, so that the door 4 also assumes a position inclined by the predetermined angle θ. Therefore, the weight of the door 4 can ensure a seal between the door 4 and the housing 10. The resin rail 91 has an inner surface 91A located on the inside of the inclination and an outer surface 91B located on the outside of the inclination on the inner surface of the U-shaped cross section. As the door 4 tilts, the side edge 43 of the door 4 naturally comes into close contact with the inner surface 91A due to its own weight. This close contact improves sealing.

[0050] Fig. 11A is a perspective view of an automatic door system 100A according to a modified example, and Fig. 11B is a schematic diagram of a magnetic coupling unit 6A provided in the automatic door system 100A. The automatic door system 100A is equipped with a first motor 5A including a first motor shaft 51 and a second motor 5B including a second motor shaft 52 as motor devices. The first motor 5A is located on the left end side of a shaft 71, and the second motor 5B is located on the right end side of the shaft 71, with the two motors 5A and 5B facing each other across the shaft 71. In other words, the motor shaft 51 and the shaft 71 are arranged coaxially.

[0051] The first magnetic coupling member 61A of the magnetic coupling unit 6A is attached to the first motor shaft 51. The second magnetic coupling member 62A is attached to the right end of the shaft 71. The axes of the first magnetic coupling member 61A and the second magnetic coupling member 62A are coaxial and face each other across a gap Ga. When the first magnetic coupling member 61A rotates due to the rotation of the first motor shaft 51, the second magnetic coupling member 62A also rotates due to the magnetic coupling force. This causes the shaft 71 to rotate as well. A similar magnetic coupling unit 6B is provided for the second motor 5B.

[0052] The driving force of the first motor 5A is transmitted to the left side edge 43 (first position) of the door 4 through the left belt gear 72 and belt 73 (first driving force transmission path). The driving force of the second motor 5B is transmitted to the right side edge 43 (second position) of the door 4 through the right belt gear 72 and belt 73 (second driving force transmission path). When the door 4 is opened or closed, the first motor 5A and the second motor 5B are operated synchronously. With this automatic door device 100A, the door is operated using two motors, two sets of coupling members, and two driving force transmission paths. Because the load on each of the motors 5A and 5B is reduced, the opening and closing mechanism of the door 4 can be constructed using inexpensive, small motors.

[0053] As a modification of the automatic door device 100A, the door 4 may be divided into left and right halves, with the left halves driven by the first motor 5A and the right halves driven by the second motor 5B. In this case, the second motor 5B may be omitted, and a magnetic coupling may be provided in the middle of the shaft 71, so that both the left and right halves of the door 4 are driven by the driving force of the first motor 5A.

[0054] [Inventions Included in the Above-Described Embodiments] The above-described embodiments include the following inventions.

[0055] A working device according to one aspect of the present invention includes a housing, a working unit housed in the housing and performing a predetermined task on an object placed inside the housing, an opening / closing door attached to the housing, a motor device including a motor shaft that outputs a driving force to operate the opening / closing door, a first magnetic coupling member attached to the motor shaft, a second magnetic coupling member that is magnetically coupled to the first magnetic coupling member, and a mechanical mechanism that mechanically couples the second magnetic coupling member to the opening / closing door and transmits the driving force of the motor shaft given from the first magnetic coupling member to the second magnetic coupling member by the coupling to the opening / closing door.

[0056] According to this aspect, a magnetic coupling between the first magnetic coupling member and the second magnetic coupling member exists in the driving force transmission path from the motor shaft of the motor device to the door. When excessive force acts on the door due to factors such as a foreign object being caught in the door, the magnetic coupling is released. Therefore, the driving force of the motor shaft is not continuously applied to the object caught in the door, and a mechanism for reversing the door operation is not required. Furthermore, the installation of sensors for monitoring the door operation can be minimized. This simplifies the safety mechanism for the door.

[0057] In the above-mentioned working device, the housing may be a housing for a cell movement device that can accommodate a first container from which cells are to be moved and a second container to which cells are to be moved, and the working unit may be a head unit that picks cells from the first container and moves them to the second container.

[0058] According to this aspect, by closing the door while the head unit is in operation, it is possible to restrict access by workers to the inside of the housing, and it is also possible to simplify the safety mechanism for the door attached to the housing for the cell migration device.

[0059] In the above-mentioned working device, the mechanical mechanism may include a belt that suspends and supports the opening and closing door, the housing may include an opening that allows access to the inside of the housing, and the opening and closing door may be configured to move vertically relative to the opening as the belt is moved by the driving force of the motor shaft.

[0060] According to this aspect, the door moves up and down as the belt that suspends and supports it moves. By adopting a mechanical mechanism using such a belt, the structure for moving the door up and down can be simplified compared to when a ball screw shaft or the like is used.

[0061] In the above-described working device, the belt may be provided in the form of a plurality of belts, and the mechanical mechanism may further include a shaft to which the second magnetic coupling member is attached, the plurality of belts being engaged with the shaft, and the rotational driving force of the motor shaft being applied from the first magnetic coupling member to the second magnetic coupling member, causing the shaft to rotate about its axis, and the plurality of belts to move due to this rotation.

[0062] According to this aspect, the door is suspended and supported by multiple belts engaged with the shaft, allowing the door to operate stably. Furthermore, the driving force is transmitted to the door simply by rotating the shaft around its axis. This simplifies the structure of the mechanical mechanism.

[0063] In the above-described working device, it is preferable that the door has a rectangular shape in a plan view, and the plurality of belts are attached to one end and the other end of the door in a width direction.

[0064] According to this aspect, the rectangular opening and closing door can be stably supported and moved up and down stably.

[0065] In the above-described working device, it is desirable that the plurality of belts include a first belt engaged with one end of the shaft and a second belt engaged with the other end of the shaft, and that the second magnetic coupling member be attached to an axially intermediate position of the shaft.

[0066] According to this aspect, the first belt and the second belt are respectively engaged with both ends of the shaft, and the second magnetic coupling member to which driving force is applied is disposed at the center of the shaft, thereby achieving well-balanced power transmission.

[0067] In the above-described working device, the mechanical mechanism may further include a shaft to which the second magnetic coupling member and the engaging wheel are attached, and a movable pulley to which a weight member is attached, and the upper end of the belt is hung so as to fold back over the engaging wheel and the movable pulley, and the lower end of the belt supports the opening and closing door by suspending it, and the rotational driving force of the motor shaft is applied from the first magnetic coupling member to the second magnetic coupling member, causing the shaft to rotate around its axis, and the engagement wheel is driven by the rotation, thereby moving the multiple belts.

[0068] According to this aspect, the use of a movable pulley with a weight member attached thereto allows the door to be operated with a small driving force. This allows the magnetic coupling force to be set relatively small, making it possible to reduce the size of the first magnetic coupling member and the second magnetic coupling member. This also reduces the load on the motor device, allowing the use of a smaller motor device.

[0069] In the above-described working device, it is preferable that the mechanical mechanism further includes a shaft to which the second magnetic coupling member is attached, and that the motor shaft and the shaft are disposed so as to intersect at right angles to each other.

[0070] When the motor shaft and the shaft are arranged in the same direction, the motor device is generally larger than the shaft, which makes it difficult to fit the motor device into the housing. In other words, in order to accommodate the part of the motor device that protrudes beyond the shaft, the housing must be made larger or irregularly shaped. According to the above aspect, the motor shaft and the shaft are arranged perpendicular to each other, which improves the fitment of the motor device into the housing.

[0071] In the working device described above, it is preferable to further include a sensor that detects the open / closed state of the door. According to this aspect, it is possible to detect the open / closed state of the door and perform various controls, notifications, etc.

[0072] In the above-mentioned working device, it is desirable that the opening and closing door has a rectangular shape in a plan view, and that the housing is arranged at a position corresponding to the side edge of the opening and closing door and includes a guide member that guides the opening and closing door's movement in the vertical direction.

[0073] According to this aspect, the door is guided by the guide member when it moves up and down, so that the opening and closing operation of the door can be stabilized.

[0074] In the above-described working device, it is preferable that at least the portion of the guide member that comes into contact with the opening and closing door is made of resin, since this reduces the operating resistance of the opening and closing door.

[0075] In the above working device, the guide member may extend in a direction inclined relative to the vertical direction.

[0076] According to this aspect, the door is tilted by the guide member, so that the weight of the door can ensure a seal between the door and the housing.

[0077] In the above-described working device, the motor device may include a first motor including a first motor shaft and a second motor including a second motor shaft, the first magnetic coupling members are attached to the first motor shaft and the second motor shaft, and the second magnetic coupling members are magnetically coupled to the first magnetic coupling members, respectively, and the mechanical mechanism may transmit the driving force via a first driving force transmission path from the first motor shaft to the first position of the opening / closing door and a second driving force transmission path from the second motor shaft to the second position of the opening / closing door.

[0078] According to this aspect, the door is operated using two motors, two sets of coupling members, and two drive force transmission paths. Because the load on each motor is reduced, the door opening / closing mechanism can be constructed using inexpensive, small motors.

[0079] According to the present invention as described above, it is possible to provide a working device having an opening and closing door that can avoid a complicated structure while ensuring safety.

Claims

1. A working device comprising: a housing; a working unit contained in the housing and performing a predetermined task on an object placed inside the housing; an opening / closing door attached to the housing; a motor device including a motor shaft that outputs a driving force to operate the opening / closing door; a first magnetic coupling member attached to the motor shaft; a second magnetic coupling member magnetically coupled to the first magnetic coupling member; and a mechanical mechanism that mechanically couples the second magnetic coupling member and the opening / closing door, and transmits the driving force of the motor shaft given from the first magnetic coupling member to the second magnetic coupling member by the coupling to the opening / closing door.

2. A working device as described in claim 1, wherein the housing is a housing for a cell movement device capable of arranging a first container from which cells are to be moved and a second container to which the cells are to be moved, and the working section includes a head unit that picks up cells from the first container and moves them to the second container.

3. A working device as claimed in claim 1 or 2, wherein the mechanical mechanism includes a belt that suspends and supports the opening and closing door, the housing includes an opening that allows access to the inside of the housing, and the opening and closing door moves vertically relative to the opening as the belt is moved by the driving force of the motor shaft.

4. A working device as claimed in claim 3, wherein the belt is provided in the form of a plurality of belts, the mechanical mechanism further includes a shaft to which the second magnetic coupling member is attached, the plurality of belts are engaged with the shaft, and the rotational driving force of the motor shaft is applied from the first magnetic coupling member to the second magnetic coupling member, causing the shaft to rotate about its axis, and the plurality of belts are moved by the rotation.

5. A working device according to claim 4, wherein the opening and closing door has a rectangular shape in a plan view, and the plurality of belts are attached to one end and the other end of the opening and closing door in the width direction.

6. A working device according to claim 4, wherein the plurality of belts include a first belt engaged with one end of the shaft and a second belt engaged with the other end of the shaft, and the second magnetic coupling member is attached to an axially intermediate position of the shaft.

7. A working device as described in claim 3, wherein the mechanical mechanism further comprises a shaft to which the second magnetic coupling member and engaging wheel are attached, and a movable pulley to which a weight member is attached, the upper end side of the belt is hung so as to fold back around the engaging wheel and the movable pulley, and the lower end side of the belt suspends and supports the opening and closing door, and the rotational driving force of the motor shaft is applied from the first magnetic coupling member to the second magnetic coupling member, causing the shaft to rotate about its axis, and the engagement wheel is driven by the rotation, thereby moving the multiple belts.

8. A working device according to claim 1 or 2, wherein the mechanical mechanism further includes a shaft to which the second magnetic coupling member is attached, and the motor shaft and the shaft are disposed perpendicular to each other.

9. The working device according to claim 1 or 2, further comprising a sensor for detecting the open / closed state of the opening / closing door.

10. A working device as claimed in claim 1 or 2, wherein the opening and closing door has a rectangular shape in a plan view, and the housing is arranged at a position corresponding to a side edge of the opening and closing door, and includes a guide member for guiding the opening and closing door's movement in the vertical direction.

11. A working device as described in claim 10, wherein at least the portion of the guide member that comes into contact with the opening and closing door is made of resin.

12. A working device according to claim 10, wherein the guide member extends in a direction inclined with respect to the vertical direction.

13. A working device as claimed in claim 1 or 2, wherein the motor device includes a first motor including a first motor shaft and a second motor including a second motor shaft, the first magnetic coupling members are attached to the first motor shaft and the second motor shaft, respectively, and the second magnetic coupling members are magnetically coupled to the first magnetic coupling members, and the mechanical mechanism transmits the driving force via a first driving force transmission path from the first motor shaft to a first position of the opening / closing door, and a second driving force transmission path from the second motor shaft to a second position of the opening / closing door.

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