Conveyance system, cell culture system, conveyance method, support mechanism, and tray

Abstract

In the present invention, a conveyance system comprises: a tray on which a container used for cell culture can be placed; and a support mechanism able to support the tray. The support mechanism comprises: a pair of support parts which each have a support surface able to support the tray and which are arranged so as to be spaced apart from each other; at least three pin parts which protrude upwards in a direction perpendicular from the support surface; and a drive part which is connected to the pair of support parts and alters the posture of the pair of support parts. The tray has a tray-supported part in which is formed insertion holes which have a fixed internal diameter and into which the pin parts can be inserted. The pin parts are tapered pins having diameters that decrease in an upwards direction in the perpendicular direction.

Description

Transport system, cell culture system, transport method, support mechanism, and tray

[0001] This application claims priority to Japanese Patent Application No. 2023-218577, filed on December 25, 2023, the contents of which are incorporated herein by reference.

[0002] Patent Document 1 describes a cell culture incubator device in a culture system with minimal human involvement. The incubator device described in Patent Document 1 is capable of automatically executing various protocols using a computing unit and a robot or the like that operates according to instructions from the computer or the like.

[0003] Patent No. 6995369

[0004] When performing automated cell culture, trays carrying flasks or other containers for storing culture media must be moved by a robot or the like. If the tray falls off the end effector of the robot, the transfer of the flasks and various operations will be hindered. On the other hand, since multiple trays must be moved multiple times during cell culture, it is preferable to have a simple mechanism for preventing the trays from falling off to ensure stable movement.

[0005] The present disclosure provides a transfer system, a cell culture system, a transfer method, a support mechanism, and a tray that are capable of stably moving a tray with a simple configuration.

[0006] In order to solve the above-mentioned problems, the transport system according to the present disclosure comprises: a tray on which containers used for cell culture can be placed; and a support mechanism capable of supporting the tray in a lifted state from below in a vertical direction, the support mechanism having a support surface that extends straight in a first direction perpendicular to the vertical direction and is capable of supporting the tray from below in the vertical direction, a pair of support parts that are arranged apart from each other in a second direction perpendicular to the first direction, at least three pin parts fixed to the pair of support parts and protruding upward in the vertical direction from the support surface, and a drive part connected to the pair of support parts and changing the posture of the pair of support parts, the tray having a tray supported part with an insertion hole that extends in the vertical direction and has a constant inner diameter and is capable of inserting the pin parts, and the pin parts are tapered pins that gradually reduce in diameter as they extend upward in the vertical direction.

[0007] In addition, the cell culture system according to the present disclosure includes the above-mentioned conveying system, a stocker forming a storage area for storing the containers conveyed by the conveying system, an incubator forming a culture area for performing culture operations on the containers conveyed by the conveying system, and a clean bench forming a liquid handling area for performing dispensing operations on the containers conveyed by the conveying system.

[0008] In addition, the conveying method according to the present disclosure is a conveying method using the above-mentioned conveying system, and includes a step in which the tray is supported and lifted by the support mechanism with the pin portion inserted into the insertion hole, and a step in which the tray is moved with the tray supported and lifted.

[0009] Furthermore, the support mechanism part according to the present disclosure is a support mechanism part capable of supporting a tray on which containers used for cell culture can be placed in a lifted state from below in the vertical direction, and includes a pair of support parts having a support surface that extends straight in a first direction perpendicular to the vertical direction and is capable of supporting the tray from below in the vertical direction, and that are arranged apart from each other in a second direction perpendicular to the first direction, at least three pin parts fixed to the pair of support parts and protruding upward in the vertical direction from the support surface, and a drive part connected to the pair of support parts and that changes the posture of the pair of support parts, and the tray has a tray supported part in which an insertion hole with a constant inner diameter that extends in the vertical direction and into which the pin parts can be inserted is formed, and the pin parts are tapered pins that gradually reduce in diameter as they extend upward in the vertical direction.

[0010] Furthermore, the tray according to the present disclosure is a tray on which a container used for cell culture can be placed and which can be supported by a support mechanism in a state where it is lifted up from below in the vertical direction, the support mechanism having a support surface that extends straight in a first direction perpendicular to the vertical direction and is capable of supporting the tray from below in the vertical direction, and comprising a pair of support parts that are arranged apart from each other in a second direction perpendicular to the first direction, at least three pin parts that are fixed to the pair of support parts and protrude upward in the vertical direction from the support surface, and a drive part that is connected to the pair of support parts and changes the posture of the pair of support parts, the pin parts being tapered pins that gradually reduce in diameter as they extend upward in the vertical direction, and the tray has a supported part that has an insertion hole that extends in the vertical direction and has a constant inner diameter and into which the pin parts can be inserted.

[0011] According to the transport system, cell culture system, transport method, support mechanism, and tray of the present disclosure, the tray can be moved stably with a simple configuration.

[0012] FIG. 1 is a schematic plan view showing a schematic configuration of a cell culture system according to an embodiment of the present disclosure. FIG. 2 is a schematic view showing a schematic configuration of a transport system according to an embodiment of the present disclosure. FIG. 3 is a perspective view showing a schematic configuration of a flask unit according to an embodiment of the present disclosure. FIG. 4 is a perspective view showing a schematic configuration of a support mechanism according to an embodiment of the present disclosure. FIG. 5 is an enlarged view of a main part showing a support part and a pin part according to an embodiment of the present disclosure. FIG. 6 is an enlarged view of a main part showing a state in which a pin part according to an embodiment of the present disclosure is inserted into an insertion hole. FIG. 7 is an enlarged view of a main part showing a support part and a protrusion part according to an embodiment of the present disclosure. FIG. 8 is a flow chart showing a transport method according to an embodiment of the present disclosure. FIG. 9 is a perspective view showing a schematic configuration of a support mechanism according to a modified example of the present disclosure.

[0013] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. As shown in FIG. 1, a cell culture system 100 of this embodiment is a system that performs cell culture and post-culture cell analysis using a work as a processing unit, and these processes are performed, for example, unmanned and automatically. In the cell culture system 100, the work is transported by a transport system described below, and various processes are performed unmanned and automatically. In this embodiment, a flask unit 1 (see FIG. 3) is exemplified as the work.

[0014] The flask unit 1 has a tray 3 and a plurality of containers (for example, two in this embodiment) placed on the tray 3. Various types of containers used for cell culture are adopted as the containers. In this embodiment, the container is, for example, a flask 2. The flask 2 contains cells and a culture solution containing a medium to which nutrients necessary for cell growth have been added. The detailed structure of the flask unit 1 will be described later.

[0015] <Cell Culture System> The cell culture system 100 includes a first stocker 110 , a second stocker 120 , an incubator 130 , a clean bench 140 , and a pass box 150 .

[0016] <First Stocker> The first stocker 110 is a facility for storing a plurality of flask units 1 and other workpieces. The area within the first stocker 110 is designated as a first storage area R1. In the first storage area R1, workpieces including containers and trays 3 transported by the transport system 10 are stored. In the first storage area R1, a rack 112 capable of storing a large number of workpieces is arranged. The rack 112 is capable of storing a plurality of flask units 1 in the horizontal direction and the vertical direction Dv. An operator can access the rack 112 from outside via a door.

[0017] <Second Stocker> The second stocker 120 is disposed adjacent to the first stocker 110. The area within the second stocker 120 is designated as a second storage area R2. In the second storage area R2, workpieces including containers and trays 3 transported by the transport system 10 are stored at low temperatures. The second stocker 120 is provided with equipment such as a base on which the workpieces can be placed and a refrigerator-freezer that can store the culture solution in a refrigerated or frozen state.

[0018] <Incubator> The incubator 130 is a facility for growing cells in a culture solution. The area within the incubator 130 is designated as the culture area R3. In the culture area R3, a culture operation is performed on the work containers transported by the transport system 10. The atmosphere in the culture area R3 is controlled to a temperature, humidity, and carbon dioxide concentration suitable for cell culture. The culture area R3 is basically a dark place. A shaking stage 132 capable of simultaneously shaking multiple flasks 2 is arranged in the culture area R3. Multiple shaking stages 132 are arranged within the culture area R3. Each shaking stage 132 is capable of simultaneously shaking multiple flask units 1 while holding them. The shaking stage 132 is a large shaking device configured to simultaneously shake multiple flask units 1 arranged in parallel, for example, by rotating eccentrically around a vertical axis.

[0019] <Clean bench> The clean bench 140 is a facility for performing various liquid manipulations and processes on the flask unit 1. An area within the clean bench 140 is designated as a liquid manipulation area R4. In the liquid manipulation area R4, dispensing operations are performed on containers of workpieces transported by the transport system 10. The liquid manipulation area R4 is a highly clean, sterile space (a bio-clean room). Air circulates within the liquid manipulation area R4 as a downflow (a descending air current).

[0020] For example, a dispensing device 142 is disposed within the clean bench 140. Various equipment such as a filtration device, a sealing device, a waste liquid draining device, and a workpiece discharging device may be disposed within the clean bench 140. Furthermore, a culture medium supplying device capable of supplying culture medium to the dispensing device 142, a cell analysis device capable of analyzing the culture solution dispensed by the dispensing device 142, and the like may be disposed outside the clean bench 140.

[0021] The dispensing device 142 performs various dispensing operations and other processes to the flask unit 1. It should be noted that not only one but also a plurality of dispensing devices 142 may be provided.

[0022] Here, the clean bench 140 is disposed adjacent to the first stocker 110 and the second stocker 120 .

[0023] A first stocker door 110a is disposed within the first stocker 110, separating the first storage area R1 from the liquid handling area R4. When the first stocker door 110a is in an open state, the first storage area R1 and the liquid handling area R4 are in a connected state, allowing workpieces to be moved between these areas. When the first stocker door 110a is in a closed state, the first storage area R1 and the liquid handling area R4 are in a non-connected state, isolating these areas.

[0024] A second stocker door 120a is disposed within the second stocker 120, separating the second storage area R2 from the liquid handling area R4. When the second stocker door 120a is in an open state, the second storage area R2 and the liquid handling area R4 are in a connected state, allowing workpieces to be moved between these areas. When the first stocker door 110a is in a closed state, the second storage area R2 and the liquid handling area R4 are in a non-connected state, isolating these areas.

[0025] <Pass Box> The pass box 150 is disposed between the incubator 130 and the clean bench 140 so as to be in contact with them. The pass box 150 has a first pass door 150a and a second pass door 150b. When the first pass door 150a is open, the culture area R3 and the area inside the pass box 150 are in communication with each other. When the second pass door 150b is open, the liquid handling area R4 and the area inside the pass box 150 are in communication with each other. Therefore, opening and closing the first pass door 150a and the second pass door 150b switches between an isolated state for the culture area R3 and the liquid handling area R4 and a state where workpieces can move between these areas. Note that the first pass door 150a and the second pass door 150b are never open at the same time. Therefore, the culture area R3 and the liquid handling area R4 do not communicate with each other, and the atmospheric conditions of each area are maintained.

[0026] <Transport Device> The transport device 170 is a device for unmanned transport of the flask unit 1 within the cell culture system 100. The transport device 170 has a first transport robot 171, a second transport robot 172, a third transport robot 173, a fourth transport robot 174, and a conveyor 175.

[0027] The first transport robot 171 is located in the first storage area R1. The second transport robot 172 is located in the culture area R3. The third transport robot 173, the fourth transport robot 174, and the conveyor 175 are located in the liquid handling area R4. The multiple transport robots 7, such as the first transport robot 171, the second transport robot 172, the third transport robot 173, and the fourth transport robot 174, are, for example, six-axis industrial robots. Note that the transport robots 7 are not limited to being six-axis industrial robots. Furthermore, the first transport robot 171, the second transport robot 172, the third transport robot 173, and the fourth transport robot 174 are not limited to being all robots of the same type. Details of the structure of the transport robot 7 in this embodiment will be described later.

[0028] <Transport System> Next, a transfer system 10 according to the present disclosure will be described with reference to FIG. 2 . The cell culture system 100 has a transfer system 10. The transfer system 10 includes a tray 3 and a support mechanism 80. In this embodiment, a flask 2 is mounted on the tray 3. In this embodiment, the tray 3 with the flask 2 mounted thereon is referred to as a flask unit 1. The support mechanism 80 is also arranged as part of a transfer robot 7. Therefore, the transfer system 10 of this embodiment includes the flask unit 1 and the transfer robot 7.

[0029] <Flask Unit> Next, the detailed structure of the flask unit 1 on which the flask 2 is mounted will be described with reference to Fig. 3. The flask unit 1 is composed of a flask 2 and a tray 3. The flask unit 1 can be operated and transported with two flasks 2 placed as a set on the tray 3.

[0030] <Flask> In this embodiment, a lidded Erlenmeyer flask is used as the flask 2. The flask 2 has a flask body 21 and a lid 22.

[0031] <Flask Body> The flask body 21 is a so-called Erlenmeyer flask. The flask body 21 has a bottomed cylindrical shape centered on a first axis O1 extending in the vertical direction Dv, and is open at the top. That is, the flask body 21 is disposed in an orientation in which the direction in which the first axis O1 extends coincides with the vertical direction Dv. The first axis O1 is the central axis of the flask 2. The outer peripheral surface of the flask body 21 has a conical surface shape centered on the first axis O1, which decreases in diameter as it extends upward. A cylindrical mouth portion is formed at the top of the flask body 21, which is connected to the upper end of the outer peripheral surface of the flask 2 and is centered on the first axis O1.

[0032] <Lid> The lid 22 has a bottomed cylindrical shape with a closed upper end. When attached to the flask body 21, the lid 22 extends in the vertical direction Dv around the first axis O1. The lid 22 has a circular outer shape in a cross section (horizontal cross section) perpendicular to the first axis O1. When the lid 22 is screwed onto the mouth of the flask 2, the lid 22 is attached to the flask body 21 in an airtight and liquid-tight manner. In other words, the lid 22 is configured to be attached to and detached from the flask body 21 by rotating it relative to the flask body 21 around the first axis O1. Note that the lid 22 is not limited to a bottomed cylindrical structure. The lid 22 may be, for example, a filter with an opening.

[0033] <Tray> A plurality of containers can be placed on the tray 3. The tray 3 includes a mounting plate (lower plate) 31, a fixing structure 32, a support (connecting portion) 33, and a tray supported portion 34.

[0034] <Loading Plate> The loading plate 31 is a member on which the flask 2 is placed. The loading plate 31 has a flat plate shape extending in the horizontal direction, which is a direction perpendicular to the vertical direction Dv. The loading plate 31 has a rectangular shape in a plan view. Hereinafter, within the horizontal direction, the longitudinal direction of the loading plate 31 in a plan view will be referred to as a first direction D1. Furthermore, within the horizontal direction, the lateral direction of the loading plate 31 in a plan view will be referred to as a second direction D2. The loading plate 31 is positioned below and spaced apart from the tray supported portion 34 in the vertical direction Dv.

[0035] The upper surface of the mounting plate 31 serves as a mounting surface 311 on which the flask 2 is placed. The lower surface of the mounting plate 31 can be placed in contact with various equipment of the cell culture system 100. A plurality of flasks 2 (two in this embodiment) are arranged spaced apart in the first direction D1 with the bottom surfaces of the flasks 2 abutting the mounting surface 311. In other words, the juxtaposition direction of the plurality of flasks 2 coincides with the first direction D1. The plurality of flask bodies 21 are arranged on the mounting plate 31 at positions biased to one side of the second direction D2.

[0036] <Fixing Structure> The fixing structure 32 is a structure for stably disposing the flask body 21 on the mounting surface 311 of the mounting plate 31. The fixing structure 32 holds the flask body 21 in a state where it cannot move in the horizontal direction. A plurality of fixing structures 32 (two in this embodiment) are arranged spaced apart in the first direction D1 according to the placement location of the flask 2.

[0037] <Support Pillars> The support pillars 33 connect the loading plate 31 and the tray supported portion 34. The support pillars 33 are rod-shaped members extending upward from the loading surface 311. A plurality of support pillars 33 (four in this embodiment) are arranged. Each support pillar 33 is arranged at one of the four corners where the short side and long side of the loading plate 31 are connected in a plan view.

[0038] <Tray Supported Portion> The tray supported portion 34 is supported by a plurality of support columns 33 above the loading plate 31. Like the loading plate 31, the tray supported portion 34 is a rectangular, flat member with the first direction D1 as its longitudinal direction and the second direction D2 as its short side in a plan view. The outline shape of the tray supported portion 34 in a plan view is the same as that of the loading plate 31. The upward surface of the tray supported portion 34 is formed flat. The downward surface of the tray supported portion 34 is formed flat. The tray supported portion 34 is connected to the upper ends of the support columns 33. As a result, the tray supported portion 34 is arranged above the loading plate 31 and parallel to the loading plate 31.

[0039] The tray supported portion 34 has an opening 341 formed therethrough in the extension direction Dv. The opening 341 has a rectangular shape with the first direction D1 as the longitudinal direction and the second direction D2 as the transverse direction in a plan view. The opening 341 extends in the first direction D1 at a position offset to one side of the tray supported portion 34 in the second direction D2. The flask 2 placed on the mounting surface 311 is inserted through the opening 341. That is, the flask 2 on the mounting surface 311 is surrounded by the tray supported portion 34 from its entire periphery in the horizontal direction. The tray supported portion 34 also has a lid rest 342 formed at a position offset in the second direction D2 from the opening 341. The lid rest 342 is capable of holding the lid 22 removed from the flask body 21. The lid rest 342 is formed in a region of the tray supported portion 34 that is offset in the second direction D2 from the region where the opening 341 is formed. Furthermore, the tray supported portion 34 is formed to be lighter than the mounting plate 31. In other words, the mounting plate 31 is formed to be heavier than the tray supported portion 34. Therefore, the mounting plate 31 and the tray supported portion 34 are formed so that the center of gravity of the flask unit 1 is lower in the vertical direction Dv than the tray supported portion 34. The tray supported portion 34 may be formed from a material with a lighter specific gravity than the mounting plate 31, or may be formed from the same material as the mounting plate 31 but with a smaller volume than the mounting plate 31.

[0040] Furthermore, insertion holes 345 are formed in the tray supported portion 34. The pin portion 83, which will be described later, can be inserted into the insertion holes 345. The insertion holes 345 are holes that extend in the vertical direction Dv and have a constant inner diameter. In this embodiment, the insertion holes 345 are through holes that penetrate in the vertical direction Dv. Note that the insertion holes 345 are not limited to through holes, and may be recesses that are recessed from the underside of the tray supported portion 34. The same number of insertion holes 345 are formed on both edge portions of the tray supported portion 34 in the second direction D2. The insertion holes 345 are formed in pairs spaced apart from each other in the second direction D2 relative to the edge portions of the tray supported portion 34.

[0041] <Transport Robot> As shown in Figures 1 and 2, the transport robot 7 moves the flask unit 1 by supporting and moving the tray 3 in each area. The transport robot 7 is able to move the tray 3 back and forth between each area by coordinating the opening and closing of each door. The transport robot 7 has a robot arm 70 and a support mechanism part 80.

[0042] <Robot Arm> The robot arm 70 is a multi-joint robot arm 70 that is movable along six axes. The robot arm 70 has joints that connect a plurality of links so that they can move relative to each other.

[0043] <Support Mechanism> The support mechanism 80 is detachably attached to the tip of the robot arm 70. The support mechanism 80 moves the tray 3 while supporting the tray 3 from below in the vertical direction Dv. The support mechanism 80 is attached to the robot arm 70 as an end effector. As shown in FIG. 4 , the support mechanism 80 of this embodiment has a pair of support portions 81, a drive portion 82, a plurality of pin portions 83, and a protrusion portion 84.

[0044] The pair of support portions 81 extend straight in the first direction D1. The support portions 81 are formed, for example, in the shape of a rod with a rectangular cross section. The support portions 81 have a support surface 811 that can support the tray 3 from below in the vertical direction Dv. The support surface 811 is a flat surface that faces upward in the vertical direction Dv. The pair of support portions 81 are arranged spaced apart from each other in the second direction D2. The support portions 81 are detachable from the drive portion 82 at multiple locations so as to change the amount of protrusion from the drive portion 82 in the first direction D1.

[0045] The drive unit 82 is capable of changing the attitude of the pair of support units 81. The drive unit 82 is connected to the pair of support units 81. The drive unit 82 is capable of adjusting the distance between the pair of support units 81 in the second direction D2. The drive unit 82 may also be capable of adjusting the inclination angle of the support units 81 with respect to the horizontal plane and the position of the support units 81 in the vertical direction Dv. The drive unit 82 is controlled by a control device (not shown).

[0046] The pin portions 83 are fixed to the pair of support portions 81. As shown in FIG. 5, the pin portions 83 protrude upward from the support surface 811 in the vertical direction Dv. At least three pin portions 83 are arranged for each pair of support portions 81. In this embodiment, two pin portions 83 are arranged for each support portion 81, for a total of four pin portions 83 for each pair of support portions 81 (see FIG. 4). In each support portion 81, the two pin portions 83 are arranged spaced apart in the first direction D1. The positions of the two support portions 81 arranged in each pair of support portions 81 are aligned in the first direction D1. The pin portions 83 are detachable from the support portions 81. The two pin portions 83 are detachable from the support portions 81 at multiple locations where the distance between the two pin portions 83 is constant. In other words, the two pin portions 83 are detachable from one support portion 81 while maintaining a constant distance in the first direction D1.

[0047] The pin portion 83 is a tapered pin whose diameter gradually decreases upward in the vertical direction Dv. As shown in FIG. 6 , the diameter of the tip of the pin portion 83 is smaller than the inner diameter of the insertion hole 345. The diameter of the base end of the pin portion 83 is larger than the inner diameter of the insertion hole 345. Here, the base end of the pin portion 83 is connected to the support surface 811. The tip of the pin portion 83 is the position on the pin portion 83 farthest from the support surface 811 in the vertical direction Dv, opposite the base end. Furthermore, the base end region including the base end of the pin portion 83 is formed in a cylindrical shape with a constant diameter. The tip region of the pin portion 83 including the tip connected to the base end region is formed in a tapered truncated cone shape so as to form an inclined tapered surface 831. Therefore, when the pin portion 83 is inserted into the insertion hole 345, the base end of the pin portion 83 is not inserted into the insertion hole 345. In other words, the pin portion 83 is not completely inserted into the insertion hole 345 , and the tapered surface 831 comes into contact with the attachment at the lower end of the insertion hole 345 .

[0048] As shown in FIGS. 4 and 7 , the protrusion 84 protrudes in the second direction D2 from the side surface 812 of the support portion 81. The side surface 812 of the support portion 81 is a surface perpendicular to the support surface 811. The side surfaces 812 are flat surfaces that face each other in the second direction D2 in the pair of support portions 81. That is, the side surface 812 of one support portion 81 faces the side surface 812 of the other support portion 81. The protrusion 84 has a protrusion support surface 841 that is formed parallel to the support surface 811. The protrusion support surface 841 is a flat surface that faces upward in the vertical direction Dv in the protrusion 84. The protrusion support surface 841 is located below the support surface 811 in the vertical direction Dv. That is, the protrusion support surface 841 extends in the second direction D2 from halfway along the side surface 812 in the vertical direction Dv. The surface of the protrusion 84 facing downward in the vertical direction Dv forms a flat surface integral with the surface of the support portion 81 facing downward in the vertical direction Dv. The protrusion 84 in this embodiment is formed integrally with the support portion 81.

[0049] <Transportation Method> Next, a transfer method S10 using the transfer system 10 in the cell culture system 100 as described above will be described. In the transfer method S10 of this embodiment, the flask unit 1 is moved by the transfer robot 7. As shown in FIG. 8 , first, the support mechanism 80 is moved to the tray 3 by the robot arm 70 (step S1). Specifically, the support mechanism 80 is moved to a position shifted to a first position relative to the flask unit 1, with the support parts 81 disposed between the mounting plate 31 and the tray supported parts 34 in the vertical direction Dv. At this time, the distance between the pair of support parts 81 is adjusted by the drive unit 82 to match the distance between the insertion holes 345 in the second direction D2.

[0050] Next, with the pins 83 inserted into the insertion holes 345, the support mechanism 80 supports and lifts the tray 3 from below in the vertical direction Dv (step S2). Specifically, the support mechanism 80 is moved so that the support members 81 are inserted between the loading plate 31 and the tray supported members 34 in the vertical direction Dv. At this time, the pair of support members 81 are inserted between the loading plate 31 and the tray supported members 34 at positions that are outward of the support columns 33 in the second direction D2 and overlap with the tray supported members 34 when viewed from the vertical direction Dv. In other words, the pair of support members 81 are inserted below the edges of the tray supported members 34 so as to follow the edges on both sides of the tray supported members 34 in the second direction D2. Furthermore, for example, when moving the tray 3 in the first stocker 110, the pair of support members 81 are inserted into the tray 3 that is tilted on the rack 112. Then, the pair of support members 81 lift the tray supported members 34 from below in the vertical direction Dv. As a result, the pair of support portions 81 support and lift the tray 3 in a horizontal position. At this time, the support portions 81 are moved in the first direction D1 to positions where the insertion holes 345 and the pin portions 83 overlap. As a result, when viewed from the vertical direction Dv, the two pin portions 83 of each support portion 81 are moved to positions where they overlap with different insertion holes 345. Thereafter, the support portions 81 are moved upward in the vertical direction Dv, lifting the tray supported portion 34. At this time, each pin portion 83 is inserted into the insertion hole 345. Therefore, the pin portions 83 are inserted into the insertion holes 345 from below in the vertical direction Dv.

[0051] Furthermore, while the tray 3 is supported and lifted, it may be agitated as needed (step S3). Specifically, this applies when the tray 3 is placed in the incubator 130, the clean bench 140, or the pass box 150. That is, the tray 3 placed in the incubator 130 or the clean bench 140 is agitated after being lifted. At this time, the tray 3 is agitated by rotating the pair of support members 81 by the robot arm 70 around a vertical axis passing through the center of gravity of the tray 3. That is, the tray 3 is not swung only in the first direction D1 or the second direction D2, but is rotated on a virtual plane extending in the first direction D1 and the second direction D2. Note that, when agitating, the tray 3 may be rotated three-dimensionally to simulate the agitating motion of an operator.

[0052] The tray 3 is moved while being supported and lifted (step S4). If the tray 3 has been agitated, the tray 3 is moved after the agitation. Specifically, the tray 3 is moved to a next destination or moved back to its original position. Then, the pair of support members 81 are moved downward in the vertical direction Dv by the robot arm 70 so as to remove the support mechanism 80 from the tray 3. The pair of support members 81 are then removed by the robot arm 70 from between the mounting plate 31 and the tray supported portion 34. The support mechanism 80 is then moved to another tray 3, and the same steps are repeated. Thus, the flask unit 1 is moved by the transfer robot 7 between the first storage area R1, the second storage area R2, the culture area R3, and the liquid handling area R4.

[0053] (Effects) In the transport system 10 configured as described above, the flask unit 1 is moved with the four pins 83 protruding upward from the support surface 811 in the vertical direction Dv inserted into the insertion holes 345 formed in the tray supported portion 34. Furthermore, while the insertion hole 345 has a constant inner diameter, the pins 83 are tapered pins whose diameter gradually decreases upward in the vertical direction Dv. Therefore, when the pins 83 are inserted into the insertion holes 345 from below in the vertical direction Dv, they are guided by the tapered surface 831, and even if the positions of the insertion holes 345 and the pins 83 are slightly misaligned, a restoring force acts around the pins 83. As a result, the pins 83 are stably inserted into the insertion holes 345. Therefore, misalignment of the tray supported portion 34 relative to the pair of support portions 81 can be suppressed without complex movements of the pair of support portions 81. In this way, the tray 3 can be stably moved with a simple configuration. Furthermore, since the pin portion 83 inserted into the insertion hole 345 is a tapered pin, it can be easily inserted into and removed from the insertion hole 345 .

[0054] The four pins 83 are spaced apart from each other in the first direction D1 and the second direction D2, so that the tray support portion 34 can be supported in a stable position.

[0055] Furthermore, the diameter of the tip of the pin portion 83 is smaller than the inner diameter of the insertion hole 345, while the diameter of the base end of the pin portion 83 is larger than the inner diameter of the insertion hole 345. Therefore, the pin portion 83 inserted into the insertion hole 345 does not reach the base end, and the tapered surface 831 of the pin portion 83 contacts the edge of the lower end of the insertion hole 345 between the tip and base end. As a result, even if the pin portion 83 is not inserted sufficiently deep into the insertion hole 345, the tray supported portion 34 swings as the pair of support portions 81 move, and the pin portion 83 is inserted into the insertion hole 345 so that the edge of the lower end of the insertion hole 345 faces downward along the tapered surface 831. This allows the pin portion 83 to be reliably inserted into the insertion hole 345, preventing the tray supported portion 34 from falling off and allowing it to move in a stable state.

[0056] In particular, the pin portion 83 is inserted into the insertion hole 345, and the tray 3 is agitated while being supported and lifted. Therefore, even if the pin portion 83 stops partway through the insertion hole 345, the tray 3 is agitated and shaken, which generates a restoring force for the supporting portion 81 of the tray supported portion 34 centered on the pin portion 83, and the pin portion 83 is inserted with high precision from within the insertion hole 345 to a position where it cannot fall off. This allows the pin portion 83 to be reliably inserted into the insertion hole 345, preventing the tray supported portion 34 from falling off and allowing it to move in a stable state.

[0057] Furthermore, the support unit 81 is detachable from the drive unit 82 so as to change the amount of protrusion from the drive unit 82 in the first direction D1. In addition, the pin units 83 are detachable from one support unit 81 at multiple locations where the spacing between two pin units 83 is constant. This makes it possible to adjust the position of the pin units 83 in the first direction D1 relative to the drive unit 82. Therefore, by simply forming insertion holes 345 at predetermined intervals for trays 3 of different sizes, trays 3 of various sizes can be moved using the same support mechanism unit 80. This reduces the number of types of support mechanism units 80 required to move the trays 3, thereby reducing costs.

[0058] The pair of support portions 81 also have protrusions 84. Furthermore, the protrusions 84 have protrusion support surfaces 841 that are parallel to the support surface 811 and located below the support surface 811 in the vertical direction Dv. Therefore, the protrusion support surfaces 841 can support a transport member that does not have an insertion hole 345 formed therein from below in the vertical direction Dv. Therefore, for example, a jig or the like that moves carrying a sealer that seals a well plate can be moved in a stable position using the pair of support portions 81.

[0059] Furthermore, the side surface 812 of the support portion 81 of the protrusion support surface 841 protrudes inward in the second direction D2. Therefore, the transport member can be sandwiched between the side surface 812 of the support surface 811 in the second direction D2, and supported by the protrusion support surface 841 from below in the vertical direction Dv. Therefore, the transport member can be moved in a more stable posture.

[0060] Furthermore, the mounting plate 31 is connected via the support columns 33 below the tray supported portion 34 in the vertical direction Dv, in which the insertion holes 345 are formed. Therefore, the center of gravity of the tray 3 in the state of the flask unit 1 with the flask 2 placed thereon is below the tray supported portion 34 in the vertical direction Dv. Therefore, even when the tray supported portion 34 is lifted by the pair of supports 81, the tray 3 can maintain a stable posture. This allows stable movement even if the center of gravity is shifted compared to the case of the tray 3 alone, as in the case of the flask unit 1 with the flask 2 placed thereon.

[0061] Furthermore, by applying the above-described transfer system 10 to the cell culture system 100, the trays 3 can be transferred automatically and stably in an unmanned manner between the first stocker 110, the second stocker 120, the incubator 130, and the clean bench 140. Therefore, in the cell culture system 100, it is possible to reduce the occurrence of problems associated with the automatic transfer of works and improve reliability.

[0062] (Other Embodiments) Although the embodiments of the present disclosure have been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like within the scope that does not deviate from the gist of the present disclosure are also included.

[0063] The workpiece is not limited to the flask unit 1. The workpiece is changed as appropriate depending on the type of container. Therefore, the tray 3 is not limited to a tray 3 capable of placing a flask 2 thereon. The tray 3 may be formed in a shape that matches the shape of another container, as long as the area supported by the pair of support portions 81 in the tray supported portion 34 is common. Specifically, the container other than the flask 2 may be a well plate, a deep well plate, or the like. Also, in the flask unit 1, the tray 3 of this embodiment is configured to be capable of placing two flasks 2 thereon, but is not limited to this configuration. The tray 3 may be configured to be capable of placing only one flask 2 or three or more flasks 2 thereon.

[0064] Furthermore, the support mechanism 80 is not limited to the configuration of this embodiment. For example, the support mechanism 80 may be capable of moving not only the tray 3 but also other conveying jigs and the like using the pair of support parts 81.

[0065] 9 , as a modified example, the support mechanism unit 80 may further include a photographing unit 85 and an illumination unit 86. For example, the support mechanism unit 80 does not have to include the photographing unit 85 or the illumination unit 86.

[0066] 4, the photographing unit 85 is capable of photographing the tray 3 supported on the support surface 811. The photographing unit 85 is disposed above the pair of support parts 81 in the vertical direction Dv. A lens (not shown) is disposed in the photographing unit 85 at a position protruding from the drive unit 82 in the first direction D1 so as to protrude in the same direction as the pair of support parts 81. The photographing unit 85 is located above the pair of support parts 81 in the vertical direction Dv.

[0067] The lighting unit 86 is capable of irradiating light onto the tray 3 supported on the support surface 811. The lighting unit 86 is disposed above the pair of support parts 81 in the vertical direction Dv. The lighting unit 86 is a ring light disposed so as to surround the photographing unit 85. The lighting unit 86 is located above the pair of support parts 81 in the vertical direction Dv.

[0068] Furthermore, the number of pin portions 83 is not limited to four, and it is sufficient that at least three or more pin portions 83 are arranged spaced apart in the first direction D1 and the second direction D2 so as to form an imaginary plane parallel to the support surface 811. Therefore, different numbers of pin portions 83 may be arranged for a pair of support portions 81, such as two for one support portion 81 and one for the other support portion 81.

[0069] <Additional Notes> The transfer system 10, the cell culture system 100, the transfer method S10, the support mechanism 80, and the tray 3 described in each embodiment can be understood, for example, as follows.

[0070] (1) A transport system 10 according to a first aspect includes a tray 3 on which a container used for cell culture can be placed, and a support mechanism 80 capable of supporting the tray 3 in a lifted state from below in a vertical direction Dv. The support mechanism 80 has a support surface 811 that extends straight in a first direction D1 perpendicular to the vertical direction Dv and can support the tray 3 from below in the vertical direction Dv. The support mechanism 80 includes a pair of support parts 81 that are arranged apart from each other in a second direction D2 perpendicular to the first direction D1, and a pair of the support parts 81. The tray 3 is equipped with at least three pin portions 83 fixed to a support portion 81 and protruding upward in the vertical direction Dv from the support surface 811, and a drive portion 82 connected to a pair of the support portions 81 and changing the posture of the pair of support portions 81, and the tray 3 has a tray supported portion 34 formed with an insertion hole 345 having a constant inner diameter extending in the vertical direction Dv and into which the pin portions 83 can be inserted, and the pin portions 83 are tapered pins whose diameter gradually decreases as they move upward in the vertical direction Dv.

[0071] According to this configuration, the flask unit 1 is moved with at least three pin portions 83 protruding upward from the support surface 811 in the vertical direction Dv inserted into insertion holes 345 formed in the tray support portion 34. Furthermore, while the insertion hole 345 has a constant inner diameter, the pin portions 83 are tapered pins whose diameter gradually decreases upward in the vertical direction Dv. Therefore, by inserting the pin portions 83 into the insertion hole 345 from below in the vertical direction Dv, a restoring force acts around the pin portions 83, even if the positions of the insertion hole 345 and the pin portions 83 are slightly misaligned. As a result, the pin portions 83 are stably inserted into the insertion hole 345. Therefore, misalignment of the tray support portion 34 relative to the pair of support portions 81 can be suppressed without causing complex movements of the pair of support portions 81. In this way, the tray 3 can be stably moved with a simple configuration. Furthermore, because the pin portions 83 inserted into the insertion hole 345 are tapered pins, they can be easily inserted into and removed from the insertion hole 345.

[0072] (2) The conveying system 10 according to the second aspect is the conveying system 10 of (1), in which the diameter of the tip of the pin portion 83 is smaller than the inner diameter of the insertion hole 345, and the diameter of the base end of the pin portion 83 is larger than the inner diameter of the insertion hole 345.

[0073] With this configuration, the pin 83 inserted into the insertion hole 345 does not reach its base end, and the outer peripheral surface of the pin 83 comes into contact with the edge of the lower end of the insertion hole 345 between its tip and base end. As a result, even if the pin 83 is not inserted sufficiently deep into the insertion hole 345, the supported portion 34 of the tray swings as the pair of support portions 81 moves, and the pin 83 is inserted into the insertion hole 345 so that the edge of the lower end of the insertion hole 345 faces downward along the tapered surface 831. This allows the pin 83 to be reliably inserted into the insertion hole 345, preventing the supported portion 34 of the tray from falling off and allowing it to move in a stable state.

[0074] (3) A conveying system 10 relating to a third aspect is the conveying system 10 of (1) or (2), in which the support portion 81 is detachable from the drive portion 82 at multiple locations so as to change the amount of protrusion from the drive portion 82 in the first direction D1, and the pin portions 83 are arranged in pairs at a distance from each other in the first direction D1 on one support portion 81, and are detachable from the support portion 81 at multiple locations where the spacing between the two pin portions 83 is constant.

[0075] With this configuration, the position of the pin portion 83 in the first direction D1 relative to the drive portion 82 can be adjusted. Therefore, by simply forming insertion holes 345 at predetermined intervals for trays 3 of various sizes, trays 3 of different sizes can be moved using the same support mechanism portion 80. This reduces the number of types of support mechanism portions 80 for moving the trays 3, thereby reducing costs.

[0076] (4) A conveying system 10 relating to a fourth aspect is any one of the conveying systems 10 of (1) to (3), in which the support mechanism part 80 has a protrusion part 84 protruding in the second direction D2 from side surfaces 812 of a pair of the support parts 81 that face each other in the second direction D2, and the protrusion part 84 has a protrusion support surface 841 formed parallel to the support surface 811 at a position below the support surface 811 in the vertical direction Dv.

[0077] With this configuration, a transport member that does not have an insertion hole 345 can be supported from below in the vertical direction Dv by the protrusion support surface 841. Therefore, for example, a jig or the like that carries a sealer that seals a well plate can be moved in a stable position using the pair of support parts 81.

[0078] (5) The conveying system 10 relating to the fifth aspect is any one of the conveying systems 10 of (1) to (4), in which the tray 3 has a lower plate located below the tray supported portion 34 in the vertical direction Dv, and a connection portion connecting the tray supported portion 34 and the lower plate, and the lower plate is formed to be heavier than the tray supported portion 34.

[0079] With this configuration, the center of gravity of the tray 3 with a container placed on it is located below the tray supported portion 34 in the vertical direction Dv. Therefore, the tray 3 can maintain a stable posture even when the tray supported portion 34 is lifted by the pair of support portions 81. This allows stable movement even when the center of gravity is shifted compared to when the tray 3 is placed alone, such as when a container is placed on it.

[0080] (6) In a sixth aspect, the cell culture system 100 includes a transport system 10 of any one of (1) to (5), a stocker forming a storage area for storing the containers transported by the transport system 10, an incubator 130 forming a culture area R3 for performing culture operations on the containers transported by the transport system 10, and a clean bench 140 forming a liquid handling area R4 for performing dispensing operations on the containers transported by the transport system 10.

[0081] According to this configuration, the trays 3 can be stably and automatically transported unmanned between the stocker, the incubator 130, and the clean bench 140. Therefore, in the cell culture system 100, it is possible to reduce the occurrence of problems associated with the automatic transport of works and improve reliability.

[0082] (7) The conveying method S10 relating to the seventh aspect is a conveying method S10 using any one of the conveying systems 10 (1) to (5), and includes a step in which the tray 3 is supported and lifted by the support mechanism part 80 while the pin part 83 is inserted into the insertion hole 345, and a step in which the tray 3 is moved while being supported and lifted.

[0083] With this configuration, even if the pins 83 stop partway through the insertion holes 345, a restoring force acts around the pins 83 as the tray 3 is stirred and shaken, even if the positions of the insertion holes 345 and the pins 83 are slightly misaligned. As a result, the pins 83 are inserted with high precision from within the insertion holes 345 to a position where they cannot fall off. This allows the pins 83 to be reliably inserted into the insertion holes 345, preventing the tray supported portions 34 from falling off and allowing the tray to be moved in a stable state. Being able to move the tray 3 in a stable state makes it possible to improve the efficiency and stability of cell culture operations.

[0084] (8) The conveying method S10 according to the eighth aspect is the conveying method S10 of (7), further comprising a step of stirring the tray 3 while the tray 3 is supported and lifted, and the tray 3 is moved after being stirred.

[0085] (9) A conveying method S10 according to a ninth aspect is the conveying method S10 of (8), in which the tray 3 is agitated by rotating on an imaginary plane extending in the first direction D1 and the second direction D2.

[0086] (10) The transport method S10 according to the tenth aspect is the transport method S10 of (8) or (9), in which the tray 3 placed in an incubator 130 forming a culture area R3 where culture operations are performed, a clean bench 140 forming a liquid handling area R4 where dispensing operations are performed, or a pass box 150 located adjacent to the incubator 130 and the clean bench 140 is lifted and then agitated.

[0087] (11) A support mechanism 80 according to an eleventh aspect is a support mechanism 80 capable of supporting a tray 3 on which a container used for cell culture can be placed in a lifted state from below in a vertical direction Dv, the support mechanism 80 having a support surface 811 that extends straight in a first direction D1 perpendicular to the vertical direction Dv and can support the tray 3 from below in the vertical direction Dv, a pair of support parts 81 that are arranged apart from each other in a second direction D2 perpendicular to the first direction D1, and a pair of support parts 81 fixed to the pair of support parts 81. The tray 3 has a tray supported portion 34 in which an insertion hole 345 having a constant inner diameter extending in the vertical direction Dv and into which the pin portions 83 can be inserted is formed, and the pin portions 83 are tapered pins whose diameter gradually decreases as they extend upward in the vertical direction Dv.

[0088] (12) A tray 3 according to a twelfth aspect is a tray 3 on which a container used for cell culture can be placed and which can be supported by a support mechanism 80 in a state where the tray 3 is lifted from below in a vertical direction Dv. The support mechanism 80 has a support surface 811 that extends straight in a first direction D1 perpendicular to the vertical direction Dv and can support the tray 3 from below in the vertical direction Dv. The support mechanism 80 has a pair of support parts 81 that are arranged apart from each other in a second direction D2 perpendicular to the first direction D1, and a pair of the The tray is provided with at least three pin portions 83 fixed to the support portion 81 and protruding upward from the support surface 811 in the vertical direction Dv, and a drive portion 82 connected to the pair of support portions 81 and changing the posture of the pair of support portions 81, wherein the pin portions 83 are tapered pins whose diameter gradually decreases as they move upward in the vertical direction Dv, and has a tray supported portion 34 in which an insertion hole 345 with a constant inner diameter extending in the vertical direction Dv and into which the pin portions 83 can be inserted is formed.

[0089] According to the transport system, cell culture system, transport method, support mechanism, and tray of the present disclosure, the tray can be moved stably with a simple configuration.

[0090] 100 Cell culture system 1 Flask unit 2 Flask 21 Flask body 22 Lid portion O1 First axis 3 Tray 31 Mounting plate 311 Mounting surface 32 Fixing structure 33 Support 34 Tray supported portion 341 Opening 342 Lid placing portion 345 Insertion hole 110 First stocker 120 Second stocker R1 First storage area 112 Rack R2 Second storage area 110a First stocker door 120a Second stocker door 130 Incubator R3 Cultivation area 132 Shaking stage 140 Clean bench R4 Liquid handling area 142 Dispensing device 150 Pass box 150a First pass door 150b Second pass door 170 Transport device 171 First transport robot 172 Second transport robot 173 Third transport robot 174 Fourth transport robot 175 Conveyor 10 Transport system 7 Transport robot 70 Robot arm 80 Support mechanism 81 Support part 811 Support surface 812 Side surface 82 Drive part 83 Pin part 831 Tapered surface 84 Protrusion part 841 Protrusion support surface 85 Photography part 86 Illumination part S10 Transport method Dv Vertical direction D1 First direction D2 Second direction

Claims

1. A transport system comprising a tray on which a container used for cell culture can be placed, and a support mechanism unit that can support the tray in a lifted state from below in the vertical direction. The support mechanism unit has a support surface that extends straight in a first direction orthogonal to the vertical direction and can support the tray from below in the vertical direction, a pair of support portions arranged apart from each other in a second direction orthogonal to the first direction, at least three pin portions fixed to the pair of support portions and protruding upward in the vertical direction from the support surface, and a drive unit connected to the pair of support portions and configured to change the posture of the pair of support portions. The tray has a tray supported portion in which insertion holes with a constant inner diameter extending in the vertical direction are formed and into which the pin portions can be inserted. The pin portions are tapered pins whose diameters gradually decrease upward in the vertical direction.

2. The transport system according to claim 1, wherein the diameter of the tip of the pin portion is smaller than the inner diameter of the insertion hole, and the diameter of the base end of the pin portion is larger than the inner diameter of the insertion hole.

3. The support portion is detachably attached to the drive unit at a plurality of locations so as to change the amount of protrusion in the first direction from the drive unit. The pin portions are arranged such that two are spaced apart from each other in the first direction with respect to one support portion, and are detachably attached to the support portion at a plurality of locations where the distance between the two pin portions is constant. The transport system according to claim 1 or 2.

4. The support mechanism unit has a protrusion portion protruding in the second direction from side surfaces facing each other in the second direction of the pair of support portions. The protrusion portion has a protrusion support surface formed parallel to the support surface at a position below the support surface in the vertical direction. The transport system according to claim 1 or 2.

5. The tray has a lower plate located below the tray supported portion in the vertical direction, and a connecting portion connecting the tray supported portion and the lower plate. The lower plate is formed to be heavier than the tray supported portion. The transport system according to claim 1 or 2.

6. A cell culture system comprising: the transport system according to claim 1 or 2; a stocker forming a storage area for storing the containers transported by the transport system; an incubator forming a culture area for performing a culture operation on the containers transported by the transport system; and a clean bench forming a liquid operation area for performing a dispensing operation on the containers transported by the transport system.

7. A transport method using the transport system according to claim 1 or 2, the method comprising: a step of supporting and lifting the tray by the support mechanism portion with the pin portion inserted into the insertion hole; and a step of moving the tray while the tray is supported and lifted.

8. The transport method according to claim 7, further comprising a step of agitating the tray while the tray is supported and lifted, wherein the tray is moved after being agitated.

9. The transport method according to claim 8, wherein the tray is agitated by being rotated on a virtual plane extending in the first direction and the second direction.

10. The transport method according to claim 8, wherein the tray disposed in an incubator forming a culture area for performing a culture operation, a clean bench forming a liquid operation area for performing a dispensing operation, or a pass box positioned to be in contact between the incubator and the clean bench is agitated after being lifted.

11. A support mechanism portion capable of supporting, in a lifted state, a tray on which a container used for cell culture can be placed, the support mechanism portion having: a support surface extending straight in a first direction orthogonal to the vertical direction and capable of supporting the tray from below in the vertical direction; a pair of support portions arranged apart from each other in a second direction orthogonal to the first direction; at least three pin portions fixed to the pair of support portions and protruding upward in the vertical direction from the support surface; and a drive portion connected to the pair of support portions and changing the posture of the pair of support portions, wherein the tray has a tray supported portion formed with an insertion hole into which the pin portion can be inserted and having a constant inner diameter extending in the vertical direction, and the pin portion is a tapered pin whose diameter gradually decreases upward in the vertical direction.

12. A tray that can be placed on a container used for cell culture and can be supported by a support mechanism in a state of being lifted from below in the vertical direction, wherein the support mechanism has a support surface that extends straight in a first direction orthogonal to the vertical direction and can support the tray from below in the vertical direction, a pair of support portions arranged apart from each other in a second direction orthogonal to the first direction, at least three pin portions fixed to the pair of support portions and protruding upward in the vertical direction from the support surface, and a drive portion connected to the pair of support portions and changing the posture of the pair of support portions, the pin portions being tapered pins whose diameters gradually decrease as they go upward in the vertical direction, and the tray having a tray supported portion in which an insertion hole having a constant inner diameter into which the pin portions can be inserted and extending in the vertical direction is formed.

Images