An automatic inoculation device for tissue culture seedlings

Abstract

The application discloses a kind of tissue culture seedling automatic inoculation device, it is related to tissue culture seedling inoculation field, including base, the base is equipped with for placing explant storage box, for placing culture medium and moving mechanism of culture rack;The moving end of the moving mechanism is equipped with clamping mechanism, for clamping explant, and moving mechanism and clamping mechanism can be inserted into culture medium by explant in storage box.The application is driven by moving mechanism to make clamping mechanism descend, by the passive blocking of fixed head on culture rack to clamping jaw assembly, it can make the explant clamped by horizontal posture automatically rotate into vertical posture, without configuring multi-axis manipulator or angle adjusting component, fundamentally solve the problem of complicated mechanism caused by posture adjustment in prior art.

Description

Technical Field

[0001] This invention relates to the field of tissue culture seedling inoculation technology, and more specifically to an automatic tissue culture seedling inoculation device. Background Technology

[0002] Plant tissue culture technology utilizes the totipotency of plant cells under sterile conditions to culture explants in vitro on artificial culture media, achieving rapid seedling propagation. It is widely used in the industrialized seedling production of economic crops such as flowers, trees, and medicinal herbs. During tissue culture production, explants need to be inoculated into culture containers filled with culture medium. The efficiency and sterility level of this inoculation process directly affect the survival rate and production cost of tissue-cultured seedlings.

[0003] Currently, tissue culture seedling inoculation mainly relies on robotic arms or other moving mechanisms to grasp explants and insert them into the culture medium. Specifically, since explants are typically placed horizontally on the equipment platform (e.g., in a storage box), and must be inserted vertically into the culture medium for proper culture, the explants need to be adjusted from a horizontal to an vertical position during the process of grasping and transplanting. Existing devices typically require multi-degree-of-freedom robotic arms or multi-dimensional moving mechanisms, along with angle adjustment components, to complete the grasping, posture adjustment, and inoculation of explants. This results in a cumbersome and complex overall mechanism, high control difficulty, and often necessitates numerous position sensors for precise three-dimensional positioning, leading to high equipment manufacturing costs. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic inoculation device for tissue culture seedlings in order to solve the above-mentioned problems, as detailed below.

[0005] To achieve the above objectives, the present invention provides the following technical solution: The present invention provides an automatic inoculation device for tissue culture seedlings, including a base, on which a storage box for placing explants, a culture medium for placing culture racks, and a moving mechanism are provided; The moving end of the moving mechanism is equipped with a clamping mechanism for clamping the explant. The moving mechanism and the clamping mechanism work together to insert the explant in the storage box into the culture medium. The clamping mechanism includes a drive mechanism and several sets of clamping claw assemblies. The clamping claw assemblies are rotatably connected to the drive mechanism, and the drive mechanism enables two clamping claws in the same set to come close together to clamp the explant. When the moving mechanism drives the gripper assembly to extend into the culture medium, the gripper assembly will be blocked by the culture rack, causing the gripper assembly to rotate. The gripper assembly can rotate the held explant from a horizontal position to a vertical position.

[0006] Preferably, the driving mechanism includes a fixed frame, which is detachably connected to the moving end of the moving mechanism. Several fixed plates are connected to the fixed frame, and several sliding rods are horizontally slidably connected to the fixed frame. Movable plates are connected to the sliding rods, and the movable plates correspond to the fixed plates. Springs are sleeved on the sliding rods, and the two ends of the springs are respectively connected to the fixed frame and the sliding rods, for pushing the sliding rods so that the sliding rods drive the movable plates closer to the fixed plates.

[0007] Preferably, the slide bar is rectangular and extends through the fixed frame.

[0008] Preferably, the fixed frame is provided with a pushing component for pushing the movable plate away from the fixed plate. The pushing component includes a rotating shaft rotatably connected to the fixed frame, a cam corresponding to the movable plate connected to the rotating shaft, and a drive motor connected to the fixed frame for driving the rotating shaft.

[0009] Preferably, both the fixed plate and the movable plate are rotatably connected to gripper assemblies at their opposite positions, and the two gripper assemblies form a set.

[0010] Preferably, the gripper assembly includes a connecting shaft, and the connecting shaft is rotatably connected to both the fixed plate and the movable plate. The connecting shaft is connected to a gripper and a connecting arm, which is arranged along the length direction of the gripper. A torsion spring is sleeved on the connecting shaft, with one end of the torsion spring connected to the connecting shaft and the other end connected to the fixed plate or the movable plate.

[0011] Preferably, the culture rack includes a frame, on which a plurality of limiting boxes for placing culture media are provided, and a plurality of fixing heads are provided on the frame along the length direction of the fixed plate and the movable plate, the fixing heads corresponding to the connecting arms.

[0012] Preferably, the storage box has several cavities arranged in a straight line, each containing an explant, and each pair of gripper assemblies corresponds to each cavity of the storage box.

[0013] Preferably, the base is provided with a positioning groove for limiting the position of the storage box and the culture rack.

[0014] Preferably, both the storage box and the culture rack are embedded in the positioning groove, and the cavity arrangement direction of the storage box is consistent with the arrangement direction of the upper positioning box of the culture rack.

[0015] The beneficial effects are: 1. This invention uses a moving mechanism to drive the clamping mechanism downwards. With the passive obstruction of the clamping claw assembly by the fixed head on the culture rack, the clamped explant can be automatically rotated from a horizontal posture to a vertical posture. There is no need to configure a multi-axis manipulator or angle adjustment component, which fundamentally solves the problem of cumbersome mechanism caused by the need to adjust the posture in the prior art.

[0016] 2. This invention abandons the multi-degree-of-freedom manipulator or multi-dimensional movement mechanism in the prior art. It only uses a simple structure such as a base, storage box, culture rack, movement mechanism and clamping mechanism, combined with the passive limiting of the fixed head to complete the clamping, posture adjustment and inoculation of explants. The overall mechanism is greatly simplified and the equipment manufacturing cost is significantly reduced.

[0017] 3. This invention uses a two-dimensional motion mechanism as the moving mechanism, which only requires movement in two dimensions, horizontal and vertical, to complete the material picking and inoculation. By reasonably setting the movement length and movement height of the two-dimensional motion mechanism, the fault tolerance of the device movement can be effectively improved: the depth of the explant inserted into the culture medium does not need to be very precise. Horizontal movement to the leftmost or rightmost position is sufficient to accurately correspond with the storage box and culture rack. There is no need to set up a large number of position sensors for precise three-dimensional positioning. The control logic is simple, further saving equipment costs.

[0018] 4. The present invention is equipped with several sets of gripper components, so that each set of gripper components corresponds one-to-one with each cavity of the storage box and each limiting box of the culture rack. The gripping mechanism can grip multiple explants at one time, realizing the simultaneous material collection and simultaneous inoculation of multiple explants, greatly improving the inoculation efficiency of tissue culture seedlings and meeting the needs of large-scale production.

[0019] 5. In this invention, the gripper assembly is passively rotated after being blocked by the fixed head, and the action is highly synchronized. This ensures that each explant can stably switch from a horizontal material picking posture to a vertical planting posture, avoiding problems such as lodging and misalignment. The inoculation depth and posture are well consistent.

[0020] 6. This invention achieves automatic opening and closing of the grippers through the cooperation of springs and push components, and achieves automatic reset of the gripper components through torsion springs. The entire set of actions is cyclical and continuous, and multiple batches of inoculation operations can be completed continuously. The fully automated picking and placing replaces manual operation, reduces the exposure time of explants and human contact, and effectively reduces the risk of tissue culture contamination.

[0021] 7. The present invention uses the positioning groove on the base to limit the storage box and the culture rack, so as to realize the quick alignment and installation of the two and avoid the position deviation during the operation; the cavity of the storage box and the limiting box are arranged in the same direction and at equal distances, which further ensures the positioning accuracy and consistency of batch inoculation. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a front view of the present invention; Figure 2 This is a perspective view of the present invention; Figure 3 This is a partially enlarged perspective view of the present invention; Figure 4 This is a perspective view of the base of the present invention; Figure 5 This is a perspective view of the clamping mechanism of the present invention; Figure 6 This is a perspective view of the gripper assembly of the present invention.

[0024] The annotations in the attached figures are explained as follows: 1. Base; 2. Storage box; 3. Culture rack; 301. Frame; 302. Limiting box; 303. Fixing head; 4. Culture medium; 5. Moving mechanism; 6. Clamping mechanism; 7. Driving mechanism; 701. Fixing frame; 702. Fixing plate; 703. Slide rod; 704. Movable plate; 705. Spring; 706. Pushing assembly; 8. Claw assembly; 801. Claw; 802. Connecting shaft; 803. Torsion spring; 804. Connecting arm; 9. Positioning groove; 10. Rotating shaft; 11. Drive motor; 12. Cam. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0026] See Figures 1-6 As shown, the present invention provides an automatic inoculation device for tissue culture seedlings, including a base 1, a storage box 2 for placing explants, a culture medium 4 for placing a culture rack 3, and a moving mechanism 5.

[0027] Based on this, the moving end of the moving mechanism 5 is provided with a clamping mechanism 6 for clamping the explant. The moving mechanism 5 and the clamping mechanism 6 work together to insert the explant in the storage box 2 into the culture medium 4.

[0028] Specifically, the moving mechanism 5 can achieve precise reciprocating movement of the clamping mechanism 6 between the material picking station and the inoculation station. Through multi-dimensional linkage movement, in conjunction with the clamping and posture switching actions of the clamping mechanism 6, the automated picking and inoculation of explants can be completed, replacing traditional manual operation and reducing the risk of contamination.

[0029] Furthermore, in this embodiment, the moving mechanism 5 can be a two-dimensional motion mechanism, that is, it has the ability to move in two dimensions, horizontal and vertical. Compared with a three-dimensional motion mechanism, it can save costs. As two-dimensional motion mechanisms are common knowledge, they will not be elaborated here. By setting the motion length and motion height of the two-dimensional motion mechanism, the fault tolerance of this device can be effectively improved. Firstly, once the vertical movement height is set reasonably, the depth of the explant insertion into the culture medium 4 does not need to be very precise. As long as it descends to the correct position, it can be reliably inserted into the culture medium 4, avoiding the need for precise control of the insertion depth. Secondly, once the horizontal movement length is set reasonably, the horizontal movement can be set to move to the far left or far right to accurately correspond with the storage box 2 and the culture rack 3. There is no need to set too many position sensors in the middle of the stroke for precise positioning, thereby simplifying the control logic while ensuring the reliability of the operation, and ultimately saving equipment costs.

[0030] Meanwhile, the clamping mechanism 6 includes a drive mechanism 7 and several sets of gripper assemblies 8. The gripper assemblies 8 are rotatably connected to the drive mechanism 7, and the drive mechanism 7 enables two grippers 801 in the same set to approach and clamp the explant.

[0031] Furthermore, multiple sets of gripper components 8 can perform gripping operations simultaneously, which can adapt to the needs of batch explant inoculation and effectively improve the overall inoculation efficiency. At the same time, each set of grippers 801 independently corresponds to the material picking and inoculation position, which can ensure the gripping stability and alignment accuracy of a single operation.

[0032] In particular, this clamping mechanism 6 can clamp multiple explants at once, enabling simultaneous material collection and inoculation of multiple explants, resulting in high efficiency for batch operations.

[0033] It should be noted that in the prior art, since the angle of the explant needs to be adjusted before it can be inserted from the gripping to the transplanting into the culture medium 4, a multi-axis robot is usually used to complete the gripping, transplanting and posture adjustment of the explant. This application achieves explant posture conversion by using the moving mechanism 5 to drive the clamping mechanism 6, and the passive blocking gripper assembly 8 of the fixed head 303 of the culture rack 3, without the need for complex multi-axis linkage control. Therefore, compared with multi-axis manipulators, this application has significantly lower structural costs, is easier to control, and greatly reduces a lot of three-dimensional positioning work. While ensuring inoculation quality and efficiency, it significantly reduces equipment manufacturing costs and subsequent maintenance difficulties.

[0034] When the moving mechanism 5 drives the gripper assembly 8 to extend into the culture medium 4, the gripper assembly 8 will be blocked by the culture rack 3, causing the gripper assembly 8 to rotate. The gripper assembly 8 can rotate the held explant from a horizontal position to a vertical position.

[0035] The flipping process of gripper 801 and the cooperation relationship between various components: After material handling is completed, the torsion spring 803 maintains the gripper assembly 8 in a horizontal initial position. The gripper 801 grips the explant in the horizontal direction, and the connecting arm 804 extends horizontally in the same direction as the gripper 801. The moving mechanism 5 drives the entire gripping mechanism 6 to move horizontally above the culture rack 3, so that each set of connecting arms 804 is aligned vertically with the corresponding fixing head 303 on the culture rack 3. The moving mechanism 5 drives the gripping mechanism 6 to feed vertically downward at a uniform speed. The first part to contact the fixing head 303 is the front end of the connecting arm 804. The fixing head 303 is a rigid fixing column, which remains stationary and forms an upward mechanical resistance force on the connecting arm 804. As the moving mechanism 5 continues to move downward, the connecting arm 804 is blocked by the fixed head 303, which generates a rotational torque around the connecting shaft 802. This torque overcomes the preload torque of the torsion spring 803 and drives the connecting shaft 802 to rotate within the mounting holes of the fixed plate 702 and the movable plate 704. The connecting shaft 802 is an integral rotating shaft. When the connecting shaft 802 rotates, the coaxially fixed gripper 801 rotates synchronously with the connecting arm 804, with a rotation angle of 90°. During rotation, the gripper 801 flips downward from a horizontal gripping position, and the gripped explant rotates synchronously with the gripper 801, changing from a horizontal lying position to a vertical downward position, with the lower end of the explant facing the culture medium 4 in the lower limiting box 302. Throughout the entire flipping process, the spring 705 in the drive mechanism 7 maintains its elasticity, keeping the gripper assembly 8 between the fixed plate 702 and the movable plate 704 in a closed gripping state, preventing the explant from loosening; After the connecting arm 804 rotates 90°, it disengages from the fixing head 303. At this point, the gripper 801 has just completed a 90° rotation and remains vertical. The moving mechanism 5 continues to descend a short distance, inserting the vertically positioned explant into the culture medium 4. After inoculation, the moving mechanism 5 drives the clamping mechanism 6 to rise vertically upwards. The gripper 801 moves upwards away from the culture medium 4, and the connecting arm 804 moves upwards away from the fixing head 303. The resisting torque acting on the connecting arm 804 disappears. The torsion spring 803 releases the elastic reset torque, causing the connecting shaft 802 to rotate 90° in the opposite direction. The gripper 801, together with the connecting arm 804, automatically resets to its initial horizontal position, ready for the next material handling operation. The connecting arms 804 of the multiple gripper assemblies 8 synchronously contact their respective fixed heads 303, so the flipping action of the multiple grippers 801 is synchronized, and there will be no misalignment problem where some are flipped into place while others are not.

[0036] It should be noted that this passive posture conversion structure does not require additional angle adjustment drive components. The posture switching can be completed by relying on the downward movement of the equipment and the limiting structure of the culture rack 3. The structure is simple, has a low failure rate, and has strong action synchronization. It can ensure that each explant can stably switch from the horizontal material picking posture to the vertical direct planting posture, which meets the process requirements of tissue culture seedling inoculation.

[0037] As an optional implementation, the drive mechanism 7 includes a fixed frame 701, which is detachably connected to the moving end of the moving mechanism 5, and a plurality of fixed plates 702 are connected to the fixed frame 701.

[0038] Furthermore, several sliding rods 703 are horizontally slidably connected to the fixed frame 701. A movable plate 704 is connected to the sliding rod 703, and the movable plate 704 corresponds to the fixed plate 702. A spring 705 is sleeved on the sliding rod 703. The two ends of the spring 705 are connected to the fixed frame 701 and the sliding rod 703 respectively, and are used to push the sliding rod 703 so that the sliding rod 703 drives the movable plate 704 closer to the fixed plate 702. The sliding rod 703 is rectangular and passes through the fixed frame 701.

[0039] It is worth mentioning that the rectangular sliding rod 703 can effectively restrict its own rotational freedom, avoid deflection and swaying during sliding, and ensure that the movable plate 704 and the fixed plate 702 always maintain a parallel alignment, thereby ensuring the stability of the clamping center of the gripper 801; at the same time, the detachable fixed frame 701 structure facilitates the later disassembly and maintenance of the equipment, replacement of parts, and adaptation to clamping operations of explants of different specifications.

[0040] Based on this, the fixed frame 701 is provided with a pushing component 706 for pushing the movable plate 704 away from the fixed plate 702. The fixed plate 702 and the movable plate 704 are rotatably connected with gripper components 8 at their respective positions, and the two gripper components 8 form a group. Optionally, the pushing assembly 706 includes a rotating shaft 10 rotatably connected to the fixed frame 701. A cam 12 corresponding to the movable plate 704 is connected to the rotating shaft 10. A drive motor 11 is connected to the fixed frame 701 to drive the rotating shaft 10. The drive motor 11 rotates the cam 12 through the rotating shaft 10, causing the cam 12 to push the movable plate 704. When the cam 12 reverses to the vertical position, the movable plate 704 can approach the fixed plate 702 under the reverse push of the spring 705.

[0041] In other words, each set of fixed plates 702 and movable plates 704 is equipped with a set of gripper components 8. Each gripping station is independent and does not interfere with each other, which can realize synchronous material picking and synchronous inoculation at multiple stations. The cooperation between the push component 706 and the spring 705 can realize the automatic opening and closing of the gripper 801, and complete the stable gripping and smooth release of the explant.

[0042] Furthermore, the gripper assembly 8 includes a connecting shaft 802, and the connecting shaft 802 is rotatably connected to both the fixed plate 702 and the movable plate 704. The connecting shaft 802 is connected to the gripper 801 and the connecting arm 804. The connecting arm 804 is arranged along the length direction of the gripper 801. A torsion spring 803 is sleeved on the connecting shaft 802. One end of the torsion spring 803 is connected to the connecting shaft 802, and the other end is connected to the fixed plate 702 or the movable plate 704.

[0043] Therefore, the torsion spring 803 provides elastic driving force for the posture reset of the gripper assembly 8. When there is no external obstruction, the torsion spring 803 can maintain the initial horizontal posture of the gripper 801, which is suitable for the material retrieval requirements of the horizontally placed explant in the storage box 2. When the connecting arm 804 is obstructed by an external limit, the connecting shaft 802 can overcome the torque of the torsion spring 803 and rotate, thereby realizing the adaptive switching of the posture of the gripper 801.

[0044] In addition, the culture rack 3 includes a frame 301, on which a plurality of limiting boxes 302 for placing culture medium 4 are provided. Along the length direction of the fixed plate 702 and the movable plate 704, a plurality of fixing heads 303 are provided on the frame 301, and the fixing heads 303 correspond to the connecting arms 804.

[0045] Meanwhile, the storage box 2 has several cavities distributed in a straight line, in which explants are placed. Each pair of gripper assemblies 8 corresponds to each cavity of the storage box 2. The base 1 is provided with a positioning groove 9 for limiting the storage box 2 and the culture rack 3. Both the storage box 2 and the culture rack 3 are embedded in the positioning groove 9, and the arrangement direction of the cavities of the storage box 2 is consistent with the arrangement direction of the upper limit box 302 of the culture rack 3.

[0046] Specifically, the positioning groove 9 enables the storage box 2 and the culture rack 3 to be quickly aligned and installed, effectively avoiding the problem of work position deviation during operation; at the same time, the structural design of the cavity and the limiting box 302 being arranged in the same direction and at equal intervals can ensure that multiple sets of gripper assemblies 8 can complete batch material picking and batch inoculation at one time, greatly improving the overall operating efficiency and inoculation consistency of the equipment.

[0047] The working principle of this invention is as follows: The explant is placed in storage box 2, and culture medium 4 is placed in culture rack 3. Culture medium 4 is gel culture medium. The moving mechanism 5 drives the clamping mechanism 6 to move into storage box 2. The explant is clamped by the claw assembly 8. The explant is in a horizontal state in storage box 2. The moving mechanism 5 drives the clamping mechanism 6 and the explant to move above culture medium 4. Then the clamping mechanism 6 moves downward. During this process, the claw assembly 8 is blocked by the fixing head 303 of frame 301. Therefore, the claw assembly 8 will be passively rotated to a vertical state. The claw assembly 8 will remain in a vertical state as it continues to move downward until the explant is inserted into culture medium 4. When the claw assembly 8 is separated from frame 301, the claw assembly 8 can automatically reset.

[0048] During the specific operation, the spring 705 first drives the movable plate 704 to approach the fixed plate 702, so that the gripper 801 closes and stably clamps the horizontal explant.

[0049] Then, when the explant is transferred to the top of the culture medium 4 and moves downward, the fixing head 303 blocks the connecting arm 804 to achieve a 90° rotation, ensuring that the explant is inserted vertically into the gel culture medium, effectively avoiding the problems of falling over or misalignment.

[0050] After inoculation, the torsion spring 803 drives the gripper assembly 8 to automatically reset, and at the same time pushes the assembly 706 to open the gripper 801 to release the explant. The whole set of actions is cyclical and highly automated, and can continuously complete the inoculation of multiple batches of tissue culture seedlings.

[0051] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An automatic inoculation device for tissue culture seedlings, characterized in that: Includes a base (1), on which a storage box (2) for placing explants, a culture medium (4) for placing a culture rack (3), and a moving mechanism (5) are provided; The moving end of the moving mechanism (5) is provided with a clamping mechanism (6) for clamping the explant. The moving mechanism (5) and the clamping mechanism (6) work together to insert the explant in the storage box (2) into the culture medium (4). The clamping mechanism (6) includes a drive mechanism (7) and several sets of clamping claw assemblies (8). The clamping claw assemblies (8) are rotatably connected to the drive mechanism (7). The drive mechanism (7) enables two clamping claws (801) of the same set to approach and clamp the explant. When the moving mechanism (5) drives the gripper assembly (8) to extend into the culture medium (4), the gripper assembly (8) will be blocked by the culture rack (3), causing the gripper assembly (8) to rotate. The gripper assembly (8) can rotate the held explant from a horizontal position to a vertical position.

2. The automatic inoculation device for tissue culture seedlings according to claim 1, characterized in that: The driving mechanism (7) includes a fixed frame (701), which is detachably connected to the moving end of the moving mechanism (5). Several fixed plates (702) are connected to the fixed frame (701), and several sliding rods (703) are horizontally slidably connected to the fixed frame (701). A movable plate (704) is connected to the sliding rod (703), and the movable plate (704) corresponds to the fixed plate (702). A spring (705) is sleeved on the sliding rod (703), and the two ends of the spring (705) are respectively connected to the fixed frame (701) and the sliding rod (703) to push the sliding rod (703) so that the sliding rod (703) drives the movable plate (704) to approach the fixed plate (702).

3. The automatic inoculation device for tissue culture seedlings according to claim 2, characterized in that: The slide bar (703) is rectangular and passes through the fixed frame (701).

4. The automatic inoculation device for tissue culture seedlings according to claim 3, characterized in that: The fixed frame (701) is provided with a pushing component (706) for pushing the movable plate (704) away from the fixed plate (702). The pushing component (706) includes a rotating shaft (10) rotatably connected to the fixed frame (701). A cam (12) corresponding to the movable plate (704) is connected to the rotating shaft (10). A drive motor (11) is connected to the fixed frame (701) for driving the rotating shaft (10).

5. The automatic inoculation device for tissue culture seedlings according to claim 4, characterized in that: The fixed plate (702) and the movable plate (704) are rotatably connected to each other with a gripper assembly (8), and the two gripper assemblies (8) form a set.

6. The automatic inoculation device for tissue culture seedlings according to claim 5, characterized in that: The gripper assembly (8) includes a connecting shaft (802). The connecting shaft (802) is rotatably connected to both the fixed plate (702) and the movable plate (704). The gripper (801) and the connecting arm (804) are connected to the connecting shaft (802). The connecting arm (804) is arranged along the length direction of the gripper (801). A torsion spring (803) is sleeved on the connecting shaft (802). One end of the torsion spring (803) is connected to the connecting shaft (802), and the other end is connected to the fixed plate (702) or the movable plate (704).

7. An automatic inoculation device for tissue culture seedlings according to claim 6, characterized in that: The culture rack (3) includes a frame (301), and the frame (301) is provided with a plurality of limiting boxes (302) for placing culture medium (4). The frame (301) is provided with a plurality of fixing heads (303) along the length direction of the fixing plate (702) and the movable plate (704), and the fixing heads (303) correspond to the connecting arm (804).

8. The automatic inoculation device for tissue culture seedlings according to claim 7, characterized in that: The storage box (2) has several cavities distributed in a straight line, in which explants are placed, and each pair of gripper assemblies (8) corresponds to each cavity of the storage box (2).

9. An automatic inoculation device for tissue culture seedlings according to claim 8, characterized in that: The base (1) is provided with a positioning groove (9) for limiting the position of the storage box (2) and the culture rack (3).

10. An automatic inoculation device for tissue culture seedlings according to claim 9, characterized in that: The storage box (2) and the culture rack (3) are both embedded in the positioning groove (9), and the cavity arrangement direction of the storage box (2) is consistent with the arrangement direction of the upper limit box (302) of the culture rack (3).

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