Automatic picking device

Abstract

An automatic picking device including an individual needle operation unit and a needle support unit may be provided. The individual needle operation unit may include a plane movement mechanism and a vertical movement mechanism configured to move in a first direction and a second direction intersecting the first direction by the plane movement mechanism. The needle support unit may include multiple needles. The vertical movement mechanism may include an individual needle moving unit configured to be moved in a vertical direction by an electric motor.

Description

Automatic picking device

[0001] The present disclosure relates to an automatic picking device, and specifically to an automatic picking device driven by an electric motor.

[0002] Picking devices for picking target substances on target stages are widely used in the bio field. For example, colony pickers, a type of picking device, are essential equipment in microbial research, particularly in fields such as genomics, protein engineering, and new drug development. They automatically identify cultured microbial colonies, selectively pick them up, and transfer them to other media or containers. This automated colony selection and transfer process plays a crucial role in increasing research efficiency and reducing experimental errors.

[0003] Conventional automatic picking devices primarily used pneumatic systems to drive the needle. Specifically, the pneumatic system uses compressed air to move the needle, pick up the target material, and dispense it.

[0004] However, pneumatic systems have several drawbacks. Specifically, the noise and vibration generated during the air compression process negatively affect the laboratory environment and can hinder precise target material picking. Furthermore, the compressibility of air makes accurate position and output control difficult, which can reduce the precision and efficiency of target material picking. In addition, pneumatic systems pose a risk of contaminating target materials by causing issues such as moisture generation and the emission of contaminants, and also carry the potential for safety accidents, including the risk of explosion in air tanks storing compressed air.

[0005] One technical problem of the present disclosure is to provide an automatic picking device with improved picking precision.

[0006] One technical problem of the present disclosure is to provide an automatic picking device with a low possibility of contamination of the target material.

[0007] The technical problems to be solved in this disclosure are not limited to those mentioned above, and various unmentioned technical problems can be inferred by a person skilled in the art from this disclosure.

[0008] An automatic picking device according to embodiments of the present disclosure may include an individual needle operating part and a needle support part. The individual needle operating part may include a planar movement mechanism and an up-and-down movement mechanism configured to move along a first direction and a second direction intersecting the first direction by means of the planar movement mechanism. The needle support part may include a plurality of needles. The up-and-down movement mechanism may include an individual needle operating part configured to move in a vertical direction by means of an electric motor.

[0009] In one embodiment, the vertical movement mechanism may further include a vertical drive unit. The individual needle movable part may have a rod shape extending in the vertical direction and be disposed through the vertical drive unit.

[0010] In one embodiment, the vertical drive unit may include a coil embedded inside. The individual needle movable unit may include a permanent magnet embedded inside.

[0011] In one embodiment, the vertical movement mechanism may further include an upper anti-detachment member and a lower anti-detachment member coupled to the individual needle movable part. When the individual needle movable part is coupled to the vertical drive part, the upper anti-detachment member may be located above the vertical drive part, and the lower anti-detachment member may be located below the vertical drive part.

[0012] In one embodiment, the vertical movement mechanism may further include a first elastic support disposed between the upper anti-detachment part and the vertical drive part.

[0013] In one embodiment, the planar movement mechanism may include a first movement mechanism configured to move the vertical movement mechanism along the first direction and a second movement mechanism configured to move the vertical movement mechanism along the second direction. The second movement mechanism may be configured to move along the first direction by the first movement mechanism.

[0014] In one embodiment, the individual needle operating unit may further include a main base on which the planar movement mechanism is disposed. The main base may have a main opening that exposes the plurality of needles in a planar view. The range of movement of the up-and-down movement mechanism in the first direction by the first movement mechanism may be larger than the size of the main opening in the first direction. The range of movement of the up-and-down movement mechanism in the second direction by the second movement mechanism may be larger than the size of the main opening in the second direction.

[0015] In one embodiment, the needle support may further include an upper support plate and a lower support plate disposed below the upper support plate. The plurality of needles may be supported by the upper support plate and the lower support plate.

[0016] In one embodiment, the upper support plate may include a plurality of first openings. The lower support plate may include a plurality of second openings that overlap vertically with the plurality of first openings. Each of the plurality of needles may be disposed through a pair of the first openings and the second openings that overlap vertically.

[0017] In one embodiment, each of the plurality of needles may include a support protrusion formed on its side. Each of the plurality of needles may be coupled to the upper support plate and the lower support plate such that the support protrusion is positioned between the upper support plate and the lower support plate.

[0018] In one embodiment, a second elastic support may be provided between each of the supporting protrusions of the plurality of needles and the lower supporting plate.

[0019] In one embodiment, the upper support plate may be configured to be movable in a vertical direction. The needle support may further include a plurality of needle operating members connected to the upper support plate to move the upper support plate and the plurality of needles in a vertical direction.

[0020] In one embodiment, the plurality of needle operating members may include a coupling member coupled to the upper support plate, a horizontal moving member configured to move in a horizontal direction, and a link rotatably coupled to the coupling member and the horizontal moving member. The link may convert the horizontal movement of the horizontal moving member into the vertical movement of the coupling member.

[0021] In one embodiment, the automatic picking device may further include a control unit configured to calculate three-dimensional coordinate information of a plurality of target substances contained in a badge placed on a target stage. The three-dimensional coordinate information may include height information of the plurality of target substances. The movement of the individual needle movable part by the vertical movement mechanism may be performed based on the height information of the target substance among the plurality of target substances to be picked.

[0022] In one embodiment, the target substance sensing unit may further include an image capturing unit for acquiring two-dimensional image information of the medium and a height measuring unit for acquiring height information at a plurality of points of the medium. The control unit may be configured to calculate two-dimensional coordinate information of a plurality of target substances from the two-dimensional image information of the medium, calculate height information for the entire area of ​​the medium from the height information at a plurality of points of the medium, and calculate three-dimensional coordinate information of each of the plurality of target substances by merging the two-dimensional coordinate information of the plurality of target substances and the height information for the entire area of ​​the medium.

[0023] In one embodiment, calculating height information for the entire area of ​​the badge from height information at a plurality of points of the badge can be performed using interpolation or extrapolation.

[0024] According to one embodiment of the present disclosure, the vertical movement mechanism for operating the needle may be composed of an electric motor such as a linear motor, thereby allowing the picking height of the needle to be precisely controlled to the level of several micrometers. In addition, target material picking may be performed based on three-dimensional coordinate information of a plurality of target materials, that is, position information including height, and accordingly, accurate picking may be performed for a plurality of target materials with different heights.

[0025] In one embodiment of the present disclosure, the vertical movement mechanism that operates the needle is configured with an electric motor, such as a linear motor, thereby allowing for precise control of the operating speed of the needle. Specifically, by controlling the speed at which the needle picks a target material to a relatively low level, the impact occurring at the moment of picking the target material can be minimized. This reduces the problem of inaccurate picking caused by vibrations occurring at the moment of picking, thereby enabling more accurate picking.

[0026] In one embodiment of the present disclosure, by configuring the vertical movement mechanism that operates the needle with an electric motor, such as a linear motor, noise and vibration can be reduced compared to conventional pneumatic automatic picking devices. Furthermore, since electric motors do not emit moisture or contaminants that occur in pneumatic systems, contamination of the target material can be prevented in advance. As a result, the accuracy of experimental results can be improved, and efficiency can be increased by preventing re-experiments caused by contamination.

[0027] The effects according to the technical concept of the present disclosure are not limited to the effects mentioned above, and various unmentioned effects can be clearly understood by a person skilled in the art from the present disclosure.

[0028] FIG. 1 is a perspective view showing an automatic picking device according to one embodiment of the present disclosure.

[0029] FIG. 2 is a front view showing an automatic picking device according to one embodiment of the present disclosure.

[0030] FIG. 3 is a side view showing an automatic picking device according to one embodiment of the present disclosure.

[0031] FIG. 4 is a plan view showing an automatic picking device according to one embodiment of the present disclosure.

[0032] FIG. 5 is a perspective view showing an individual needle operating part according to one embodiment of the present disclosure.

[0033] FIG. 6 is a plan view showing an individual needle operating part according to one embodiment of the present disclosure.

[0034] FIG. 7 is a cross-sectional view showing a vertical movement mechanism according to one embodiment of the present disclosure in more detail.

[0035] FIG. 8 is a perspective view showing a needle support according to one embodiment of the present disclosure.

[0036] FIG. 9 is a side view showing a needle support according to one embodiment of the present disclosure.

[0037] FIG. 10 is a cross-sectional view showing in more detail the joint portion of the needle, upper support plate, and lower support plate according to one embodiment of the present disclosure.

[0038] FIG. 11 is a flowchart illustrating a target material picking method of an automatic picking device according to one embodiment of the present disclosure.

[0039] FIGS. 12 and FIGS. 13 are drawings illustrating a target material picking method of an automatic picking device according to one embodiment of the present disclosure.

[0040] FIGS. 14 and 15 are drawings illustrating a method of operating multiple needles of an automatic picking device according to one embodiment of the present disclosure.

[0041] Hereinafter, specific embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. The embodiments of the present disclosure are illustrative for the purpose of explaining the embodiments. Various modifications may be made to the embodiments, and the scope of the present application is not limited by these embodiments. It should be understood that all modifications, equivalents, and substitutions to the embodiments are included within the scope of the rights.

[0042] In the accompanying drawings, identical or similar components are assigned the same reference numbers. Additionally, when describing embodiments of the present disclosure, descriptions of identical or similar components may be omitted to avoid redundant descriptions. However, such omission of description is not intended to imply that the component is not included in a particular embodiment.

[0043] Unless otherwise defined, the terms used in this disclosure may have the meaning generally understood by those skilled in the art.

[0044] In the present disclosure, the expressions “each of a plurality of A” or “each of a plurality of A” may refer to each of all elements included in a plurality of A, or may refer to each of some elements of a plurality of A.

[0045] In the present disclosure, the expression “one or more A” may mean a set of one or more A's unless the context clearly indicates otherwise.

[0046] In this disclosure, expressions such as "first," "second," or "first," "second," etc., do not limit the order, importance, etc., of the components they modify unless the context clearly indicates otherwise. These expressions may be used to distinguish one component from another.

[0047] In the present disclosure, expressions such as “A, B, or C”, “A, B, and / or C”, “at least one of A, B, and C”, “at least one of A, B, or C”, “at least one of A, B, and / or C”, “at least one selected from A, B, and C”, “at least one selected from A, B, or C”, and “at least one selected from A, B, and / or C” may mean each or all possible combinations thereof. For example, “at least one of A or B” may refer to at least one A, at least one B, at least one A, and at least one B.

[0048] In the present disclosure, expressions such as "connected" and "connected" should be understood to mean that while one component may be directly connected to or connected to another component, a new component may exist between them.

[0049] In this disclosure, expressions such as "comprising," "having," and "having" imply the presence of the relevant features (e.g., functions, operations, or components, etc.) and do not exclude the presence of other additional features. That is, these expressions should be understood as open-ended terms that leave open the possibility of including other embodiments.

[0050] FIG. 1 is a perspective view showing an automatic picking device according to one embodiment of the present disclosure. FIG. 2 is a front view showing an automatic picking device according to one embodiment of the present disclosure. FIG. 3 is a side view showing an automatic picking device according to one embodiment of the present disclosure. FIG. 4 is a plan view showing an automatic picking device according to one embodiment of the present disclosure.

[0051] Referring to FIGS. 1 to 4, a target stage (not shown) on which a target substance is placed may be provided below the automatic picking device (10). The automatic picking device (10) may be a device that picks the target substance placed on the target stage using a plurality of needles (230). As an example, the target substance may be a colony cultured in a medium.

[0052] The automatic picking device (10) may include individual needle operating parts (100) and needle support parts (200).

[0053] Some components of the automatic picking device (10) that are not essential to explaining the contents of the present disclosure may not be shown in the drawings or may be shown in a simplified manner, and the description of such components may also be omitted or simplified.

[0054] In relation to the configuration and operation of the automatic picking device (10), a first direction (D1), a second direction (D2), and a third direction (D3) that intersect each other may be defined. In one embodiment, the first direction (D1) and the second direction (D2) may be substantially parallel to the ground and substantially perpendicular to each other. Additionally, the third direction (D3) may be substantially perpendicular to the ground. Hereinafter, the third direction (D3) and the perpendicular direction may refer to the same direction.

[0055] FIG. 5 is a perspective view showing an individual needle operating part according to one embodiment of the present disclosure. FIG. 6 is a plan view showing an individual needle operating part according to one embodiment of the present disclosure.

[0056] Referring to FIGS. 1 to 6, the individual needle operating unit (100) may include a main base (110), a planar movement mechanism (120), and an up-and-down movement mechanism (150).

[0057] The main base (110) may have a plate shape. For example, as shown in FIGS. 5 and 6, the main base (110) may have a square plate shape with sides parallel to the first direction (D1) and the second direction (D2).

[0058] The main base (110) can be connected to a main drive unit (not shown) through a main connection part (112) and can be moved in various directions by the main drive unit. In addition, the entire automatic picking device (10) can also be moved in various directions, including a first direction (D1), a second direction (D2), and a third direction (D3), by the main drive unit.

[0059] The main base (110) may have a main opening (114) that penetrates the main base (110) in the thickness direction. In a planar view, the main opening (114) may at least partially expose a needle support (200) positioned below the main base (110). Specifically, in a planar view, a plurality of needles (230) of the needle support (200) may be exposed by the main opening (114). In one embodiment, as shown in FIGS. 5 and 6, the main opening (114) may have a rectangular shape having sides parallel to a first direction (D1) and a second direction (D2).

[0060] A planar movement mechanism (120) and an up-and-down movement mechanism (150) may be formed on one side of the main base (110). For example, the planar movement mechanism (120) and the up-and-down movement mechanism (150) may be formed on the upper surface of the main base (110).

[0061] The planar movement mechanism (120) may be configured to move the vertical movement mechanism (150) along a first direction (D1) and a second direction (D2). Specifically, the planar movement mechanism (120) may include a first movement mechanism (130) configured to move the vertical movement mechanism (150) in the first direction (D1) and a second movement mechanism (140) configured to move the vertical movement mechanism (150) in the second direction (D2).

[0062] The first moving mechanism (130) may include a first moving part (132), a first guide part (134), and a connecting part (136).

[0063] The first moving part (132) may include a first moving block (1320) configured to move along a first direction (D1) by means of an electric motor. As described below, the vertical moving mechanism (150) may be connected to the first moving block (1320) through a connecting part (136) and a second moving mechanism (140), and accordingly, may move along the first direction (D1) by the operation of the first moving mechanism (130).

[0064] In one embodiment, the first moving part (132) may be composed of a linear motor. Specifically, as shown in FIG. 5, the first moving part (132) may further include a first shaft part (1322) and a first fixed part (1324) in addition to the first moving block (1320).

[0065] The first shaft portion (1322) may extend along the first direction (D1). For example, as shown in FIG. 5, the first shaft portion (1322) may have a rod shape extending in the first direction (D1) and may be positioned through the first movable block (1320). A permanent magnet may be embedded inside the first shaft portion (1322). The first shaft portion (1322) may be fixed to the main base (110). For example, as shown in FIG. 5, a pair of first fixing portions (1324) may fix both ends of the first shaft portion (1322) to the main base (110). In the embodiment shown in FIG. 5, the first shaft portion (1322) is fixed to the side of the main base (110), but the present invention is not limited thereto.

[0066] The first moving block (1320) may be configured to be movable along the first axis (1322). Specifically, the first moving block (1320) may be coupled to be movable along the longitudinal direction of the first axis (1322), thereby being able to move along the first direction (D1). A coil and an electromagnetic circuit may be embedded inside the first moving block (1320), and the first moving block (1320) may be able to move along the first direction (D1) by the force generated by the interaction of a magnetic field generated by the current flowing through the coil with a permanent magnet embedded in the first axis (1322). The direction and speed of movement of the first moving block (1320) may be controlled through the direction and magnitude of the current flowing through the coil.

[0067] In one embodiment, the first moving part (132) may include other components for moving the first moving block (1320) in a first direction (D1). For example, the first moving part (132) may be composed of an electric linear actuator that includes an electric motor and a component that converts the rotational motion of the electric motor into linear motion, such as a rack and pinion, a lead screw, a ball screw, a belt, etc. In this case, a stepper motor may be used as the electric motor.

[0068] The first guide section (134) may include a first guide rail (1340) and a first guide block (1342).

[0069] The first guide rail (1340) may have the form of a rail extending along the first direction (D1). The first guide rail (1340) may be located on the upper surface of the main base (110). The first guide block (1342) may be slidably coupled along the longitudinal direction of the first guide rail (1340) and thus move along the first direction (D1) on the main base (110).

[0070] In one embodiment, a plurality of first guide portions (134) may be provided. For example, as shown in FIGS. 5 and 6, two first guide portions (134) may be provided spaced apart in a second direction (D2) with the main opening (114) in between.

[0071] In one embodiment, only one first guide member (134) may be provided. In this case, the first guide member (134) may be provided spaced apart from the first moving member (132) in the second direction (D2) with the main opening (114) in between. For example, in the embodiment illustrated in FIGS. 5 and 6, only the first guide member (134) shown at the bottom of the drawing may be provided, and the first guide member (134) shown at the top of the drawing may be omitted.

[0072] The connecting portion (136) may be formed to connect the first moving block (1320) and the first guide block (1342) across the main opening (114) in the second direction (D2). Specifically, the connecting portion (136) may be formed in a bar shape extending in the second direction (D2) and may connect the first moving block (1320) and the first guide block (1342) in the second direction (D2). Accordingly, when the first moving block (1320) moves in the first direction (D1), the first guide block (1342) and the connecting portion (136) may also move together in the first direction (D1).

[0073] The second moving mechanism (140) may be configured to move along the first direction (D1) by the first moving mechanism (130). Specifically, the second moving mechanism (140) may be formed on the connecting part (136), and thus may move along the first direction (D1) by the operation of the first moving mechanism (130).

[0074] The second moving mechanism (140) may include a second moving part (142) and a second guide part (144).

[0075] The second moving part (142) may include a second moving block (1420) configured to move along the second direction (D2) by means of an electric motor. The vertical moving mechanism (150) may be connected to the second moving block (1420), and accordingly, may move along the second direction (D2) by the operation of the second moving mechanism (140).

[0076] In one embodiment, the second moving part (142) may be composed of a linear motor. Specifically, as shown in FIG. 5, the second moving part (142) may further include a second shaft part (1422) and a second fixed part (1424) in addition to the second moving block (1420).

[0077] The second shaft portion (1422) may extend along the second direction (D2) on the connecting portion (136). For example, as shown in FIG. 5, the second shaft portion (1422) may have a rod shape extending in the second direction (D2) and may be positioned through the second moving block (1420). A permanent magnet may be embedded inside the second shaft portion (1422). The second shaft portion (1422) may be fixed to the connecting portion (136). For example, as shown in FIG. 5, a pair of second fixing portions (1424) may fix both ends of the second shaft portion (1422) on the connecting portion (136).

[0078] The second moving block (1420) may be configured to be movable along the second axis (1422). Specifically, the second moving block (1420) may be coupled to be movable along the longitudinal direction of the second axis (1422), thereby being able to move along the second direction (D2). A coil and an electromagnetic circuit may be embedded inside the second moving block (1420), and the second moving block (1420) may be able to move along the second direction (D2) by the force generated by the interaction of a magnetic field generated by the current flowing through the coil with a permanent magnet embedded in the second axis (1422). The direction and speed of movement of the second moving block (1420) may be controlled through the direction and magnitude of the current flowing through the coil.

[0079] In one embodiment, the second moving part (142) may include other components for moving the second moving block (1420) in a second direction (D2). For example, the second moving part (142) may be composed of an electric linear actuator that includes an electric motor and a component that converts the rotational motion of the electric motor into linear motion, such as a rack and pinion, a lead screw, a ball screw, a belt, etc. In this case, a stepper motor may be used as the electric motor.

[0080] The second guide section (144) may include a second guide rail (1440) and a second guide block (1442).

[0081] The second guide rail (1440) may have the form of a rail extending along the second direction (D2). The second guide rail (1440) may be located on the upper surface of the connecting part (136). The second guide block (1442) may be slidably coupled along the length direction of the second guide rail (1440), and thus may move along the second direction (D2) on the connecting part (136).

[0082] The second guide block (1442) can be connected to the second moving block (1420). Specifically, the second moving block (1420) can be formed on the second guide block (1442). Accordingly, when the second moving block (1420) moves in the second direction (D2), the second guide block (1442) can also move together in the second direction (D2). Additionally, the movement of the second moving block (1420) in the second direction (D2) can be achieved more stably through the second guide section (144).

[0083] The vertical movement mechanism (150) may be configured to move along the second direction (D2) by means of the second movement mechanism (140). Specifically, the vertical movement mechanism (150) may be attached to at least one of the second movement block (1420) or the second guide block (1442), and thus may move along the second direction (D2) by means of the operation of the second movement mechanism (140). Additionally, since the first movement mechanism (130) can move the entire second movement mechanism (140), including the second movement block (1420) and the second guide block (1442), in the first direction (D1), the vertical movement mechanism may also move in the first direction (D1) by means of the operation of the first movement mechanism (130). That is, the vertical movement mechanism (150) can move along the first direction (D1) on the main opening (114) by the operation of the first movement mechanism (130), and can move along the second direction (D2) on the main opening (114) by the operation of the second movement mechanism (140).

[0084] As illustrated in FIG. 6, the range of movement of the up-and-down movement mechanism (150) in the first direction (D1) by the first movement mechanism (130) may be larger than the size of the main opening (114) in the first direction (D1). Additionally, the range of movement of the up-and-down movement mechanism (150) in the second direction (D2) by the second movement mechanism (140) may be larger than the size of the main opening (114) in the second direction (D2). Accordingly, from a planar perspective, the up-and-down movement mechanism (150) can move over the entire area of ​​the main opening (114).

[0085] FIG. 7 is a cross-sectional view showing a vertical movement mechanism according to one embodiment of the present disclosure in more detail.

[0086] Referring further to FIG. 7, the vertical movement mechanism (150) may include individual needle movable parts (152) and vertical drive parts (154).

[0087] The individual needle operating part (152) may be configured to move in a vertical direction by means of an electric motor. The individual needle operating part (152) may be positioned over any one of the plurality of needles (230) to be operated by means of a planar movement mechanism (120), and may move up and down by means of an electric motor to operate the corresponding needle (230). This will be further explained below with reference to FIGS. 11 to 13.

[0088] In one embodiment, the vertical movement mechanism (150) may be composed of a linear motor. The individual needle movable part (152) may have a rod shape extending in a third direction (D3) and may be positioned through the vertical drive part (154). A permanent magnet may be embedded inside the individual needle movable part (152).

[0089] The vertical drive unit (154) may be configured to move the individual needle movable unit (152) along a third direction (D3). A coil and an electromagnetic circuit may be embedded inside the vertical drive unit (154), and the individual needle movable unit (152) may move along the third direction (D3) by means of a force generated by the interaction of a magnetic field generated by the current flowing through the coil with a permanent magnet embedded in the individual needle movable unit (152). The direction and speed of movement of the individual needle movable unit (152) may be controlled through the direction and magnitude of the current flowing through the coil. The vertical drive unit (154) may be fixed to at least one of the second moving block (1420) or the second guide block (1442). For example, as shown in FIGS. 5 and 6, the vertical drive unit (154) may be fixed to the second guide block (1442) through a third fixing unit (156).

[0090] In one embodiment, the vertical movement mechanism (150) may further include an upper anti-detachment part (157), a lower anti-detachment part (158), and a first elastic support (159). For the sake of simplification and visibility of the drawings, the upper anti-detachment part (157), the lower anti-detachment part (158), and the first elastic support (159) are shown only in FIG. 7 and are omitted in other drawings.

[0091] The upper anti-detachment part (157) and the lower anti-detachment part (158) may be configured to prevent the individual needle movable part (152) from detaching from the vertical drive part (154). Specifically, the upper anti-detachment part (157) and the lower anti-detachment part (158) may be formed to protrude from the side of the individual needle movable part (152). For example, the upper anti-detachment part (157) and the lower anti-detachment part (158) may have an outer diameter larger than the outer diameter of the individual needle movable part (152) and the inner diameter of the through hole (154a) of the vertical drive part (154) to which the individual needle movable part (152) is coupled. Additionally, the outer diameter of the lower anti-detachment part (158) may be smaller than the inner diameter of the first opening (212) formed in the upper support plate (210) and the inner diameter of the second opening (222) formed in the lower support plate (220). Accordingly, as described below, when the individual needle movable part (152) moves up and down, the lower anti-detachment part (158) can pass through the first opening (212) and the second opening (222).

[0092] The individual needle movable part (152) can be coupled to the vertical drive part (154) such that the vertical drive part (154) is positioned between the upper anti-detachment part (157) and the lower anti-detachment part (158). In other words, when the individual needle movable part (152) is coupled to the vertical drive part (154), the upper anti-detachment part (157) can be positioned above the vertical drive part (154), and the lower anti-detachment part (158) can be positioned below the vertical drive part (154). For example, as shown in FIG. 7, the upper anti-detachment part (157) can be coupled to the upper part of the individual needle movable part (152), and the lower anti-detachment part (158) can be coupled to the lower part of the individual needle movable part (152). Accordingly, the upper anti-detachment part (157) can prevent the individual needle movable part (152) from passing through the through hole (154a) of the vertical drive part (154) and moving downward, and the lower anti-detachment part (158) can prevent the individual needle movable part (152) from passing through the through hole (154a) of the vertical drive part (154) and moving upward.

[0093] The first elastic support (159) can elastically support the individual needle movable part (152) in the vertical upward direction. Specifically, the first elastic support (159) can be positioned between the upper anti-detachment part (157) and the vertical drive part (154), and can elastically support the upper anti-detachment part (157) and the individual needle movable part (152) coupled thereto in the vertical upward direction. Accordingly, the individual needle movable part (152) can move downward by the vertical drive part (154) to operate the needle (230) and then return to its original position (i.e., the vertical upward position). In addition, the first elastic support (159) can keep the individual needle movable part (152) in the vertical upward position without moving downward by gravity even when no current flows through the coil of the vertical drive part (154). The first elastic support (159) may be, for example, a spring.

[0094] In one embodiment, the vertical movement mechanism (150) may include other components for moving the individual needle movable part (152) in a third direction (D3). For example, the vertical movement mechanism (150) may be composed of an electric linear actuator that includes an electric motor and a component that converts the rotational motion of the electric motor into linear motion, such as a rack and pinion, a lead screw, a ball screw, a belt, etc. In this case, a stepper motor may be used as the electric motor.

[0095] FIG. 8 is a perspective view showing a needle support according to one embodiment of the present disclosure. FIG. 9 is a side view showing a needle support according to one embodiment of the present disclosure.

[0096] Referring to FIGS. 1 to 4, FIGS. 8, and FIGS. 9, the needle support member (200) may include an upper support plate (210), a lower support plate (220), a plurality of needles (230), and a plurality of needle operating member (240).

[0097] The upper support plate (210) may have a plate shape. For example, as shown in FIG. 8, the upper support plate (210) may have a square plate shape with sides parallel to the first direction (D1) and the second direction (D2).

[0098] The upper support plate (210) may include a plurality of first openings (212). For example, as shown in FIG. 8, the plurality of first openings (212) may be arranged in a grid pattern along a first direction (D1) and a second direction (D2). As shown in FIG. 4, from a planar perspective, the plurality of first openings (212) may be exposed by the main opening (114) of the main base (110).

[0099] The lower support plate (220) may be positioned below the upper support plate (210). The lower support plate (220) may have a plate shape and may be substantially parallel to the upper support plate (210). For example, as shown in FIG. 8, the lower support plate (210) may have a rectangular plate shape with sides parallel to the first direction (D1) and the second direction (D2).

[0100] The lower support plate (220) may include a plurality of second openings (222). The plurality of second openings (222) may be formed to correspond to the plurality of first openings (212) in a third direction (D3). In other words, the plurality of second openings (222) may be formed at a position that overlaps vertically with the plurality of first openings (212).

[0101] A connecting column (224) may be provided on the upper surface of the lower support plate (220). The connecting column (224) may include a main body portion (224a) extending in a third direction (D3) and a locking portion (224b) formed on the upper part of the main body portion (224a).

[0102] Specifically, the main body (224a) may have a column shape extending in a third direction (D3), and its lower end may be fixed to the lower support plate (220). The upper support plate (210) may include a connecting opening (not shown) formed at a position corresponding to the connecting column (224), and the main body (224a) of the connecting column (224) may be positioned to be inserted into and penetrate the connecting opening. The catch (224b) may be larger than the main body (224a) and the connecting opening in a planar view, and may be coupled at a position higher than the upper support plate (210). Accordingly, the catch portion (224b) may serve to limit the range of movement of the upper support plate (210) in the third direction (D3), and the upper support plate (210) may move in the third direction (D3) along the main body portion (224a) within the limited range between the catch portion (224b) and the lower support plate (220).

[0103] In one embodiment, a connecting part (not shown) connecting the lower support plate (220) to the main base (110) may be provided. Accordingly, the lower support plate (220) can be stably maintained without moving even when the needle (230) is operated by the individual needle operating part (100) or when the upper support plate (210) is moved by the plurality of needle operating parts (240) to be described later.

[0104] A plurality of needles (230) may be supported by an upper support plate (210) and a lower support plate (220). As described above, a plurality of first openings (212) and a plurality of second openings (222) may be formed at positions corresponding to each other in the vertical direction, and a plurality of needles (230) may also be arranged to correspond to them. Specifically, a single needle (230) may be arranged to penetrate a pair of first openings (212) and second openings (222) formed at positions corresponding to each other in the vertical direction.

[0105] In the embodiment illustrated in FIG. 8, the upper end of the needle (230) is located at substantially the same level as the upper surface of the upper support plate (210), but the present disclosure is not limited thereto. For example, in other embodiments, the upper end of the needle (230) may protrude over the upper support plate (210) so that the upper end of the needle (230) is located at a higher level than the upper surface of the upper support plate (210).

[0106] FIG. 10 is a cross-sectional view showing in more detail the joint portion of the needle, upper support plate, and lower support plate according to one embodiment of the present disclosure.

[0107] Referring further to FIG. 10, the needle (230) may include a support protrusion (232) formed on its side. For the sake of simplification and visibility of the drawings, the support protrusion (232) is shown only in FIG. 10 and is omitted in other drawings. For example, the support protrusion (232) may have an outer diameter larger than the outer diameter of the needle (230) and the inner diameter of the first opening (212) of the upper support plate (210) to which the upper part of the needle (230) is joined. The needle (230) may be joined to the upper support plate (210) and the lower support plate (220) such that the support protrusion (232) is positioned between the upper support plate (210) and the lower support plate (220).

[0108] A second elastic support (234) may be provided between the support protrusion (232) of the needle (230) and the lower support plate (220). For the sake of simplification and visibility of the drawings, the second elastic support (234) is shown only in FIG. 10 and is omitted in other drawings. The second elastic support (234) can elastically support the support protrusion (232) and the needle (230) vertically upward from below the support protrusion (232). Additionally, the support protrusion (232) supported upward can come into contact with the upper support plate (210). That is, the support protrusion (232) can prevent the needle (230) from passing through the first opening (212) and moving upward above the upper support plate (210). Accordingly, after moving downward by the individual needle movable part (152) to perform target material picking, the needle (230) can return to its original position (i.e., vertically upward position). The second elastic support (234) may be, for example, a spring.

[0109] The multiple needle operating unit (240) may be configured to be connected to the upper support plate (210) to move the upper support plate (210) in a third direction (D3). As described above, since the support protrusion (232) of the needle (230) is supported by the upper support plate (210) located thereon, when the upper support plate (210) moves downward, the multiple needles (230) supported by the upper support plate (210) can move downward at once. Additionally, when the upper support plate (210) moves upward, the multiple needles (230) can return to their original positions by the second elastic support (234). In other words, the multiple needle operating unit (240) can operate the multiple needles (230) at once by moving the upper support plate (210) in a third direction (D3).

[0110] The multiple needle operating part (240) may include a coupling part (242), a horizontal moving part (244), and a link (246).

[0111] The connecting portion (242) can be connected to the upper support plate (210). In one embodiment, as shown in FIG. 8, the connecting portion (242) may be provided as a pair. A pair of connecting portions (242) may be connected to both sides of the upper support plate (210) with the upper support plate (210) in between. For example, as shown in FIG. 8, a pair of connecting portions (242) may be provided spaced apart in a second direction (D2) with the upper support plate (210) in between and connected to both sides of the upper support plate (210).

[0112] A horizontal moving part (244) may be provided on one side of a coupling part (242). In an embodiment where a pair of coupling parts (242) are provided, the horizontal moving part (244) may be provided spaced apart from the pair of coupling parts (242) in a direction that intersects the direction in which the pair of coupling parts (242) are spaced apart. For example, as shown in FIG. 8, when the pair of coupling parts (242) are spaced apart in a second direction (D2), the horizontal moving part (244) may be provided spaced apart from the pair of coupling parts (242) in a first direction (D1).

[0113] The horizontal moving part (244) may be configured to move in a horizontal direction by an external horizontal driving part (not shown). Specifically, the horizontal moving part (244) may be configured to move in a horizontal direction toward the upper support plate (210) or away from the upper support plate (210). For example, in the embodiment illustrated in FIG. 8, the horizontal moving part (244) is configured to move along a first direction (D1).

[0114] In the embodiment illustrated in FIG. 8, the horizontal moving part (244) may include a recess (244a) on the side facing the upper support plate (210). The width of the recess (244a) in the second direction (D2) may be greater than the width of the upper support plate (210) in the second direction (D2). Accordingly, the horizontal moving part (244) can move in a horizontal direction without interference with the upper support plate (210).

[0115] The link (246) can connect the coupling part (242) and the horizontal movement part (244). Specifically, one end of the link (246) can be rotatably connected to the coupling part (242) via a first rotation axis (2460), and the other end of the link (246) can be rotatably connected to the horizontal movement part (244) via a second rotation axis (2462). When viewed from the side, as shown in FIG. 9, the second rotation axis (2462) can be located at a higher level than the first rotation axis (2460). Accordingly, the coupling part (242) and the upper support plate (210) connected thereto can move vertically by the horizontal movement of the horizontal movement part (244). This will be further explained below with reference to FIG. 14 and FIG. 15.

[0116] A third guide member (248) configured to guide the horizontal movement of the horizontal movement member (244) may be provided. Specifically, the third guide member (248) may be provided between the main base (110) and the horizontal movement member (244).

[0117] The third guide section (248) may include a third guide rail (2480) and a third guide block (2482). The third guide rail (2480) may have the form of a rail extending along the direction of movement of the horizontal moving section (244). The third guide rail (2480) may be formed on the lower surface of the main base (110). The third guide block (2482) may be formed on the upper surface of the horizontal moving section (244) and may be slidably coupled along the length direction of the third guide rail (2480). In the embodiment illustrated in FIG. 8, the third guide rail (2480) may extend along the first direction (D1), and the third guide block (2482) and the horizontal moving section (244) may also move along the third guide rail (2480) in the first direction (D1).

[0118] In one embodiment, the automatic picking device (10) may further include a target substance sensing unit (not shown) and a control unit. The target substance sensing unit can acquire two-dimensional image information and height information of a target substance, specifically a target substance such as a colony, placed on a target stage, and can transmit this to the control unit. The control unit can calculate three-dimensional coordinate information of a plurality of target substances included in the target substance from the two-dimensional image information and height information of the target substance acquired by the target substance sensing unit.

[0119] Specifically, the target material sensing unit may include an image capturing unit and a height measuring unit.

[0120] The image capturing unit can capture a two-dimensional image of a culture medium containing multiple target substances. The control unit can analyze the two-dimensional image information of the culture medium obtained from the image capturing unit to calculate two-dimensional coordinate information of multiple target substances. The image capturing unit may include, for example, a high-resolution camera.

[0121] The height measuring unit can measure the height at multiple points on the culture medium. The control unit can calculate height information for the entire area of ​​the culture medium by analyzing the height information at multiple points on the culture medium obtained from the height measuring unit. Specifically, the control unit can calculate the height information for the entire area of ​​the culture medium by using interpolation or extrapolation based on the height information at multiple points on the culture medium. The height measuring unit may include, for example, a laser sensor or an ultrasonic sensor.

[0122] The control unit can calculate three-dimensional coordinate information for each of the multiple target substances by merging two-dimensional coordinate information of the multiple target substances with height information for the entire area of ​​the medium.

[0123] FIG. 11 is a flowchart illustrating a target material picking method of an automatic picking device according to one embodiment of the present disclosure. FIG. 12 and FIG. 13 are drawings illustrating a target material picking method of an automatic picking device according to one embodiment of the present disclosure.

[0124] Referring further to FIGS. 11 to 13, target material picking of an automatic picking device (10) can be performed by a control unit. The target material picking method may include the step (S100) of determining a target material to be picked (hereinafter, "picking target material") and / or a needle (230a, hereinafter "picking needle") to be picked; the step (S200) of positioning the picking needle (230a) on the picking target material; the step (S300) of positioning an individual needle movable part (152) on the picking needle (230a); and the step (S400) of operating the picking needle (230a) to perform picking on the picking target material.

[0125] First, a target substance (i.e., a picking target substance) and / or a picking needle (230a) to be picked can be determined (S100). Specifically, among a plurality of target substances included in a medium, a target substance (i.e., a picking target substance) to be picked can be determined, and among a plurality of needles (230), a needle (i.e., a picking needle) (230a) to perform picking on the corresponding picking target substance can be determined.

[0126] Next, a picking needle (230a) can be positioned on the picking target material (S200). Specifically, the automatic picking device (10) can be moved entirely through the main drive unit, thereby positioning the picking needle (230a) on the picking target material (i.e., so that the picking needle (230a) overlaps vertically with the picking target material). Positioning the picking needle (230a) on the picking target material can be performed based on the two-dimensional coordinate information of the picking target material.

[0127] Additionally, an individual needle movable part (152) may be positioned on the picking needle (230a) (S300; see FIG. 12). Specifically, the vertical movement mechanism (150) may be moved through the planar movement mechanism (120), thereby positioning the individual needle movable part (152) on the picking needle (230a). The order in which steps S200 and S300 are performed may vary depending on the embodiment. For example, depending on the embodiment, step S200 may be performed before step S300, step S300 may be performed before step S200, or step S200 and step S300 may be performed simultaneously.

[0128] Picking of a target material can be performed by operating the picking needle (230a) (S400; see FIG. 13). Specifically, the individual needle movable part (152) can be moved downward by the operation of the up-and-down movement mechanism (150), and accordingly, the picking needle (230a) can be pressed downward to perform picking of the target material. At this time, the operation of the picking needle (230a) can be performed based on the height information of the target material. Specifically, based on the height information of the target material, the downward distance required for the picking needle (230a) to pick the target material can be calculated, and the individual needle movable part (152) can be operated to move the picking needle (230a) by the corresponding downward distance.

[0129] In some cases, it is necessary to pick multiple target substances contained in a medium having non-uniform heights. In this regard, in an automatic picking device according to one embodiment of the present disclosure, three-dimensional coordinate information, i.e., position information including height, of multiple target substances contained in the medium can be obtained from two-dimensional image information and height information of the medium, and target substance picking can be performed based thereon. In particular, the vertical movement mechanism (150) that operates the picking needle (230a) can be composed of an electric motor such as a linear motor, and accordingly, the picking height of the picking needle (230a) can be precisely controlled to the level of several micrometers. Consequently, according to one embodiment of the present disclosure, accurate picking can be performed for multiple target substances having different heights.

[0130] In addition, in one embodiment of the present disclosure, the vertical movement mechanism (150) that operates the picking needle (230a) is configured with an electric motor such as a linear motor, thereby allowing for precise control of the operating speed of the picking needle (230a). Specifically, by controlling the speed at which the picking needle (230a) picks the target material to a relatively low level, the impact occurring at the moment of picking the target material can be minimized. Through this, inaccurate picking problems caused by vibrations occurring at the moment of picking can be reduced, thereby enabling more accurate picking.

[0131] In addition, in one embodiment of the present disclosure, the vertical movement mechanism (150) that operates the picking needle (230a) is configured with an electric motor, such as a linear motor, thereby reducing noise and vibration compared to a conventional pneumatic automatic picking device. Furthermore, since the electric motor does not emit moisture and contaminants that occur in pneumatic systems, contamination of the target material can be prevented in advance. This can increase the accuracy of experimental results and improve efficiency by preventing re-experiments due to contamination.

[0132] FIGS. 14 and 15 are drawings illustrating a method of operating multiple needles of an automatic picking device according to one embodiment of the present disclosure.

[0133] Referring to FIGS. 14 and 15, the upper support plate (210) can be moved in a vertical direction (i.e., a third direction (D3)) by the operation of the multiple needle operating part (240), and the multiple needles (230) supported by the upper support plate (210) can also be moved in a vertical direction.

[0134] Specifically, the horizontal moving part (244) can move in a horizontal direction toward the upper support plate (210) or away from the upper support plate (210). At this time, as shown in FIGS. 14 and 15, the horizontal movement of the horizontal moving part (244) can be converted into vertical movement of the connecting part (242) and the upper support plate (210) by the link (246).

[0135] More specifically, when the horizontal moving part (244) moves horizontally toward the upper support plate (210), the link (246) rotates counterclockwise so that the connecting part (242) and the upper support plate (210) can move downward. Conversely, when the horizontal moving part (244) moves horizontally away from the upper support plate (210), the link (246) rotates clockwise so that the connecting part (242) and the upper support plate (210) can move upward.

[0136] As described above, when the upper support plate (210) moves downward, the plurality of needles (230) supported by it can move downward at once. Conversely, when the upper support plate (210) moves upward, the plurality of needles (230) can move upward at once and return to their original positions by means of the elastic force of the second elastic support (234).

[0137] The simultaneous operation of such multiple needles (230) can be used, for example, to transfer the target material picked by the multiple needles (230) to an external container all at once after the individual target material picking by all needles (230) is completed.

[0138] As explained above, those skilled in the art of the present disclosure will recognize that the present disclosure may be implemented in various forms without altering its technical principles or core features. Accordingly, it should be understood that the above embodiments are illustrative and do not limit the scope of the present disclosure. The scope of the present disclosure is defined by the claims below rather than the detailed description, and all variations or modifications based on the meaning and scope of the claims and equivalent concepts should be interpreted as being included within the scope of the present disclosure.

[0139] The features and advantages described herein are only partial, and further features and advantages will become apparent to those skilled in the art upon reference to the drawings, specification, and claims. Additionally, it should be noted that the language used herein is chosen for readability and illustrative purposes and is not necessarily chosen to limit or describe the subject matter of this disclosure.

[0140] The description of the above embodiments is provided for illustrative purposes only and is not intended to limit the scope of the disclosure in its exact form. Those skilled in the art will understand that various modifications and variations are possible from the content of the disclosure.

[0141] Therefore, the scope of the present disclosure is not limited by the detailed description but is defined by the claims of this specification. Accordingly, the embodiments of the present disclosure are exemplary and do not limit the scope of the present disclosure as set forth in the claims below.

Claims

1. Includes individual needle operating parts and needle support parts, and The above individual needle operating parts are: Planar movement mechanism; and It includes an up-and-down movement mechanism configured to move along a first direction and a second direction intersecting the first direction by the above-mentioned planar movement mechanism, The above needle support includes a plurality of needles, and The above-described vertical movement mechanism is an automatic picking device comprising individual needle movable parts configured to move in a vertical direction by an electric motor.

2. In Paragraph 1, The above-described vertical movement mechanism further includes a vertical drive unit, and An automatic picking device in which the individual needle operating part has a rod shape extending in the vertical direction and is positioned through the vertical driving part.

3. In Paragraph 2, The above vertical drive unit includes a coil embedded inside, and The above individual needle operating part comprises a permanent magnet embedded therein, an automatic picking device.

4. In Paragraph 2, The above vertical movement mechanism further includes an upper anti-detachment member and a lower anti-detachment member coupled to the individual needle movable part, and An automatic picking device in which, when the individual needle movable part is coupled to the vertical drive part, the upper anti-detachment part is located above the vertical drive part and the lower anti-detachment part is located below the vertical drive part.

5. In Paragraph 4, The above vertical movement mechanism further comprises a first elastic support disposed between the upper anti-detachment part and the vertical drive part, an automatic picking device.

6. In Paragraph 1, The above planar movement mechanism is: A first moving mechanism configured to move the above-described vertical moving mechanism along the first direction; and It includes a second movement mechanism configured to move the above-described vertical movement mechanism along the second direction, and An automatic picking device in which the second moving mechanism is configured to move along the first direction by the first moving mechanism.

7. In Paragraph 6, The individual needle operating unit further includes a main base on which the planar movement mechanism is positioned, The above main base has a main opening that exposes the plurality of needles in a planar view, The range of movement of the vertical movement mechanism in the first direction by the first movement mechanism is larger than the size of the main opening in the first direction, and An automatic picking device in which the movement range of the up-and-down movement mechanism by the second movement mechanism in the second direction is larger than the size of the main opening in the second direction.

8. In Paragraph 1, The above needle support further includes an upper support plate and a lower support plate positioned below the upper support plate, and The above plurality of needles are supported by an upper support plate and a lower support plate, in an automatic picking device.

9. In Paragraph 8, The upper support plate includes a plurality of first openings, and The lower support plate includes a plurality of second openings that overlap in a vertical direction with the plurality of first openings, and An automatic picking device in which each of the plurality of needles is positioned to pass through a pair of first openings and second openings that overlap in a vertical direction.

10. In Paragraph 8, Each of the above plurality of needles includes a supporting protrusion formed on the side, and An automatic picking device in which each of the plurality of needles is coupled to the upper support plate and the lower support plate such that the support protrusion is positioned between the upper support plate and the lower support plate.

11. In Paragraph 10, An automatic picking device in which a second elastic support is provided between each of the supporting protrusions of the plurality of needles and the lower supporting plate.

12. In Paragraph 8, The upper support plate is configured to be movable in a vertical direction, and An automatic picking device comprising a needle support member connected to an upper support plate and a plurality of needle operating members that move the upper support plate and the plurality of needles in a vertical direction.

13. In Paragraph 12, The above multiple needle operating unit is: A connecting part coupled to the upper support plate above; A horizontal moving part configured to move in a horizontal direction; and It includes a link rotatably coupled to the above-mentioned coupling part and the above-mentioned horizontal moving part, and The above link is an automatic picking device that converts the horizontal movement of the above horizontal moving part into the vertical movement of the above coupling part.

14. In Paragraph 1, It further includes a control unit configured to calculate three-dimensional coordinate information of a plurality of target substances contained in a culture medium placed on a target stage, and The above three-dimensional coordinate information includes height information of the plurality of target materials, and An automatic picking device in which the movement of the individual needle movable part by the above-described vertical movement mechanism is performed based on the height information of the target material to be picked among the plurality of target materials.

15. In Paragraph 14, The target material sensing unit further includes an image capturing unit for acquiring two-dimensional image information of the above-mentioned badge and a height measuring unit for acquiring height information at a plurality of points of the above-mentioned badge, and The above control unit is: Calculate 2D coordinate information of a plurality of target substances from the 2D image information of the above-mentioned culture medium, and Calculate height information for the entire area of ​​the said badge from height information at multiple points of the said badge, and, An automatic picking device configured to calculate three-dimensional coordinate information for each of the plurality of target substances by merging the two-dimensional coordinate information of the plurality of target substances and the height information for the entire area of ​​the culture medium.

Images