KR102833429B1 - Automated picking device - Google Patents

Abstract

An automatic picking device may be provided comprising an individual needle operating unit and a needle supporting unit. The individual needle operating unit may include a planar moving mechanism and a vertical moving mechanism configured to move in a first direction and a second direction intersecting the first direction by the planar moving mechanism. The needle supporting unit may include a plurality of needles. The vertical moving mechanism may include an individual needle moving unit configured to move in a vertical direction by an electric motor.

Description

AUTOMATED PICKING DEVICE

The present disclosure relates to an automatic picking device, and more particularly, to an automatic picking device driven by an electric motor.

Picking devices for picking target materials on the target stage are widely used in the bio field. For example, a colony picker, a type of picking device, is an essential equipment in microbiological research, especially in the fields of genomics, protein engineering, and new drug development. It automatically identifies cultured microbiological colonies, selectively picks them up, and transfers them to other media or containers. This automated colony selection and transfer process plays an important role in improving research efficiency and reducing experimental errors.

Conventional automatic picking devices mainly used pneumatic systems to drive needles. Specifically, pneumatic systems use compressed air to move needles to pick up and dispense target materials.

However, pneumatic systems have several problems. Specifically, noise and vibration generated during the air compression process can negatively affect the laboratory environment and interfere with precise target material picking. In addition, the compressibility of air makes it difficult to control precise position and output, which can reduce the precision and efficiency of target material picking. In addition, pneumatic systems can cause problems such as moisture generation and pollutant emissions, which can contaminate target materials, and there is also a possibility of safety accidents such as explosion risks in air tanks that store compressed air.

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

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

The technical problems to be solved in the present disclosure are not limited to the technical problems mentioned above, and various technical problems not mentioned can be inferred from the present disclosure by a person skilled in the art.

An automatic picking device according to embodiments of the present disclosure may include an individual needle operating unit and a needle supporting unit. The individual needle operating unit may include a planar moving mechanism and a vertical moving mechanism configured to move in a first direction and a second direction intersecting the first direction by the planar moving mechanism. The needle supporting unit may include a plurality of needles. The vertical moving mechanism may include an individual needle moving unit configured to move in a vertical direction by an electric motor.

In one embodiment, the vertical movement mechanism may further include a vertical driving member. The individual needle moving members may have a rod shape extending in the vertical direction and may be arranged to penetrate the vertical driving member.

In one embodiment, the vertical driving member may include a coil built therein. The individual needle actuators may include a permanent magnet built therein.

In one embodiment, the up-and-down movement mechanism may further include an upper separation prevention member and a lower separation prevention member coupled to the individual needle movable member. When the individual needle movable member is coupled to the vertical driving member, the upper separation prevention member may be positioned above the vertical driving member, and the lower separation prevention member may be positioned below the vertical driving member.

In one embodiment, the vertical movement mechanism may further include a first elastic support disposed between the upper anti-separation member and the vertical driving member.

In one embodiment, the planar movement mechanism may include a first movement mechanism configured to move the up-and-down movement mechanism along the first direction and a second movement mechanism configured to move the up-and-down movement mechanism along the second direction. The second movement mechanism may be configured to move along the first direction by the first movement mechanism.

In one embodiment, the individual needle actuator may further include a main base on which the planar movement mechanism is arranged. The main base may have a main opening exposing the plurality of needles in a planar view. A movement range of the up-and-down movement mechanism by the first movement mechanism in the first direction may be greater than a size of the main opening in the first direction. A movement range of the up-and-down movement mechanism by the second movement mechanism in the second direction may be greater than a size of the main opening in the second direction.

In one embodiment, the needle support member 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.

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 vertically overlap with the plurality of first openings. Each of the plurality of needles may be arranged to penetrate a pair of the first openings and the second openings that vertically overlap.

In one embodiment, each of the plurality of needles may include a support protrusion formed on a side surface. 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.

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

In one embodiment, the upper support plate may be configured to be vertically movable. The needle support member may further include a plurality of needle actuating members connected to the upper support plate to vertically move the upper support plate and the plurality of needles.

In one embodiment, the multiple needle actuating member may include a coupling member coupled to the upper support plate, a horizontal moving member configured to move horizontally, and a link rotatably coupled to the coupling member and the horizontal moving member. The link may convert horizontal movement of the horizontal moving member into vertical movement of the coupling member.

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 materials included in a badge placed on a target stage. The three-dimensional coordinate information may include height information of the plurality of target materials. The movement of the individual needle movable parts by the up-and-down movement mechanism may be performed based on the height information of a target material to be picked among the plurality of target materials.

In one embodiment, the badge may further include a target material sensing unit including an image capturing unit that acquires two-dimensional image information of the badge and a height measuring unit that acquires height information at a plurality of points on the badge. The control unit may be configured to calculate two-dimensional coordinate information of the plurality of target materials from the two-dimensional image information of the badge, calculate height information for the entire area of the badge from the height information at the plurality of points on the badge, and derive three-dimensional coordinate information of each of the plurality of target materials by merging the two-dimensional coordinate information of the plurality of target materials and the height information for the entire area of the badge.

In one embodiment, deriving height information for the entire area of the badge from height information at multiple points of the badge can be performed using interpolation or extrapolation.

According to one embodiment of the present disclosure, the up-and-down movement mechanism for operating the needle may be configured as an electric motor such as a linear motor, thereby enabling precise control of the picking height of the needle to a 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, thereby enabling accurate picking to be performed for a plurality of target materials having different heights.

In one embodiment of the present disclosure, by configuring the up-and-down movement mechanism for operating the needle as an electric motor such as a linear motor, the speed at which the needle operates can be precisely controlled. Specifically, by controlling the speed at which the needle picks up a target material to be relatively low, the shock occurring at the moment of picking the target material can be minimized. This reduces the problem of inaccurate picking due to vibration occurring at the moment of picking, and more accurate picking can be performed.

In one embodiment of the present disclosure, by configuring the up-and-down movement mechanism for operating the needle as an electric motor such as a linear motor, noise and vibration can be reduced compared to a conventional pneumatic automatic picking device. In addition, since the electric motor does not discharge moisture and contaminants generated in the pneumatic method, contamination of the target material can be prevented in advance. As a result, the accuracy of the experimental results can be increased, and re-experiments due to contamination can be prevented, thereby increasing efficiency.

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

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.
FIG. 5 is a perspective view showing an individual needle operating unit according to one embodiment of the present disclosure.
FIG. 6 is a plan view showing an individual needle operating unit according to one embodiment of the present disclosure.
FIG. 7 is a cross-sectional view illustrating in more detail a vertical movement mechanism according to one embodiment of the present disclosure.
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.
FIG. 10 is a cross-sectional view illustrating in more detail the joint portion of the needle and the upper support plate and the lower support plate according to one embodiment of the present disclosure.
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 showing a target material picking method of an automatic picking device according to one embodiment of the present disclosure.
FIGS. 14 and 15 are drawings showing a method of operating multiple needles of an automatic picking device according to one embodiment of the present disclosure.

Hereinafter, specific embodiments of the present disclosure will be described in detail with reference to the attached drawings. The embodiments of the present disclosure are exemplified for the purpose of explaining the embodiments. Various modifications may be made to the embodiments, and the scope of rights of the present application is not limited by these embodiments. It should be understood that all modifications, equivalents, or substitutes to the embodiments are included in the scope of rights.

In the attached drawings, identical or similar components are given the same reference numerals. In addition, 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 mean that the corresponding component is not included in a particular embodiment.

Unless otherwise defined, terms used in this disclosure may have the meanings commonly understood by one of ordinary skill in the art of this disclosure.

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

The expression “one or more A” in this disclosure may mean a set of one or more As, unless the context clearly indicates otherwise.

In this disclosure, expressions such as “first,” “second,” or “firstly,” “secondly,” 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.

In this disclosure, the expressions "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", "at least one selected from A, B, and/or C", and the like can mean each or all possible combinations thereof. For example, "at least one of A or B" can refer to at least one A, at least one B, at least one A, and at least one B.

In this disclosure, it should be understood that expressions such as “connected” and “connected” mean that a component may be directly connected or connected to another component, but that new other components may exist in between.

In this disclosure, the expressions “includes,” “comprises,” “has,” etc., imply the presence of a given feature (e.g., a function, an operation, or a component), but do not exclude the presence of additional features. That is, these expressions should be understood as open-ended terms that leave open the possibility of including other embodiments.

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.

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

The automatic picking device (10) may include individual needle operating parts (100) and needle supporting parts (200).

Among the configurations of the automatic picking device (10), some configurations that are not essential for explaining the contents of the present disclosure may not be illustrated in the drawing or may be illustrated in a simplified manner, and the description of these configurations may also be omitted or simplified.

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) intersecting with each other can be defined. In one embodiment, the first direction (D1) and the second direction (D2) can be substantially parallel to the ground and can be substantially perpendicular to each other. In addition, the third direction (D3) can be substantially perpendicular to the ground. Hereinafter, the third direction (D3) and the perpendicular direction can mean the same direction.

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

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

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 having sides parallel to the first direction (D1) and the second direction (D2).

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

The main base (110) may have a main opening (114) penetrating 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) disposed 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 illustrated in FIGS. 5 and 6 , the main opening (114) may have a rectangular shape having sides parallel to the first direction (D1) and the second direction (D2).

A plane 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 plane movement mechanism (120) and the up-and-down movement mechanism (150) may be formed on the upper surface of the main base (110).

The planar movement mechanism (120) may be configured to move the up-and-down 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 up-and-down movement mechanism (150) in the first direction (D1) and a second movement mechanism (140) configured to move the up-and-down movement mechanism (150) in the second direction (D2).

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

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

In one embodiment, the first moving part (132) may be configured as a linear motor. Specifically, as illustrated in FIG. 5, the first moving part (132) may further include a first axis part (1322) and a first fixed part (1324) in addition to the first moving block (1320).

The first shaft portion (1322) may extend along the first direction (D1). For example, as illustrated in FIG. 5, the first shaft portion (1322) may have a rod shape extending in the first direction (D1) and may be arranged to penetrate the first moving 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 illustrated 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 illustrated in FIG. 5, the first shaft portion (1322) is fixed to a side surface of the main base (110), but the present invention is not limited thereto.

The first moving block (1320) may be configured to be movable along the first axis portion (1322). Specifically, the first moving block (1320) may be movably coupled along the longitudinal direction of the first axis portion (1322), and thus may move along the first direction (D1). A coil and an electromagnetic circuit may be built into the interior of the first moving block (1320), and the first moving block (1320) may move along the first direction (D1) by a force generated by a magnetic field generated by a current flowing in the coil interacting with a permanent magnet built into the first axis portion (1322). The moving direction and speed of the first moving block (1320) may be controlled by the direction and magnitude of the current flowing in the coil.

In one embodiment, the first moving unit (132) may include other configurations for moving the first moving block (1320) in the first direction (D1). For example, the first moving unit (132) may be configured with an electric linear actuator including an electric motor and a configuration that converts a rotational motion of the electric motor into a 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.

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

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 positioned 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 may move along the first direction (D1) on the main base (110).

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 the second direction (D2) with the main opening (114) interposed therebetween.

In one embodiment, only one first guide portion (134) may be provided. In this case, the first guide portion (134) may be provided spaced apart from the first moving portion (132) in the second direction (D2) with the main opening (114) therebetween. For example, in the embodiment illustrated in FIGS. 5 and 6, only the first guide portion (134) illustrated in the lower part of the drawing may be provided, and the first guide portion (134) illustrated in the upper part of the drawing may be omitted.

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).

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 portion (136), and thus may move along the first direction (D1) by the operation of the first moving mechanism (130).

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

The second moving part (142) may include a second moving block (1420) configured to move along a second direction (D2) by an electric motor. The up-and-down moving mechanism (150) may be connected to the second moving block (1420), and thus may move along the second direction (D2) by the operation of the second moving mechanism (140).

In one embodiment, the second moving part (142) may be configured as a linear motor. Specifically, as illustrated 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).

The second shaft portion (1422) may extend along the second direction (D2) on the connection portion (136). For example, as illustrated in FIG. 5, the second shaft portion (1422) may have a rod shape extending in the second direction (D2) and may be arranged to penetrate 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 connection portion (136). For example, as illustrated in FIG. 5, a pair of second fixing portions (1424) may fix both ends of the second shaft portion (1422) to the connection portion (136).

The second moving block (1420) may be configured to be movable along the second axis portion (1422). Specifically, the second moving block (1420) may be movably coupled along the longitudinal direction of the second axis portion (1422), and thus may move along the second direction (D2). A coil and an electromagnetic circuit may be built into the interior of the second moving block (1420), and the second moving block (1420) may move along the second direction (D2) by a force generated by a magnetic field generated by a current flowing in the coil interacting with a permanent magnet built into the second axis portion (1422). The moving direction and speed of the second moving block (1420) may be controlled by the direction and magnitude of the current flowing in the coil.

In one embodiment, the second moving unit (142) may include other configurations for moving the second moving block (1420) in the second direction (D2). For example, the second moving unit (142) may be configured with an electric linear actuator including an electric motor and a configuration that converts a rotational motion of the electric motor into a 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.

The second guide part (144) may include a second guide rail (1440) and a second guide block (1442).

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 positioned on the upper surface of the connecting portion (136). The second guide block (1442) may be slidably coupled along the longitudinal direction of the second guide rail (1440), and thus may move along the second direction (D2) on the connecting portion (136).

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 in the second direction (D2). In addition, the movement of the second moving block (1420) in the second direction (D2) can be more stably achieved through the second guide portion (144).

The up-and-down movement mechanism (150) can be configured to move in the second direction (D2) by the second movement mechanism (140). Specifically, the up-and-down movement mechanism (150) can be attached to at least one of the second movement block (1420) or the second guide block (1442), and thus can move in the second direction (D2) by the operation of the second movement mechanism (140). In addition, 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 up-and-down movement mechanism can also move in the first direction (D1) by the operation of the first movement mechanism (130). That is, the up-and-down 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).

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 greater than the size of the main opening (114) in the first direction (D1). In addition, 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 greater than the size of the main opening (114) in the second direction (D2). Accordingly, in a planar view, the up-and-down movement mechanism (150) may move over the entire area of the main opening (114).

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

Referring further to FIG. 7, the up-and-down movement mechanism (150) may include individual needle moving parts (152) and vertical driving parts (154).

The individual needle moving part (152) may be configured to move vertically by an electric motor. The individual needle moving part (152) may be positioned above one needle (230) to be operated among a plurality of needles (230) by a plane movement mechanism (120), and may be moved up and down by an electric motor to operate the corresponding needle (230). This will be further described below with reference to FIGS. 11 to 13.

In one embodiment, the up-and-down movement mechanism (150) may be configured as a linear motor. The individual needle moving part (152) may have a rod shape extending in the third direction (D3) and may be arranged to penetrate the vertical driving part (154). A permanent magnet may be embedded inside the individual needle moving part (152).

The vertical driving unit (154) may be configured to move the individual needle moving unit (152) along the third direction (D3). A coil and an electromagnetic circuit may be built into the interior of the vertical driving unit (154), and the individual needle moving unit (152) may move along the third direction (D3) by a force generated by a magnetic field generated by a current flowing in the coil interacting with a permanent magnet built into the individual needle moving unit (152). The moving direction and speed of the individual needle moving unit (152) may be controlled by the direction and magnitude of the current flowing in the coil. The vertical driving unit (154) may be fixed to at least one of the second moving block (1420) or the second guide block (1442). For example, as illustrated in FIGS. 5 and 6 , the vertical driving unit (154) may be fixed to the second guide block (1442) via the third fixing unit (156).

In one embodiment, the up-and-down movement mechanism (150) may further include an upper detachment prevention member (157), a lower detachment prevention member (158), and a first elastic support member (159). For simplicity and visibility of the drawing, the upper detachment prevention member (157), the lower detachment prevention member (158), and the first elastic support member (159) are only illustrated in FIG. 7 and are omitted in other drawings.

The upper detachment prevention unit (157) and the lower detachment prevention unit (158) may be configured to prevent the individual needle moving unit (152) from being detached from the vertical driving unit (154). Specifically, the upper detachment prevention unit (157) and the lower detachment prevention unit (158) may be formed to protrude from the side of the individual needle moving unit (152). For example, the upper detachment prevention unit (157) and the lower detachment prevention unit (158) may have an outer diameter larger than the outer diameter of the individual needle moving unit (152) and the inner diameter of the through hole (154a) of the vertical driving unit (154) to which the individual needle moving unit (152) is coupled. In addition, the outer diameter of the lower detachment prevention 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 detachment prevention part (158) can pass through the first opening (212) and the second opening (222).

The individual needle movable part (152) can be coupled to the vertical driving part (154) so that the vertical driving part (154) is positioned between the upper detachment prevention part (157) and the lower detachment prevention part (158). In other words, when the individual needle movable part (152) is coupled to the vertical driving part (154), the upper detachment prevention part (157) can be positioned above the vertical driving part (154), and the lower detachment prevention part (158) can be positioned below the vertical driving part (154). For example, as illustrated in FIG. 7, the upper detachment prevention part (157) can be coupled to the upper portion of the individual needle movable part (152), and the lower detachment prevention part (158) can be coupled to the lower portion of the individual needle movable part (152). Accordingly, the upper separation prevention unit (157) can prevent the individual needle moving unit (152) from being separated downwards by passing through the through hole (154a) of the vertical driving unit (154), and the lower separation prevention unit (158) can prevent the individual needle moving unit (152) from being separated upwards by passing through the through hole (154a) of the vertical driving unit (154).

The first elastic support (159) can elastically support the individual needle movable part (152) vertically upward. Specifically, the first elastic support (159) can be arranged between the upper separation prevention part (157) and the vertical driving part (154), and can elastically support the upper separation prevention part (157) and the individual needle movable part (152) combined therewith vertically upward. Accordingly, the individual needle movable part (152) can move downward by the vertical driving part (154) to operate the needle (230), and then return to its original position (i.e., a vertically upward position). In addition, the first elastic support (159) can cause the individual needle movable part (152) to be positioned in a vertically upward position without moving downward by gravity even when no current flows through the coil of the vertical driving part (154). The first elastic support (159) may be, for example, a spring.

In one embodiment, the up-and-down movement mechanism (150) may include other configurations for moving the individual needle moving parts (152) in the third direction (D3). For example, the up-and-down movement mechanism (150) may be configured with an electric linear actuator including an electric motor and a configuration that converts the rotary 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.

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.

Referring to FIGS. 1 to 4, 8, and 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 members (240).

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 having sides parallel to the first direction (D1) and the second direction (D2).

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

The lower support plate (220) may be placed 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 square plate shape having sides parallel to the first direction (D1) and the second direction (D2).

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 the third direction (D3). In other words, the plurality of second openings (222) may be formed at positions that vertically overlap the plurality of first openings (212).

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

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

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

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, one 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.

In the embodiment illustrated in FIG. 8, the upper end of the needle (230) is positioned 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 another embodiment, the upper end of the needle (230) may protrude above the upper support plate (210) so that the upper end of the needle (230) may be positioned at a level higher than the upper surface of the upper support plate (210).

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

Referring further to FIG. 10, the needle (230) may include a support protrusion (232) formed on its side. For simplicity and readability of the drawing, the support protrusion (232) is only illustrated in FIG. 10 and is omitted in other drawings. For example, the support protrusion (232) may have an outer diameter larger than an outer diameter of the needle (230) and an inner diameter of a first opening (212) of the upper support plate (210) to which the upper portion of the needle (230) is coupled. The needle (230) may be coupled with 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).

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 simplicity and visibility of the drawing, the second elastic support (234) is only illustrated in FIG. 10 and is omitted in other drawings. The second elastic support (234) may elastically support the support protrusion (232) and the needle (230) vertically upward from below the support protrusion (232). In addition, the support protrusion (232) supported upwardly may come into contact with the upper support plate (210). That is, the support protrusion (232) may prevent the needle (230) from passing through the first opening (212) and deviating upward from the upper support plate (210). By this, after moving downward by the individual needle movable part (152) and performing target material picking, the needle (230) can return to the original position (i.e., vertically upward position). The second elastic support (234) can be, for example, a spring.

The multiple needle operating unit (240) may be configured to be connected to the upper support plate (210) and move the upper support plate (210) in the third direction (D3). As described above, since the support protrusions (232) of the needles (230) are supported by the upper support plate (210) positioned 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. In addition, 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 the third direction (D3).

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

The coupling portion (242) may be coupled to the upper support plate (210). In one embodiment, as illustrated in FIG. 8, the coupling portions (242) may be provided as a pair. The pair of coupling portions (242) may be coupled to both sides of the upper support plate (210) with the upper support plate (210) interposed therebetween. For example, as illustrated in FIG. 8, the pair of coupling portions (242) may be provided spaced apart in the second direction (D2) with the upper support plate (210) interposed therebetween, and may be coupled to both sides of the upper support plate (210).

The horizontal moving member (244) may be provided on one side of the coupling member (242). In an embodiment in which a pair of coupling members (242) are provided, the horizontal moving member (244) may be provided spaced apart from the pair of coupling members (242) in a direction intersecting the direction in which the pair of coupling members (242) are spaced apart. For example, as illustrated in FIG. 8, when the pair of coupling members (242) are spaced apart in the second direction (D2), the horizontal moving member (244) may be provided spaced apart from the pair of coupling members (242) in the first direction (D1).

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

In the embodiment illustrated in FIG. 8, the horizontal moving portion (244) may include a recessed portion (244a) on a side facing the upper support plate (210). The width of the recessed portion (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 portion (244) may move in the horizontal direction without interference with the upper support plate (210).

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

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).

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

In one embodiment, the automatic picking device (10) may further include a target material sensing unit (not shown) and a control unit. The target material sensing unit may obtain two-dimensional image information and height information of a medium placed on a target stage, specifically, a medium including a target material such as a colony, and transmit the same to the control unit. The control unit may calculate three-dimensional coordinate information of a plurality of target materials included in the medium from the two-dimensional image information and height information of the medium obtained by the target material sensing unit.

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

The image capturing unit can capture a two-dimensional image of a badge containing a plurality of target substances. The control unit can analyze the two-dimensional image information of the badge acquired by the image capturing unit to derive two-dimensional coordinate information of the plurality of target substances. The image capturing unit can include, for example, a high-resolution camera.

The height measuring unit can measure the height at multiple points of the badge. The control unit can analyze the height information at multiple points of the badge obtained from the height measuring unit to calculate height information for the entire area of the badge. Specifically, the control unit can calculate height information for the entire area of the badge by using interpolation or extrapolation based on the height information at multiple points of the badge. The height measuring unit can include, for example, a laser sensor or an ultrasonic sensor.

The control unit can combine two-dimensional coordinate information of a plurality of target materials and height information for the entire area of the badge to produce three-dimensional coordinate information of each of the plurality of target materials.

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.

Referring further to FIGS. 11 to 13, target material picking of an automatic picking device (10) can be performed by a control unit. A target material picking method can include a step (S100) of determining a target material on which picking is to be performed (hereinafter, “picking target material”) and/or a needle (230a, hereinafter, “picking needle”) on which picking is to be performed, a step (S200) of positioning a picking needle (230a) on a picking target material, a step (S300) of positioning an individual needle movable part (152) on the picking needle (230a), and a step (S400) of operating the picking needle (230a) to perform picking on a picking target material.

First, the target material (i.e., the picking target material) on which picking is to be performed and/or the picking needle (230a) can be determined (S100). Specifically, the target material (i.e., the picking target material) on which picking is to be performed among the plurality of target materials included in the medium can be determined, and the needle (i.e., the picking needle) (230a) that will perform picking for the corresponding picking target material among the plurality of needles (230) can be determined.

Next, the picking needle (230a) can be positioned on the picking target material (S200). Specifically, the automatic picking device (10) can be moved as a whole through the main driving unit, and thereby the picking needle (230a) can be positioned on the picking target material (i.e., so that the picking needle (230a) vertically overlaps the picking target material). Positioning the picking needle (230a) on the picking target material can be performed based on two-dimensional coordinate information of the picking target material.

In addition, an individual needle movable part (152) may be positioned on the picking needle (230a) (S300; see FIG. 12). Specifically, the up-and-down movement mechanism (150) may be moved by the plane movement mechanism (120), and thereby the individual needle movable part (152) may be positioned 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 steps S200 and S300 may be performed simultaneously.

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

In some cases, it is necessary to pick a plurality of target materials included in a badge having non-uniform heights. In this regard, in an automatic picking device according to an embodiment of the present disclosure, three-dimensional coordinate information, i.e., position information including heights, of a plurality of target materials included in a badge can be obtained from two-dimensional image information and height information of the badge, and target material picking can be performed based on this. In particular, an up-and-down movement mechanism (150) that operates a picking needle (230a) can be configured as an electric motor such as a linear motor, and thus, the picking height of the picking needle (230a) can be precisely controlled to a level of several micrometers. As a result, according to an embodiment of the present disclosure, accurate picking can be performed on a plurality of target materials having different heights.

In addition, in one embodiment of the present disclosure, by configuring the up-and-down movement mechanism (150) that operates the picking needle (230a) as an electric motor such as a linear motor, the speed at which the picking needle (230a) operates can be precisely controlled. Specifically, by controlling the speed at which the picking needle (230a) picks a target material to be relatively low, the shock generated at the moment of picking the target material can be minimized. Through this, the problem of inaccurate picking due to vibration generated at the moment of picking can be reduced, and more accurate picking can be performed.

In addition, in one embodiment of the present disclosure, by configuring the up-and-down movement mechanism (150) that operates the picking needle (230a) as an electric motor such as a linear motor, noise and vibration can be reduced compared to a conventional pneumatic automatic picking device. In addition, since the electric motor does not discharge moisture and contaminants generated in the pneumatic method, contamination of the target material can be prevented in advance. This can increase the accuracy of the experimental results and prevent re-experiments due to contamination, thereby increasing efficiency.

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

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

Specifically, the horizontal moving part (244) can move horizontally toward 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 coupling part (242) and the upper support plate (210) by the link (246).

More specifically, when the horizontal moving part (244) moves horizontally toward the upper support plate (210), the link (246) rotates counterclockwise so that the coupling 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 coupling part (242) and the upper support plate (210) can move upward.

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

Such simultaneous operation of multiple needles (230) can be used, for example, when transferring target materials picked by multiple needles (230) to an external container at once after individual target material picking by all needles (230) is completed.

As described above, those skilled in the art of the present disclosure will recognize that the present disclosure can be implemented in various forms without changing the technical principles or core features thereof. Therefore, it should be understood that the above embodiments are merely 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 changes or modifications according to the meaning and scope of the claims and the equivalent concepts should be interpreted as being included in the scope of the present disclosure.

The features and advantages described herein are only some of the illustrative, and many additional features and advantages will become apparent to those skilled in the art from reference to the drawings, specification, and claims. It is also to be noted that the language used herein has been selected for readability and descriptive purposes, and may not necessarily have been selected to limit or descriptively describe the subject matter of the present disclosure.

The description of the above embodiments has been presented for illustrative purposes and is not intended to limit the scope of the present disclosure in its precise form. Those skilled in the art will recognize that various modifications and variations are possible in light of the teachings of the present disclosure.

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 illustrative and do not limit the scope of the present disclosure, which is set forth in the claims below.

Claims (15)

It comprises an individual needle operating unit, a needle support unit, a control unit, and a target material sensing unit,
The above individual needle operating parts:
Planar moving mechanism; and
Including 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 plane movement mechanism,
The above needle support comprises a plurality of needles,
The above-mentioned vertical movement mechanism comprises individual needle moving parts configured to move in the vertical direction by an electric motor,
The above control unit is configured to produce three-dimensional coordinate information of a plurality of target materials included in a badge placed on a target stage,
The above three-dimensional coordinate information includes height information of the plurality of target materials,
The movement of the individual needle movable part by the above-mentioned up-and-down movement mechanism is performed based on the height information of the target material to be picked among the plurality of target materials,
The target material sensing unit includes an image capturing unit that obtains two-dimensional image information of the badge and a height measuring unit that obtains height information at multiple points of the badge.
The above control unit:
From the two-dimensional image information of the above badge, two-dimensional coordinate information of multiple target materials is derived,
From the height information at multiple points of the badge, height information for the entire area of the badge is derived, and
An automatic picking device configured to derive three-dimensional coordinate information of each of the plurality of target materials by merging the two-dimensional coordinate information of the plurality of target materials and the height information for the entire area of the badge. In the first paragraph,
The above-mentioned up-and-down movement mechanism further includes a vertical driving unit,
An automatic picking device, wherein the individual needle moving part has a rod shape extending in the vertical direction and is arranged to penetrate the vertical driving part. In the second paragraph,
The above vertical driving unit includes a coil built into it,
An automatic picking device, wherein the individual needle moving parts include permanent magnets built into the interior. In the second paragraph,
The above-mentioned up-and-down movement mechanism further includes an upper detachment prevention part and a lower detachment prevention part coupled to the individual needle movable part,
An automatic picking device, wherein when the individual needle movable part is coupled to the vertical driving part, the upper detachment prevention part is positioned above the vertical driving part, and the lower detachment prevention part is positioned below the vertical driving part. In the fourth paragraph,
An automatic picking device, wherein the above-mentioned vertical movement mechanism further includes a first elastic support member arranged between the upper separation prevention member and the vertical driving member. In the first paragraph,
The above plane movement mechanism:
A first moving mechanism configured to move the above-mentioned up-and-down moving mechanism along the first direction; and
Including a second moving mechanism configured to move the above-mentioned vertical moving mechanism along the second direction,
An automatic picking device, wherein the second moving mechanism is configured to move along the first direction by the first moving mechanism. In Article 6,
The above individual needle operating unit further includes a main base on which the plane movement mechanism is arranged,
The above main base has a main opening exposing the plurality of needles in a planar view,
The range of movement of the upper and lower movement mechanism in the first direction by the first movement mechanism is larger than the size of the main opening in the first direction,
An automatic picking device, wherein the range of movement of the upper and lower moving mechanism in the second direction by the second moving mechanism is larger than the size of the main opening in the second direction. In the first paragraph,
The above needle support further includes an upper support plate and a lower support plate disposed below the upper support plate,
An automatic picking device, wherein the above plurality of needles are supported by an upper support plate and a lower support plate. In Article 8,
The upper support plate includes a plurality of first openings,
The lower support plate includes a plurality of second openings that overlap vertically with the plurality of first openings,
An automatic picking device, wherein each of the plurality of needles is arranged to penetrate a pair of the first openings and the second openings that overlap in a vertical direction. In Article 8,
Each of the above plurality of needles includes a supporting protrusion formed on the side,
An automatic picking device, wherein each of the plurality of needles is joined 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. In Article 10,
An automatic picking device, wherein a second elastic support is provided between each of the support protrusions of the plurality of needles and the lower support plate. In Article 8,
The upper support plate is configured to be movable in the vertical direction,
An automatic picking device, wherein the needle support portion further includes a plurality of needle operating portions connected to the upper support plate and moving the upper support plate and the plurality of needles in a vertical direction. In Article 12,
The above multiple needle operating unit:
A joining part coupled to the upper support plate;
a horizontal moving part configured to move in a horizontal direction; and
Including a link rotatably coupled to the above-mentioned joint and the above-mentioned horizontal moving joint,
An automatic picking device, wherein the link converts horizontal movement of the horizontal moving part into vertical movement of the joining part. delete delete