CN111575157A - Colony scribing and coating robot platform and scribing and coating method - Google Patents
Colony scribing and coating robot platform and scribing and coating method Download PDFInfo
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- CN111575157A CN111575157A CN202010599633.4A CN202010599633A CN111575157A CN 111575157 A CN111575157 A CN 111575157A CN 202010599633 A CN202010599633 A CN 202010599633A CN 111575157 A CN111575157 A CN 111575157A
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- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M23/00—Constructional details, e.g. recesses, hinges
- C12M23/02—Form or structure of the vessel
- C12M23/10—Petri dish
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- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M33/00—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus
- C12M33/04—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus by injection or suction, e.g. using pipettes, syringes, needles
- C12M33/07—Dosage or metering devices therefore
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- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
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- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12Q—MEASURING OR TESTING PROCESSES INVOLVING ENZYMES, NUCLEIC ACIDS OR MICROORGANISMS; COMPOSITIONS OR TEST PAPERS THEREFOR; PROCESSES OF PREPARING SUCH COMPOSITIONS; CONDITION-RESPONSIVE CONTROL IN MICROBIOLOGICAL OR ENZYMOLOGICAL PROCESSES
- C12Q1/00—Measuring or testing processes involving enzymes, nucleic acids or microorganisms; Compositions therefor; Processes of preparing such compositions
- C12Q1/02—Measuring or testing processes involving enzymes, nucleic acids or microorganisms; Compositions therefor; Processes of preparing such compositions involving viable microorganisms
- C12Q1/24—Methods of sampling, or inoculating or spreading a sample; Methods of physically isolating an intact microorganisms
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Abstract
The invention relates to the technical field of laboratory automation, and discloses a colony streaking coating robot platform which comprises a workbench, a robot and a control unit, wherein the robot is installed on the workbench, a mechanical arm of the robot is provided with an injector and a clamping jaw, streaking coating equipment is arranged on the workbench and comprises an input dish frame, an output dish frame, a sample frame, a suction head box, a suction head recovery box and a streaking coating device, a culture dish pre-filled with a culture medium is installed on the input dish frame, a sample container pre-filled with a sample solution is installed on the sample frame, a suction head is installed in the suction head box, the streaking coating device comprises a rotating base and a culture dish table, and the control unit controls the mechanical arm of the robot to move so as to finish simultaneous streaking coating operation of the injector on the culture dish. The invention also discloses a scribing coating method. The full-process automatic scribing and coating device realizes full-process automatic scribing and coating, avoids cross contamination among samples, and is high in working efficiency.
Description
Technical Field
The invention relates to the technical field of laboratory automation, in particular to a colony scribing and coating robot platform and a scribing and coating method.
Background
Colony streaking is the main task of isolating and culturing a single colony of microorganisms. The existing operation method is mainly manual operation, mainly utilizes a glass coating rod to manually coat a rod or draw lines by using an inoculating loop, the marking and coating process is tedious and labor intensity is high, and the marking and coating results (the dispersion degree of single colony) are greatly different among different people and at different time, so that the colony counting result is inaccurate.
Although an automatic colony coating instrument appears in the market at present, because a transfusion pipeline is adopted to convey samples, the pipeline needs to be cleaned when the samples are switched, the possibility of cross contamination among different samples exists, and the speed is low. In addition, in the existing automatic operation process, only one dish can be placed at a time, and dish replacement needs manual operation, so that people cannot participate in the whole process. The existing automatic coating also belongs to semi-automatic operation and cannot meet the daily work of microbial culture in a laboratory.
Disclosure of Invention
The invention aims to solve the problems and provides a colony scribing and coating robot platform and a scribing and coating method, which realize full-process automatic scribing and coating, avoid cross contamination among samples and have high working efficiency.
The technical scheme adopted by the invention is as follows:
a colony lineation coating robot platform is characterized by comprising a workbench, a robot and a control unit, wherein the robot is installed on the workbench, a liquid injector and a clamping jaw are installed on a mechanical arm of the robot, lineation coating equipment is arranged on the workbench and comprises an input dish frame, an output dish frame, a sample frame, a suction head box, a suction head recovery box and a lineation coater, a culture dish pre-filled with culture medium is installed on the input dish frame, a sample container pre-filled with sample solution is installed on the sample frame, a suction head is installed in the suction head box, the lineation coater comprises a rotary base and a culture dish table, the control unit controls the mechanical arm of the robot to move, the clamping jaw grasps the culture dish, uncovers and closes the cover of the culture dish, the liquid injector discards the suction head, the liquid injector absorbs the sample solution from the sample container, and the movement combination formed by the rotation of the lineation coater and the movement of the liquid injector, and finishing the streaking coating operation of the culture dish by the liquid injector while injecting liquid.
Further, an adapter rack is arranged on the workbench, the scribing and coating equipment is arranged on the adapter rack, an operation handle is arranged on the adapter rack, a positioning component is arranged on the workbench, and the adapter rack is positioned on the workbench through the positioning component.
Further, the clamping jaw comprises two clamping jaw rods with adjustable distance and a driving part, wherein the driving part controls the distance between the two clamping jaw rods and the clamping force.
Further, the inboard of clamping jaw is the arc, the arc internal diameter and the external diameter phase-match of culture dish.
Further, the inboard of clamping jaw sets up the bump, when the clamping jaw snatchs the culture dish, the bump cooperates with the outside limit of culture dish.
Furthermore, the liquid injector and the clamping jaw are arranged on two sides of the mechanical arm, and the position of a suction head interface of the liquid injector is lower than that of the clamping jaw.
Further, the input dish rack and the output dish rack are arranged on two sides of the adapting rack, and the sample rack, the suction head box, the suction head recovery box and the scribing coater are arranged in front of the robot.
A method for streaking and coating by using a colony streaking and coating robot platform is characterized by comprising the following steps:
(1) arranging a culture dish and a suction head on a lineation coating device of the platform, and initializing device information by a control unit;
(2) the control unit controls the machine arm to take down a culture dish from the input dish rack through the clamping jaw and send the culture dish to the scribing coater;
(3) the dish cover is taken down by the clamping jaw, and the bottom of the dish is left on the marking and coating device;
(4) controlling a liquid injector on the mechanical arm to take a suction head from a suction head box;
(5) the liquid injector sucks a preset amount of sample solution from the container of the sample rack;
(6) moving the liquid injector to a position above the bottom of the dish on the marking and coating device, and contacting the mouth part of the suction head with the surface of the culture medium in the bottom of the dish;
(7) controlling the scribing coater to automatically rotate, and simultaneously controlling the suction head to move on the upper surface of the dish bottom, so that the sample solution uniformly flows out of the suction head and is coated on the surface of the culture medium in a spiral scribing way along with the rotation of the culture dish;
(8) controlling the mechanical arm to move the liquid injector to the position above the suction head recovery box, and withdrawing the suction head;
(9) controlling the clamping jaw of the mechanical arm to move back to the upper part of the marking coater, and covering the dish cover on the dish bottom;
(10) clamping the bottom of the dish by a clamping jaw, and conveying the culture dish subjected to scribing and coating to an output dish frame by a mechanical arm;
(11) and (5) repeating the steps (2) to (10) until all the culture dishes on the input dish rack are coated by marking lines and are arranged on the output dish rack.
Further, in the step (7), the suction head moves from the center of the dish bottom to the edge.
The invention has the beneficial effects that:
(1) the whole process is automatic and unattended;
(2) the disposable suction head is adopted to convey samples, so that cross contamination among samples is avoided, and a conveying pipe cleaning process is avoided;
(3) the operation speed is greatly accelerated, the manual repeated labor is liberated, and the product consistency is high;
(4) can be operated independently or integrated into the whole operation flow.
Drawings
FIG. 1 is a first diagram of the working state of the robotic platform of the present invention;
FIG. 2 is a second diagram of the operating state of the robotic platform of the present invention;
fig. 3 is a third diagram of the working state of the robot platform of the present invention.
The reference numbers in the drawings are respectively:
1. a work table; 2, a robot;
3. a mechanical arm; 4, a liquid injector;
5. a clamping jaw; 6, inputting the dish rack;
7. outputting a dish rack; 8, a sample holder;
9. a suction head box; 10, a suction head recovery box;
11. a scribe spreader; 12, an adapter rack;
13. a culture dish; a sample container;
15. a suction head; a positioning member;
17. a handle.
Detailed Description
The following describes in detail embodiments of a colony streaking robot stage and a streaking method according to the present invention with reference to the accompanying drawings.
Referring to the attached figure 1, the colony scribing and coating robot platform comprises a workbench 1, a robot 2 and a control unit, wherein the robot 2 is installed on the workbench 1, a liquid injector 4 and a clamping jaw 5 are installed on a mechanical arm 3 of the robot 2, scribing and coating equipment is arranged on the workbench 1 and comprises an input dish rack 6, an output dish rack 7, a sample rack 8, a suction head box 9, a suction head recovery box 10, a scribing and coating device 11 and the like, and raw materials and operating materials used for scribing and coating are provided.
The clamping jaw 5 comprises two clamping jaw levers and a drive member which controls the spacing between the two clamping jaw levers and the clamping force. The distance between the clamping jaws 5 is adjustable, the clamping jaws 5 can be in the form of arc-shaped inner sides or arc-shaped whole, and the inner diameter of the arc is matched with the outer diameter of the culture dish 13. The clamping jaw 5 can also be provided with a convex point on the inner side, and when the clamping jaw 5 grabs the culture dish 13, the convex point is matched with the outer side edge of the culture dish 13.
The liquid injector 4 and the clamping jaw 5 are arranged on two sides of the mechanical arm 3, and the interface position of the suction head 15 of the liquid injector 4 is lower than that of the clamping jaw 5.
An adapter rack 12 is arranged on the workbench 1, the scribing and coating equipment is arranged on the adapter rack 12, an operation handle 17 is arranged on the adapter rack 12, a positioning part 16 is arranged on the workbench 1, and the adapter rack 12 is positioned on the workbench 1 through the positioning part 16. The input capsule holder 6 and the output capsule holder 7 are disposed on both sides of the adapter holder 12, and the sample holder 8, the tip cassette 9, the tip recovery cassette 10, and the scribing coater 11 are disposed in front of the robot 2. After each device is positioned, the control unit controls the motion according to the position and the working process of the device.
The input dish frame 6 is provided with a culture dish 13 pre-filled with culture medium, the sample frame 8 is provided with a sample container 14 pre-filled with sample solution, the suction head box 9 is internally provided with a suction head 15, the scribing spreader 11 comprises a rotary base and the culture dish 13, and the control unit controls the mechanical arm 3 of the robot 2 to move so as to complete the related actions of the scribing spreading task. The simultaneous streaking and coating operation of the liquid injector 4 on the culture dish 13 is realized by completing grabbing and placing of the culture dish 13 by the clamping jaw 5, uncovering and covering of the culture dish 13, taking and discarding of the suction head 15 by the liquid injector 4, sucking of a sample solution from the sample container 14 by the liquid injector 4, movement combination formed by rotation of the streaking and coating device 11 and movement of the liquid injector 4, and the like.
Referring to fig. 1 to 3, the streaking method performed by the colony streaking robot 2 platform includes the following steps:
(1) arranging a culture dish 13 and a suction head 15 on a scribing coating device of the platform, and initializing device information by a control unit;
(2) the control unit controls the machine arm to take off a culture dish 13 from the input dish rack 6 through the clamping jaw 5 and send the culture dish to the scribing spreader 11;
(3) the clamping jaw 5 takes down the dish cover, and the bottom of the dish is left on the marking and coating device 11 (shown in figure 1);
(4) controlling the liquid injector 4 on the mechanical arm 3 to take a suction head 15 from the suction head box 9;
(5) the injector 4 sucks a predetermined amount of sample solution from the container of the sample holder 8;
(6) moving the liquid injector 4 to a position above the bottom of the dish on the scribing and coating device 11, and contacting the mouth part of the suction head 15 with the surface of the culture medium in the bottom of the dish;
(7) controlling the streaking spreader 11 to rotate automatically, and simultaneously controlling the suction head 15 to move from the central position to the edge position of the dish bottom, so that the sample solution flows out from the suction head 15 uniformly, and along with the rotation of the culture dish 13, the sample solution is coated on the surface of the culture medium in a spiral streaking manner, and the moving manner can be reverse or other manners (shown in figure 2);
(8) controlling the mechanical arm 3 to move the liquid injector 4 to the position above the suction head recovery box 10, and removing the suction head 15;
(9) controlling the mechanical arm 3 and the clamping jaw 5 to move back to the position above the marking applicator 11, and covering the dish cover on the dish bottom;
(10) the clamping jaw 5 clamps the bottom of the dish, and the mechanical arm 3 sends the culture dish 13 which is coated by marking to the output dish rack 7 (shown in figure 3);
(11) and (5) repeating the steps (2) to (10) until all the culture dishes 13 on the input dish rack 6 are coated with the streaks and are arranged on the output dish rack 7.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A colony marking and coating robot platform is characterized in that: comprises a workbench, a robot and a control unit, wherein the robot is arranged on the workbench, a liquid injector and a clamping jaw are arranged on a mechanical arm of the robot, the working table is provided with a scribing and coating device which comprises an input dish rack, an output dish rack, a sample rack, a suction head box, a suction head recovery box and a scribing and coating device, the culture dish preloaded with culture medium is arranged on the input dish rack, the sample container preloaded with sample solution is arranged on the sample rack, the suction head is equipped with in the suction head box, the line spreader includes rotating base and culture dish platform, the arm motion of the control unit control robot accomplishes the clamping jaw and grabs the culture dish, opens the lid to the culture dish and closes the lid, the notes liquid ware gets and abandons the suction head, annotates the liquid ware and absorbs sample solution, through the rotation of line spreader and the motion combination that the removal of notes liquid ware formed in the sample container, accomplishes the line spreader and annotates the liquid simultaneous coating operation of liquid ware to the culture dish.
2. The colony streaking robot platform as claimed in claim 1, wherein: the scribing and coating device is characterized in that an adapter frame is arranged on the workbench, the scribing and coating device is arranged on the adapter frame, an operation handle is arranged on the adapter frame, a positioning part is arranged on the workbench, and the adapter frame is positioned on the workbench through the positioning part.
3. The colony streaking robot platform as claimed in claim 1, wherein: the clamping jaw comprises two clamping jaw rods with adjustable intervals and a driving part, wherein the driving part controls the intervals and the clamping force between the two clamping jaw rods.
4. The colony streaking robot platform as claimed in claim 3, wherein: the inboard of clamping jaw is the arc, the outer diameter phase-match of arc internal diameter and culture dish.
5. The colony streaking robot platform as claimed in claim 3, wherein: the inboard of clamping jaw sets up the bump, when the clamping jaw snatchs the culture dish, the bump cooperates with the outside limit of culture dish.
6. The colony streaking robot platform as claimed in claim 1, wherein: the liquid injector and the clamping jaw are arranged on two sides of the mechanical arm, and the position of a suction head interface of the liquid injector is lower than that of the clamping jaw.
7. The colony streaking robot platform as claimed in claim 2, wherein: the input dish rack and the output dish rack are arranged on two sides of the adapting rack, and the sample rack, the suction head box, the suction head recovery box and the scribing coater are arranged in front of the robot.
8. A method of streaking using the colony streaking robot platform as claimed in any one of claims 1 to 7, characterised in that: the method comprises the following steps:
(1) arranging a culture dish and a suction head on a lineation coating device of the platform, and initializing device information by a control unit;
(2) the control unit controls the machine arm to take off a culture dish from the input dish rack through the clamping jaw and send the culture dish to the coater;
(3) the dish cover is taken down by the clamping jaw, and the bottom of the dish is left on the marking and coating device;
(4) controlling a liquid injector on the mechanical arm to take a suction head from a suction head box;
(5) the liquid injector sucks a preset amount of sample solution from the container of the sample rack;
(6) moving the liquid injector to a position above the bottom of the dish on the marking and coating device, and contacting the mouth part of the suction head with the surface of the culture medium in the bottom of the dish;
(7) controlling the scribing coater to automatically rotate, and simultaneously controlling the suction head to move on the upper surface of the dish bottom, so that the sample solution uniformly flows out of the suction head and is coated on the surface of the culture medium in a spiral scribing way along with the rotation of the culture dish;
(8) controlling the mechanical arm to move the liquid injector to the position above the suction head recovery box, and withdrawing the suction head;
(9) controlling the mechanical arm clamping jaw to move back to the position above the marking coater, and covering the dish cover on the dish bottom;
(10) clamping the bottom of the dish by a clamping jaw, and conveying the culture dish subjected to scribing and coating to an output dish frame by a mechanical arm;
(11) and (5) repeating the steps (2) to (10) until all the culture dishes on the input dish rack are coated by marking lines and are arranged on the output dish rack.
9. The scribe coating method according to claim 8, characterized in that: in the step (7), the suction head moves from the center of the dish bottom to the edge.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010599633.4A CN111575157A (en) | 2020-06-29 | 2020-06-29 | Colony scribing and coating robot platform and scribing and coating method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010599633.4A CN111575157A (en) | 2020-06-29 | 2020-06-29 | Colony scribing and coating robot platform and scribing and coating method |
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| CN111575157A true CN111575157A (en) | 2020-08-25 |
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| CN202010599633.4A Pending CN111575157A (en) | 2020-06-29 | 2020-06-29 | Colony scribing and coating robot platform and scribing and coating method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112175811A (en) * | 2020-10-13 | 2021-01-05 | 上海莫杜生物科技有限公司 | Full-automatic microbial inoculation appearance |
| CN113999762A (en) * | 2021-11-22 | 2022-02-01 | 陈福春 | Automatic bacterial inoculation instrument |
| CN114276904A (en) * | 2022-01-24 | 2022-04-05 | 深圳先进技术研究院 | Culture dish filling equipment |
| CN114317246A (en) * | 2022-01-13 | 2022-04-12 | 济南市疾病预防控制中心 | Microorganism seed taking and marking device and method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6617146B1 (en) * | 1997-03-17 | 2003-09-09 | Canadian Space Agency | Method and apparatus for automatically inoculating culture media with bacterial specimens from specimen containers |
| CN201076818Y (en) * | 2007-06-26 | 2008-06-25 | 上海裕隆生物科技有限公司 | Automatic transfer pipette working station |
| JP2013000051A (en) * | 2011-06-16 | 2013-01-07 | Medica Tekku Kk | Specimen coater |
| CN205115449U (en) * | 2015-10-29 | 2016-03-30 | 郑州德凯科技有限公司 | Full -automatic sample preparation device of microorganism |
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2020
- 2020-06-29 CN CN202010599633.4A patent/CN111575157A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6617146B1 (en) * | 1997-03-17 | 2003-09-09 | Canadian Space Agency | Method and apparatus for automatically inoculating culture media with bacterial specimens from specimen containers |
| CN201076818Y (en) * | 2007-06-26 | 2008-06-25 | 上海裕隆生物科技有限公司 | Automatic transfer pipette working station |
| JP2013000051A (en) * | 2011-06-16 | 2013-01-07 | Medica Tekku Kk | Specimen coater |
| CN205115449U (en) * | 2015-10-29 | 2016-03-30 | 郑州德凯科技有限公司 | Full -automatic sample preparation device of microorganism |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112175811A (en) * | 2020-10-13 | 2021-01-05 | 上海莫杜生物科技有限公司 | Full-automatic microbial inoculation appearance |
| CN112175811B (en) * | 2020-10-13 | 2022-11-11 | 上海莫杜生物科技有限公司 | Full-automatic microbial inoculation appearance |
| CN113999762A (en) * | 2021-11-22 | 2022-02-01 | 陈福春 | Automatic bacterial inoculation instrument |
| CN114317246A (en) * | 2022-01-13 | 2022-04-12 | 济南市疾病预防控制中心 | Microorganism seed taking and marking device and method |
| CN114317246B (en) * | 2022-01-13 | 2024-02-20 | 济南市疾病预防控制中心 | Microorganism seed taking and scribing device and method |
| CN114276904A (en) * | 2022-01-24 | 2022-04-05 | 深圳先进技术研究院 | Culture dish filling equipment |
| CN114276904B (en) * | 2022-01-24 | 2024-05-24 | 深圳先进技术研究院 | Petri dish filling equipment |
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