CN113150970B - Automatic colony selecting device - Google Patents
Automatic colony selecting device Download PDFInfo
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- CN113150970B CN113150970B CN202110400612.XA CN202110400612A CN113150970B CN 113150970 B CN113150970 B CN 113150970B CN 202110400612 A CN202110400612 A CN 202110400612A CN 113150970 B CN113150970 B CN 113150970B
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- 230000007246 mechanism Effects 0.000 claims abstract description 188
- 238000004140 cleaning Methods 0.000 claims abstract description 37
- 230000000249 desinfective effect Effects 0.000 claims abstract description 29
- 238000011081 inoculation Methods 0.000 claims abstract description 29
- 230000009471 action Effects 0.000 claims abstract description 24
- 238000010438 heat treatment Methods 0.000 claims description 18
- 238000001816 cooling Methods 0.000 claims description 13
- 230000001580 bacterial effect Effects 0.000 claims description 11
- 239000012153 distilled water Substances 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
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- 238000004659 sterilization and disinfection Methods 0.000 abstract description 14
- 238000000034 method Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
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- 230000006978 adaptation Effects 0.000 description 1
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- 238000013537 high throughput screening Methods 0.000 description 1
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- 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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
- A61L2/04—Heat
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- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/26—Accessories or devices or components used for biocidal treatment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/20—Cleaning of moving articles, e.g. of moving webs or of objects on a conveyor
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- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
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- 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
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- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
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Abstract
The invention is suitable for the technical field of biomedical automation instruments, and particularly provides an automatic colony selecting device which comprises a self-rotating mechanism, a selecting driving station, an inoculation driving station, a culture dish control mechanism, a culture plate control mechanism, a cleaning and disinfecting mechanism and a control system; the autorotation mechanism is provided with a plurality of resettable picking needles; the picking driving station is used for driving the picking needle to do picking action; the inoculation driving station is used for driving the picking needle to perform an inoculation action; the culture dish control mechanism is used for driving the culture dish to move, and the relative positions of the culture dish and the picking needle can be adjusted in three directions which are vertical to each other; the culture plate control mechanism is used for driving the culture plate to move so as to align the position of the culture plate to be inoculated with the corresponding pick-up needle; the cleaning and disinfecting mechanism is used for cleaning and disinfecting the picking needle; and the control system is used for controlling the actions of each mechanism and each station. Aiming at solving the technical problems that the disinfection is not thorough and the picking position adjustment in the height direction can not be realized in the prior art.
Description
Technical Field
The invention relates to the technical field of biomedical automation instruments, in particular to an automatic colony selecting device.
Background
In the fields of large-scale gene sequencing, biochips, biological pharmacy, immunodetection, chemical synthesis and the like in China, a plurality of processes urgently need to use robots to replace tedious manual work to ensure the production needs of a high-throughput and high-precision flow line. The workload of the cloning and picking link in the gene sequencing work flow is very large, namely, host cells containing exogenous gene insertion are picked into a liquid culture medium. The automatic colony selector, namely a clone colony selecting robot, is used for selecting a target colony cultured by a culture dish and inoculating the target colony into a liquid culture medium. The picking clone instrument is generally applied to a high-throughput screening task, and compared with manual picking, the picking efficiency and the picking precision are greatly improved. The existing defects are as follows: (1) Because the metal needle head is repeatedly used in the working process, the disinfection process of the turntable type picking equipment is inching control, the disinfection time is extremely short, factors of incomplete disinfection possibly exist, and the reliability and the scientificity of experimental results are reduced. (2) The carousel formula equipment of choosing can't realize picking the height control at the station of choosing, can only pick the bacterial colony of fixed position, has reduced the reliability and the scientificity of experimental result.
Disclosure of Invention
The invention aims to provide an automatic colony selecting device, and aims to solve the technical problems that in the prior art, disinfection is not thorough and selection position adjustment in the height direction cannot be realized.
In order to achieve the purpose, the invention adopts the technical scheme that: the automatic fungus colony selecting device comprises a self-rotating mechanism, a selecting driving station, an inoculation driving station, a culture dish control mechanism, a culture plate control mechanism, a cleaning and disinfecting mechanism and a control system; wherein the content of the first and second substances,
the autorotation mechanism is provided with a plurality of resettable picking needles for picking and inoculating bacterial colonies along the circumferential direction;
the picking driving station is used for driving the picking needle aligned with the picking driving station to perform picking action;
the inoculation driving station is used for driving the picking needle aligned with the inoculation driving station to perform an inoculation action;
the culture dish control mechanism is used for driving the culture dish to move, and the relative positions of the culture dish and the picking needle can be adjusted in three mutually perpendicular directions, so that the position to be picked of the culture dish is aligned with the corresponding picking needle;
the culture plate control mechanism is used for driving the culture plate to move so as to align the position of the culture plate to be inoculated with the corresponding slip needle;
the cleaning and disinfecting mechanism is used for cleaning and disinfecting the picking needle on an arc-shaped moving path with a preset length; and
and the control system is used for controlling the matching actions of the autorotation mechanism, the picking driving station, the inoculation driving station, the culture dish control mechanism, the culture plate control mechanism and the cleaning and disinfecting mechanism.
Further, the culture dish control mechanism comprises a clamping jaw, a Z-direction mechanism, an X-direction mechanism and a Y-direction mechanism;
wherein, the clamping jaw is used for placing a culture dish;
the Z-direction mechanism is connected with the clamping jaw and used for driving the clamping jaw to move along the Z direction;
the X-direction mechanism is used for driving the Z-direction mechanism to move along the X direction; and
and the Y-direction mechanism is used for driving the X-direction mechanism to move along the Y direction.
Further, the culture dish control mechanism comprises a clamping jaw, an X-direction mechanism and a Y-direction mechanism;
the clamping jaw is used for placing a culture dish;
the X-direction mechanism is connected with the clamping jaw and used for driving the clamping jaw to move along the X direction; and
and the Y-direction mechanism is used for driving the X-direction mechanism to move along the Y direction.
Furthermore, the Z-direction mechanism, the X-direction mechanism and the Y-direction mechanism are all screw rod mechanisms consisting of screw rods, nuts and motors.
Furthermore, the X-direction mechanism and the Y-direction mechanism are both screw rod mechanisms consisting of a screw rod, a nut and a motor, and the picking driving station can drive the picking needle to move along the Z direction and align with the position to be picked to drive the picking needle to pick.
Further, cleaning and disinfecting mechanism includes wiper mechanism, heating mechanism and the cooling mechanism that sets gradually on the path along the ram stroke, wiper mechanism, heating mechanism and cooling mechanism all include the arc plate body of two relative settings, the arc space has between the arc plate body, the arc space and the movement track looks adaptation of ram, the ram passes the arc space.
Furthermore, a brush and a distilled water nozzle are arranged on the inner wall of the arc-shaped plate body of the cleaning mechanism, a heating ceramic plate is arranged on the inner wall of the arc-shaped plate body of the heating mechanism, and a cooler nozzle is arranged on the inner wall of the arc-shaped plate body of the cooling mechanism.
Further, the control system includes: the industrial personal computer is used for controlling the actions of each mechanism and each station; and the camera is used for shooting the image of the culture dish and transmitting the converted coordinate information to the industrial personal computer.
Furthermore, the picking needle is connected to the sliding seat in a sliding mode through a sliding rail, the sliding seat is fixedly arranged on the rotation mechanism, the picking driving station and the inoculation driving station achieve picking needle action through pushing the sliding rail, and the picking needle is reset through a spring.
Further, be equipped with two first stiff ends on the slide be equipped with a second stiff end on the slide rail, the second stiff end is connected for two and one end to the spring, and the other end corresponds respectively and connects a first stiff end still be equipped with the stopper on the slide, the stopper is used for spacing second stiff end rebound distance to make the spring keeps tensile state.
The automatic colony selecting device provided by the invention has the beneficial effects that: this device is when picking the operation, can carry out the adjustment of position through three orientation between picking needle and the culture dish, through relative movement in three orientation, finally can make the position that needs pick on picking needle alignment culture dish, pick the operation, make it more accurate, in addition, to the cleaning and disinfection process, can be at the in-process of picking needle follow-up, disinfect on its certain section removal orbit, make the position disinfection, the displacement position that has become a whole section washs and disinfects in succession, the disinfection time has been increased, and can not influence efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an automatic colony selecting device according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of an automatic colony selecting device according to another embodiment of the present invention
FIG. 3 is a schematic view of the structure of FIG. 2 from another perspective;
FIG. 4 is a schematic view of an assembly structure of the picking needle, the slider and the slide rail shown in FIG. 2.
In the figure: 1. a rotation mechanism; 2. picking a driving station; 3. an inoculation driving station; 4. a culture dish control mechanism; 5. a plate control mechanism; 6. a clamping jaw; 7. a cleaning mechanism; 8. a heating mechanism; 9. a cooling mechanism; 10. an arc-shaped plate body; 11. a camera; 12. picking a needle; 13. a slide base; 14. a slide rail; 15. a spring; 16. a first fixed end; 17. a second fixed end; 18. and a limiting block.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. The meaning of "a number" is one or more unless specifically limited otherwise.
In the description of the present invention, it is to be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, the present invention provides a specific embodiment of an automatic colony selecting device, specifically including a rotation mechanism 1, a selecting driving station 2, an inoculating driving station 3, a culture dish control mechanism 4, a culture plate control mechanism 5, a cleaning and disinfecting mechanism, and a control system; wherein, the autorotation mechanism 1 is provided with a plurality of resettable picking needles 12 used for picking and inoculating bacterial colonies along the circumferential direction; the picking driving station 2 is used for driving the picking needle 12 aligned with the picking driving station 2 to perform picking action; the inoculation driving station 3 is used for driving the picking needle 12 aligned with the inoculation driving station 3 to perform inoculation; the culture dish control mechanism 4 is used for driving the culture dish to move, and the relative positions of the culture dish and the picking needles 12 can be adjusted in three directions which are vertical to each other, so that the positions to be picked of the culture dish are aligned with the corresponding picking needles 12; the culture plate control mechanism 5 is used for driving the culture plate to move so that the position of the culture plate to be inoculated is aligned with the corresponding picking needle 12; the cleaning and disinfecting mechanism is used for cleaning and disinfecting the picking needle 12 on an arc-shaped moving path with a preset length; the control system is used for controlling the matching actions of the autorotation mechanism 1, the picking driving station 2, the inoculation driving station 3, the culture dish control mechanism 4, the culture plate control mechanism 5 and the cleaning and disinfecting mechanism.
In this embodiment, when picking the operation, can carry out the adjustment of position through three orientation between picking needle 12 and the culture dish, through relative movement in three orientation, finally can make picking needle 12 aim at the position that needs pick on the culture dish, pick the operation, make it more accurate, in addition, to the cleaning and disinfection process, can be at picking the in-process of needle 12 follow-up, disinfect on its certain section removal orbit, make the point location disinfection, the displacement position that has become a whole section washs and disinfects in succession, the disinfection time has been increased, and can not influence efficiency.
The specific flow is that the control system firstly acquires a position signal, then controls each mechanism and station to act, the rotation mechanism 1 rotates to drive a plurality of picking needles 12 in the circumferential direction to move in sequence, and simultaneously the culture dish control mechanism 4 drives the culture dish to move, the movement can be three-dimensional movement or two-dimensional movement, when the movement is three-dimensional movement, the three-dimensional movement is the movement in the X direction, the Y direction and the Z direction which are perpendicular to each other on the horizontal plane, the culture dish can be moved to the picking needle 12 to be picked, namely the position of the picking needle 12 is well adjusted, then the picking driving station 2 drives the picking to be picked, so as to finish the picking operation of bacterial colonies, when the movement is in the two-dimensional direction, namely, the movement is performed in the X direction and the Y direction which are perpendicular to each other on the horizontal plane, at the moment, the position to be picked of the culture dish is moved to the alignment position of the picking needle 12 to be picked in the vertical direction, namely the Z direction, at the moment, the picking driving station 2 can drive the picking needle 12 to move in the vertical direction, namely the Z direction which is perpendicular to the horizontal plane, when the position is moved to a proper position, the picking driving station 2 continues to drive the picking needle 12 to move downwards, so that the picking action is performed, relative positions of the culture dish and the picking needle 12 can be adjusted in three directions which are perpendicular to each other, the relative movement in the three-dimensional direction is realized, and the operation accuracy is greatly improved.
In addition, after the picking action is completed, the rotation mechanism 1 continues to rotate, the next picking needle 12 continues to perform the picking action, meanwhile, the inoculation operation is performed below the picking needle 12 which has performed the picking action, the culture plate is moved to the position of the picking needle 12 to be inoculated under the driving of the culture plate control mechanism 5, and then the picking needle 12 performs the inoculation action under the driving of the inoculation driving station 3, so that the inoculation is completed.
Then, after the inoculation is accomplished, the picking needle 12 then need wash and disinfection work, can wash and disinfect through the cleaning and disinfecting mechanism this moment, cleaning and disinfecting's setting, not the point location disinfection, but one section length homoenergetic on the orbit that the picking needle 12 removed is disinfected, and it has realized washing and sterile thoroughness, and when the picking needle 12 was through cleaning and disinfecting mechanism, control system control cleaning and disinfecting mechanism started, carried out the cleaning and disinfecting operation.
In addition, referring to fig. 1, the present embodiment provides a preferred embodiment of the culture dish control mechanism 4, and specifically, when the culture dish control mechanism 4 can independently drive the culture dish to move in three-dimensional directions, the culture dish control mechanism 4 includes a clamping jaw 6, a Z-direction mechanism, an X-direction mechanism, and a Y-direction mechanism.
Wherein the clamping jaw 6 is used for placing a culture dish;
the Z-direction mechanism is connected with the clamping jaw 6 and used for driving the clamping jaw 6 to move along the Z direction;
the X-direction mechanism is used for driving the Z-direction mechanism to move along the X direction; and
the Y-direction mechanism is used for driving the X-direction mechanism to move along the Y direction.
The present embodiment provides a preferred embodiment of the culture dish control mechanism 4, which specifically includes a three-directional mechanism, the Z-directional mechanism can drive the clamping jaw 6 to move along the Z direction, and the Z-directional mechanism is disposed on the X-directional mechanism, the X-directional mechanism can drive the Z-directional mechanism to move along the X direction as a whole, and similarly, the X-directional mechanism is disposed on the Y-directional mechanism, and the Y-directional mechanism can drive the X-directional mechanism to move along the Y direction as a whole, so that the three-directional movement is realized.
Specifically, when the culture dish control mechanism 4 is a mechanism for driving the culture dish to move in two dimensions, that is, in the X-direction and the Y-direction along the horizontal plane, it includes the clamping jaw 6, the X-direction mechanism, and the Y-direction mechanism; the clamping jaw 6 is used for placing a culture dish; the X-direction mechanism is connected with the clamping jaw 6 and used for driving the clamping jaw 6 to move along the X direction; and a Y-direction mechanism for driving the X-direction mechanism to move along the Y direction.
That is, in the above-described embodiment, only the X-direction mechanism and the Y-direction mechanism are provided so as to be movable on a horizontal plane, but not movable in the Z-direction, that is, the vertical direction perpendicular to the horizontal plane, and this embodiment also provides a realization form.
The present embodiment further provides a preferred embodiment of the Z-direction mechanism, the X-direction mechanism, and the Y-direction mechanism, and specifically, the Z-direction mechanism, the X-direction mechanism, and the Y-direction mechanism are all screw mechanisms composed of a screw, a nut, and a motor.
In the embodiment, the screw rod, the screw nut and the matched motor have stable operation and control effects, accurate control is realized, and only the control system needs to transmit a motor signal to control each mechanism.
In another embodiment, please refer to fig. 2 and 3, further providing that when the culture dish control mechanism 4 is two-dimensionally controlled, both the X-direction mechanism and the Y-direction mechanism are screw mechanisms including a screw rod, a nut and a motor, and the picking driving station 2 can drive the picking needle 12 to move along the Z-direction and align with the position to be picked to drive the picking needle 12 to pick.
When the picking driving station 2 drives the picking needle 12 to move in the vertical direction, the picking driving station 2 may be specifically an air cylinder with the pushing direction in the vertical direction, the picking needle 12 is pushed by the pushing end of the air cylinder, so that the movement and the picking action in the vertical direction are realized, and the air cylinder is also controlled by the control system.
Alternatively, the X-direction mechanism, the Y-direction mechanism and the Z-direction mechanism in this embodiment may also be in other structural forms capable of driving movement, for example, a device composed of a conveyor belt may also be used.
And pick drive station 2 and inoculation drive station 3, can be forms such as cylinder, linear electric motor, lead screw, all can realize along the rectilinear direction motion and collide picking needle 12, and then can realize picking needle 12 and push up the structure of picking and inoculating the operation and all be in the utility model discloses a within the protection scope.
The embodiment further provides a specific implementation manner of the cleaning and disinfecting mechanism, please refer to fig. 2 and fig. 3, specifically, the cleaning and disinfecting mechanism includes a cleaning mechanism 7, a heating mechanism 8 and a cooling mechanism 9 sequentially disposed along a stroke path of the picking needle 12, each of the cleaning mechanism 7, the heating mechanism 8 and the cooling mechanism 9 includes two arc-shaped plate bodies 10 disposed oppositely, an arc-shaped gap is formed between the arc-shaped plate bodies 10, the arc-shaped gap is adapted to a motion track of the picking needle 12, and the picking needle 12 passes through the arc-shaped gap.
Firstly, the present embodiment provides that the cleaning and disinfecting mechanisms are sequentially arranged along the path of the needle 12, so that the cleaning operation, the heating and disinfecting operation, and the cooling operation can be performed, which is in accordance with the cleaning and disinfecting steps.
Specifically, every mechanism all includes the arc plate body 10 of two relative settings, has the space between the arc plate body 10, and the space also is the arc to its extending direction is unanimous with the traffic direction of ram 12, and ram 12 can realize washing, heating and cooling work in this section space of process when the operation, owing to have one section arc route, so realized the long effect of cleaning and disinfecting time, realization that can be fine is to ram 12's disinfection.
The embodiment also provides the preferred embodiment of washing, heating and cooling mechanism 9, specifically, be equipped with brush and distilled water nozzle on the arc plate body 10 inner wall of wiper mechanism 7, be equipped with the heating potsherd on the arc plate body 10 inner wall of heating mechanism 8, be equipped with the cooler nozzle on the arc plate body 10 inner wall of cooling mechanism.
When picking needle 12 through wiper mechanism 7, through the brush region, at the in-process that removes, by the brush scrubbing, spray distilled water simultaneously, can will persist the bacterial colony sanitization, then when between the arc plate body 10 of two heating mechanism 8, rise the temperature under the effect of heating pottery, realize the operation of disinfecting to picking needle 12, then cool off the needle 12 of picking that has heated through the nozzle of cooler when the mechanism that cools down.
The embodiment prolongs the cleaning and disinfecting time of the picking needle 12 and improves the scientificity and reliability of picking and inoculating.
Further, the present embodiment also provides a specific implementation of the control system, specifically, the control system includes: the industrial personal computer is used for controlling the actions of each mechanism and each station; and the camera 11 is used for shooting the image of the culture dish and transmitting the converted coordinate information to the industrial personal computer.
The camera 11 is used for irradiating the culture dish, the culture dish is moved to the position under the camera 11 by the culture plate control mechanism 5, the camera 11 measures the distance of the culture dish and takes a picture, the picture is transmitted to image processing software, the image with the bacterial colony is processed by the software to extract the three-dimensional coordinate information of the target bacterial colony, the three-dimensional coordinate information of the bacterial colony is transmitted into the industrial personal computer, and the industrial personal computer controls the mechanisms and the station to perform multi-thread cooperative control respectively after further sequencing processing of the bacterial colony coordinates.
The embodiment can transmit the position information in the culture dish, so that the culture dish and the culture plate can be automatically and accurately operated and controlled, and the picking and inoculation reliability is realized.
The culture plate is generally a 96-well plate.
The embodiment further provides how the picking needle 12 is arranged on the rotation mechanism 1, please refer to fig. 4, the rotation mechanism 1 is a rotatable turntable, the picking needle 12 is slidably connected to a sliding seat 13 through a sliding rail 14, the sliding seat 13 is fixedly arranged on the rotation mechanism 1, the picking driving station 2 and the inoculation driving station 3 realize the action of the picking needle 12 by pushing the sliding rail 14, and the picking needle 12 is reset by a spring 15.
Specifically, a slide base 13 is fixedly arranged on the edge periphery of the rotation mechanism 1, namely a rotating disc, through a bolt and the like, a slide rail 14 is connected on the slide base 13 in a sliding manner, and a picking needle 12 is arranged on the slide rail 14, specifically, the picking needle is arranged on the slide rail 14 through a connecting strip, the connecting strip is fixed on the slide rail 14, the picking needle 12 is connected at the bottom of the connecting strip through a screw thread, when the picking driving station 2 and the inoculation driving station 3 collide with the slide rail 14, the picking needle 12 descends to realize picking or inoculation action, and when the picking needle 12 is lifted, the picking needle 12 is restored to the original position under the action of a spring 15.
This embodiment adopts the mode that slide 13 slide rail 14 mutually supported to realize going up and down, and the structure is more stable easy operation.
In order to further strengthen the using effect, this embodiment still provides be equipped with two first stiff ends 16 on the slide 13 be equipped with a second stiff end 17 on the slide rail 14, second stiff end 17 is connected for two and one end to spring 15, and the other end corresponds respectively and connects a first stiff end 16 still be equipped with stopper 18 on the slide 13, stopper 18 is used for the distance of spacing second stiff end 17 rebound to make spring 15 keeps tensile state.
Through the form of two springs 15 in this embodiment for tensile and the effect that resets is better, and in order to make slide rail 14 keep stable state, need make spring 15 keep certain tensile force, avoid slide rail 14 to take place to rock from top to bottom on slide 13, so set up stopper 18, the spacing second stiff end 17 of stopper 18 moves up, can make spring 15 keep tensile state.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. Automatic device of selecting of bacterial colony, its characterized in that includes:
the autorotation mechanism is provided with a plurality of resettable picking needles for picking and inoculating bacterial colonies along the circumferential direction;
the picking driving station is used for driving the picking needle aligned with the picking driving station to perform picking action;
the inoculation driving station is used for driving the picking needle aligned with the inoculation driving station to perform inoculation;
the culture dish control mechanism is used for driving the culture dish to move, and the relative positions of the culture dish and the picking needle can be adjusted in three directions which are vertical to each other, so that the position to be picked of the culture dish is aligned with the corresponding picking needle;
the culture plate control mechanism is used for driving the culture plate to move so as to align the position of the culture plate to be inoculated with the corresponding slip needle; the cleaning and disinfecting mechanism comprises a cleaning mechanism, a heating mechanism and a cooling mechanism which are sequentially arranged along the stroke path of the picking needle, the cleaning mechanism, the heating mechanism and the cooling mechanism respectively comprise two arc-shaped plate bodies which are oppositely arranged, an arc-shaped gap is formed between the arc-shaped plate bodies, the arc-shaped gap is matched with the motion track of the picking needle, and the picking needle penetrates through the arc-shaped gap; the inner wall of the arc-shaped plate body of the cleaning mechanism is provided with a hairbrush and a distilled water nozzle, the inner wall of the arc-shaped plate body of the heating mechanism is provided with a heating ceramic plate, and the inner wall of the arc-shaped plate body of the cooling mechanism is provided with a cooler nozzle;
the cleaning and disinfecting mechanism is used for cleaning and disinfecting the picking needle on an arc-shaped moving path with a preset length; and
and the control system is used for controlling the matching action of the autorotation mechanism, the picking driving station, the inoculation driving station, the culture dish control mechanism, the culture plate control mechanism and the cleaning and disinfecting mechanism.
2. The automatic colony picking apparatus according to claim 1, wherein the culture dish control mechanism comprises:
the clamping jaw is used for placing a culture dish;
the Z-direction mechanism is connected with the clamping jaw and used for driving the clamping jaw to move along the Z direction;
the X-direction mechanism is used for driving the Z-direction mechanism to move along the X direction; and
and the Y-direction mechanism is used for driving the X-direction mechanism to move along the Y direction.
3. The automatic colony picking device according to claim 1, wherein the culture dish control mechanism comprises:
the clamping jaw is used for placing a culture dish;
the X-direction mechanism is connected with the clamping jaw and used for driving the clamping jaw to move along the X direction; and
and the Y-direction mechanism is used for driving the X-direction mechanism to move along the Y direction.
4. The automatic colony picking device according to claim 2, wherein the Z-direction mechanism, the X-direction mechanism and the Y-direction mechanism are screw mechanisms each composed of a screw, a nut and a motor.
5. The automatic colony picking device according to claim 3, wherein the X-direction mechanism and the Y-direction mechanism are both screw mechanisms consisting of a screw rod, a nut and a motor, and the picking driving station can drive the picking needle to move along the Z direction and align with the position to be picked and then drive the picking needle to pick.
6. The automatic colony picking apparatus according to claim 1, wherein the control system comprises: the industrial personal computer is used for controlling the actions of each mechanism and each station; and
and the camera is used for shooting the image of the culture dish and transmitting the converted coordinate information to the industrial personal computer.
7. The automatic colony selecting device according to claim 1, wherein the picking needle is slidably connected to a slide carriage through a slide rail, the slide carriage is fixedly arranged on a self-rotating mechanism, the picking driving station and the inoculation driving station realize the picking needle action by pushing the slide rail, and the picking needle is reset by a spring.
8. The automatic colony selecting device according to claim 7, wherein two first fixed ends are arranged on the slide base, one second fixed end is arranged on the slide rail, two springs are arranged, one end of each spring is connected with the second fixed end, the other end of each spring is correspondingly connected with one first fixed end, and a limiting block is further arranged on the slide base and used for limiting the return distance of the second fixed end so that the springs keep a stretching state.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110400612.XA CN113150970B (en) | 2021-04-14 | 2021-04-14 | Automatic colony selecting device |
| PCT/CN2021/137576 WO2022217950A1 (en) | 2021-04-14 | 2021-12-13 | Automatic colony picking device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110400612.XA CN113150970B (en) | 2021-04-14 | 2021-04-14 | Automatic colony selecting device |
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| CN113150970A CN113150970A (en) | 2021-07-23 |
| CN113150970B true CN113150970B (en) | 2023-03-17 |
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| CN202110400612.XA Active CN113150970B (en) | 2021-04-14 | 2021-04-14 | Automatic colony selecting device |
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| CN113150970B (en) * | 2021-04-14 | 2023-03-17 | 中国科学院深圳先进技术研究院 | Automatic colony selecting device |
| CN113667588A (en) * | 2021-07-26 | 2021-11-19 | 中国科学院深圳先进技术研究院 | Picking needle automatic reset mechanism and automatic bacterial colony selecting instrument |
| CN113604348B (en) * | 2021-07-26 | 2023-10-31 | 中国科学院深圳先进技术研究院 | Automatic bacterial colony selection instrument and selection method |
| CN113817585A (en) * | 2021-09-10 | 2021-12-21 | 武汉理工大学 | Bacterial colony selection comprehensive workstation and selection method |
| CN115350959B (en) * | 2022-10-19 | 2023-01-03 | 电子科技大学成都学院 | Intelligent mechanical arm for screening containers |
| CN116555000B (en) * | 2023-07-11 | 2023-09-12 | 青岛市动物疫病预防控制中心 | Salmonella pathogen separation and purification equipment |
| CN117264752A (en) * | 2023-09-21 | 2023-12-22 | 齐齐哈尔大学 | Automatic operating system for screening bacteria and purifying cultured bacteria |
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| DE102011103784B3 (en) * | 2011-06-01 | 2012-09-13 | Technische Universität Braunschweig Carolo-Wilhelmina | Colony separating device and method for separating bacterial colonies |
| CN209829767U (en) * | 2019-04-03 | 2019-12-24 | 公晓燕 | Microorganism inoculation needle purger |
| CN209964823U (en) * | 2019-05-15 | 2020-01-21 | 嵊州市博超自动化设备有限公司 | Liquid strain inoculation machine |
| CN113150970B (en) * | 2021-04-14 | 2023-03-17 | 中国科学院深圳先进技术研究院 | Automatic colony selecting device |
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2021
- 2021-04-14 CN CN202110400612.XA patent/CN113150970B/en active Active
- 2021-12-13 WO PCT/CN2021/137576 patent/WO2022217950A1/en active Application Filing
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| US4613573A (en) * | 1982-05-20 | 1986-09-23 | Hitachi, Ltd. | Automatic bacterial colony transfer apparatus |
| CN108441417A (en) * | 2018-05-31 | 2018-08-24 | 深圳先进技术研究院 | Bacterial clump picking instrument |
| CN211272507U (en) * | 2019-12-17 | 2020-08-18 | 重庆科杰医疗技术有限公司 | Inoculating needle sterilizing device |
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| CN112111386A (en) * | 2020-09-02 | 2020-12-22 | 中国科学院深圳先进技术研究院 | Bacterial colony picking instrument |
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| WO2022217950A1 (en) | 2022-10-20 |
| CN113150970A (en) | 2021-07-23 |
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