CN116904302A

CN116904302A - Colony picking device and colony picking method

Info

Publication number: CN116904302A
Application number: CN202310934384.3A
Authority: CN
Inventors: 鲁腾君; 骆俊魁; 史茜; 许愿
Original assignee: Naiyou Biotechnology Jiaxing Co ltd; Naiyou Biotechnology Shanghai Co ltd
Current assignee: Naiyou Biotechnology Jiaxing Co ltd; Naiyou Biotechnology Shanghai Co ltd
Priority date: 2023-07-27
Filing date: 2023-07-27
Publication date: 2023-10-20

Abstract

The application relates to a colony picking device, which belongs to the technical field of biomedical research equipment and comprises a base; at least one group of carrying units, which are connected to the base, wherein each carrying unit comprises an objective table and a driving structure for driving the objective table to move in the X-axis and/or Y-direction, and the objective table is provided with a culture dish supporting seat, an inoculation plate supporting seat and a sterilization unit; the picking mechanism is connected to the base and comprises at least one group of picking pieces and a Z-axis linear module for driving the picking pieces to move in the Z direction; not less than one group of identification mechanisms. According to the application, the object stage is driven to move in the X axis and the Y axis by the X axis linear module and the Y axis linear module, so that colonies are accurately picked and inoculated; the third driving unit drives the picking piece to move in the Z direction through the rotation of the screw rod, and the sterilization unit thoroughly sterilizes the picking piece.

Description

Colony picking device and colony picking method

Technical Field

The application belongs to the technical field of biomedical research equipment, and particularly relates to a colony picking device and a colony picking method.

Background

The culture and detection of the strain have very many applications in the biological and medical fields, the strain can be obtained through direct breeding in nature, the strain can also be obtained through genetic modification by artificial synthesis technology, and after the strain is obtained, the required colony is selected from a culture dish for research.

At present, there are two modes of screening strains, the first mode is to manually screen strains, the mode has low efficiency and is easy to cause errors; the second is the screening by machine, the bacterial species are screened by colony picking device.

The existing bacterial colony picking device generally adopts a structure that a rotary disc drives a picking needle to rotate for picking work, the disinfection process of rotary disc type picking equipment is inching control, the disinfection time is short, incomplete disinfection factors possibly exist, meanwhile, the picking precision is low, and the reliability and the scientificity of experimental results are reduced.

Disclosure of Invention

The first object of the application is to provide a colony picking device, which solves the problems that the existing colony picking device is not thoroughly sterilized and the picking precision is low. It is a second object of the present application to provide a colony picking method.

In order to achieve the above purpose, the present application adopts the following technical scheme:

a colony picking device comprises

A base;

the device comprises at least one group of carrying units, a plurality of sterilizing units and a plurality of storage units, wherein the carrying units are connected to a base, each carrying unit comprises an objective table and a driving structure for driving the objective table to move in the X direction and/or the Y direction, and a culture dish supporting seat, an inoculating plate supporting seat and a sterilizing unit are arranged on the objective table;

the picking mechanism is connected to the base and picks the bacterial colony on the culture dish supporting seat onto the inoculating plate of the inoculating plate supporting seat; the picking mechanism comprises at least one group of picking pieces and a Z-axis linear module for driving the picking pieces to move in the Z direction.

Optionally, the device further comprises at least one group of identification mechanisms, wherein the identification mechanisms comprise upright posts connected to the base, and the upright posts are detachably connected with the identification pieces and the light supplementing pieces.

Optionally, the driving structure includes a Y-axis linear module driving the X-axis linear module and the stage to move in the Y-direction on the base, and an X-axis linear module driving the stage to move in the X-direction on the base.

Optionally, the Y-axis linear module comprises a first driving unit and two groups of first sliding rails, wherein the first driving unit and the first sliding rails are arranged on the base and are detachably connected with the base, the two groups of first sliding rails are arranged on two sides of the base at intervals, a first driving wheel and a first driven wheel are respectively and rotatably connected on two sides of each group of first sliding rails, and the first driving wheel is connected on an output shaft of the first driving unit; each group of the first driving wheels and the first driven wheels on the first sliding rail are connected through a first synchronous belt, the X-axis linear modules are connected with the first synchronous belt, and the X-axis linear modules are connected with the two groups of the first sliding rails in a sliding manner.

Optionally, the X-axis linear module comprises a second slide rail and a second driving unit, two groups of movable blocks are arranged at the bottom end of the second slide rail, the two groups of movable blocks are respectively connected with the first synchronous belt, and sliding connection is formed between the two groups of movable blocks and the first slide rail;

one side of the second sliding rail is provided with a second driving unit, two sides of the second sliding rail are respectively connected with a second driving wheel and a second driven wheel in a rotating mode, the output end of the second driving unit is connected with the second driving wheel, the second driving wheel is connected with the second driven wheel through a second synchronous belt, the second synchronous belt is connected with the objective table, and the objective table is movably connected with the second sliding rail.

Optionally, the Z-axis linear module comprises a third sliding rail, the third sliding rail is in sliding connection with the picking piece, the bottom end of the third sliding rail is detachably connected with the base, a third driving unit is arranged on the third sliding rail, the output end of the third driving unit is connected with a screw rod, and the screw rod is in threaded connection with the picking piece.

Optionally, the top of stand is equipped with the second mount, the recognition part is located on the second mount, the second mount with stand sliding connection, still be equipped with on the second mount and be used for carrying out spacing first locating part to the second mount.

Optionally, the bottom of stand is equipped with first mount, the light filling piece is located on the first mount, first mount with stand sliding connection, still be equipped with on the first mount and be used for carrying out spacing second locating part to first mount.

Optionally, a light supplementing lamp for supplementing light to the culture dish is arranged on the culture dish supporting seat.

A colony picking method, which uses the colony picking device, comprises the following steps:

s1, a driving structure drives a culture dish to move below an identification piece;

s2, shooting a colony image by the identification piece, converting the image into a gray image, performing binarization, filtering and morphological operation on the image to obtain a binary image with white colonies and black rest background, performing Sobel operator edge detection on the binary image to obtain the centroid position, the colony area and external rectangular coordinates taking the centroid as the center of the colony, and intercepting RGB images of corresponding colonies by the external rectangular coordinates of the colonies to obtain the categories and the coordinates of the colonies;

s3, the driving structure drives the colony to be picked to move below the picking piece, the Z-axis linear module drives the picking piece to pick the colony, the picking is completed, and the Z-axis linear module drives the picking piece to reset;

s4, the driving structure drives the inoculation position of the inoculation plate to move to the lower part of the picking piece, the Z-axis linear module drives the picking piece to inoculate, and the Z-axis linear module drives the picking piece to reset after inoculation is completed;

s5, the driving structure drives the infrared high-temperature sterilization to move to the position below the picking piece, and sterilization operation is carried out to prepare for next sampling;

s6, repeating the steps S3-S5 according to colony screening requirements.

The application has the beneficial effects that:

according to the application, the colony is photographed and identified through the identification piece, the object stage is driven to move in the X direction and the Y direction through the X-axis linear module and the Y-axis linear module, the object stage is accurately regulated, and the colony or the inoculation position to be picked is moved to the position right below the picking piece, so that the colony is accurately picked for inoculation;

then, the cleaning device moves to the sterilizing unit, the third driving unit drives the picking piece to move in the Z direction through the rotation of the screw rod, and the sterilizing unit thoroughly sterilizes the picking piece.

Drawings

FIG. 1 is a first perspective view of a colony picking device of the present application.

FIG. 2 is a second perspective view of the colony picking device of the present application.

FIG. 3 is a top view of the colony picking device of the present application.

FIG. 4 is a front view showing the construction of the colony picking apparatus of the present application.

FIG. 5 is a side view of the colony picking device of the present application.

FIG. 6 is a view showing a construction of a Y-axis linear module of the colony picking device of the present application.

FIG. 7 is a view showing an X-axis linear module structure of the colony picking apparatus of the present application.

In the figure: 1. a base; 2. a carrying unit; 211. a first slide rail; 212. a first synchronization belt; 213. a first driving unit; 221. a second driving unit; 222. a movable block; 223. a second slide rail; 224. a second timing belt; 231. an objective table; 232. a culture dish supporting seat; 233. an inoculation plate supporting seat; 234. a sterilization unit; 3. an identification mechanism; 311. a first fixing frame; 312. a light supplementing member; 321. the second fixing frame; 322. an identification member; 33. a column; 4. a picking mechanism; 41. a third driving unit; 42. a third slide rail; 43. a screw rod; 44. picking up the piece.

Detailed Description

The present application will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 to 5, the present application discloses a colony picking device, comprising a base 1;

the device comprises at least one group of carrying units 2, wherein the carrying units 2 are connected to a base 1, the carrying units 2 comprise an objective table 231 and a driving structure for driving the objective table 231 to move in the X direction and/or the Y direction, the objective table 231 is provided with a culture dish supporting seat 232, an inoculation plate supporting seat 233 and a sterilization unit 234, and the sterilization unit 234 is an infrared high-temperature sterilizer, is a technology in the prior art, and is not repeated; a culture dish is fixedly placed on the culture dish supporting seat 232; the inoculating board support seat 233 is fixedly provided with an inoculating board;

the picking mechanism 4 is connected to the base 1, and the picking mechanism 4 picks the colony on the culture dish supporting seat 232 onto the inoculation plate of the inoculation plate supporting seat 233; the picking mechanism 4 comprises at least one group of picking pieces 44 and a Z-axis linear module for driving the picking pieces 44 to move in the Z direction; the picking member 44 has a picking needle connected thereto, and the infrared high-temperature sterilizer sterilizes the picking needle by high temperature.

The colony picking device further comprises at least one group of identification mechanisms 3, wherein the identification mechanisms 3 comprise upright posts 33 connected to the base 1, and the upright posts 33 are detachably connected with identification pieces 322 and light supplementing pieces 312; the identification member 322 is an industrial camera, the light supplementing member 312 is an illumination aperture, and the structure thereof will not be described again; it should be noted that, the structure and the process of the identification member 322 for identifying the colony are all the prior art, and will not be described again.

As shown in fig. 1 to 5, in this embodiment, the driving structure includes a Y-axis linear module that drives the X-axis linear module and the stage 231 to move in the Y direction on the base 1, and an X-axis linear module that drives the stage 231 to move in the X direction on the base 1.

As shown in fig. 2, 3 and 6, further, in this embodiment, the Y-axis linear module includes, but is not limited to, the following structure: the Y-axis linear module comprises a first driving unit 213 and two groups of first sliding rails 211, wherein the first driving unit 213 is a stepping motor, the structure of the first driving unit 213 is not repeated, the first driving unit 213 and the first sliding rails 211 are detachably connected with the base 1, the two groups of first sliding rails 211 are arranged at two sides of the base 1 at intervals, a first driving wheel and a first driven wheel are respectively connected to two sides of each group of first sliding rails 211 in a rotating way, and the first driving wheel is connected to an output shaft of the first driving unit; the first driving wheels and the first driven wheels on each group of the first sliding rails 211 are connected through a first synchronous belt 212, the X-axis linear modules are connected with the first synchronous belt 212, and the X-axis linear modules are slidably connected with the two groups of the first sliding rails 211.

As shown in fig. 1-3 and 7, further, in this embodiment, the X-axis linear module includes, but is not limited to, the following structure: the X-axis linear module comprises a second slide rail 223 and a second driving unit 221, the second driving unit 221 is a stepper motor, the structure of the second driving unit is not repeated, two groups of movable blocks 222 are arranged at the bottom end of the second slide rail 223, the two groups of movable blocks 222 are respectively connected with the first synchronous belt 212, sliding connection is formed between the two groups of movable blocks 222 and the first slide rail 211, and the moving direction of the movable blocks 222 is limited by the first slide rail 211;

a second driving unit 221 is disposed on one side of the second sliding rail 223, two sides of the second sliding rail 223 are respectively connected with a second driving wheel and a second driven wheel in a rotating manner, an output end of the second driving unit 221 is connected with the second driving wheel, the second synchronous belt 224 is connected with the objective table 231, and the objective table 231 is movably connected with the second sliding rail 223, so that the movement direction of the objective table 231 is limited.

It should be noted that, the first driving unit 213 is started, the first synchronous belts 212 on two sides are driven to synchronously rotate by the first driving wheel and the first driven wheel, and the second sliding rail 223 is driven to linearly move in the Y direction by the movable block 222 under the sliding limit of the first sliding rail 211;

the second driving unit 221 is started, and drives the second synchronous belt 224 to synchronously rotate through the second driving wheel and the second driven wheel, and under the sliding limit of the second sliding rail 223, the objective table 231 is driven to linearly move in the X direction.

As shown in fig. 2 and 4, it should be noted that, in this embodiment, the Z-axis linear module includes, but is not limited to, the following structure: the Z-axis linear module comprises a third sliding rail 42, the third sliding rail 42 is in sliding connection with the picking piece 44, the bottom end of the third sliding rail 42 is detachably connected with the base 1, a third driving unit 41 is arranged on the third sliding rail 42, the third driving unit 41 is a stepping motor, the structure of the third driving unit is not repeated, the output end of the third driving unit 41 is connected with a screw rod 43, and the screw rod 43 is in threaded connection with the picking piece 44.

The picking member 44 is provided with a screw hole matched with the screw rod 43, and the screw rod 43 and the screw hole of the picking member 44 form threaded connection.

It should be noted that, the third driving unit 41 is started to drive the screw 43 to rotate, and the screw 43 rotates to drive the picking member 44 to move under the sliding limit of the third sliding rail 42, so as to perform linear movement in the Z direction.

As shown in fig. 1 and fig. 4, in this embodiment, the top end of the upright post 33 is provided with a second fixing frame 321, the identification member 322 is disposed on the second fixing frame 321, the second fixing frame 321 is slidably connected with the upright post 33, and a first limiting member for limiting the second fixing frame 321 is further disposed on the second fixing frame 321.

As shown in fig. 1 and fig. 4, in this embodiment, a first fixing frame 311 is disposed at a bottom end of the upright post 33, the light supplementing member 312 is disposed on the first fixing frame 311, the first fixing frame 311 is slidably connected with the upright post 33, and a second limiting member for limiting the first fixing frame 311 is further disposed on the first fixing frame 311.

It should be noted that, the first fixing frame 311 and the second fixing frame 321 are respectively sleeved on the upright post 33, the light supplementing member 312 and the identifying member 322 are respectively installed on the first fixing frame 311 and the second fixing frame 321, the height of the second fixing frame 321 is adjusted according to the conditions of the identifying member 322, such as pixels, and the second fixing frame 321 is fixed by the second limiting member, then the height of the light supplementing member 312 is adjusted according to the identified conditions, the identifying member 322 is better supplemented with light, and the first fixing frame 311 is fixed by the first limiting member.

In this embodiment, a light-compensating lamp for compensating light for the culture dish is provided on the culture dish supporting seat 232; the culture dish is supplemented with light through the light supplementing lamp on the culture dish supporting seat 232, the flora in the culture dish is displayed more clearly, the flora is combined with the light supplementing piece 312, the flora is displayed more clearly, the identification piece 322 is convenient to shoot, the flora shot by the identification piece 322 is uploaded to a background control system for identification analysis, and the X-axis linear module, the Y-axis linear module and the Z-axis linear module are controlled respectively to sequentially carry out picking, inoculating and sterilizing.

In operation, the culture dish and the inoculating plate are first mounted on the culture dish support base 232 and the inoculating plate support base 233, respectively;

the culture dish moves to the lower part of the identification piece 322, each colony in the culture dish is identified through the identification piece 322, after identification is completed, the colony to be picked moves to the right lower part of the picking piece 44, the picking piece 44 moves downwards, the colony is picked, and after picking is completed, the inoculation plate moves to the right lower part of the picking piece 44 for inoculation;

after inoculation is completed, the infrared high-temperature sterilizer moves to the position right below the picking piece 44, the Z-axis linear module works to disinfect the picking piece 44, and after disinfection is completed, picking, inoculation and disinfection work are repeated until all inoculation works are completed.

s6, repeating the steps S3-S5 according to colony screening requirements.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered part of the specification. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present application, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present application; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present application.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly as such and may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.

The foregoing description is only of the preferred embodiments of the application, and all changes and modifications that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims

1. A colony picking device is characterized by comprising

A base;

the device comprises at least one group of object carrying units, at least one group of object carrying units and at least one sterilization unit, wherein the object carrying units are connected to a base, each object carrying unit comprises an object stage and a driving structure for driving the object stage to move, and each object stage is provided with a culture dish supporting seat, an inoculation plate supporting seat and a sterilization unit;

the picking mechanism is connected to the base and picks the bacterial colony on the culture dish supporting seat onto the inoculating plate of the inoculating plate supporting seat; the picking mechanism comprises at least one group of picking pieces and a Z-axis linear module for driving the picking pieces to move.

2. The colony picking device of claim 1, further comprising at least one set of identification means comprising a post attached to the base, the post having an identification member and a light supplementing member removably attached thereto.

3. The colony picking device of claim 1, wherein the drive structure includes a Y-axis linear module that drives the X-axis linear module and stage to move in the Y-direction on the base and an X-axis linear module that drives the stage to move in the X-direction on the base.

4. The colony picking device as claimed in claim 3, wherein the Y-axis linear module comprises a first driving unit and two sets of first sliding rails, the first driving unit and the first sliding rails are detachably connected with the base, the two sets of first sliding rails are arranged at two sides of the base at intervals, a first driving wheel and a first driven wheel are respectively connected to two sides of each set of first sliding rails in a rotating manner, and the first driving wheel is connected to an output shaft of the first driving unit; each group of the first driving wheels and the first driven wheels on the first sliding rail are connected through a first synchronous belt, the X-axis linear modules are connected with the first synchronous belt, and the X-axis linear modules are connected with the two groups of the first sliding rails in a sliding manner.

5. The colony picking device as claimed in claim 4, wherein the X-axis linear module comprises a second slide rail and a second driving unit, two sets of movable blocks are arranged at the bottom end of the second slide rail, the two sets of movable blocks are respectively connected with the first synchronous belt, and the two sets of movable blocks are in sliding connection with the first slide rail;

6. The colony picking device as claimed in claim 1 or 2, wherein the Z-axis linear module comprises a third slide rail, the third slide rail is slidably connected with the picking member, the bottom end of the third slide rail is detachably connected with the base, a third driving unit is arranged on the third slide rail, the output end of the third driving unit is connected with a screw rod, and the screw rod is in threaded connection with the picking member.

7. The colony picking device as claimed in claim 1, wherein the top end of the upright is provided with a second fixing frame, the identification member is arranged on the second fixing frame, the second fixing frame is slidably connected with the upright, and the second fixing frame is further provided with a first limiting member for limiting the second fixing frame.

8. The colony picking device as claimed in claim 1, wherein the bottom end of the upright is provided with a first fixing frame, the light supplementing member is arranged on the first fixing frame, the first fixing frame is slidably connected with the upright, and the first fixing frame is further provided with a second limiting member for limiting the first fixing frame.

9. The colony picking device as claimed in claim 1, wherein the dish support is provided with a light supplementing lamp for supplementing light to the dish.

10. A colony picking method, characterized in that the colony picking device as claimed in any one of claims 1 to 9 is used, comprising the steps of:

s6, repeating the steps S3-S5 according to colony screening requirements.