WO2022257114A1 - Picking needle automatic reset mechanism, clone picking workstation and clone picking method - Google Patents

Picking needle automatic reset mechanism, clone picking workstation and clone picking method Download PDF

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Publication number
WO2022257114A1
WO2022257114A1 PCT/CN2021/099731 CN2021099731W WO2022257114A1 WO 2022257114 A1 WO2022257114 A1 WO 2022257114A1 CN 2021099731 W CN2021099731 W CN 2021099731W WO 2022257114 A1 WO2022257114 A1 WO 2022257114A1
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WO
WIPO (PCT)
Prior art keywords
picking
needle
clone
linear module
axis linear
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Application number
PCT/CN2021/099731
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French (fr)
Chinese (zh)
Inventor
何凯
朱伟
赵文亮
Original Assignee
中国科学院深圳先进技术研究院
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Priority to PCT/CN2021/099731 priority Critical patent/WO2022257114A1/en
Publication of WO2022257114A1 publication Critical patent/WO2022257114A1/en

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    • C—CHEMISTRY; METALLURGY
    • 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
    • C12M1/00—Apparatus for enzymology or microbiology
    • C—CHEMISTRY; METALLURGY
    • 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
    • C12M1/00—Apparatus for enzymology or microbiology
    • C12M1/12—Apparatus for enzymology or microbiology with sterilisation, filtration or dialysis means
    • C—CHEMISTRY; METALLURGY
    • 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
    • C12M1/00—Apparatus for enzymology or microbiology
    • C12M1/26—Inoculator or sampler
    • C—CHEMISTRY; METALLURGY
    • 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
    • C12M1/00—Apparatus for enzymology or microbiology
    • C12M1/34—Measuring or testing with condition measuring or sensing means, e.g. colony counters

Definitions

  • the present application relates to the technical field of colony picking, in particular to an automatic reset mechanism for picking needles, a clone picking workstation and a clone picking method.
  • the clone picking workstation usually includes a workbench, a transmission part arranged on the workbench and a power part for driving the transmission part to move along its own circumference.
  • the needle automatic reset mechanism includes a connecting plate fixed on the transmission part and a fixing plate that is slidably connected to the connecting plate in the vertical direction and used to fix the picking needle. Both the connecting plate and the fixing plate extend along the circumferential direction of the transmission part , A return spring is arranged between the connecting plate and the fixing plate for the fixing plate to drive the needle to return vertically upwards, and two returning springs are arranged symmetrically on both sides of the connecting plate along its extending direction.
  • a picking station and an inoculation station are arranged on the workbench, and a driving member for driving the fixing plate to move vertically downward is arranged on the workbench.
  • the transmission part when the transmission part rotates under the action of the power part, it drives the needle automatic reset mechanism to rotate.
  • the driving part drives the fixed plate to drive the needle to move vertically downward.
  • the transmission part continues to rotate, and when the pick needle rotates to the position corresponding to the inoculation station, the driving part drives the fixed plate to drive the pick needle to move vertically downward to realize the inoculation of the target colony, one of which While picking the colonies to inoculate, the other pick pins rotate to the position corresponding to the picking station to pick the colonies, and this cycle repeats until all the colonies in the petri dish are inoculated into the microwell plate.
  • the inventor believes that there are the following defects: the connecting plate and the fixed plate in the automatic needle-picking reset mechanism both extend along the circumferential direction of the transmission part, so that the volume of the automatic needle-picking reset mechanism is relatively large, so there is a certain room for improvement.
  • the application provides an automatic needle reset mechanism, a clone picking workstation and a clone picking method.
  • the present application provides an automatic reset mechanism for picking needles, a clone picking workstation and a clone picking method, which adopt the following technical solutions:
  • An automatic needle-resetting mechanism for a clone-picking workstation comprising a connecting piece fixed to a transfer piece, a guide rail is fixed on the connecting piece, the guide rail is vertically arranged, and the sliding fit on the guide rail is useful
  • the needle fixing part that fixes the needle
  • the force receiving part for the power source to abut against the force is arranged on the needle fixing part
  • a force part for making the needle fixing part be arranged between the connecting part and the needle fixing part
  • the elastic reset member that resets vertically upward along the guide rail.
  • the power source abuts against the force-receiving part on the needle fixing part, and applies a vertical downward force to the needle fixing part, so that the needle fixing part drives the needle to move vertically downward , to complete the picking or inoculation of the target colony. After the picking or inoculation is completed, the power source no longer exerts force on the fixing part of the picking needle.
  • the overall structure of the needle automatic reset mechanism is relatively simple and compact, which reduces the volume ratio of the needle automatic reset mechanism.
  • the elastic reset member is in a stretched state
  • the needle fixing member includes a slider slidingly fitted on the guide rail and a needle fixing plate fixed on the slider, and the needle fixing plate is used to fix the needle , when the slider is in an initial state, the slider abuts against the lower surface of the connecting piece.
  • the elastic reset member applies force to the needle fixing member, so that the needle fixing member and the needle are reset vertically upward until the slider abuts against the lower surface of the connecting piece, and under the action of the connecting piece, The pick-up fixing part and the pick-up pin stop moving, which ensures the reset accuracy of the pick-up pin.
  • the connecting member includes a connecting plate, the connecting plate is arranged along a tangential direction perpendicular to the circumferential direction of the conveying member, and the guide rail is fixed on an end of the connecting plate facing away from the conveying member.
  • the structural compactness of the needle-picking automatic reset mechanism is further improved, and the volume ratio of the needle-picking automatic reset mechanism is reduced.
  • the guide rail is threaded with a limit bolt for limiting the range of downward movement of the pick fixing member.
  • the range of downward movement of the needle fixing member is limited, preventing the needle fixing member from moving downward until it is separated from the guide rail.
  • the two ends of the elastic reset member are respectively fixed on the end of the connecting member close to the guide rail and the end of the needle fixing member close to the pick needle, and the axis of the elastic reset member is parallel to the side of the needle fixing plate.
  • the elastic reset member is a tension spring or a rubber band.
  • a clone-picking workstation comprising a workbench, on which there is a closed-loop conveying element and a power element for driving the movement of the conveying element
  • the clone-picking workstation also includes several picking needle automatic reset mechanisms, Several automatic reset mechanisms for picking needles are evenly distributed along the circumferential direction of the transmission part, the connecting part is fixed on the transmission part, and the bottom end of the lifting needle fixing part is fixed with a picking needle, and the picking needles are vertically arranged;
  • the working unit also includes a pick driving mechanism for providing a power source for driving the pick to move vertically downward;
  • the clone picking workstation also includes a controller, and the controller is used to control the action of the power member and the pick-up driving mechanism.
  • the petri dish with the colonies to be picked is placed in the picking station, the micro-orifice plate is placed in the control station, and the controller controls the action of the power part to make the transfer part rotate, and the transfer part drives the picking station.
  • Needle automatic reset mechanism and needle rotation every time a needle automatic reset mechanism is rotated, the needle automatic reset mechanism rotates to the disinfection and sterilization station to complete the needle disinfection and sterilization work, and at the same time, each time a needle is rotated, the distance between the automatic reset mechanism , the controller controls the transmission part to stop, and at the same time controls the needle driving mechanism to drive the needle fixing part to drive the needle to move vertically downward to realize the picking or inoculation of colonies.
  • the needle driving mechanism will no longer
  • the needle fixing part applies force
  • the picking needle fixing part and the picking needle are vertically reset to the initial position under the action of the elastic reset part, and the clone picking workstation equipment continues to perform the above operations until all the colonies are inoculated into the microwell plate,
  • different picking needles correspond to the picking stations, inoculation workers and disinfection and sterilization stations in the work unit at the same time; It is more reliable.
  • the speed of the conveying parts is increased to the maximum value, and the number of sets of working units and the number of picking needles are increased, and the picking efficiency increases accordingly. Breakthrough It eliminates the restriction on the colony picking efficiency of the clone picking workstation, and greatly improves the colony picking efficiency.
  • the structure of the picking needle automatic reset mechanism is simple, compact, and the volume ratio is small, which facilitates the realization of the overall volume of the equipment. control.
  • the transmission part is oblong, the transmission part includes a straight part and arc parts located at both ends of the straight part, and several sets of the working units are located on both sides of the straight part of the transmission part.
  • the disinfection and sterilization station includes a disinfection and sterilization table fixed on the workbench, and a brush assembly, a high-pressure spray head and a hot air gun are sequentially fixed on the disinfection and sterilization table along the direction of the moving track of the conveying member.
  • the pick needle After the pick needle enters the disinfection and sterilization station, when the pick needle is at a standstill, the position of the pick needle corresponds to the position of the brush assembly, and the brush assembly will brush off the large residue on the pick needle , the pick needle continues to move, the high-pressure nozzle sprays alcohol to disinfect the pick needle, and the hot air gun blows out hot air to dry the pick needle.
  • the brush assembly includes a vertically arranged brush head and a driving member for driving the brush head to rotate, and the axial direction of the brush head is parallel to the axial direction of the pick pin.
  • the needle-picking driving mechanism in the same set of the working unit is set in two groups, and the two groups of needle-picking driving mechanisms correspond to the picking station and the inoculation station respectively, and the needle-picking driving mechanism is vertically arranged electric cylinder.
  • the experimenter needs to carry out the picking operation only on the surface of the colony, but because the thickness of the medium in the culture dish is different each time, the height from the surface of the colony to the pick needle is Changeable, the needle is driven by the electric cylinder, and the dynamic adjustment of each picking stroke of the needle is realized.
  • the picking station includes a first X-axis linear module, a first Y-axis linear module, and a petri dish support plate fixed at the output end of the first Y-axis linear module, and the first X
  • the axis linear module is installed on the workbench along the tangential direction perpendicular to the circumferential direction of the conveying member.
  • the first Y-axis linear module is fixed at the output end of the first X-axis linear module and is perpendicular to the first X-axis
  • the orientation of the linear modules is arranged, and the controller is also used to control the actions of the first X-axis linear module and the first Y-axis linear module.
  • the culture dish is placed on the culture dish supporting plate, and the position of the culture dish is adjusted through the cooperation of the first X-axis linear module and the first Y-axis linear module, and the movement of the culture dish is controlled to the working position .
  • the inoculation station includes a second X-axis linear module, a second Y-axis linear module and a microplate support plate fixed at the output end of the second Y-axis linear module, the second X
  • the axis linear module is installed on the workbench along the tangential direction perpendicular to the circumferential direction of the conveying member.
  • the second Y-axis linear module is fixed at the output end of the second X-axis linear module and is perpendicular to the second X-axis
  • the direction arrangement of the linear module; the controller is also used to control the actions of the second X-axis linear module and the second Y-axis linear module.
  • the microporous plate is placed on the microporous plate supporting plate, and the adjustment of the position of the microporous plate is realized through the cooperation of the second X-axis linear module and the second Y-axis linear module, and the microporous plate is controlled. Move to working position.
  • the conveying member includes a timing belt or a chain.
  • a clone picking method of a clone picking workstation comprising the following steps:
  • the needle automatic reset mechanism rotates with the transmission part. Every time the transmission part rotates a distance between the needle automatic reset mechanism, the transmission part is controlled to stop, and at the same time, the needle driving mechanism is controlled to exert force on the needle fixing part, so that The needle holder drives the needle to move vertically downwards to realize colony picking or inoculation. After the colony picking or inoculation is completed, the needle driving mechanism is controlled to remove the force applied to the needle holder, and the needle holder is in the Under the action of the elastic reset part, the picking needle is driven vertically upward to reset to the initial position;
  • the needle automatic reset mechanism rotates to the disinfection and sterilization station to complete the needle needle disinfection and sterilization work;
  • Figure 1 is a schematic diagram of the overall structure of the present application.
  • FIG. 2 is a partially enlarged schematic diagram of part A in FIG. 1 .
  • Fig. 3 is a partial structural schematic diagram showing the automatic reset mechanism of the picking needle in the present application.
  • Fig. 4 is a schematic diagram of a partial structure of the present application with the needle fixing plate, the tension spring and the connecting bolts hidden to show the structure of the slider.
  • FIG. 5 is a partial structural schematic diagram showing the first X-axis linear module in the present application.
  • Fig. 6 is a schematic diagram showing a partial structure of a disinfection and sterilization station in the present application.
  • the embodiment of the present application discloses a clone picking workstation.
  • a clone picking workstation Referring to FIG. 1 , it includes a controller, a workbench 1 placed on a horizontal working plane, a transmission part 2 arranged on the workbench 1 in an oblong closed loop, and used to drive the transmission part.
  • the working unit includes picking station 4, inoculation station 5 and disinfection and sterilization station 6, and the picking station 4, inoculation station 5 and disinfection and sterilization station 6 are arranged at intervals along the movement track direction of the conveying part 2 .
  • Any picking needle automatic reset mechanism 3 is provided with a picking needle 10 for picking and inoculating the target colony, and the picking needle 10 is vertically arranged.
  • the transmission part 2 includes two straight parts, and several sets of working units are located outside the two straight parts of the transmission part 2 .
  • the transmission part 2 includes a synchronous belt
  • the power part 21 includes four synchronous pulleys arranged at intervals along the movement track direction of the synchronous belt on the workbench 1 and a motor for driving the synchronous pulleys to rotate.
  • the transmission element 2 includes a chain
  • the power element 21 includes four sprockets arranged at intervals along the movement track direction of the chain on the worktable 1 and a motor for driving the sprockets to rotate. It can be known that the transmission element 2 and the power element 21 can also be other mechanisms for realizing the circumferential movement of the transmission element 2 .
  • the workbench 1 is fixedly connected to the outside of the synchronous belt with a limit ring 11, the limit ring 11 is arranged along the direction of the motion track of the synchronous belt, and the limit ring 11 is arranged at intervals from the synchronous belt.
  • the needle automatic reset mechanism 3 includes a connecting piece 31 fixed to the synchronous belt, a guide rail 33 fixed on the connecting piece 31 and vertically arranged, a needle fixing member slidingly fitted on the guide rail 33 and used to fix the picking needle 10 and An elastic reset member for resetting the picking needle 10.
  • the connecting piece 31 includes a connecting plate 311 , and the connecting plate 311 is perpendicular to the tangential direction of the circumferential direction of the conveying piece 2 .
  • An extension plate 312 extends vertically upward from one end of the connecting plate 311 close to the synchronous belt, and the extension plate 312 is fixedly connected to the outside of the synchronous belt by bolts.
  • the position corresponding to the lower surface of the connecting plate 311 and the spacer ring 11 is fixed with the spacer plate 313 by bolts, the spacer plate 313 is arranged as a U-shaped plate with the opening downward, and the opposite side walls of the spacer plate 313 open ends are respectively connected to the
  • the two sidewalls of the limiting ring 11 are in contact, and a plurality of balls are arranged between the vertically opposite sidewalls of the limiting plate 313 and the limiting ring 11, and the balls are not shown in the drawings.
  • the guide rail 33 is fixed on the lower surface of the end of the connecting plate 311 facing away from the extension plate 312, and the needle fixing member is located outside the guide rail 33.
  • the needle fixing part includes a slider 34 slidingly fitted on the guide rail 33 and a needle fixing plate 35 fixed on the side of the slider 34 away from the guide rail 33 by bolt compression, and the needle 10 is fixed on the needle fixing plate by bolt compression 35 bottom end.
  • the slide block 34 is located below the connecting plate 311. When the picking needle 10 is fully reset, the top end surface of the slide block 34 abuts against the lower surface of the connecting plate 311, limiting the slide block 34 to continue to move upward.
  • the bottom end of one side of the guide rail 33 provided with the slide block 34 is fixed with a stop bolt 331 , and the stop bolt 331 is used to limit the range of the slide block 34 to move downward, thereby limiting the range of the pick needle 10 to move downward.
  • the needle fixing plate 35 is located outside the connecting plate 311 , and the two side walls in the width direction of the picking needle fixing plate 35 are flush with the two side walls in the width direction of the connecting plate 311 .
  • a triangular support plate 36 is fixedly connected between the guide rail 33 and the connecting plate 311, and the triangular support plate 36 is provided with a through slot for reducing its own weight.
  • the working unit also includes a needle-picking driving mechanism 91 for driving the needles 10 to move vertically downward, and the needle-picking driving mechanism 91 is electrically connected to the controller.
  • the needle fixing plate 35 is provided with a force receiving portion for the needle driving mechanism 91 to abut against and exert force, and the force receiving portion is the top end surface of the needle fixing plate 35 .
  • the elastic reset member is a tension spring 32 arranged obliquely.
  • the elastic reset member can also be set as other elastic members such as rubber bands.
  • Tension spring 32 is positioned at one side of connecting plate 311 and pick pin fixation plate 35, and the axial direction of stretch spring 32 is parallel with the sidewall of pick pin fixation plate 35, and the two ends of stretch spring 32 are connected with pick pin fixation plate respectively.
  • 35 bottom end and connecting plate 311 are connected near one end of pick pin fixing plate 35.
  • the extension spring 32 is set to a hook spring, and the sidewalls of the needle fixing plate 35 and the connecting plate 311 are fixedly connected with connecting bolts 321 respectively, and the two ends of the extension spring 32 are respectively connected on the two connecting bolts 321, and pull The extension spring 32 is always in tension.
  • the needle fixing plate 35 drives the needle 10 to move vertically downward under the action of the needle driving mechanism 91, so as to realize the picking or inoculation of the target colony by the needle 10. After the picking or inoculation of the target colony is completed, the needle is lifted The driving mechanism 91 removes the active force on the needle fixing plate 35, and the needle fixing plate 35 drives the needle 10 to reset vertically upward under the action of the tension spring 32 until the top end surface of the slider 34 abuts against the bottom of the connecting plate 311. The lower surface realizes the precise reset of the pick needle 10.
  • the needle picking automatic reset mechanism 3 can also be used in other automatic reset components or mechanisms, not limited to the clone picking workstation.
  • the two sides of the straight portion of the synchronous belt are perpendicular to the length direction of the X-axis, and the direction perpendicular to the X-axis in the horizontal plane is the Y-axis direction.
  • the picking station 4 is used to drive the culture dish 7 to move horizontally.
  • the picking station 4 includes a first X-axis linear module 41, a first Y-axis linear module 42, and a petri dish support plate fixed at the output end of the first Y-axis linear module 42, and the petri dish 7 is fixed on the culture dish.
  • the first X-axis linear module 41 is installed on the workbench 1 along the X-axis direction
  • the first Y-axis linear module 42 is fixed on the output end of the first X-axis linear module 41 and arranged along the Y-axis direction.
  • the first X-axis linear module 41 is used to drive the first Y-axis linear module 42 to move along the X-axis direction
  • the first Y-axis linear module 42 is used to drive the petri dish supporting plate to move along the Y-axis direction, thereby achieving alignment
  • the first X-axis linear module 41 and the first Y-axis linear module 42 are both electrically connected to the controller.
  • the inoculation station 5 is used to drive the microwell plate 8 to move horizontally.
  • the inoculation station 5 includes a second X-axis linear module 51, a second Y-axis linear module 52, and a micro-orifice plate supporting plate fixed at the output end of the second Y-axis linear module 52, and the micro-orifice plate 8 is fixed on the Top surface of the microplate support plate.
  • the second X-axis linear module 51 is installed on the workbench 1 along the X-axis direction
  • the second Y-axis linear module 52 is fixed on the output end of the second X-axis linear module 51 and arranged along the Y-axis direction.
  • the second X-axis linear module 51 is used to drive the second Y-axis linear module 52 to move along the X-axis direction
  • the second Y-axis linear module 52 is used to drive the microplate support plate to move along the Y-axis direction, thereby realizing
  • both the second X-axis linear module 51 and the second Y-axis linear module 52 are electrically connected to the controller.
  • first X-axis linear module 41 the first Y-axis linear module 42 , the second X-axis linear module 51 and the second Y-axis linear module 52 are all the same.
  • the structure of the axis linear module 41 will be described as an example.
  • the first X-axis linear module 41 includes a fixed frame body 411 arranged along the X-axis direction, a lead screw 412 arranged along its length direction is rotatably connected to the fixed frame body 411, and a lead screw for driving the screw is fixedly connected to the fixed frame body 411. 412 rotating motors.
  • a sliding block 413 matched with the leading screw 412 is sheathed on the outer side thereof, and a sliding rail 414 for limiting the rotation of the sliding block 413 to move along the axial direction of the leading screw 412 is fixedly connected to the fixed frame body 411 .
  • a support frame 415 is fixedly connected to the sliding block 413 , the top of the support frame 415 is located above the fixed frame body 411 , and the top of the support frame 415 is the output end of the first X-axis linear module 41 .
  • the working unit also includes two U-shaped frames 9 corresponding to the picking station 4 and the inoculation station 5 respectively.
  • the needle-picking drive mechanism 91 is located directly above the needle-picking needle 10, and the needle-picking driving mechanism 91 is an electric cylinder arranged vertically.
  • the needle fixing plate 35 and the picking needle 10 move vertically downward.
  • the experimenter only needs to carry out the picking operation on the surface of the colony, but because the thickness of the culture medium in the culture dish 7 is different each time, the height of the surface of the colony from the pick pin 10 is changed.
  • the electric cylinder drives the picking needle 10 to realize the dynamic adjustment of the picking stroke of the picking needle 10 each time.
  • the needle-picking driving mechanism 91 can also be set as other mechanisms that can meet the dynamic adjustment of the stroke, such as a linear module and the like.
  • a camera 92 is also arranged on the U-shaped frame 9 corresponding to the picking station 4. After the camera 92 measures the distance of the petri dish 7 and takes a picture, the photo is sent to the image processing software, and the image with the colony is extracted after software processing. The three-dimensional coordinate information of the target colony, and then control the picking station 4 to drive the target colony on the petri dish 7 to move to the working position corresponding to the pick needle 10 .
  • the disinfection and sterilization station 6 includes a disinfection and sterilization table 61 fixed on the workbench 1.
  • the disinfection and sterilization table 61 includes two vertical boards 611 arranged at intervals, and the two vertical boards 611 are synchronized along the The motion track direction of the belt extends, and there is a distance between the opposite side walls of the two vertical plates 611, so that a receiving groove 612 for the passage of the picking needle 10 is formed between the two vertical plates 611, and the side walls of the receiving groove 612 A disinfection and sterilization device is fixed on the top.
  • the needle automatic reset mechanism 3 on the transmission part 2 rotates into the receiving groove 612 of the disinfection and sterilization table 61, and the disinfection and sterilization work is completed by the disinfection and sterilization device.
  • the disinfection and sterilization device includes a brush assembly 62, a high-pressure spray nozzle 63 and a heat gun 64 which are successively arranged on the disinfection and sterilization table 61 along the movement track of the conveying member 2, and a flat plate is fixedly connected between the two vertical plates 611, and the brush assembly 62 , the high-pressure nozzle 63 and the heat gun 64 are all arranged on the flat plate, and the high-pressure nozzle 63 and the heat gun 64 are all located below the needle 10 .
  • the brush assembly 62 includes a drive motor 622 fixed on the side wall of the vertical plate 611, the drive motor 622 is vertically arranged, the output end of the drive motor 622 is coaxially fixed with a brush head 621, and the bristles of the brush head 621 are vertically arranged upwards.
  • the axial direction of the output shaft of the driving motor 622 is parallel to the axial direction of the pick needle 10 .
  • the brush head 621 in the disinfection and sterilization device rotates under the action of the driving member. After the pick needle 10 enters the receiving groove 612 of the disinfection and sterilization table 61, when the pick needle 10 is at a standstill, the position of the pick needle 10 is the same as that of the brush. The positions of the components 62 are corresponding.
  • the picking pin 10 is located in the brush head 621.
  • the rotating brush head 621 brushes off the bulk residue on the picking pin 10.
  • the brush head 621 rotates, the different positions on the brush head 621 are different from the picking pin 10 contacts, the cleaning of the pick needle 10 is more thorough. At the same time, the service life of the brush head 621 is prolonged, and the number of cleaning and replacement of the brush head 621 is reduced.
  • the pick needle 10 continues to move, and the high-pressure nozzle 63 sprays alcohol on the pick needle. 10 is sterilized, and the hot air gun 64 dries up the pick pin 10 by blowing out hot air.
  • the disinfection and sterilization station is mainly for the purpose of disinfecting and sterilizing the needles 10 passing through the station.
  • the specific structure is not limited to the combination of specific tools such as a brush assembly, a sprayer, and a heat gun.
  • the application also discloses a clone picking method of a clone picking workstation, comprising the following steps:
  • the controller controls the inoculation station 5 to move the microporous plate 8 to the position corresponding to the hole to be inoculated and the pick needle 10. This position is the working position of the microporous plate 8.
  • the controller controls The inoculation station 5 moves the microporous plate 8 to move the different hole positions to be inoculated to the corresponding working position with the pick needle 10;
  • the controller controls the picking station 4 to move the petri dish 7 to directly below the camera 92.
  • the camera 92 measures the distance of the petri dish 7 and takes a picture, and then sends the photo to the image processing software.
  • the image with colonies is processed by the software to extract the target
  • the controller controls the picking station 4 to move the petri dish 7 to the position corresponding to the target colony and the pick pin 10, this position is the working position of the petri dish 7, during the working process of the clone picking workstation,
  • the controller controls the picking station 4 to move the petri dish 7 to move different target colony positions to the corresponding working position of the picking needle 10;
  • the controller controls the power part 21 to drive the synchronous belt to rotate, and the synchronous belt drives the needle-picking automatic reset mechanism 3 to rotate, and the synchronous belt rotates every time the needle-picking automatic reset mechanism 3 distances, and the needle-picking automatic reset mechanism 3 rotates to the needle-picking drive mechanism 91 Directly below, the controller controls the timing belt to stop;
  • the picking station 4 and the inoculation station 5 respectively move the target colony and the hole to be inoculated to directly below the picking needle 10, and all the picking needle driving mechanisms 91 move downward and apply force to the picking needle fixing plate 35 to drive the picking needle 10
  • the downward motion completes the picking or inoculation work.
  • the controller controls the needle driving mechanism 91 to remove the active force on the needle fixing plate 35, and the needle 10 is vertical under the action of the tension spring 32. Reset upward until the top end surface of the slider 34 abuts against the lower surface of the connecting plate 311 to realize the precise reset of the pick needle 10;
  • the needle automatic reset mechanism 3 rotates to the disinfection and sterilization station 6.
  • the position of picking pin 10 corresponds to the position of hairbrush assembly 62, and picking pin 10 is positioned at brush head 621, and the brush head 621 of rotation will brush off the residue of bulk on picking pin 10, and when brush head 621 rotates , different positions on the brush head 621 are in contact with the picking needle 10, and the cleaning of the picking needle 10 is more thorough. Blow dry with 10 pins;

Abstract

The present application discloses a picking needle automatic reset mechanism, a clone picking workstation and a clone picking method, belonging to the technical field of colony picking. The picking needle automatic reset mechanism comprises a connecting piece used for fixation to a conveying piece, a guide rail being fixedly disposed on the connecting piece, and the guide rail being vertically disposed; the guide rail has slidably fitted thereon a picking needle fixing piece for fixation of a picking needle, and the picking needle fixing piece is provided with a force receiving part which a power source abuts and applies a force to; an elastic reset piece resetting the picking needle fixing piece vertically upward along the guide rail is provided between the connecting piece and the picking needle fixing piece. The picking needle automatic reset mechanism has a relatively simple and compact overall structure, thereby reducing the volume occupied by the picking needle automatic reset mechanism, and improving working efficiency of a clone picking workstation.

Description

挑针自动复位机构、克隆挑取工作站及克隆挑取方法Picking needle automatic reset mechanism, clone picking workstation and clone picking method 技术领域technical field
本申请涉及菌落挑取的技术领域，尤其是涉及一种挑针自动复位机构、克隆挑取工作站及克隆挑取方法。The present application relates to the technical field of colony picking, in particular to an automatic reset mechanism for picking needles, a clone picking workstation and a clone picking method.
背景技术Background technique
国内大规模基因测序、生物芯片、生物制药、免疫检测及化学合成等领域有许多工序急需用机器人代替繁琐的手工工作来确保高通量、高精度的流水线生产需要。In the fields of large-scale gene sequencing, biochips, biopharmaceuticals, immunoassays, and chemical synthesis, there are many processes that urgently need robots to replace tedious manual work to ensure high-throughput, high-precision assembly line production needs.
相关技术中，克隆挑取工作站通常包括工作台、设置于工作台上的传送件和用于驱动传送件沿自身周向运动的动力件，传送件的周缘间隔均布有若干组挑针自动复位机构，挑针自动复位机构包括固设于传送件的连接板和沿竖直方向滑移连接于连接板且用于固定挑针的固定板，连接板和固定板均沿传送件的周向延伸，连接板与固定板之间设置有用于使固定板带动挑针竖直向上复位的复位弹簧，复位弹簧于连接板沿其延伸方向的两侧对称设置有两个。工作台上设置有挑取工位和接种工位，工作台上设置有用于驱动固定板竖直向下移动的驱动件。In the related art, the clone picking workstation usually includes a workbench, a transmission part arranged on the workbench and a power part for driving the transmission part to move along its own circumference. Mechanism, the needle automatic reset mechanism includes a connecting plate fixed on the transmission part and a fixing plate that is slidably connected to the connecting plate in the vertical direction and used to fix the picking needle. Both the connecting plate and the fixing plate extend along the circumferential direction of the transmission part , A return spring is arranged between the connecting plate and the fixing plate for the fixing plate to drive the needle to return vertically upwards, and two returning springs are arranged symmetrically on both sides of the connecting plate along its extending direction. A picking station and an inoculation station are arranged on the workbench, and a driving member for driving the fixing plate to move vertically downward is arranged on the workbench.
基因测序工作中，传送件在动力件的作用下转动时带动挑针自动复位机构转动，挑针转动至与挑取工位相对应的位置时，驱动件驱动固定板带动挑针竖直向下移动，实现对目标菌落的挑取，传送件继续转动，挑针转动至与接种工位相对应的位置时，驱动件驱动固定板带动挑针竖直向下移动，实现对目标菌落的接种，其中一个挑针对菌落进行接种的同时，其他挑针转动至与挑取工位相对应的位置，对菌落进行挑取，如此循环往复，直至将培养皿中的所有菌落接种到微孔板中。During the gene sequencing work, when the transmission part rotates under the action of the power part, it drives the needle automatic reset mechanism to rotate. When the needle rotates to the position corresponding to the picking station, the driving part drives the fixed plate to drive the needle to move vertically downward. , to realize the picking of the target colony, the transmission part continues to rotate, and when the pick needle rotates to the position corresponding to the inoculation station, the driving part drives the fixed plate to drive the pick needle to move vertically downward to realize the inoculation of the target colony, one of which While picking the colonies to inoculate, the other pick pins rotate to the position corresponding to the picking station to pick the colonies, and this cycle repeats until all the colonies in the petri dish are inoculated into the microwell plate.
针对上述中的相关技术，发明人认为存在以下缺陷：挑针自动复位机构中的连接板和固定板均沿传送件的周向延伸，使得挑针自动复位机构的体积占比较大，因此存在一定的改进空间。In view of the above-mentioned related technologies, the inventor believes that there are the following defects: the connecting plate and the fixed plate in the automatic needle-picking reset mechanism both extend along the circumferential direction of the transmission part, so that the volume of the automatic needle-picking reset mechanism is relatively large, so there is a certain room for improvement.
发明内容Contents of the invention
为了减小挑针自动复位机构的体积占比，提升克隆挑取工作站的工作效率，本申请提供一种挑针自动复位机构、克隆挑取工作站及克隆挑取方法。In order to reduce the volume ratio of the needle automatic reset mechanism and improve the work efficiency of the clone picking workstation, the application provides an automatic needle reset mechanism, a clone picking workstation and a clone picking method.
本申请提供的一种挑针自动复位机构、克隆挑取工作站及克隆挑取方法，采用如下的技术方案：The present application provides an automatic reset mechanism for picking needles, a clone picking workstation and a clone picking method, which adopt the following technical solutions:
一种用于克隆挑取工作站的挑针自动复位机构，包括用于与传送件固定的连接件，所述连接件上固设有导轨,所述导轨竖直设置，所述导轨上滑动配合有用于固定挑针的挑针固定件，所述挑针固定件上设置有用于动力源抵接施力的受力部，所述连接件与挑针固定件之间设置有用于使挑针固定件沿导轨竖直向上复位的弹性复位件。An automatic needle-resetting mechanism for a clone-picking workstation, comprising a connecting piece fixed to a transfer piece, a guide rail is fixed on the connecting piece, the guide rail is vertically arranged, and the sliding fit on the guide rail is useful For the needle fixing part that fixes the needle, the force receiving part for the power source to abut against the force is arranged on the needle fixing part, and a force part for making the needle fixing part be arranged between the connecting part and the needle fixing part The elastic reset member that resets vertically upward along the guide rail.
通过采用上述技术方案，动力源抵接施力于挑针固定件上的受力部，对挑针固定件施加竖直向下的作用力，使挑针固定件带动挑针竖直向下移动，完成对目标菌落的挑取或接种，挑取或接种完成后，动力源不再对挑针固定件施力，挑针固定件在弹性复位件的作用下带动挑针竖直向上复位，挑针自动复位机构整体结构较为简单，且结构紧凑，减小了挑针自动复位机构的体积占比。By adopting the above technical solution, the power source abuts against the force-receiving part on the needle fixing part, and applies a vertical downward force to the needle fixing part, so that the needle fixing part drives the needle to move vertically downward , to complete the picking or inoculation of the target colony. After the picking or inoculation is completed, the power source no longer exerts force on the fixing part of the picking needle. The overall structure of the needle automatic reset mechanism is relatively simple and compact, which reduces the volume ratio of the needle automatic reset mechanism.
优选的，所述弹性复位件处于拉伸状态，所述挑针固定件包括滑动配合于导轨的滑块和固设于滑块的挑针固定板，所述挑针固定板用于固定挑针，所述滑块处于初始状态时，所述滑块抵接于连接件的下表面。Preferably, the elastic reset member is in a stretched state, and the needle fixing member includes a slider slidingly fitted on the guide rail and a needle fixing plate fixed on the slider, and the needle fixing plate is used to fix the needle , when the slider is in an initial state, the slider abuts against the lower surface of the connecting piece.
通过采用上述技术方案，弹性复位件对挑针固定件施加作用力， 使挑针固定件和挑针竖直向上复位，直至滑块抵接于连接件的下表面，在连接件的作用下，挑针固定件和挑针停止移动，保证了挑针的复位精度。By adopting the above technical solution, the elastic reset member applies force to the needle fixing member, so that the needle fixing member and the needle are reset vertically upward until the slider abuts against the lower surface of the connecting piece, and under the action of the connecting piece, The pick-up fixing part and the pick-up pin stop moving, which ensures the reset accuracy of the pick-up pin.
优选的，所述连接件包括连接板，所述连接板沿垂直于传送件周向的切线方向设置，所述导轨固设于连接板背向传送件的一端。Preferably, the connecting member includes a connecting plate, the connecting plate is arranged along a tangential direction perpendicular to the circumferential direction of the conveying member, and the guide rail is fixed on an end of the connecting plate facing away from the conveying member.
通过采用上述技术方案，进一步提升了挑针自动复位机构的结构紧凑性，减小了挑针自动复位机构的体积占比。By adopting the above technical solution, the structural compactness of the needle-picking automatic reset mechanism is further improved, and the volume ratio of the needle-picking automatic reset mechanism is reduced.
优选的，所述导轨上螺纹连接有用于限制挑针固定件向下移动的范围的限位螺栓。Preferably, the guide rail is threaded with a limit bolt for limiting the range of downward movement of the pick fixing member.
通过采用上述技术方案，对挑针固定件向下移动的范围起到了限制作用，防止挑针固定件向下移动至与导轨脱离。By adopting the above technical solution, the range of downward movement of the needle fixing member is limited, preventing the needle fixing member from moving downward until it is separated from the guide rail.
优选的，所述弹性复位件的两端分别固设于连接件靠近导轨的一端和挑针固定件靠近挑针的一端，所述弹性复位件的轴线与挑针固定板的侧面平行。Preferably, the two ends of the elastic reset member are respectively fixed on the end of the connecting member close to the guide rail and the end of the needle fixing member close to the pick needle, and the axis of the elastic reset member is parallel to the side of the needle fixing plate.
优选的，所述弹性复位件为拉伸弹簧或皮筋。Preferably, the elastic reset member is a tension spring or a rubber band.
一种克隆挑取工作站，包括工作台，所述工作台上有呈闭环状设置的传送件和用于驱动传送件运动的动力件，所述克隆挑取工作站还包括若干挑针自动复位机构，若干所述挑针自动复位机构沿传送件周向间隔均布，所述连接件固设于传送件，所述挑针固定件底端固设有挑针，所述挑针竖向设置；A clone-picking workstation, comprising a workbench, on which there is a closed-loop conveying element and a power element for driving the movement of the conveying element, and the clone-picking workstation also includes several picking needle automatic reset mechanisms, Several automatic reset mechanisms for picking needles are evenly distributed along the circumferential direction of the transmission part, the connecting part is fixed on the transmission part, and the bottom end of the lifting needle fixing part is fixed with a picking needle, and the picking needles are vertically arranged;
所述工作台上沿其周向设置有若干套工作单元，所述工作单元包括沿传送件的运动轨迹方向依次间隔排布的挑取工位、接种工位和消毒灭菌工位，所述工作单元还包括用于提供驱动挑针竖直向下移动的动力源的挑针驱动机构；Several sets of working units are arranged on the worktable along its circumference, and the working units include picking stations, inoculation stations and disinfection and sterilization stations arranged at intervals along the movement track direction of the conveying parts. The working unit also includes a pick driving mechanism for providing a power source for driving the pick to move vertically downward;
所述克隆挑取工作站还包括控制器，所述控制器用于控制动力件 和挑针驱动机构动作。The clone picking workstation also includes a controller, and the controller is used to control the action of the power member and the pick-up driving mechanism.
通过采用上述技术方案，将带有待挑取菌落的培养皿放入于挑取工位，将微孔板放入于控制工位，控制器控制动力件动作，使传送件转动，传送件带动挑针自动复位机构及挑针转动，每转动一个挑针自动复位机构间距，挑针自动复位机构转动至消毒灭菌工位完成挑针消毒灭菌工作，同时，每转动一个挑针自动复位机构间距，控制器控制传送件停顿，并同时控制挑针驱动机构驱动挑针固定件带动挑针竖直向下移动实现菌落的挑取或接种，挑取或接种完成后，挑针驱动机构不再对挑针固定件施力，挑针固定件以及挑针在弹性复位件的作用下竖直向上复位至初始位置，克隆挑取工作站设备继续进行上述操作直至所有菌落都被接种到微孔板中，克隆挑取工作站工作的过程中，不同的挑针同时与工作单元中的挑取工位、接种工和消毒灭菌工位相对应；这种采用环形传送件配合多套工作单元的方法，可扩展性更强，在保证挑针成功完成挑取、接种、消毒的条件下，将传送件的转速提升至最大值，增加工作单元的套数以及挑针的数量，挑取效率便随之增加，突破了克隆挑取工作站在菌落的挑取效率上的限制，极大的提升了菌落的挑取效率，另外，挑针自动复位机构的结构简单、紧凑、体积占比较小，便于实现对于设备整体体积的控制。By adopting the above technical scheme, the petri dish with the colonies to be picked is placed in the picking station, the micro-orifice plate is placed in the control station, and the controller controls the action of the power part to make the transfer part rotate, and the transfer part drives the picking station. Needle automatic reset mechanism and needle rotation, every time a needle automatic reset mechanism is rotated, the needle automatic reset mechanism rotates to the disinfection and sterilization station to complete the needle disinfection and sterilization work, and at the same time, each time a needle is rotated, the distance between the automatic reset mechanism , the controller controls the transmission part to stop, and at the same time controls the needle driving mechanism to drive the needle fixing part to drive the needle to move vertically downward to realize the picking or inoculation of colonies. After the picking or inoculation is completed, the needle driving mechanism will no longer The needle fixing part applies force, and the picking needle fixing part and the picking needle are vertically reset to the initial position under the action of the elastic reset part, and the clone picking workstation equipment continues to perform the above operations until all the colonies are inoculated into the microwell plate, During the working process of the clone picking workstation, different picking needles correspond to the picking stations, inoculation workers and disinfection and sterilization stations in the work unit at the same time; It is more reliable. Under the condition of ensuring that the picking needles are successfully picked, inoculated, and sterilized, the speed of the conveying parts is increased to the maximum value, and the number of sets of working units and the number of picking needles are increased, and the picking efficiency increases accordingly. Breakthrough It eliminates the restriction on the colony picking efficiency of the clone picking workstation, and greatly improves the colony picking efficiency. In addition, the structure of the picking needle automatic reset mechanism is simple, compact, and the volume ratio is small, which facilitates the realization of the overall volume of the equipment. control.
优选的，所述传送件呈长圆型，所述传送件包括直线部和位于直线部两端的弧形部，若干套所述工作单元位于传送件直线部的两侧。Preferably, the transmission part is oblong, the transmission part includes a straight part and arc parts located at both ends of the straight part, and several sets of the working units are located on both sides of the straight part of the transmission part.
通过采用上述技术方案，便于对工作单元进行排布，结构紧凑。By adopting the above technical solution, it is convenient to arrange the working units, and the structure is compact.
优选的，所述消毒灭菌工位包括固设于工作台的消毒灭菌台，所述消毒灭菌台上沿传送件的运动轨迹方向依次固设有毛刷组件、高压喷头和热风枪。Preferably, the disinfection and sterilization station includes a disinfection and sterilization table fixed on the workbench, and a brush assembly, a high-pressure spray head and a hot air gun are sequentially fixed on the disinfection and sterilization table along the direction of the moving track of the conveying member.
通过采用上述技术方案，挑针进入消毒灭菌台后，当挑针处于停 顿状态时，挑针的位置与毛刷组件的位置相对应，毛刷组件将挑针上大块的残留物刷掉，挑针继续移动，高压喷头通过喷洒酒精对挑针进行消毒，热风枪通过吹出热风将挑针吹干。By adopting the above technical scheme, after the pick needle enters the disinfection and sterilization station, when the pick needle is at a standstill, the position of the pick needle corresponds to the position of the brush assembly, and the brush assembly will brush off the large residue on the pick needle , the pick needle continues to move, the high-pressure nozzle sprays alcohol to disinfect the pick needle, and the hot air gun blows out hot air to dry the pick needle.
优选的，所述毛刷组件包括竖向设置的刷头和用于驱动刷头转动的驱动件，所述刷头的轴线方向与挑针的轴线方向平行。Preferably, the brush assembly includes a vertically arranged brush head and a driving member for driving the brush head to rotate, and the axial direction of the brush head is parallel to the axial direction of the pick pin.
通过采用上述技术方案，使刷头转动时，刷头上的不同位置与挑针接触，对挑针的清理更为彻底，同时，延长了刷头的使用时间，减少了刷头的清洗及更换次数。By adopting the above-mentioned technical scheme, when the brush head rotates, different positions on the brush head contact with the picking needles, and the cleaning of the picking needles is more thorough. At the same time, the service life of the brush head is prolonged, and the cleaning and replacement of the brush head is reduced. frequency.
优选的，同一套所述工作单元中的挑针驱动机构设置为两组，两组所述挑针驱动机构分别与挑取工位和接种工位相对应，所述挑针驱动机构为竖向设置的电缸。Preferably, the needle-picking driving mechanism in the same set of the working unit is set in two groups, and the two groups of needle-picking driving mechanisms correspond to the picking station and the inoculation station respectively, and the needle-picking driving mechanism is vertically arranged electric cylinder.
通过采用上述技术方案，为了取得最佳的实验效果，实验人员需要仅针对菌落表面实施挑取作业，但是由于每次所做的培养皿里培养基厚度不同，导致菌落表面距离挑针的高度是变化的，通过电缸驱动挑针，实现对挑针每次挑取行程的动态调整。By adopting the above-mentioned technical scheme, in order to obtain the best experimental effect, the experimenter needs to carry out the picking operation only on the surface of the colony, but because the thickness of the medium in the culture dish is different each time, the height from the surface of the colony to the pick needle is Changeable, the needle is driven by the electric cylinder, and the dynamic adjustment of each picking stroke of the needle is realized.
优选的，所述挑取工位包括第一X轴线性模组、第一Y轴线性模组和固设于第一Y轴线性模组的输出端的培养皿承托板，所述第一X轴线性模组沿垂直于传送件周向的切线方向安装于工作台上，所述第一Y轴线性模组固设于第一X轴线性模组的输出端且沿垂直于第一X轴线性模组的方向布置，所述控制器还用于控制第一X轴线性模组和第一Y轴线性模组动作。Preferably, the picking station includes a first X-axis linear module, a first Y-axis linear module, and a petri dish support plate fixed at the output end of the first Y-axis linear module, and the first X The axis linear module is installed on the workbench along the tangential direction perpendicular to the circumferential direction of the conveying member. The first Y-axis linear module is fixed at the output end of the first X-axis linear module and is perpendicular to the first X-axis The orientation of the linear modules is arranged, and the controller is also used to control the actions of the first X-axis linear module and the first Y-axis linear module.
通过采用上述技术方案，将培养皿放置于培养皿承托板，通过第一X轴线性模组和第一Y轴线性模组的配合实现对培养皿位置的调整，控制培养皿移动至工作位置。By adopting the above technical scheme, the culture dish is placed on the culture dish supporting plate, and the position of the culture dish is adjusted through the cooperation of the first X-axis linear module and the first Y-axis linear module, and the movement of the culture dish is controlled to the working position .
优选的，所述接种工位包括第二X轴线性模组、第二Y轴线性模 组和固设于第二Y轴线性模组的输出端的微孔板承托板，所述第二X轴线性模组沿垂直于传送件周向的切线方向安装于工作台上，所述第二Y轴线性模组固设于第二X轴线性模组的输出端且沿垂直于第二X轴线性模组的方向布置；所述控制器还用于控制第二X轴线性模组、第二Y轴线性模组动作。Preferably, the inoculation station includes a second X-axis linear module, a second Y-axis linear module and a microplate support plate fixed at the output end of the second Y-axis linear module, the second X The axis linear module is installed on the workbench along the tangential direction perpendicular to the circumferential direction of the conveying member. The second Y-axis linear module is fixed at the output end of the second X-axis linear module and is perpendicular to the second X-axis The direction arrangement of the linear module; the controller is also used to control the actions of the second X-axis linear module and the second Y-axis linear module.
通过采用上述技术方案，将微孔板放置于微孔板承托板，通过第二X轴线性模组和第二Y轴线性模组的配合实现对微孔板位置的调整，控制微孔板移动至工作位置。By adopting the above technical scheme, the microporous plate is placed on the microporous plate supporting plate, and the adjustment of the position of the microporous plate is realized through the cooperation of the second X-axis linear module and the second Y-axis linear module, and the microporous plate is controlled. Move to working position.
优选的，所述传送件包括同步带或链条。Preferably, the conveying member includes a timing belt or a chain.
一种克隆挑取工作站的克隆挑取方法，包括以下步骤：A clone picking method of a clone picking workstation, comprising the following steps:
控制动力件带动传送件转动，挑针自动复位机构随传送件转动，传送件每转动一个挑针自动复位机构间距，控制传送件停顿，同时控制挑针驱动机构对挑针固定件施力，使挑针固定件带动挑针竖直向下移动，实现菌落的挑取或接种，菌落的挑取或接种完成后，控制挑针驱动机构撤去对挑针固定件的施力，挑针固定件在弹性复位件的作用下带动挑针竖直向上复位至初始位置；Control the power part to drive the transmission part to rotate, and the needle automatic reset mechanism rotates with the transmission part. Every time the transmission part rotates a distance between the needle automatic reset mechanism, the transmission part is controlled to stop, and at the same time, the needle driving mechanism is controlled to exert force on the needle fixing part, so that The needle holder drives the needle to move vertically downwards to realize colony picking or inoculation. After the colony picking or inoculation is completed, the needle driving mechanism is controlled to remove the force applied to the needle holder, and the needle holder is in the Under the action of the elastic reset part, the picking needle is driven vertically upward to reset to the initial position;
传送件每转动一个挑针自动复位机构间距，挑针自动复位机构转动至消毒灭菌工位完成挑针消毒灭菌工作；Every time the transmission part rotates a distance between the needle automatic reset mechanism, the needle automatic reset mechanism rotates to the disinfection and sterilization station to complete the needle needle disinfection and sterilization work;
重复上述步骤直至所有菌落都被接种到微孔板中。Repeat the above steps until all colonies are inoculated into the microplate.
附图说明Description of drawings
图1是本申请的整体结构示意图。Figure 1 is a schematic diagram of the overall structure of the present application.
图2是图1中A部分的局部放大示意图。FIG. 2 is a partially enlarged schematic diagram of part A in FIG. 1 .
图3是本申请中显示挑针自动复位机构的局部结构示意图。Fig. 3 is a partial structural schematic diagram showing the automatic reset mechanism of the picking needle in the present application.
图4是本申请中隐藏挑针固定板、拉伸弹簧和连接螺栓以显示滑块结构的局部结构示意图。Fig. 4 is a schematic diagram of a partial structure of the present application with the needle fixing plate, the tension spring and the connecting bolts hidden to show the structure of the slider.
图5是本申请中显示第一X轴线性模组的局部结构示意图。FIG. 5 is a partial structural schematic diagram showing the first X-axis linear module in the present application.
图6是本申请中显示消毒灭菌工位的局部结构示意图。Fig. 6 is a schematic diagram showing a partial structure of a disinfection and sterilization station in the present application.
附图标记说明：1、工作台；11、限位环；2、传送件；21、动力件；3、挑针自动复位机构；31、连接件；311、连接板；312、延伸板；313、限位板；32、拉伸弹簧；321、连接螺栓；33、导轨；331、限位螺栓；34、滑块；35、挑针固定板；36、三角型支撑板；4、挑取工位；41、第一X轴线性模组；411、固定架体；412、丝杠；413、滑移块；414、滑轨；415、支承架；42、第一Y轴线性模组；5、接种工位；51、第二X轴线性模组；52、第二Y轴线性模组；6、消毒灭菌工位；61、消毒灭菌台；611、立板；612、容纳槽；62、毛刷组件；621、刷头；622、驱动电机；63、高压喷头；64、热风枪；7、培养皿；8、微孔板；9、U型架；91、挑针驱动机构；92、相机；10、挑针。Explanation of reference numerals: 1. workbench; 11. limit ring; 2. transmission part; 21. power part; 3. automatic reset mechanism for picking needle; 31. connecting part; , limit plate; 32, tension spring; 321, connecting bolt; 33, guide rail; 331, limit bolt; 34, slider; 41, the first X-axis linear module; 411, the fixed frame body; 412, the screw; 413, the sliding block; 414, the slide rail; 415, the supporting frame; 42, the first Y-axis linear module; 5 . Inoculation station; 51. The second X-axis linear module; 52. The second Y-axis linear module; 6. Disinfection and sterilization station; 61. Disinfection and sterilization table; 62. Brush assembly; 621. Brush head; 622. Driving motor; 63. High pressure nozzle; 64. Heat gun; 7. Petri dish; 92. Camera; 10. Picking a needle.
具体实施方式Detailed ways
以下结合附图1-6对本申请作进一步详细说明。The present application will be described in further detail below in conjunction with accompanying drawings 1-6.
本申请实施例公开一种克隆挑取工作站，参照图1，包括控制器、放置于水平工作平面的工作台1、呈长圆型闭环状设置于工作台1的传送件2、用于驱动传送件2运动的动力件21、沿传送件2的周向间隔均布于传送件2的若干组挑针自动复位机构3和若干套沿传送件2的周向固设于工作台1的工作单元，工作单元包括挑取工位4、接种工位5和消毒灭菌工位6，挑取工位4、接种工位5和消毒灭菌工位6沿传送件2的运动轨迹方向依次间隔排布。任意挑针自动复位机构3上均设置有用于挑取和接种目标菌落的挑针10，挑针10竖直设置。The embodiment of the present application discloses a clone picking workstation. Referring to FIG. 1 , it includes a controller, a workbench 1 placed on a horizontal working plane, a transmission part 2 arranged on the workbench 1 in an oblong closed loop, and used to drive the transmission part. 2 moving power part 21, several groups of pick-up automatic reset mechanisms 3 uniformly distributed on the transmission part 2 along the circumferential direction of the transmission part 2, and several sets of working units fixed on the workbench 1 along the circumferential direction of the transmission part 2, The working unit includes picking station 4, inoculation station 5 and disinfection and sterilization station 6, and the picking station 4, inoculation station 5 and disinfection and sterilization station 6 are arranged at intervals along the movement track direction of the conveying part 2 . Any picking needle automatic reset mechanism 3 is provided with a picking needle 10 for picking and inoculating the target colony, and the picking needle 10 is vertically arranged.
传送件2包括两直线部，若干套工作单元位于传送件2两直线部的外侧。本实施例中，挑针自动复位机构3设置为100组，在两直线 部的外侧各设置有两组工作单元。The transmission part 2 includes two straight parts, and several sets of working units are located outside the two straight parts of the transmission part 2 . In the present embodiment, there are 100 groups of needle-picking automatic reset mechanisms 3, and two groups of working units are respectively arranged on the outsides of the two linear parts.
传送件2包括同步带，动力件21包括沿同步带的运动轨迹方向间隔设置于工作台1的四个同步带轮和用于驱动同步带轮转动的电机。The transmission part 2 includes a synchronous belt, and the power part 21 includes four synchronous pulleys arranged at intervals along the movement track direction of the synchronous belt on the workbench 1 and a motor for driving the synchronous pulleys to rotate.
在其他实施例中，传送件2包括链条，则动力件21包括沿链条的运动轨迹方向间隔设置于工作台1的四个链轮和用于驱动链轮转动的电机。可知，传送件2和动力件21还可以为其他用于实现沿传送件2的周向运动的机构。In other embodiments, the transmission element 2 includes a chain, and the power element 21 includes four sprockets arranged at intervals along the movement track direction of the chain on the worktable 1 and a motor for driving the sprockets to rotate. It can be known that the transmission element 2 and the power element 21 can also be other mechanisms for realizing the circumferential movement of the transmission element 2 .
结合图1至图3，工作台1上于同步带外侧固定连接有限位环11，限位环11沿同步带的运动轨迹方向设置，且限位环11与同步带间隔设置。1 to 3, the workbench 1 is fixedly connected to the outside of the synchronous belt with a limit ring 11, the limit ring 11 is arranged along the direction of the motion track of the synchronous belt, and the limit ring 11 is arranged at intervals from the synchronous belt.
挑针自动复位机构3包括用于与同步带固定的连接件31、固设于连接件31且竖直设置的导轨33、滑动配合于导轨33且用于固定挑针10的挑针固定件和用于使挑针10复位的弹性复位件。The needle automatic reset mechanism 3 includes a connecting piece 31 fixed to the synchronous belt, a guide rail 33 fixed on the connecting piece 31 and vertically arranged, a needle fixing member slidingly fitted on the guide rail 33 and used to fix the picking needle 10 and An elastic reset member for resetting the picking needle 10.
连接件31包括连接板311，连接板311与传送件2周向的切线方向垂直。连接板311靠近同步带的一端竖直向上延伸有延伸板312，延伸板312通过螺栓固定连接于同步带外侧。连接板311的下表面与限位环11相对应的位置通过螺栓固定有限位板313，限位板313设置为开口向下的U型板，限位板313开口端相对的两侧壁分别与限位环11的两侧壁接触，限位板313与限位环11竖向相对的两侧壁之间设置有多个滚珠，滚珠于附图中未示出。限位板313和限位环11的配合限制了挑针自动复位机构3的运动轨迹，而延伸板312与同步带固定连接，进而对同步带的运动轨迹进行限制，使同步带保持沿长圆型轨迹转动的状态。The connecting piece 31 includes a connecting plate 311 , and the connecting plate 311 is perpendicular to the tangential direction of the circumferential direction of the conveying piece 2 . An extension plate 312 extends vertically upward from one end of the connecting plate 311 close to the synchronous belt, and the extension plate 312 is fixedly connected to the outside of the synchronous belt by bolts. The position corresponding to the lower surface of the connecting plate 311 and the spacer ring 11 is fixed with the spacer plate 313 by bolts, the spacer plate 313 is arranged as a U-shaped plate with the opening downward, and the opposite side walls of the spacer plate 313 open ends are respectively connected to the The two sidewalls of the limiting ring 11 are in contact, and a plurality of balls are arranged between the vertically opposite sidewalls of the limiting plate 313 and the limiting ring 11, and the balls are not shown in the drawings. The cooperation of the limit plate 313 and the limit ring 11 limits the movement trajectory of the needle automatic reset mechanism 3, and the extension plate 312 is fixedly connected with the synchronous belt, thereby limiting the movement trajectory of the synchronous belt, so that the synchronous belt remains along the oblong shape. The state of the track rotation.
结合图3和图4，导轨33固定于连接板311背向延伸板312的 一端的下表面，挑针固定件位于导轨33外侧。挑针固定件包括滑动配合于导轨33的滑块34和通过螺栓压紧固定于滑块34远离导轨33的一侧的挑针固定板35，挑针10通过螺栓压紧固定于挑针固定板35底端。滑块34位于连接板311下方，挑针10完全复位时，滑块34的顶端端面与连接板311的下表面抵接，限制滑块34继续向上移动。导轨33设置有滑块34的一侧底端固定有限位螺栓331，限位螺栓331用于限制滑块34向下移动的范围，进而对挑针10向下移动的范围进行限制。挑针固定板35位于连接板311外侧，挑针固定板35宽度方向的两侧壁与连接板311宽度方向的两侧壁平齐。为提升导轨33与连接板311之间的连接强度，导轨33与连接板311之间固定连接有三角型支撑板36，三角型支撑板36上开设有用于减小其自身重量的通槽。3 and 4, the guide rail 33 is fixed on the lower surface of the end of the connecting plate 311 facing away from the extension plate 312, and the needle fixing member is located outside the guide rail 33. The needle fixing part includes a slider 34 slidingly fitted on the guide rail 33 and a needle fixing plate 35 fixed on the side of the slider 34 away from the guide rail 33 by bolt compression, and the needle 10 is fixed on the needle fixing plate by bolt compression 35 bottom end. The slide block 34 is located below the connecting plate 311. When the picking needle 10 is fully reset, the top end surface of the slide block 34 abuts against the lower surface of the connecting plate 311, limiting the slide block 34 to continue to move upward. The bottom end of one side of the guide rail 33 provided with the slide block 34 is fixed with a stop bolt 331 , and the stop bolt 331 is used to limit the range of the slide block 34 to move downward, thereby limiting the range of the pick needle 10 to move downward. The needle fixing plate 35 is located outside the connecting plate 311 , and the two side walls in the width direction of the picking needle fixing plate 35 are flush with the two side walls in the width direction of the connecting plate 311 . In order to improve the connection strength between the guide rail 33 and the connecting plate 311, a triangular support plate 36 is fixedly connected between the guide rail 33 and the connecting plate 311, and the triangular support plate 36 is provided with a through slot for reducing its own weight.
工作单元还包括用于驱动挑针10竖直向下移动的挑针驱动机构91，挑针驱动机构91与控制器电性连接。挑针固定板35上设置有用于挑针驱动机构91抵接施力的受力部，受力部为挑针固定板35的顶端端面。The working unit also includes a needle-picking driving mechanism 91 for driving the needles 10 to move vertically downward, and the needle-picking driving mechanism 91 is electrically connected to the controller. The needle fixing plate 35 is provided with a force receiving portion for the needle driving mechanism 91 to abut against and exert force, and the force receiving portion is the top end surface of the needle fixing plate 35 .
本实施例中，弹性复位件为倾斜设置的拉伸弹簧32，其他实施例中，弹性复位件还可以设置为皮筋等其他弹性件。拉伸弹簧32位于连接板311和挑针固定板35的一侧，且拉伸弹簧32的轴向与挑针固定板35的侧壁平行，拉伸弹簧32的两端分别与挑针固定板35底端和连接板311靠近挑针固定板35的一端连接。拉伸弹簧32设置为带钩弹簧，挑针固定板35和连接板311的侧壁上分别固定连接有连接螺栓321，拉伸弹簧32的两端分别连接于两个连接螺栓321上，且拉伸弹簧32始终处于拉伸状态。In this embodiment, the elastic reset member is a tension spring 32 arranged obliquely. In other embodiments, the elastic reset member can also be set as other elastic members such as rubber bands. Tension spring 32 is positioned at one side of connecting plate 311 and pick pin fixation plate 35, and the axial direction of stretch spring 32 is parallel with the sidewall of pick pin fixation plate 35, and the two ends of stretch spring 32 are connected with pick pin fixation plate respectively. 35 bottom end and connecting plate 311 are connected near one end of pick pin fixing plate 35. The extension spring 32 is set to a hook spring, and the sidewalls of the needle fixing plate 35 and the connecting plate 311 are fixedly connected with connecting bolts 321 respectively, and the two ends of the extension spring 32 are respectively connected on the two connecting bolts 321, and pull The extension spring 32 is always in tension.
挑针固定板35在挑针驱动机构91的作用下带动挑针10竖直向 下移动，实现挑针10对目标菌落的挑取或接种，对目标菌落挑取或接种完成后，提挑针驱动机构91撤去对挑针固定板35的作用力，挑针固定板35在拉伸弹簧32的作用下带动挑针10竖直向上复位，至滑块34的顶端端面抵接于连接板311的下表面，实现挑针10的精准复位。The needle fixing plate 35 drives the needle 10 to move vertically downward under the action of the needle driving mechanism 91, so as to realize the picking or inoculation of the target colony by the needle 10. After the picking or inoculation of the target colony is completed, the needle is lifted The driving mechanism 91 removes the active force on the needle fixing plate 35, and the needle fixing plate 35 drives the needle 10 to reset vertically upward under the action of the tension spring 32 until the top end surface of the slider 34 abuts against the bottom of the connecting plate 311. The lower surface realizes the precise reset of the pick needle 10.
可知，挑针自动复位机构3还可用于其他自动复位部件或机构中，不仅限于克隆挑取工作站。It can be known that the needle picking automatic reset mechanism 3 can also be used in other automatic reset components or mechanisms, not limited to the clone picking workstation.
结合图1和图5，同步带直线部的两侧垂直于其长度方向为X轴方向，水平面内垂直于X轴方向为Y轴方向。1 and 5, the two sides of the straight portion of the synchronous belt are perpendicular to the length direction of the X-axis, and the direction perpendicular to the X-axis in the horizontal plane is the Y-axis direction.
结合图1和图5，挑取工位4用于驱动培养皿7水平移动。挑取工位4包括第一X轴线性模组41、第一Y轴线性模组42和固设于第一Y轴线性模组42的输出端的培养皿承托板，培养皿7固定于培养皿承托板的上表面。第一X轴线性模组41沿X轴方向安装于工作台1上，第一Y轴线性模组42固设于第一X轴线性模组41的输出端且沿Y轴方向布置。第一X轴线性模组41用于驱动第一Y轴线性模组42沿X轴方向移动，第一Y轴线性模组42用于驱动培养皿承托板沿Y轴方向移动，进而实现对培养皿7位置的调整，第一X轴线性模组41和第一Y轴线性模组42均与控制器电性连接。1 and 5, the picking station 4 is used to drive the culture dish 7 to move horizontally. The picking station 4 includes a first X-axis linear module 41, a first Y-axis linear module 42, and a petri dish support plate fixed at the output end of the first Y-axis linear module 42, and the petri dish 7 is fixed on the culture dish. The upper surface of the dish support plate. The first X-axis linear module 41 is installed on the workbench 1 along the X-axis direction, and the first Y-axis linear module 42 is fixed on the output end of the first X-axis linear module 41 and arranged along the Y-axis direction. The first X-axis linear module 41 is used to drive the first Y-axis linear module 42 to move along the X-axis direction, and the first Y-axis linear module 42 is used to drive the petri dish supporting plate to move along the Y-axis direction, thereby achieving alignment For the adjustment of the position of the culture dish 7, the first X-axis linear module 41 and the first Y-axis linear module 42 are both electrically connected to the controller.
接种工位5用于驱动微孔板8水平移动。接种工位5包括第二X轴线性模组51、第二Y轴线性模组52和固设于第二Y轴线性模组52的输出端的微孔板承托板，微孔板8固定于微孔板承托板的上表面。第二X轴线性模组51沿X轴方向安装于工作台1，第二Y轴线性模组52固设于第二X轴线性模组51的输出端且沿Y轴方向布置。第二X轴线性模组51用于驱动第二Y轴线性模组52沿X轴方向移动，第二Y轴线性模组52用于驱动微孔板承托板沿Y轴方向移动，进而实 现对微孔板8位置的调整，第二X轴线性模组51和第二Y轴线性模组52均与控制器电性连接。The inoculation station 5 is used to drive the microwell plate 8 to move horizontally. The inoculation station 5 includes a second X-axis linear module 51, a second Y-axis linear module 52, and a micro-orifice plate supporting plate fixed at the output end of the second Y-axis linear module 52, and the micro-orifice plate 8 is fixed on the Top surface of the microplate support plate. The second X-axis linear module 51 is installed on the workbench 1 along the X-axis direction, and the second Y-axis linear module 52 is fixed on the output end of the second X-axis linear module 51 and arranged along the Y-axis direction. The second X-axis linear module 51 is used to drive the second Y-axis linear module 52 to move along the X-axis direction, and the second Y-axis linear module 52 is used to drive the microplate support plate to move along the Y-axis direction, thereby realizing For the adjustment of the position of the micro-orifice plate 8, both the second X-axis linear module 51 and the second Y-axis linear module 52 are electrically connected to the controller.
需要强调的是，第一X轴线性模组41、第一Y轴线性模组42、第二X轴线性模组51和第二Y轴线性模组52的结构均相同，现以第一X轴线性模组41的结构为例进行说明。It should be emphasized that the structures of the first X-axis linear module 41 , the first Y-axis linear module 42 , the second X-axis linear module 51 and the second Y-axis linear module 52 are all the same. The structure of the axis linear module 41 will be described as an example.
第一X轴线性模组41包括沿X轴方向设置的固定架体411，固定架体411中转动连接有沿其长度方向设置的丝杠412，固定架体411上固定连接有用于驱动丝杠412转动的电机。丝杠412外侧套设有与其相配合的滑移块413，固定架体411中固定连接有用于限制滑移块413转动使滑移块413沿丝杠412的轴线方向移动的滑轨414。滑移块413上固定连接有支承架415，支承架415顶端位于固定架体411上方，支承架415顶端即为第一X轴线性模组41的输出端。The first X-axis linear module 41 includes a fixed frame body 411 arranged along the X-axis direction, a lead screw 412 arranged along its length direction is rotatably connected to the fixed frame body 411, and a lead screw for driving the screw is fixedly connected to the fixed frame body 411. 412 rotating motors. A sliding block 413 matched with the leading screw 412 is sheathed on the outer side thereof, and a sliding rail 414 for limiting the rotation of the sliding block 413 to move along the axial direction of the leading screw 412 is fixedly connected to the fixed frame body 411 . A support frame 415 is fixedly connected to the sliding block 413 , the top of the support frame 415 is located above the fixed frame body 411 , and the top of the support frame 415 is the output end of the first X-axis linear module 41 .
参照图1，工作单元还包括两个分别与挑取工位4和接种工位5相对应的U型架9。同一套工作单元中的挑针驱动机构91设置有两组，两组挑针驱动机构91分别固定于两个U型架9。挑针驱动机构91位于挑针10的正上方，挑针驱动机构91为竖向设置的电缸，电缸的杆部竖直向下运动与挑针固定板35的上表面抵接，驱动挑针固定板35以及挑针10竖直向下运动。Referring to FIG. 1 , the working unit also includes two U-shaped frames 9 corresponding to the picking station 4 and the inoculation station 5 respectively. There are two groups of needle-picking driving mechanisms 91 in the same set of working units, and the two groups of needle-picking driving mechanisms 91 are respectively fixed on two U-shaped frames 9 . The needle-picking drive mechanism 91 is located directly above the needle-picking needle 10, and the needle-picking driving mechanism 91 is an electric cylinder arranged vertically. The needle fixing plate 35 and the picking needle 10 move vertically downward.
为了取得最佳的实验效果，实验人员需要仅针对菌落表面实施挑取作业，但是由于每次所做的培养皿7里培养基厚度不同，导致菌落表面距离挑针10的高度是变化的，通过电缸驱动挑针10，实现对挑针10每次挑取行程的动态调整。可知，在其他实施例中，挑针驱动机构91也可以设置为其他能满足行程动态调整的机构，如直线模组等。In order to obtain the best experimental effect, the experimenter only needs to carry out the picking operation on the surface of the colony, but because the thickness of the culture medium in the culture dish 7 is different each time, the height of the surface of the colony from the pick pin 10 is changed. The electric cylinder drives the picking needle 10 to realize the dynamic adjustment of the picking stroke of the picking needle 10 each time. It can be seen that in other embodiments, the needle-picking driving mechanism 91 can also be set as other mechanisms that can meet the dynamic adjustment of the stroke, such as a linear module and the like.
与挑取工位4相对应的U型架9上还设置有相机92，相机92对 培养皿7测距并拍照后将照片传至图像处理软件，带有菌落的图像经软件处理后提取出目标菌落的三维坐标信息，进而控制挑取工位4驱动培养皿7上的目标菌落移动至与挑针10相对应的工作位置。A camera 92 is also arranged on the U-shaped frame 9 corresponding to the picking station 4. After the camera 92 measures the distance of the petri dish 7 and takes a picture, the photo is sent to the image processing software, and the image with the colony is extracted after software processing. The three-dimensional coordinate information of the target colony, and then control the picking station 4 to drive the target colony on the petri dish 7 to move to the working position corresponding to the pick needle 10 .
结合图1和图6，消毒灭菌工位6包括固设于工作台1的消毒灭菌台61，消毒灭菌台61包括两个间隔设置的立板611，两个立板611均沿同步带的运动轨迹方向延伸，两个立板611相对的两侧壁之间留有距离，使两个立板611之间形成用于使挑针10通过的容纳槽612，容纳槽612的侧壁上固设有消毒灭菌装置。每转动一个挑针自动复位机构3间距，传送件2上的挑针自动复位机构3转动至消毒灭菌台61的容纳槽612中，通过消毒灭菌装置完成消毒灭菌工作。1 and 6, the disinfection and sterilization station 6 includes a disinfection and sterilization table 61 fixed on the workbench 1. The disinfection and sterilization table 61 includes two vertical boards 611 arranged at intervals, and the two vertical boards 611 are synchronized along the The motion track direction of the belt extends, and there is a distance between the opposite side walls of the two vertical plates 611, so that a receiving groove 612 for the passage of the picking needle 10 is formed between the two vertical plates 611, and the side walls of the receiving groove 612 A disinfection and sterilization device is fixed on the top. Every time a pitch of the needle automatic reset mechanism 3 is rotated, the needle automatic reset mechanism 3 on the transmission part 2 rotates into the receiving groove 612 of the disinfection and sterilization table 61, and the disinfection and sterilization work is completed by the disinfection and sterilization device.
消毒灭菌装置包括沿传送件2的运动轨迹依次设置于消毒灭菌台61的毛刷组件62、高压喷头63和热风枪64，两个立板611之间固定连接有平板，毛刷组件62、高压喷头63和热风枪64均设置于平板上，且高压喷头63和热风枪64均位于挑针10下方。毛刷组件62包括固设于立板611侧壁的驱动电机622，驱动电机622竖向设置，驱动电机622的输出端同轴固设有刷头621，刷头621的刷毛竖直向上设置。另外，驱动电机622的输出轴的轴线方向与挑针10的轴线方向平行。The disinfection and sterilization device includes a brush assembly 62, a high-pressure spray nozzle 63 and a heat gun 64 which are successively arranged on the disinfection and sterilization table 61 along the movement track of the conveying member 2, and a flat plate is fixedly connected between the two vertical plates 611, and the brush assembly 62 , the high-pressure nozzle 63 and the heat gun 64 are all arranged on the flat plate, and the high-pressure nozzle 63 and the heat gun 64 are all located below the needle 10 . The brush assembly 62 includes a drive motor 622 fixed on the side wall of the vertical plate 611, the drive motor 622 is vertically arranged, the output end of the drive motor 622 is coaxially fixed with a brush head 621, and the bristles of the brush head 621 are vertically arranged upwards. In addition, the axial direction of the output shaft of the driving motor 622 is parallel to the axial direction of the pick needle 10 .
消毒灭菌装置中的刷头621在驱动件的作用下转动，挑针10进入消毒灭菌台61的容纳槽612中后，当挑针10处于停顿状态时，挑针10的位置与毛刷组件62的位置相对应，挑针10位于刷头621中，转动的刷头621将挑针10上大块的残留物刷掉，刷头621转动时，刷头621上的不同位置与挑针10接触，对挑针10的清理更为彻底，同时，延长了刷头621的使用时间，减少了刷头621的清洗及更换次数，挑针10继续移动，高压喷头63通过喷洒酒精对挑针10进行消 毒，热风枪64通过吹出热风将挑针10吹干。The brush head 621 in the disinfection and sterilization device rotates under the action of the driving member. After the pick needle 10 enters the receiving groove 612 of the disinfection and sterilization table 61, when the pick needle 10 is at a standstill, the position of the pick needle 10 is the same as that of the brush. The positions of the components 62 are corresponding. The picking pin 10 is located in the brush head 621. The rotating brush head 621 brushes off the bulk residue on the picking pin 10. When the brush head 621 rotates, the different positions on the brush head 621 are different from the picking pin 10 contacts, the cleaning of the pick needle 10 is more thorough. At the same time, the service life of the brush head 621 is prolonged, and the number of cleaning and replacement of the brush head 621 is reduced. The pick needle 10 continues to move, and the high-pressure nozzle 63 sprays alcohol on the pick needle. 10 is sterilized, and the hot air gun 64 dries up the pick pin 10 by blowing out hot air.
可知，消毒灭菌工位主要是为了对经过该工位的挑针10进行消毒灭菌，在其他实施例中，具体结构不仅限于毛刷组件、喷雾器、热风枪等具体工具的结合。It can be seen that the disinfection and sterilization station is mainly for the purpose of disinfecting and sterilizing the needles 10 passing through the station. In other embodiments, the specific structure is not limited to the combination of specific tools such as a brush assembly, a sprayer, and a heat gun.
另外，需要强调的是，克隆挑取工作站工作的过程中，不同的挑针10同时与工作单元中的挑取工位4、接种工位5和消毒灭菌工位6相对应，在实际运用的过程中，可以采用克隆挑取工作站中的不同工位之间的距离等于挑针自动复位机构3间距的整数倍的方式实现。In addition, it should be emphasized that during the working process of the clone picking workstation, different picking needles 10 correspond to the picking station 4, the inoculation station 5 and the disinfection and sterilization station 6 in the work unit at the same time. In the process, it can be realized by adopting the method that the distance between different stations in the clone picking workstation is equal to the integer multiple of the pitch of the needle automatic reset mechanism 3 .
本申请还公开了一种克隆挑取工作站的克隆挑取方法，包括以下步骤：The application also discloses a clone picking method of a clone picking workstation, comprising the following steps:
将带有待挑取的菌落的培养皿7由人工或机器放入挑取工位4的培养皿承托板，将微孔板8由人工或机器放入于接种工位5的微孔板承托板；Put the petri dish 7 with the colonies to be picked into the petri dish supporting plate of the picking station 4 manually or by machine, and put the microporous plate 8 into the microporous plate supporting plate of the inoculation station 5 manually or by machine. pallet;
控制器控制接种工位5将微孔板8移动至待接种孔位与挑针10相对应的位置，此位置为微孔板8的工作位置，克隆挑取工作站工作的过程中，控制器控制接种工位5移动微孔板8将不同的待接种孔位移动至与挑针10相对应的工作位置；The controller controls the inoculation station 5 to move the microporous plate 8 to the position corresponding to the hole to be inoculated and the pick needle 10. This position is the working position of the microporous plate 8. During the working process of the clone picking workstation, the controller controls The inoculation station 5 moves the microporous plate 8 to move the different hole positions to be inoculated to the corresponding working position with the pick needle 10;
控制器控制挑取工位4将培养皿7移动至相机92正下方，相机92对培养皿7测距并拍照后将照片传至图像处理软件，带有菌落的图像经软件处理后提取出目标菌落的三维坐标信息，控制器控制挑取工位4将培养皿7移动至目标菌落与挑针10相对应的位置，此位置为培养皿7的工作位置，克隆挑取工作站工作的过程中，控制器控制挑取工位4移动培养皿7将不同的目标菌落位置移动至与挑针10相对应的工作位置；The controller controls the picking station 4 to move the petri dish 7 to directly below the camera 92. The camera 92 measures the distance of the petri dish 7 and takes a picture, and then sends the photo to the image processing software. The image with colonies is processed by the software to extract the target The three-dimensional coordinate information of the colony, the controller controls the picking station 4 to move the petri dish 7 to the position corresponding to the target colony and the pick pin 10, this position is the working position of the petri dish 7, during the working process of the clone picking workstation, The controller controls the picking station 4 to move the petri dish 7 to move different target colony positions to the corresponding working position of the picking needle 10;
同时，控制器控制动力件21带动同步带转动，同步带带动挑针 自动复位机构3转动，同步带每转动一个挑针自动复位机构3间距，挑针自动复位机构3转动至挑针驱动机构91正下方，控制器控制同步带停顿；At the same time, the controller controls the power part 21 to drive the synchronous belt to rotate, and the synchronous belt drives the needle-picking automatic reset mechanism 3 to rotate, and the synchronous belt rotates every time the needle-picking automatic reset mechanism 3 distances, and the needle-picking automatic reset mechanism 3 rotates to the needle-picking drive mechanism 91 Directly below, the controller controls the timing belt to stop;
挑取工位4、接种工位5分别将目标菌落和待接种的孔位移动至挑针10正下方，所有挑针驱动机构91向下运动并对挑针固定板35施力带动挑针10向下运动完成挑取或接种工作，挑取或接种工作完成后，控制器控制挑针驱动机构91撤去对挑针固定板35的作用力，挑针10在拉伸弹簧32的作用下竖直向上复位，至滑块34的顶端端面与连接板311的下表面抵接，实现挑针10的精准复位；The picking station 4 and the inoculation station 5 respectively move the target colony and the hole to be inoculated to directly below the picking needle 10, and all the picking needle driving mechanisms 91 move downward and apply force to the picking needle fixing plate 35 to drive the picking needle 10 The downward motion completes the picking or inoculation work. After the picking or inoculation work is completed, the controller controls the needle driving mechanism 91 to remove the active force on the needle fixing plate 35, and the needle 10 is vertical under the action of the tension spring 32. Reset upward until the top end surface of the slider 34 abuts against the lower surface of the connecting plate 311 to realize the precise reset of the pick needle 10;
同步带每转动一个挑针自动复位机构3间距，挑针自动复位机构3转动至消毒灭菌工位6，挑针10进入消毒灭菌台61的容纳槽612中后，当挑针10处于停顿状态时，挑针10的位置与毛刷组件62的位置相对应，挑针10位于刷头621中，转动的刷头621将挑针10上大块的残留物刷掉，刷头621转动时，刷头621上的不同位置与挑针10接触，对挑针10的清理更为彻底，挑针10继续移动，高压喷头63通过喷洒酒精对挑针10进行消毒，热风枪64通过吹出热风将挑针10吹干；Every time the timing belt rotates a distance of 3 from the needle automatic reset mechanism, the needle automatic reset mechanism 3 rotates to the disinfection and sterilization station 6. During state, the position of picking pin 10 corresponds to the position of hairbrush assembly 62, and picking pin 10 is positioned at brush head 621, and the brush head 621 of rotation will brush off the residue of bulk on picking pin 10, and when brush head 621 rotates , different positions on the brush head 621 are in contact with the picking needle 10, and the cleaning of the picking needle 10 is more thorough. Blow dry with 10 pins;
重复上述步骤直至所有菌落都被接种到微孔板8中。Repeat the above steps until all the colonies are inoculated into the microwell plate 8.
以上均为本申请的较佳实施例，并非依此限制本申请的保护范围，故：凡依本申请的结构、形状、原理所做的等效变化，均应涵盖于本申请的保护范围之内。All of the above are preferred embodiments of the application, and are not intended to limit the protection scope of the application. Therefore, all equivalent changes made according to the structure, shape, and principle of the application should be covered by the protection scope of the application. Inside.

Claims (15)

  1. 一种用于克隆挑取工作站的挑针自动复位机构，其特征在于：包括用于与传送件(2)固定的连接件(31)，所述连接件(31)上固设有导轨(33),所述导轨(33)竖直设置，所述导轨(33)上滑动配合有用于固定挑针(10)的挑针固定件，所述挑针固定件上设置有用于动力源抵接施力的受力部，所述连接件(31)与挑针固定件之间设置有用于使挑针固定件沿导轨(33)竖直向上复位的弹性复位件。An automatic needle-resetting mechanism for a clone-picking workstation, characterized in that it includes a connecting piece (31) for fixing to a transmission piece (2), and a guide rail (33) is fixed on the connecting piece (31) ), the guide rail (33) is vertically arranged, and a needle fixing member for fixing the needle (10) is slidingly fitted on the guide rail (33). As for the force receiving part, an elastic reset member for vertically upwardly resetting the pick fixing member along the guide rail (33) is arranged between the connecting piece (31) and the pick fixing member.
  2. 根据权利要求1所述的一种用于克隆挑取工作站的挑针自动复位机构，其特征在于：所述弹性复位件处于拉伸状态，所述挑针固定件包括滑动配合于导轨(33)的滑块(34)和固设于滑块(34)的挑针固定板(35)，所述挑针固定板(35)用于固定挑针(10)，所述滑块(34)处于初始状态时，所述滑块(34)抵接于连接件(31)的下表面。According to claim 1, an automatic reset mechanism for picking needles used in clone picking workstations, characterized in that: the elastic reset member is in a stretched state, and the picking needle fixing member includes a sliding fit on the guide rail (33) The slider (34) and the needle fixing plate (35) fixed on the slider (34), the needle fixing plate (35) is used to fix the needle (10), the slider (34) is in In an initial state, the slider (34) abuts against the lower surface of the connecting piece (31).
  3. 根据权利要求1所述的一种用于克隆挑取工作站的挑针自动复位机构，其特征在于：所述连接件(31)包括连接板(311)，所述连接板(311)沿垂直于传送件(2)周向的切线方向设置，所述导轨(33)固设于连接板(311)背向传送件(2)的一端。According to claim 1, a picking needle automatic reset mechanism for a clone picking workstation is characterized in that: the connecting piece (31) includes a connecting plate (311), and the connecting plate (311) is perpendicular to The transmission part (2) is arranged in the tangential direction of the circumference, and the guide rail (33) is fixed on the end of the connecting plate (311) facing away from the transmission part (2).
  4. 根据权利要求1所述的一种用于克隆挑取工作站的挑针自动复位机构，其特征在于：所述导轨(33)上螺纹连接有用于限制挑针固定件向下移动的范围的限位螺栓(342)。According to claim 1, a needle picking automatic reset mechanism for clone picking workstation is characterized in that: said guide rail (33) is screwed with a stopper for limiting the range of downward movement of the picking needle fixing member Bolts (342).
  5. 根据权利要求2所述的一种用于克隆挑取工作站的挑针自动复位机构，其特征在于：所述弹性复位件的两端分别固设于连接件(31)靠近导轨(33)的一端和挑针固定件靠近挑针(10)的一端，所述弹性复位件的轴线与挑针固定板(35)的侧面平行。According to claim 2, a needle picking automatic reset mechanism for clone picking workstation, characterized in that: the two ends of the elastic reset member are respectively fixed on one end of the connecting member (31) close to the guide rail (33) and one end of the pick-pin fixing member near the pick-pin (10), the axis of the elastic resetting member is parallel to the side of the pick-pin fixing plate (35).
  6. 根据权利要求1所述的一种用于克隆挑取工作站的挑针自动复位机构，其特征在于：所述弹性复位件为拉伸弹簧(32)或皮筋。The picking needle automatic reset mechanism for clone picking workstation according to claim 1, characterized in that: the elastic reset member is a tension spring (32) or a rubber band.
  7. 一种克隆挑取工作站，其特征在于：包括工作台(1)，所述工作台(1)上有呈闭环状设置的传送件(2)和用于驱动传送件(2)运动的动力件(21)，所述克隆挑取工作站还包括若干如权利要求1-6中任一所述的挑针自动复位机构(3)，若干所述挑针自动复位机构(3)沿传送件(2)周向间隔均布，所述连接件(31)固设于传送件(2)，所述挑针固定件底端固设有挑针(10)，所述挑针(10)竖向设置；A clone picking workstation, characterized in that it includes a workbench (1), on which there is a transmission element (2) arranged in a closed loop and a power element for driving the movement of the transmission element (2) (21), the clone picking workstation also includes several needle-picking automatic reset mechanisms (3) as described in any one of claims 1-6, several of the needle-picking automatic reset mechanisms (3) along the transmission member (2 ) is evenly distributed in the circumferential direction, the connecting part (31) is fixed on the transmission part (2), the bottom end of the needle fixing part is fixed with a needle (10), and the needle (10) is vertically arranged ;
    所述工作台(1)上沿其周向设置有若干套工作单元，所述工作单元包括沿传送件(2)的运动轨迹方向依次间隔排布的挑取工位(4)、接种工位(5)和消毒灭菌工位(6)，所述工作单元还包括用于提供驱动挑针(10)竖直向下移动的动力源的挑针驱动机构(91)；Several sets of work units are arranged on the workbench (1) along its circumference, and the work units include picking stations (4) and inoculation stations arranged at intervals along the direction of the movement track of the conveying member (2). (5) and the disinfection and sterilization station (6), the working unit also includes a needle pick drive mechanism (91) for providing a power source for driving the pick needle (10) to move vertically downward;
    所述克隆挑取工作站还包括控制器，所述控制器用于控制动力件(21)和挑针驱动机构(91)动作。The clone picking workstation also includes a controller, which is used to control the action of the power member (21) and the pick-up driving mechanism (91).
  8. 根据权利要求7所述的克隆挑取工作站，其特征在于：所述传送件(2)呈长圆型，所述传送件(2)包括直线部和位于直线部两端的弧形部，若干套所述工作单元位于传送件(2)直线部的两侧。The clone picking workstation according to claim 7, characterized in that: the transmission part (2) is oblong, and the transmission part (2) includes a straight line part and an arc part located at both ends of the straight line part, and several sets of The working units are located on both sides of the straight part of the conveying member (2).
  9. 根据权利要求7所述的克隆挑取工作站，其特征在于：所述消毒灭菌工位(6)包括固设于工作台(1)的消毒灭菌台(61)，所述消毒灭菌台(61)上沿传送件(2)的运动轨迹方向依次固设有毛刷组件(62)、高压喷头(63)和热风枪(64)。The clone picking workstation according to claim 7, characterized in that: the disinfection and sterilization station (6) includes a disinfection and sterilization station (61) fixed on the workbench (1), and the disinfection and sterilization station (61) is fixed with hairbrush assembly (62), high-pressure shower head (63) and hot air gun (64) successively along the motion track direction of conveying member (2).
  10. 根据权利要求9所述的克隆挑取工作站，其特征在于：所述毛刷 组件(62)包括竖向设置的刷头(621)和用于驱动刷头(621)转动的驱动件，所述刷头(621)的轴线方向与挑针(10)的轴线方向平行。The clone picking workstation according to claim 9, characterized in that: the brush assembly (62) includes a vertically arranged brush head (621) and a driving member for driving the brush head (621) to rotate, the The axial direction of the brush head (621) is parallel to the axial direction of the picking needle (10).
  11. 根据权利要求7所述的克隆挑取工作站，其特征在于：同一套所述工作单元中的挑针驱动机构(91)设置为两组，两组所述挑针驱动机构(91)分别与挑取工位(4)和接种工位(5)相对应，所述挑针驱动机构(91)为竖向设置的电缸。The clone picking workstation according to claim 7, characterized in that: the needle-picking driving mechanism (91) in the same set of said working unit is set into two groups, and the needle-picking driving mechanism (91) of the two groups is respectively connected to the picking needle driving mechanism (91). The station (4) corresponds to the inoculation station (5), and the needle-picking drive mechanism (91) is an electric cylinder arranged vertically.
  12. 根据权利要求7所述的克隆挑取工作站，其特征在于：所述挑取工位(4)包括第一X轴线性模组(41)、第一Y轴线性模组(42)和固设于第一Y轴线性模组(42)的输出端的培养皿承托板，所述第一X轴线性模组(41)沿垂直于传送件(2)周向的切线方向安装于工作台(1)上，所述第一Y轴线性模组(42)固设于第一X轴线性模组(41)的输出端且沿垂直于第一X轴线性模组(41)的方向布置，所述控制器还用于控制第一X轴线性模组(41)和第一Y轴线性模组(42)动作。The clone picking workstation according to claim 7, characterized in that: the picking station (4) includes a first X-axis linear module (41), a first Y-axis linear module (42) and a fixed The petri dish supporting plate at the output end of the first Y-axis linear module (42), the first X-axis linear module (41) is installed on the workbench ( 1) above, the first Y-axis linear module (42) is fixed at the output end of the first X-axis linear module (41) and arranged along a direction perpendicular to the first X-axis linear module (41), The controller is also used to control the actions of the first X-axis linear module (41) and the first Y-axis linear module (42).
  13. 根据权利要求7所述的克隆挑取工作站，其特征在于：所述接种工位(5)包括第二X轴线性模组(51)、第二Y轴线性模组(52)和固设于第二Y轴线性模组(52)的输出端的微孔板承托板，所述第二X轴线性模组(51)沿垂直于传送件(2)周向的切线方向安装于工作台(1)上，所述第二Y轴线性模组(52)固设于第二X轴线性模组(51)的输出端且沿垂直于第二X轴线性模组(51)的方向布置；所述控制器还用于控制第二X轴线性模组(51)、第二Y轴线性模组(52)动作。The clone picking workstation according to claim 7, characterized in that: the inoculation station (5) comprises a second X-axis linear module (51), a second Y-axis linear module (52) and a The microporous plate supporting plate of the output end of the second Y-axis linear module (52), the second X-axis linear module (51) is installed on the workbench ( 1) above, the second Y-axis linear module (52) is fixed at the output end of the second X-axis linear module (51) and arranged along a direction perpendicular to the second X-axis linear module (51); The controller is also used to control the actions of the second X-axis linear module (51) and the second Y-axis linear module (52).
  14. 根据权利要求7所述的克隆挑取工作站，其特征在于：所述传送件(2)包括同步带或链条。The clone picking workstation according to claim 7, characterized in that: the transmission member (2) includes a timing belt or a chain.
  15. 一种基于权利要求7-14任一所述的克隆挑取工作站的克隆挑取方法，其特征在于：包括以下步骤：A clone picking method based on the clone picking workstation described in any one of claims 7-14, characterized in that: comprising the following steps:
    控制动力件(21)带动传送件(2)转动，挑针自动复位机构(3)随传送件(2)转动，传送件(2)每转动一个挑针自动复位机构(3)间距，控制传送件(2)停顿，同时控制挑针驱动机构(91)对挑针固定件施力，使挑针固定件带动挑针(10)竖直向下移动，实现菌落的挑取或接种，菌落的挑取或接种完成后，控制挑针驱动机构(91)撤去对挑针固定件的施力，挑针固定件在弹性复位件的作用下带动挑针(10)竖直向上复位至初始位置；Control the power part (21) to drive the transmission part (2) to rotate, and the needle automatic reset mechanism (3) rotates with the transmission part (2). Part (2) pauses, and at the same time controls the needle driving mechanism (91) to apply force to the needle fixing part, so that the needle fixing part drives the needle (10) to move vertically downward, so as to realize the picking or inoculation of bacterial colonies, and the growth of bacterial colonies After picking or inoculation is completed, control the needle-picking drive mechanism (91) to remove the force applied to the needle-picking fixture, and the needle-picking fixture will drive the needle (10) to reset vertically upward to the initial position under the action of the elastic reset member;
    传送件(2)每转动一个挑针自动复位机构(3)间距，挑针自动复位机构(3)转动至消毒灭菌工位(6)完成挑针(10)消毒灭菌工作；Every time the transmission part (2) rotates a distance between the needle automatic reset mechanism (3), the needle automatic reset mechanism (3) rotates to the disinfection and sterilization station (6) to complete the needle selection (10) disinfection and sterilization work;
    重复上述步骤直至所有菌落都被接种到微孔板(8)中。Repeat the above steps until all the colonies are inoculated into the microwell plate (8).
PCT/CN2021/099731 2021-06-11 2021-06-11 Picking needle automatic reset mechanism, clone picking workstation and clone picking method WO2022257114A1 (en)

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