CN108441417B - Bacterial colony picking instrument - Google Patents
Bacterial colony picking instrument Download PDFInfo
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- CN108441417B CN108441417B CN201810547141.3A CN201810547141A CN108441417B CN 108441417 B CN108441417 B CN 108441417B CN 201810547141 A CN201810547141 A CN 201810547141A CN 108441417 B CN108441417 B CN 108441417B
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- 230000001580 bacterial effect Effects 0.000 title claims abstract description 52
- 238000004140 cleaning Methods 0.000 claims abstract description 42
- 238000011081 inoculation Methods 0.000 claims abstract description 39
- 239000011148 porous material Substances 0.000 claims abstract description 16
- 230000009471 action Effects 0.000 claims abstract description 14
- 230000001954 sterilising effect Effects 0.000 claims abstract description 12
- 238000007906 compression Methods 0.000 claims description 17
- 230000006835 compression Effects 0.000 claims description 16
- 230000000249 desinfective effect Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 230000000875 corresponding effect Effects 0.000 description 11
- 238000009434 installation Methods 0.000 description 8
- 238000010438 heat treatment Methods 0.000 description 6
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- 229910002027 silica gel Inorganic materials 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000012153 distilled water Substances 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010353 genetic engineering Methods 0.000 description 1
- 238000013537 high throughput screening Methods 0.000 description 1
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Classifications
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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
- C12M23/00—Constructional details, e.g. recesses, hinges
- C12M23/48—Holding appliances; Racks; Supports
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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
- C12M33/00—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus
- C12M33/02—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus by impregnation, e.g. using swabs or loops
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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
- C12M37/00—Means for sterilizing, maintaining sterile conditions or avoiding chemical or biological contamination
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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
- C12M39/00—Means for cleaning the apparatus or avoiding unwanted deposits of microorganisms
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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
- C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
- C12M41/30—Means for regulation, monitoring, measurement or control, e.g. flow regulation of concentration
- C12M41/36—Means for regulation, monitoring, measurement or control, e.g. flow regulation of concentration of biomass, e.g. colony counters or by turbidity measurements
Abstract
The invention belongs to the technical field of biomedical automation instruments, and particularly relates to a bacterial colony picking instrument which comprises a frame, a culture dish plane moving table, an image pickup device, an inoculation pore plate plane moving table, a rotating device, a cleaning and sterilizing device, a plurality of picking devices and a plurality of driving devices, wherein the frame is provided with a base and a top plate, the culture dish plane moving table is arranged on the base and used for driving the culture dish to do plane movement, the image pickup device is arranged on the base and used for collecting images of bacterial colonies in the culture dish, the inoculation pore plate plane moving table is arranged on the base and used for driving an inoculation pore plate to do plane movement, the rotating device is arranged on the base and comprises a disc capable of rotating circumferentially, the cleaning and sterilizing device is arranged on the base and positioned below the periphery of the disc, and the plurality of picking devices are all arranged on the disc and are arranged at intervals along the periphery of the disc and the driving devices are used for carrying out picking actions. In the working process, the invention has high picking efficiency, and the identification precision of bacterial colonies is greatly improved under the cooperation of the camera device; meanwhile, the whole structure of the instrument is not complex, and the operation is convenient.
Description
Technical Field
The invention belongs to the technical field of biomedical automation instruments, and particularly relates to a bacterial colony picking instrument.
Background
At present, in biological experiments such as biological genetic engineering, microbial culture and the like, bacterial colony picking is mainly completed manually. With the increasing application, a bacterial colony selection experiment often needs to select thousands of clone colonies, the workload is large, the manual selection efficiency is low, and the clone colonies are selected based on subjective judgment, so that target clones are easy to miss. Therefore, manual picking of bacterial colonies has gradually failed to meet the high throughput experimental requirements.
With the development of biotechnology, traditional manual selection of bacterial colonies has gradually failed to meet the requirements of high throughput screening. The bacterial colony is selected manually and automatically by adopting a bacterial selecting instrument, so that the selecting efficiency can be improved, and the selecting precision is greatly improved. At present, a bacterial colony selecting instrument mainly adopts a 96-needle picking head structure and can move on three rectangular coordinate moving shafts X, Y, Z. Firstly, adopting a machine vision technology, identifying and positioning bacterial colonies in a culture dish by using a camera, picking the bacterial colonies one by a 96-needle picking head, then inoculating the bacterial colonies into an inoculating hole plate once, and finally cleaning and sterilizing the 96-needle picking head.
The existing main stream 96 needle picking head picking instrument has the defects that: and (1) the picking efficiency is not high. In the structure selection mode of the 96-needle picking head, three steps of picking, inoculating and sterilizing are actually completed in series and sequentially, and the time of one round of picking is the time sum of the three steps. The picking efficiency of the structure can not be greatly improved by limiting the picking mode. (2) the structure is complex. The 96-needle picking head structure is selected, the 96-needle picking head is used as a key component, each needle can move independently, the internal design is complex, the driving mode adopts pneumatic operation, and the response is slow. (3) recognition accuracy is low. The 96-needle picking head structure picking mode to facilitate image acquisition and picking, the camera and the 96-needle picking head are fixedly connected together, which means that the camera is mobile. The calibration accuracy in this way is lower than if the camera is fixed, and the camera can tremble during the back and forth movement, which has a great influence on the final accurate identification of bacteria.
Disclosure of Invention
The invention aims to provide a bacterial colony picking instrument, and aims to solve the technical problems of low picking efficiency, low identification precision and complex structure of a 96-needle picking head picking instrument in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme: a bacterial colony picker comprising:
the rack comprises a base and a top plate connected to the base;
the culture dish plane moving platform is arranged on the base and is used for driving the culture dish to do plane motion;
the camera device is arranged on the base and positioned at the side of the culture dish plane moving table and used for collecting images of bacterial colonies in the culture dish;
the inoculation pore plate plane moving platform is arranged on the base and is used for driving the inoculation pore plate to do plane movement;
the rotating device is arranged on the base and comprises a disc which can circumferentially rotate and is positioned below the top plate;
the cleaning and sterilizing device is arranged on the base and positioned below the periphery of the disc;
the picking devices are arranged on the disc and are arranged at intervals along the periphery of the disc;
and each driving device is arranged on the top plate and positioned above the disc, and can respectively correspond to each picking device after the disc rotates by an angle so as to drive each picking device to carry out picking action.
Preferably, the rotary indexing device further comprises a rotary indexer, the rotary indexer is mounted in the middle of the base, and the disc is fixedly connected with the output end of the rotary indexer.
Preferably, the cleaning and disinfecting device comprises a first cleaning tank, a second cleaning tank and a heater, wherein the first cleaning tank, the second cleaning tank and the heater are arranged at intervals and can respectively correspond to each picking device after the disc rotates by an angle.
Preferably, the camera device comprises a support, a camera and a backlight, wherein the support is fixed on the base and located at the side of the culture dish plane moving table, the support comprises a cantilever plate, the backlight is fixed on the base and located below the cantilever plate, and the camera is mounted on the cantilever plate and the lens faces towards the backlight.
Preferably, the culture dish plane moving table comprises a first X-axis linear module, a first Y-axis linear module and a culture dish supporting plate, wherein the first X-axis linear module is installed on the base and is arranged along the X-axis direction, the first Y-axis linear module is fixed on the output end of the first X-axis linear module and is arranged along the Y-axis direction, and the culture dish supporting plate is fixed on the output end of the first Y-axis linear module.
Preferably, the inoculation orifice plate plane moving table comprises a second X-axis linear module, a second Y-axis linear module and an inoculation orifice plate bearing plate, wherein the second X-axis linear module is installed on the base and is arranged along the X-axis direction, the second Y-axis linear module is fixed on the output end of the second X-axis linear module and is arranged along the Y-axis direction, and the inoculation orifice plate bearing plate is fixed on the output end of the second Y-axis linear module.
Preferably, the picking device comprises:
the sliding device comprises a mounting plate, a picking executing piece, a push rod and a pressing plate, wherein the mounting plate is vertically fixed on the periphery of the disc, the picking executing piece is connected to the mounting plate in a sliding manner, the pressing plate is connected with the picking executing piece and is positioned above the picking executing piece, the pressing plate extends to the side of the picking executing piece, and the push rod is fixedly connected with the pressing plate and is positioned under the movement direction of the driving end of the driving device;
the rebound device comprises a guide rod, a compression spring, an upper fixing plate and a lower fixing plate, wherein the upper fixing plate is fixedly arranged on the mounting plate and located on the side of the picking executing piece, the upper fixing plate is arranged at intervals from top to bottom, the lower end of the guide rod is fixedly connected with the lower fixing plate, the upper end of the guide rod penetrates through the pressing plate and is fixedly connected with the upper fixing plate, the compression spring is sleeved outside the guide rod, and two ends of the compression spring are respectively abutted with the lower fixing plate and the pressing plate.
Preferably, the rebound device further comprises a cushion pad fixed on the guide bar, and the cushion pad is located between the pressing plate and the upper fixing plate.
Preferably, the picking device further comprises a limiting device, wherein the limiting device is installed on the installation plate, is located between the picking executing piece and the guide rod, and is used for limiting the position of the pressing plate.
Preferably, the limiting device comprises a fixed block and a stop block, wherein the fixed block is fixedly connected to the mounting plate and located between the picking executing piece and the guide rod, and the stop block is connected with the fixed block to abut against the pressing plate and limit the pressing plate when the pressing plate descends.
Preferably, the limiting device further comprises a screw and two locking nuts, a threaded hole is formed in the fixing block, the screw penetrates through the threaded hole and is in threaded connection with the threaded hole, the two locking nuts are in threaded connection with the screw and are located above and below the threaded hole respectively, and the stop block is fixedly connected to the upper end of the screw.
Preferably, the driving device comprises a double-acting air cylinder, a magnetic switch and a three-position five-way electromagnetic valve, wherein the double-acting air cylinder is fixed on the top plate and is arranged above the push rod, the extending direction of a piston rod of the double-acting air cylinder serving as the driving end of the driving device is opposite to the upper end of the push rod, the magnetic switch is arranged on the double-acting air cylinder, and the three-position five-way electromagnetic valve is connected with the air inlet end and the air outlet end of the double-acting air cylinder.
Preferably, the driving device is a cylinder or a linear motor mounted on the top plate, and the output end of the cylinder or the linear motor is opposite to the upper end of the push rod.
Preferably, the picking actuator is a picking needle or a suction tube.
The invention has the beneficial effects that: when the bacterial colony picking instrument is used, firstly, a culture dish and an inoculation pore plate are respectively placed on a culture dish plane moving table and an inoculation pore plate plane moving table, then the culture dish is driven to move to the lower part of a camera device by the culture dish plane moving table, the camera device collects images of bacterial colonies in the culture dish and finishes identification and positioning, the culture dish is driven by the culture dish plane moving table to move to the lower part of the periphery of a disc, the picking device picks bacterial colonies in the culture dish under the driving of a driving device, then the disc is driven by a rotating device to rotate circumferentially to drive the picking device to rotate circumferentially until the picking device moves to the upper part of a cleaning and sterilizing device, at the moment, the picking device is driven by the driving device to perform cleaning and/or heating work again, then the rotating device drives the disc to rotate circumferentially to drive the picking device to rotate circumferentially until the picking device moves to the upper part of the inoculation pore plate which is positioned after the driving of the inoculation pore plate plane moving table, and at the moment, the picking device is driven by the driving device to perform inoculation work; the picking devices and the driving devices are multiple and can form one-to-one corresponding positions after rotating the angles, so that the picking devices can work simultaneously, a plurality of stations for picking, inoculating, cleaning and heating can be synchronously performed, the picking efficiency is high in the whole working process, and the identification precision of bacterial colonies is greatly improved under the cooperation of the camera device; meanwhile, the whole structure of the instrument is not complex, and the operation is convenient.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of a bacterial colony picking apparatus according to an embodiment of the present invention.
Fig. 2 is another schematic perspective view of a bacterial colony picking apparatus according to an embodiment of the present invention.
Fig. 3 is a top view of a bacterial colony picker according to an embodiment of the present invention.
Fig. 4 is a schematic structural view of a picking device and a driving device of a bacterial colony picking device according to an embodiment of the present invention.
Fig. 5 is a schematic perspective view of a picking device of a bacterial colony picking apparatus according to an embodiment of the present invention.
Fig. 6 is a front view of a picking device of a bacterial colony picking apparatus according to an embodiment of the present invention.
FIG. 7 is a side view of a picking device of a bacterial colony picking instrument according to an embodiment of the present invention.
Wherein, each reference sign in the figure:
10-frame 11-base 12-top plate
13-connection plate 20-culture dish plane moving table 21-first X-axis linear module
22-first Y-axis linear module 23-dish support plate 30-camera device
31-stand 32-camera 33-backlight
40-inoculating well plate plane moving table 41-second X-axis linear module 42-second Y-axis linear module
43-inoculating well plate supporting plate 50-rotating device 51-disk
52-rotary indexer 60-cleaning and disinfecting device 61-first cleaning tank
62-second cleaning tank 63-heater 70-picking device
71-sliding device 72-rebound device 73-limiting device
80-driving device 81-double-acting cylinder 82-magnetic switch
83-three-position five-way electromagnetic valve 90-culture dish 100-inoculation pore plate
311-cantilever plate 711-mounting plate 712-picking actuator
713-push rod 714-pressure plate 715-guide rail
716-slider 717-mounting block 721-guide bar
722-compression spring 723-upper fixing plate 724-lower fixing plate
725-cushion 731-fixing block 732-stopper
733-screw 734-lock nut 811-piston rod.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to fig. 1 to 7 are exemplary and intended to illustrate the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1 to 3, the bacterial colony picking apparatus provided by the embodiment of the invention includes:
a frame 10 including a base 11 and a top plate 12 coupled to the base 11; the base 11 and the top plate 12 are both provided for mounting and supporting other components, the base 11 being mainly used for mounting and supporting components arranged below, and the top plate 12 being mainly used for mounting and supporting components arranged above. Wherein the base 11 and the bottom plate may be made of metal plates. In addition, the top plate 12 is connected to the base 11 through a connection plate 13 arranged vertically, so that a mounting accommodating space is formed between the base 11 and the top plate 12.
A culture dish plane moving table 20 mounted on the base 11 and used for driving the culture dish 90 to perform plane motion; the culture dish flat moving table 20 is a device capable of at least realizing flat X-axis and Y-axis movement, and is mainly used for driving the culture dish 90 to perform flat movement, so that the culture dish 90 can be driven to move into a space within a travel range according to actual working requirements.
An image pickup device 30 mounted on the base 11 and located at a side of the culture dish plane moving stage 20 for picking up an image of bacterial colonies in the culture dish 90; the image capturing device 30 can capture an image, so that the image capturing device 30 can capture an image of bacterial colonies in the culture dish 90, and high-precision positioning can be realized according to the captured image, wherein the culture dish 90 can be moved to a shooting range of the image capturing device 30 for image capturing under the driving of the culture dish plane moving table 20, and after the image capturing is completed, the culture dish 90 is driven by the culture dish plane moving table 20 to move to a station of a next working link.
An inoculation orifice plate flat moving table 40 mounted on the base 11 and used for driving the inoculation orifice plate 100 to perform flat movement; the inoculation orifice plate planar moving table 40 is a device capable of at least realizing planar X-axis and Y-axis movement, and is mainly used for driving the inoculation orifice plate 100 to perform planar movement, so that the inoculation orifice plate 100 can be driven to move into a space within a stroke range according to actual working requirements. The plate stage 40 is similar to the plate stage 20 described above, and may be provided at intervals, for example, on both left and right sides of the entire apparatus body. Among them, the inoculation well plate 100 is preferably a 96 well plate.
A rotating device 50 mounted on the base 11 and comprising a disk 51 rotatable circumferentially and positioned below the top plate 12; specifically, the main function of the rotating device 50 is to drive its own disc 51 to rotate circumferentially. The disc 51 can be provided with a plurality of stations for virtual picking, inoculation, cleaning, heating and the like, so that corresponding stations arranged on the disc 51 can be determined to realize corresponding work.
A cleaning and sterilizing device 60 mounted on the base 11 and located below the periphery of the disc 51; the cleaning and disinfecting device 60 is used for cleaning and disinfecting the executing piece for picking and inoculating work.
A plurality of picking devices 70, wherein each picking device 70 is mounted on the disc 51 and is arranged at intervals along the periphery of the disc 51; the picking device 70 is an executing device, which executes corresponding operations such as picking, inoculating, cleaning, heating and the like of bacterial colonies when rotating to corresponding work stations along the axial direction of the disc 51.
The driving devices 80 are mounted on the top plate 12 and located above the disc 51, and after the disc 51 rotates by an angle, the driving devices 80 respectively correspond to the picking devices 70 to drive the picking devices 70 to perform a picking action. The driving device 80 is mainly used for driving the picking device 70 to perform the operations of picking, inoculating, cleaning, heating and the like on bacterial colonies. The drive means 80 may be mounted in connection with the picking means 70 or in a separate non-contact mounting.
Specifically, when the bacterial colony picking apparatus of the embodiment of the present invention is used, firstly, the culture dish 90 and the inoculation pore plate 100 are respectively placed on the culture dish plane moving table 20 and the inoculation pore plate plane moving table 40, then the culture dish 90 is driven to move to the lower part of the image pickup device 30 by the culture dish plane moving table 20, the image pickup device 30 collects the image of the bacterial colony in the culture dish 90 and completes identification and positioning, after the culture dish plane moving table 20 drives the culture dish 90 to move to the lower part of the periphery of the disc 51, the picking device 70 picks the bacterial colony in the culture dish 90 under the driving of the driving device 80, then the rotating device 50 drives the disc 51 to circumferentially rotate to drive the picking device 70 to circumferentially rotate until the picking device 70 moves to the upper part of the cleaning and sterilizing device 60, at this time, the picking device 70 is driven by the driving device 80 to circumferentially rotate again, and the picking device 70 is driven to circumferentially rotate until the picking device 70 moves to the upper part of the inoculation cleaning and sterilizing device 60 after the inoculation pore plate plane moving table 40 is driven to complete positioning; because the picking device 70 and the driving device 80 are provided with a plurality of positions which are in one-to-one correspondence after the rotation angle, each picking device 70 can work simultaneously, so that the synchronous operation of a plurality of stations for picking, inoculating, cleaning and heating can be realized, the picking efficiency is high in the whole working process, compared with a 96-needle picking head structure, the picking efficiency is improved by three times almost, and the identification precision of bacterial colonies is also greatly improved under the cooperation of the image pickup device 30; meanwhile, the whole structure of the instrument is not complex, and the operation is convenient.
In this embodiment, as shown in fig. 1, the rotary indexing device further includes a rotary indexer 52, the rotary indexer 52 is mounted on the middle of the base 11, and the disc 51 is fixedly connected to an output end of the rotary indexer 52. Specifically, the rotary indexer 52 may be used to drive the disc 51 to rotate, and may control the rotation angle in real time, so as to ensure that each picking device 70 can correspond to the lower part of one driving device 80 after rotating by the rotation angle, so that the driving device 80 can control the picking device 70 to work.
In this embodiment, as shown in fig. 2 to 3, the cleaning and sterilizing device 60 includes a first cleaning tank 61, a second cleaning tank 62, and a heater 63, where the first cleaning tank 61, the second cleaning tank 62, and the heater 63 are disposed at intervals, and may correspond to each of the picking devices 70 after the disc 51 rotates by an angle. Specifically, distilled water or other cleaning liquid may be added to the first cleaning tank 61 to clean the picking member 712 of the picking device 70, 70% alcohol may be added to the second cleaning tank 62 to clean the picking member 712, and the heater 63 is used to heat the picking member 712 for high temperature sterilization.
Wherein, the graduation value (interval) among the first cleaning bath 61, the second cleaning bath 62 and the heater 63 is equal to the graduation value (interval) of any three adjacent picking devices 70. This ensures that three picking devices 70 can simultaneously perform the corresponding works in the first cleaning tank 61, the second cleaning tank 62, and the heater 63.
In this embodiment, as shown in fig. 1 to 3, the image capturing device 30 includes a bracket 31, a camera 32 and a backlight 33, the bracket 31 is fixed on the base 11 and located at a side of the culture dish plane moving table 20, the bracket 31 includes a cantilever plate 311, the backlight 33 is fixed on the base 11 and located below the cantilever plate 311, and the camera 32 is mounted on the cantilever plate 311 and the lens is disposed toward the backlight 33. Specifically, the cantilever plate 311 of the bracket 31 is arranged to ensure that the camera 32 mounted thereon is suspended in a certain space position, so that the lens of the camera 32 can face the backlight 33 conveniently, the effect of capturing images of the camera 32 is improved, and the quality of capturing images is improved.
In this embodiment, as shown in fig. 1 to 3, the culture dish planar mobile station 20 includes a first X-axis linear module 21, a first Y-axis linear module 22, and a culture dish support plate 23, wherein the first X-axis linear module 21 is mounted on the base 11 and is arranged along the X-axis direction, the first Y-axis linear module 22 is fixed on the output end of the first X-axis linear module 21 and is arranged along the Y-axis direction, and the culture dish support plate 23 is fixed on the output end of the first Y-axis linear module 22. Specifically, the driving end of the first X-axis linear module 21 can realize movement in the X-axis direction, and the driving end of the first Y-axis linear module 22 can realize movement in the Y-axis direction, so that the first Y-axis linear module 21 drives the first Y-axis linear module 22 to move along the X-axis and the first Y-axis linear module 22 drives the culture dish support plate 23 to move along the Y-axis to realize planar movement of the culture dish support plate 23 along the X-axis and the Y-axis, and then the culture dish 90 placed on the culture dish support plate 23 can realize planar movement along the X-axis and the Y-axis, and the culture dish 90 can be driven to move to a proper position according to practical requirements to perform corresponding work.
In this embodiment, as shown in fig. 1 and 3, the inoculation orifice plate planar moving table 40 includes a second X-axis linear module 41, a second Y-axis linear module 42, and an inoculation orifice plate support plate 43, wherein the second X-axis linear module 41 is mounted on the base 11 and is arranged along the X-axis direction, the second Y-axis linear module 42 is fixed on the output end of the second X-axis linear module 41 and is arranged along the Y-axis direction, and the inoculation orifice plate support plate 43 is fixed on the output end of the second Y-axis linear module 42. Specifically, the driving end of the second X-axis linear module 41 can realize movement in the X-axis direction, and the driving end of the second Y-axis linear module 42 can realize movement in the Y-axis direction, so that the second Y-axis linear module 41 drives the second Y-axis linear module 42 to move along the X-axis in combination with the second Y-axis linear module 42 drives the inoculation orifice plate support plate 43 to move along the Y-axis to realize the planar movement of the inoculation orifice plate support plate 43 along the X-axis and the Y-axis, and then the inoculation orifice plate 100 placed on the inoculation orifice plate support plate 43 can realize the planar movement along the X-axis and the Y-axis, and the inoculation orifice plate 100 can be driven to move to a proper position according to practical requirements to perform corresponding work.
Preferably, the first X-axis linear module 21, the first Y-axis linear module 22, the second X-axis linear module 41 and the second Y-axis linear module 42 are all identical in structure, and only the layout of the spatial positions is different at the time of specific installation. The first X-axis linear module 21, the first Y-axis linear module 22, the second X-axis linear module 41 and the second Y-axis linear module 42 each comprise a housing, a screw rod which is arranged in the housing and is rotatable along the air length, a movable nut which is connected with the screw rod in a threaded manner, a sliding plate which is fixedly connected with the movable nut and is exposed out of the housing and serves as a driving end, and a motor which is arranged in the housing and is connected with one end of the screw rod, so that the motor rotates to drive the screw rod to rotate to drive the movable nut to linearly (X-axis or Y-axis) move, and the culture dish 90 or the inoculation pore plate 100 which is fixedly connected with the sliding plate can realize the movement of the X-axis or the Y-axis. Typically, the first X-axis linear module 21, the first Y-axis linear module 22, the second X-axis linear module 41, and the second Y-axis linear module 42 each further include a rail or guide shaft and holes that function as guides and supports. Of course, the cooperation of the screw rod and the moving nut can also be replaced by a belt and a belt pulley, and details are not repeated here.
In this embodiment, as shown in fig. 4 to 7, the picking device 70 includes a sliding device 71 and a rebound device 72; the sliding device 71 comprises a mounting plate 711, a picking execution piece 712, a push rod 713 and a pressing plate 714, wherein the picking execution piece 712 is connected to the mounting plate 711 in a sliding manner, the pressing plate 714 is connected with the picking execution piece 712 and is positioned above the picking execution piece 712, the pressing plate 714 extends to the side of the picking execution piece 712, and the push rod 713 is fixedly connected with the pressing plate 714 and is positioned under the movement direction of the driving end of the driving device 80; the rebound device 72 includes a guide rod 721, a compression spring 722, an upper fixing plate 723 and a lower fixing plate 724, wherein the upper fixing plate 723 and the lower fixing plate 724 are fixedly mounted on the mounting plate 711 and are located at the side of the picking executing member 712, the upper fixing plate 723 and the lower fixing plate 724 are arranged at intervals up and down, the lower end of the guide rod 721 is fixedly connected with the lower fixing plate 724, the upper end of the guide rod 721 passes through the pressing plate 714 and is fixedly connected with the upper fixing plate 723, the compression spring 722 is sleeved outside the guide rod 721, and two ends of the compression spring 722 are respectively abutted with the lower fixing plate 724 and the pressing plate 714. In specific use, the driving end of the driving device 80 moves downwards until abutting against the push rod 713, the push rod 713 moves downwards and pushes the pressing plate 714 connected with the push rod 713 to move downwards, the pressing plate 714 drives the picking executing piece 712 to move downwards, the picking executing piece 712 performs corresponding actions, the movement of the picking executing piece 712 can be accurately controlled by the driving device 80, and the driving device 80 and the picking device 70 are in a separated design, namely, after the driving device 80 finishes the single downward movement executing action of controlling the picking executing piece 712, the automatic withdrawal continues to keep a state separated from the picking device 70; because the pressing plate 714 extends to the side part of the picking executing piece 712 and is always in contact with the compression spring 722 of the rebound device 72 in the downward movement process, the pressing plate 714 can simultaneously compress the compression spring 722, after the control exerted by the driving device 80 is withdrawn, the pressing plate 714 is forced to move upwards by taking the guide rod 721 as the guide under the action of the rebound force of the compression spring 722, and the pressing plate 714 simultaneously drives the picking executing piece 712 to move upwards, so that the automatic recovery and reset are realized, the picking executing piece 712 can realize the automatic recovery and reset, the driving device 80 can realize the action of controlling the picking executing pieces 712 of the plurality of picking devices 70, namely the driving device 80 is fixed in position, any one of the picking executing pieces can be controlled to work along with the circumferential rotation of the disc 51 to the picking device 70 below the driving device 80, and the whole device has high positioning precision, simple structure and more flexible use.
In this embodiment, the picking actuator 712 is a component for performing the related action, and preferably, the picking actuator 712 is a picking needle or a suction tube. In this way, the picking needle or the pipette can be used as the picking executing piece 712 to respectively realize the picking and pipetting actions, so that the picking and pipetting device can be used for extracting or transferring samples in biological medicine experiments.
Further, the tip diameter of the picking needle is 1mm, the diameter of the upper body is about 4mm and not more than 6mm, and the material can be heat-resistant metal.
In this embodiment, as shown in fig. 1 and 4, the driving device 80 includes a double-acting cylinder 81, a magnetic switch 82, and a three-position five-way electromagnetic valve 83, the double-acting cylinder 81 is fixed on the top plate 12 and is disposed above the push rod 713, and the extending direction of a piston rod 811 of the double-acting cylinder 81 as the driving end of the driving device 80 is disposed opposite to the upper end of the push rod 713, the magnetic switch 82 is mounted on the double-acting cylinder 81, and the three-position five-way electromagnetic valve 83 is connected to the air inlet end and the air outlet end of the double-acting cylinder 81. Specifically, the magnetic switch 82 is used for detecting the position of the piston of the double-acting cylinder 81, the three-position five-way electromagnetic valve 83 can control the air inlet, the air outlet and the pressure maintaining of the double-acting cylinder 81, so that the stop of the double-acting cylinder 81 at any position is realized, and the double-acting cylinder 81 can control the push rod 713 of the picking device 70 to move downwards.
Preferably, the double acting cylinder 81 is directly above the push rod 713 and is about 10mm apart.
More specifically, in practical application, the magnetic switch 82 and the three-position five-way electromagnetic valve 83 are electrically connected to an external control center, which may be a system capable of implementing information interaction, such as a PLC controller or a computer. That is, after the piston of the double-acting cylinder 81 moves to the required position, the magnetic switch 82 detects the position of the piston and sends a signal to the control center, the three-position five-way electromagnetic valve 83 in the control center gives an instruction, and the three-position five-way electromagnetic valve 83 finishes reversing, so that the accurate positioning of the piston of the double-acting cylinder 81 is realized.
In other embodiments, the driving device 80 may also be a cylinder or a linear motor, etc. and is formed by matching a lead screw with a conveyor belt.
In this embodiment, as shown in fig. 4 to 7, the rebound device 72 further includes a cushion 725, the cushion 725 is fixed to the guide rod 721, and the cushion 725 is located between the pressing plate 714 and the upper fixing plate 723. Specifically, when the pressing plate 714 moves up and down under the action of the elastic force of the compression spring 722, the pressing plate 714 abuts against the lower end of the cushion 725, and the cushion 725 has a buffering property, so that the pressing plate 714 can be prevented from directly colliding with the upper fixing plate 723, the running of the whole device can be ensured to be more stable, and the pressing plate 714 or the upper fixing plate 723 is prevented from being damaged.
Preferably, the cushion 725 may be a silica gel cushion block or a rubber cushion block, and both the silica gel cushion block and the rubber cushion block have good toughness, and may be in flexible contact with the pressing plate 714, so as to buffer the impact force of the pressing plate 714 under the action of the elastic force of the compression spring 722.
In this embodiment, as shown in fig. 4 to 7, the sliding device 71 further includes a guide rail 715 and a slide block 716, where the guide rail 715 is fixedly installed on the mounting plate 711 and is parallel to the guide rod 721, the slide block 716 is slidably connected to the guide rail 715, and the picking actuator 712 and the pressing plate 714 are both connected to the slide block 716. Specifically, the guide rail 715 is configured to guide the picking actuator 712, and the slider 716 is configured to support the picking actuator 712, the pressing plate 714, and the pushing rod 713. The slider 716 slides along the length direction of the guide rail 715, the sliding route is stable, and the moving accuracy can be ensured, so that the positioning accuracy of the whole device can be ensured.
In this embodiment, as shown in fig. 4 to 7, the sliding device 71 further includes a mounting block 717, the mounting block 717 is fixedly connected to the sliding block 716, the pressing plate 714 is fixedly connected to an upper end of the mounting block 717, the mounting block 717 is provided with an upper mounting hole (not shown) and a lower mounting hole (not shown) which are vertically corresponding to each other, a lower end of the pushing rod 713 passes through the pressing plate 714 and is fixedly inserted into the upper mounting hole, and an upper end of the picking actuator 712 is fixedly inserted into the lower mounting hole. Specifically, the installation of the installation block 717 allows the connection and installation of the picking actuator 712, the pressing plate 714 and the pushing rod 713, so that the picking actuator 712, the pressing plate 714 and the pushing rod 713 are all connected with the sliding block 716 indirectly, and the installation block 717 allows the whole sliding device 71 to have a wider installation space, that is, the space position in the thickness direction of the installation block 717 is increased for the layout and connection of the rest components. In this way, the push rod 713 is pressed down under the action of the driving device 80, and the pressing plate 714 and the mounting block 717 simultaneously realize downward movement along the guide rail 715 under the action of the sliding block 716, so that the picking executing piece 712 moves along with the mounting block 717 to realize corresponding executing action.
In this embodiment, the pressing plate 714 is provided with a first through hole (not shown) through which the push rod 713 passes, and a second through hole (not shown) through which the guide rod 721 passes. Specifically, the first via hole is provided for the push rod 713 to pass through so that the push rod 713 may be inserted and fixed with the upper mounting hole of the mounting block 717. The provision of the second through hole ensures that the pressure plate 714 is in clearance fit with the guide rod 721 so that the pressure plate 714 can move up and down along the guide plate to effect an upward movement against the compression spring 722 and under the force of the compression spring 722.
In this embodiment, as shown in fig. 4 to 7, the picking device 70 further includes a limiting device 73, where the limiting device 73 is mounted on the mounting plate 411 and located between the picking actuator 712 and the guide rod 721, and is used for limiting the position of the pressing plate 714. Specifically, the limiting device 73 may be a mechanical limiting device, so as to ensure the lowest descending position of the pressing plate 714, and improve the positioning accuracy of the picking executing piece 712.
Preferably, the limiting device 73 includes a fixing block 731 and a stopper 732, wherein the fixing block 731 is fixedly connected to the mounting plate 711 and located between the picking actuator 712 and the guide rod 721, and the stopper 732 is connected to the fixing block 731 to abut against the pressing plate 714 and limit the pressing plate 714 when the pressing plate 714 descends. Specifically, the stopper 73 serves to limit the stroke of the downward movement of the picking effector 712. That is, after the pressing plate 714 moves downward by a certain height, the pressing plate 714 will abut against the stop block 732 connected to the fixing block 731, so that the stop block 732 limits the pressing plate 714 to move downward continuously, so as to limit the pressing plate 714, and the picking executing piece 712 descends indirectly along with the descent of the pressing plate 714, so that after the pressing plate 714 is limited, the picking executing piece 712 is also limited, and thus, the descent stroke of the picking executing piece 712 can be set, and the precise positioning of the picking executing piece 712 is further ensured.
In this embodiment, as shown in fig. 4 to 7, the limiting device 73 further includes a screw 733 and two locking nuts 734, a threaded hole (not shown) is formed in the fixing block 731, the screw 733 passes through the threaded hole and is in threaded connection with the threaded hole, the two locking nuts 734 are in threaded connection with the screw 733 and are respectively located above and below the threaded hole, and the stop block 732 is fixedly connected to the upper end of the screw 733. Specifically, the screw 733 and the two lock nuts 734 jointly realize the adjustment of the height position of the stopper 732, the screw 733 is in threaded connection with the threaded hole formed in the fixed block 731, so that when the screw 733 is rotated, the screw 733 can realize the linear displacement in the height direction, in this way, the stopper 732 connected to the upper end of the screw 733 also realizes the adjustment of the height position, after the adjustment of the height position of the stopper 732 is completed, the screw 733 can be locked by tightening the two lock nuts 734, the screw 733 is prevented from being displaced up and down, the adjustment of the height position of the stopper 732 is realized, the limitation of the descending stroke of the picking executing piece 712 is further realized, and the accurate positioning of the picking executing piece 712 is realized.
The positioning of the picking device 70 of the invention combines the electrical positioning (three-position five-way electromagnetic valve 83 and magnetic switch 82) and the mechanical positioning (stop 732) to realize the positioning with high precision
In other embodiments, the driving device 80 is a cylinder or a linear motor mounted on the top plate 12, and an output end of the cylinder or the linear motor is disposed opposite to an upper end of the push rod 713.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (12)
1. A bacterial colony picking instrument, characterized in that: comprising the following steps:
the rack comprises a base and a top plate connected to the base;
the culture dish plane moving platform is arranged on the base and is used for driving the culture dish to do plane motion;
the camera device is arranged on the base and positioned at the side of the culture dish plane moving table and used for collecting images of bacterial colonies in the culture dish;
the inoculation pore plate plane moving platform is arranged on the base and is used for driving the inoculation pore plate to do plane movement;
the rotating device is arranged on the base and comprises a disc which can circumferentially rotate and is positioned below the top plate;
the cleaning and sterilizing device is arranged on the base and positioned below the periphery of the disc;
the picking devices are arranged on the disc and are arranged at intervals along the periphery of the disc;
the driving devices are arranged on the top plate and positioned above the disc, and can respectively correspond to the picking devices after the disc rotates by an angle so as to drive the picking devices to carry out picking actions;
the picking device comprises a sliding device and a rebound device, the sliding device comprises a mounting plate, a picking executing piece, a push rod and a pressing plate, the mounting plate is vertically fixed on the periphery of the disc, the picking executing piece is connected to the mounting plate in a sliding manner, the pressing plate is connected with the picking executing piece and is located above the picking executing piece, the pressing plate extends to the side of the picking executing piece, and the push rod is fixedly connected with the pressing plate and is located under the movement direction of the driving end of the driving device; the sliding device further comprises a guide rail and a sliding block, the guide rail is fixedly arranged on the mounting plate and is parallel to the guide rod, the sliding block is connected to the guide rail in a sliding manner, and the picking executing piece and the pressing plate are connected with the sliding block; the sliding device further comprises a mounting block, the mounting block is fixedly connected to the sliding block, the pressing plate is fixedly connected to the upper end of the mounting block, the mounting block is provided with an upper mounting hole and a lower mounting hole which are vertically corresponding, the lower end of the push rod penetrates through the pressing plate and is fixedly inserted into the upper mounting hole, and the upper end of the picking executing piece is fixedly inserted into the lower mounting hole;
the rebound device comprises a guide rod, a compression spring, an upper fixing plate and a lower fixing plate, wherein the upper fixing plate and the lower fixing plate are fixedly arranged on the mounting plate and are positioned at the side of the picking executing piece, the upper fixing plate and the lower fixing plate are arranged at intervals up and down, the lower end of the guide rod is fixedly connected with the lower fixing plate, the upper end of the guide rod penetrates through the pressing plate and is fixedly connected with the upper fixing plate, the compression spring is sleeved outside the guide rod, and two ends of the compression spring are respectively abutted with the lower fixing plate and the pressing plate;
the picking device further comprises a limiting device, wherein the limiting device is arranged on the mounting plate and located between the picking executing piece and the guide rod and used for limiting the downward movement stroke of the picking executing piece.
2. The bacterial colony picker of claim 1, wherein: the rotating device further comprises a rotating indexer, the rotating indexer is arranged in the middle of the base, and the disc is fixedly connected with the output end of the rotating indexer.
3. The bacterial colony picker of claim 1, wherein: the cleaning and disinfecting device comprises a first cleaning tank, a second cleaning tank and a heater, wherein the first cleaning tank, the second cleaning tank and the heater are arranged at intervals and can respectively correspond to each picking device after the disc rotates at an angle.
4. The bacterial colony picker of claim 1, wherein: the camera device comprises a support, a camera and a backlight, wherein the support is fixed on the base and located on the side of the culture dish plane moving table, the support comprises a cantilever plate, the backlight is fixed on the base and located below the cantilever plate, and the camera is installed on the cantilever plate and the lens faces to the backlight.
5. The bacterial colony picker of claim 1, wherein: the culture dish plane moving table comprises a first X-axis linear module, a first Y-axis linear module and a culture dish supporting plate, wherein the first X-axis linear module is installed on the base and is arranged along the X-axis direction, the first Y-axis linear module is fixed on the output end of the first X-axis linear module and is arranged along the Y-axis direction, and the culture dish supporting plate is fixed on the output end of the first Y-axis linear module.
6. The bacterial colony picker of claim 1, wherein: the inoculation orifice plate plane moving table comprises a second X-axis linear module, a second Y-axis linear module and an inoculation orifice plate bearing plate, wherein the second X-axis linear module is installed on the base and is arranged along the X-axis direction, the second Y-axis linear module is fixed on the output end of the second X-axis linear module and is arranged along the Y-axis direction, and the inoculation orifice plate bearing plate is fixed on the output end of the second Y-axis linear module.
7. The bacterial colony picker of claim 1, wherein: the rebound device further comprises a cushion pad, the cushion pad is fixed on the guide rod, and the cushion pad is located between the pressing plate and the upper fixing plate.
8. The bacterial colony picker of claim 1, wherein: the limiting device comprises a fixed block and a stop block, wherein the fixed block is fixedly connected to the mounting plate and located between the picking executing piece and the guide rod, and the stop block is connected with the fixed block to abut against the pressing plate and limit the pressing plate when the pressing plate descends.
9. The bacterial colony picker of claim 8, wherein: the limiting device further comprises a screw and two locking nuts, a threaded hole is formed in the fixing block, the screw penetrates through the threaded hole and is in threaded connection with the threaded hole, the two locking nuts are in threaded connection with the screw and are located above and below the threaded hole respectively, and the stop block is fixedly connected to the upper end of the screw.
10. The bacterial colony picker of claim 1, wherein: the driving device comprises a double-acting air cylinder, a magnetic switch and a three-position five-way electromagnetic valve, wherein the double-acting air cylinder is fixed on the top plate and is arranged above the push rod, the extending direction of a piston rod of the double-acting air cylinder serving as the driving end of the driving device is opposite to the upper end of the push rod, the magnetic switch is arranged on the double-acting air cylinder, and the three-position five-way electromagnetic valve is connected with the air inlet end and the air outlet end of the double-acting air cylinder.
11. The bacterial colony picker of claim 1, wherein: the driving device is an air cylinder or a linear motor arranged on the top plate, and the output end of the air cylinder or the linear motor is opposite to the upper end of the push rod.
12. The bacterial colony picker of claim 1, wherein: the picking executing piece is a picking needle or a suction pipe.
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| CN201810547141.3A CN108441417B (en) | 2018-05-31 | 2018-05-31 | Bacterial colony picking instrument |
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| CN113817585A (en) * | 2021-09-10 | 2021-12-21 | 武汉理工大学 | Bacterial colony selection comprehensive workstation and selection method |
| WO2023083311A1 (en) * | 2021-11-13 | 2023-05-19 | 英诺维尔智能科技（苏州）有限公司 | Intelligent gene synthesis and monoclonal selection system |
| CN117305094A (en) * | 2022-06-24 | 2023-12-29 | 上海富芯医疗科技有限公司 | Biochemical apparatus |
| CN116555000B (en) * | 2023-07-11 | 2023-09-12 | 青岛市动物疫病预防控制中心 | Salmonella pathogen separation and purification equipment |
| CN116904302A (en) * | 2023-07-27 | 2023-10-20 | 耐优生物技术(上海)有限公司 | Colony picking device and colony picking method |
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