CN113604348B - Automatic bacterial colony selection instrument and selection method - Google Patents
Automatic bacterial colony selection instrument and selection method Download PDFInfo
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- CN113604348B CN113604348B CN202110845012.4A CN202110845012A CN113604348B CN 113604348 B CN113604348 B CN 113604348B CN 202110845012 A CN202110845012 A CN 202110845012A CN 113604348 B CN113604348 B CN 113604348B
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- 230000001580 bacterial effect Effects 0.000 title claims abstract description 22
- 238000010187 selection method Methods 0.000 title description 5
- 230000007246 mechanism Effects 0.000 claims abstract description 101
- 238000004140 cleaning Methods 0.000 claims abstract description 78
- 238000010438 heat treatment Methods 0.000 claims abstract description 47
- 238000001816 cooling Methods 0.000 claims abstract description 40
- 238000000034 method Methods 0.000 claims abstract description 17
- 238000011081 inoculation Methods 0.000 claims description 26
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 claims description 25
- 239000011148 porous material Substances 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000001954 sterilising effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 7
- 210000000078 claw Anatomy 0.000 description 8
- 230000009471 action Effects 0.000 description 7
- 230000002035 prolonged effect Effects 0.000 description 4
- 238000004659 sterilization and disinfection Methods 0.000 description 4
- 239000001963 growth medium Substances 0.000 description 3
- 108090000623 proteins and genes Proteins 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000012163 sequencing technique Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000000018 DNA microarray Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 229960000074 biopharmaceutical Drugs 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010367 cloning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000000249 desinfective effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009630 liquid culture Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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
- C12M33/00—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus
- C12M33/04—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus by injection or suction, e.g. using pipettes, syringes, needles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
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- B08B1/12—
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- B08B1/20—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- 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
- C12M41/48—Automatic or computerized control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B23/00—Heating arrangements
Abstract
The application discloses an automatic bacterial colony selecting instrument and a selecting method, the automatic bacterial colony selecting instrument comprises a workbench, a rotating disc which is arranged in a disc shape and a power piece which is used for driving the rotating disc to rotate around the rotating disc, a plurality of picking needles are uniformly distributed on the rotating disc along the circumferential direction of the rotating disc at intervals, a picking station, an inoculating station and a cleaning station are sequentially arranged on the workbench along the moving direction of the rotating disc, the cleaning station comprises a cleaning mechanism for cleaning the picking needles, a heating mechanism for heating the picking needles and a cooling mechanism for cooling the picking needles, the workbench is provided with a picking station driving piece and an inoculating station driving piece which respectively correspond to the picking station and the inoculating station, and the rotating disc is also fixedly provided with a picking needle automatic reset mechanism which corresponds to the picking needles one by one. The application has the effect of prolonging the cleaning path of the cleaning station to the picking needle to the maximum extent, and further prolonging the cleaning time of the picking needle to the maximum extent.
Description
Technical Field
The application relates to the field of colony selection equipment, in particular to an automatic colony selection instrument and a colony selection method.
Background
There are many procedures in the fields of large-scale gene sequencing, biochip, bio-pharmaceuticals, immunodetection and chemical synthesis in China, and robots are urgently needed to replace tedious manual work to ensure the production needs of high-throughput and high-precision production lines. The cloning and picking procedure in the gene sequencing workflow has great workload, namely, host cells containing exogenous gene insertion are picked into a liquid culture medium, and in the process, an automatic colony picking instrument is generally used for colony picking and shifting operation.
In the related art, an automatic colony picking instrument generally comprises a workbench, a conveying part arranged on the workbench and a power part for driving the conveying part to move along the circumferential direction of the conveying part, wherein a plurality of vertically arranged picking needles and picking needle automatic reset mechanisms corresponding to the picking needles one by one are uniformly distributed at intervals on the periphery of the conveying part, and the picking needle automatic reset mechanisms are used for driving the picking needles to reset vertically upwards. The workstation is gone up and is provided with along the circumference of conveyer and picks station, inoculation station and clearance station, still is provided with the driving piece that is used for driving the vertical downward movement of picking needle on the workstation.
When the automatic colony picking instrument works, the conveying part rotates around the circumference of the conveying part under the action of the power part, the picking needle and the automatic picking needle resetting mechanism move together with the conveying part, and when the picking needle rotates to positions corresponding to the picking station, the inoculating station and the cleaning station respectively, the driving part drives the picking needle to vertically move downwards, so that picking, inoculating of target colonies and disinfection of the picking needle are sequentially realized, and the cyclic reciprocation is realized until all colonies in the culture dish are inoculated into the micro-pore plate.
With respect to the related art in the above, the inventors consider that there are the following drawbacks: the picking needle is repeatedly used in the working process of the automatic colony picking instrument, the picking needle needs to be cleaned and disinfected after each picking, the picking needle cleaning process of the automatic colony picking instrument in the related technology is inching control, so that the picking needle cleaning time is limited, factors of incomplete cleaning exist, and the reliability and scientificity of experimental results are reduced, so that a certain improvement space exists.
Disclosure of Invention
In order to prolong the cleaning time of the picking needle and improve the reliability and accuracy of experimental results, the application provides an automatic bacterial colony picking instrument and a picking method.
The application provides an automatic colony selection instrument and a selection method, which adopt the following technical scheme:
the automatic bacterial colony selection instrument comprises a workbench, wherein a rotating disc which is arranged in a disc shape and a power piece which is used for driving the rotating disc to rotate around the periphery of the rotating disc are rotationally connected to the workbench, a plurality of picking needles are uniformly distributed on the rotating disc along the periphery of the rotating disc at intervals, the picking needles are vertically arranged and are vertically connected to the rotating disc in a sliding manner, a picking station, an inoculation station and a cleaning station are sequentially arranged on the workbench along the moving direction of the rotating disc, the cleaning station comprises a cleaning mechanism for cleaning the picking needles, a heating mechanism for heating the picking needles and a cooling mechanism for cooling the picking needles, the cleaning mechanism, the heating mechanism and the cooling mechanism are sequentially arranged in the moving path of the picking needles and are used for allowing the picking needles to penetrate through, a picking station driving piece and an inoculation station driving piece which are respectively corresponding to the picking station and the inoculation station are arranged on the workbench, the picking station driving piece is used for providing a power source which is used for driving the picking needles to vertically move downwards, and an automatic picking needle reset mechanism which is also fixedly arranged on the rotating disc and corresponds to the picking needles one by one;
the automatic bacterial colony selection instrument further comprises a controller, wherein the controller is electrically connected with the power piece, the picking station driving piece and the inoculation station driving piece and used for controlling the power piece, the picking station driving piece and the inoculation station driving piece to act.
By adopting the technical scheme, a culture dish with colonies to be picked is placed in a picking station, a micro-pore plate for inoculating the picked colonies is placed in an inoculating station, a controller controls a power piece to drive a rotating disc to rotate, the rotating disc drives a picking needle to rotate, each time the picking needle rotates by one picking needle interval, different picking needles simultaneously correspond to the picking station and the inoculating station, the controller controls the power piece to stop, the rotating disc and the picking needle stop, a picking station driving piece and an inoculating station driving piece are respectively controlled to apply force to the corresponding picking needles, the picking needles vertically move downwards, picking or inoculating of the colonies is completed, and after the picking or inoculating of the colonies is completed, the picking needles vertically reset upwards under the action of an automatic picking needle reset mechanism; in the rotating process of the rotating disc, the picking needles do not need to vertically move, but directly pass through the cleaning mechanism, the heating mechanism and the cooling mechanism in sequence along the moving path of the picking needles, so that the cleaning and disinfecting, heating and cooling of the picking needles are realized, the cleaning path of each picking needle by the cleaning station is prolonged to the greatest extent under the condition that the high rotating speed of the rotating disc is not influenced, the cleaning time of each picking needle is prolonged to the greatest extent, the factors of incomplete cleaning are reduced, the reliability and the scientificity of experimental results are improved, and meanwhile, the cleaning mode can realize the simultaneous cleaning of multiple picking needles under a single cleaning station, the cleaning efficiency of the picking needles is ensured, and the cost of the cleaning station is reduced; in addition, through the form of rotating disk and a plurality of groups of needle complex of choosing for the holistic occupation of land space of automatic colony selection appearance is little, has promoted the suitability of automatic colony selection appearance and different spaces.
Preferably, a cleaning channel for the needle to pass through is arranged in the cleaning mechanism, the cleaning channel is in an arc-shaped arrangement coaxial with the motion track of the needle and with the same radius, and a first hairbrush and a first alcohol nozzle are fixedly arranged on the side wall of the cleaning channel.
Through adopting above-mentioned technical scheme, when the needle is rotated along with the rolling disc to the selection, the needle gets into in the cleaning channel to the selection, and first brush brushes the massive residue on the needle of selecting, and first alcohol nozzle outwards spouts alcohol and washs and disinfects the needle of selecting, under the prerequisite that the needle need not reciprocate to be chosen, has realized the washing and disinfection to the needle of selecting, has prolonged the clearance time of every needle of selecting, has reduced the incomplete factor of clearance, has improved experimental result's reliability and scientificity.
Preferably, a heating channel for the needle to pass through is arranged in the heating mechanism, the heating channel is in an arc-shaped arrangement coaxial with the motion track of the needle and with the same radius, and a heating plate is fixedly arranged on the side wall of the heating channel.
By adopting the technical scheme, when the picking needle rotates along with the rotating disc, the picking needle enters the heating channel, the heating sheet releases heat to heat the picking needle, and the picking needle is dried.
Preferably, a cooling channel for the needle to pass through is arranged in the cooling mechanism, a gap in the cooling mechanism is a cooling channel, the cooling channel is in an arc-shaped arrangement coaxial with the motion track of the needle and with the same radius, and a cooler nozzle is fixedly arranged on the side wall of the cooling channel.
Through adopting above-mentioned technical scheme, when the needle rotates along with the rolling disc, the needle of choosing gets into in the cooling channel, and the cooler nozzle cools down the needle of choosing.
Preferably, the picking station driving piece is arranged as a linear module with a dynamically adjustable travel.
Through adopting above-mentioned technical scheme, in order to obtain best experimental effect, the experimenter only needs to carry out to the bacterial colony surface and select the operation, but because the culture medium thickness is different in the culture dish of making at every turn, leads to the bacterial colony surface to select the height of needle to be the change, through will selecting the station driving piece setting to the stroke and can carry out dynamic adjustment's sharp module, realize selecting the needle and selecting the dynamic adjustment of stroke at every turn, and then realize the control to the bacterial colony height of choosing, further improved experimental result's scientificity and reliability.
Preferably, the picking station comprises a two-dimensional driving mechanism and a clamping mechanism connected with the output end of the two-dimensional driving mechanism, and the clamping mechanism is used for clamping the culture dish;
the structure of the inoculation station is the same as that of the picking station, the clamping mechanism in the inoculation station is used for clamping the micro-pore plate, and the clamping mechanism in the inoculation station is fixedly provided with a vibrator.
Through adopting above-mentioned technical scheme, drive fixture and micropore board vibration in the inoculation station when the vibrator vibrates, solution in the micropore board takes place the vibration under the effect of micropore board, when picking the needle down to remove and insert in the solution in the micropore board, make the colony on the picking needle more easily drop in the solution in the micropore board.
Preferably, the clamping mechanism comprises two symmetrically arranged clamping pieces for clamping the culture dish, and further comprises a clamping driving piece for driving the two clamping pieces to move relatively, and the clamping driving piece is fixedly arranged at the output end of the two-dimensional driving mechanism.
Preferably, the automatic needle picking and resetting mechanism comprises a connecting piece which is used for being fixed with the rotating disc, a needle picking and fixing piece which is used for fixing a needle picking is connected to the connecting piece in a sliding mode along the vertical direction, a stress part which is used for being abutted to a power source to apply force is arranged on the needle picking and fixing piece, and an elastic resetting piece which is used for enabling the needle picking and fixing piece to vertically reset upwards is arranged between the connecting piece and the needle picking and fixing piece.
Through adopting above-mentioned technical scheme, power supply butt application of force is in the atress portion on choosing needle mounting, apply vertical decurrent effort to choosing needle mounting, make choosing needle mounting drive and choose the vertical decurrent of needle, accomplish picking or inoculation to the target bacterial colony, pick or after the inoculation is accomplished, the power supply no longer applies force to choosing needle mounting, it drives under the effect of elasticity reset piece and chooses the vertical upward reset of needle to choose needle mounting, it is comparatively simple to choose needle automatic reset mechanism overall structure, and compact structure has reduced the volume ratio of choosing needle automatic reset mechanism.
Preferably, the picking needle fixing piece is provided with a pulling rod, fixing rods are respectively arranged on two sides of the picking needle fixing piece on the connecting piece, the fixing rods are located above the pulling rods, the fixing rods and the pulling rods are arranged in the same direction, the elastic resetting piece is provided with two elastic resetting pieces, and two ends of the elastic resetting piece are respectively connected with the fixing rods and the pulling rods.
Through adopting above-mentioned technical scheme, through the setting of two elasticity restoring pieces, increased the elasticity restoring pieces and driven the in-process that the needle mounting was reset of choosing, applied effort's to the needle mounting homogeneity of choosing, and then increased the stability of choosing the needle mounting removal in-process.
Preferably, the elastic reset piece is always in a stretching state, a stop piece used for limiting the movement range of the picking needle is fixedly arranged on the connecting piece, and the stop piece is positioned between the pulling rod and the fixing rod.
Through adopting above-mentioned technical scheme, the needle of choosing upwards moves to when pulling lever and stopper butt under the effect of elasticity reset piece, and the needle of choosing can not continue upwards to move, has determined the reset position of needle of choosing, has guaranteed the reset precision when the needle of choosing vertically upwards resets.
Preferably, the elastic restoring element is provided as an extension spring or a rubber band.
An automatic colony picking method of an automatic colony picking instrument, comprising the steps of:
the power piece is controlled to drive the rotating disc to rotate, the picking needles rotate along with the rotating disc, the rotating disc is controlled to stop every time the rotating disc rotates for a picking needle interval, the picking station driving piece corresponding to the picking station and the inoculating station driving piece corresponding to the inoculating station are respectively controlled to apply force to the corresponding picking needle fixing piece, the corresponding picking needle fixing piece drives the corresponding picking needle to vertically move downwards, picking or inoculating of bacterial colonies is achieved, after picking or inoculating of bacterial colonies is completed, the picking station driving piece corresponding to the picking station and the inoculating station driving piece corresponding to the inoculating station are respectively controlled to remove the force applied to the corresponding picking needle fixing piece, and the picking needle fixing piece drives the picking needle to vertically reset upwards to an initial position under the action of the elastic resetting piece;
in the process of rotating the rotating disc, the picking needle does not need to move up and down, and sequentially passes through the cleaning mechanism, the heating mechanism and the cooling mechanism to finish cleaning, sterilizing, heating and cooling work, so that the picking needle is cleaned;
the above steps were repeated until all colonies were inoculated into the microplate.
Drawings
FIG. 1 is a schematic view showing the overall structure of an automatic colony picker in the first embodiment.
FIG. 2 is a schematic diagram showing the overall structure of an automatic colony picker in the first embodiment.
Fig. 3 is a schematic view showing a partial structure of the automatic reset mechanism for the picking needle in the first embodiment.
Fig. 4 is a partial schematic view showing the structure of the picking station in the first embodiment.
Fig. 5 is a partial schematic view showing the construction of a cleaning station in the first embodiment.
Fig. 6 is a schematic view showing a partial structure of a cleaning station in the second embodiment.
Fig. 7 is a partially exploded schematic view showing the structure of a cleaning mechanism in the second embodiment.
Reference numerals illustrate:
1. a work table; 11. a support frame; 2. a rotating disc; 3. an automatic reset mechanism for the picking needle; 31. a connecting piece; 311. a connecting plate; 312. a fixing plate; 32. a needle holder; 321. a guide rail; 322. a connecting strip; 33. a fixed rod; 34. a stopper; 341. a stop lever; 342. a stop bar; 35. pulling the rod; 36. a tension spring; 4. picking needles; 5. a picking station; 51. a two-dimensional driving mechanism; 511. a lower linear module; 512. an upper linear module; 52. a clamping mechanism; 521. an air claw support plate; 522. parallel opening and closing type two-finger gas claw; 523. a clamping member; 5231. a clamping plate; 5232. a support base plate; 5233. clamping blocks; 52331. abutting the inclined plane; 6. an inoculation station; 7. cleaning a station; 711. a cleaning table; 713. a first brush; 714. a first alcohol nozzle; 721. a heating table; 722. a heating channel; 723. a heating sheet; 731. a cooling table; 732. a cooling channel; 733. a cooler nozzle; 741. a bracket; 7411. an inner groove; 742. a baffle; 743. a second brush; 744. a second alcohol nozzle; 745. an alcohol flow guide pipe; 751. a heat gun; 761. a cold air gun; 81. picking a station driving piece; 82. an inoculation station driving piece; 9. a camera; 91. a backlight plate; 10. a vibrator.
Detailed Description
The application is described in further detail below with reference to fig. 1-7.
The embodiment of the application discloses an automatic colony picking instrument, which comprises a controller and a workbench 1, wherein the workbench 1 is fixedly provided with a motor with a vertically arranged output shaft, the motor is electrically connected with the controller, the output end of the motor is fixedly connected with a rotating disc 2 which is circularly arranged, and the rotating disc 2 and the output shaft of the motor are coaxially arranged. A plurality of groups of automatic picking needle resetting mechanisms 3 are uniformly distributed at intervals along the circumferential direction of the outer edge of the rotating disc 2, picking needles 4 for picking and inoculating bacterial colonies are fixed at the bottom end of any group of automatic picking needle resetting mechanisms 3, and the picking needles 4 are vertically arranged.
The picking station 5, the inoculating station 6 and the cleaning station 7 are sequentially arranged on the workbench 1 along the direction of the movement track of the rotating disc 2, and the picking station 5, the inoculating station 6 and the cleaning station 7 are respectively used for picking and inoculating colonies by the picking needle 4 and cleaning the picking needle 4. The workbench 1 is fixedly provided with a support frame 11, the support frame 11 is fixedly provided with a picking station driving piece 81 corresponding to the picking station 5 and an inoculating station driving piece 82 corresponding to the inoculating station 6, and the picking station driving piece 81 and the inoculating station driving piece 82 are respectively used for driving the picking needles 4 corresponding to the picking station 5 and the inoculating station 6 to vertically move downwards so as to pick and inoculate colonies.
Referring to fig. 1 and 3, the automatic reset mechanism 3 for the picking needle includes a connecting piece 31 fixed on the outer edge of the rotating disc 2, the connecting piece 31 includes a connecting plate 311 which is in an L-shaped arrangement, one end of the connecting plate 311 which is horizontally arranged extends along the radial direction of the rotating disc 2 and is fastened on the upper surface of the rotating disc 2 by using a bolt, one end of the connecting plate 311 which is vertically arranged is far away from the side wall of the axis of the rotating disc 2 and is connected with a fixing plate 312 by using the bolt, and the fixing plate 312 is located outside the rotating disc 2. The fixing plate 312 is slidably connected with a picking needle fixing piece 32 along the vertical direction, and the picking needle fixing piece 32 comprises a guide rail 321 slidably connected to the side wall of the fixing plate 312 far away from the connecting plate 311, wherein the guide rail 321 is vertically arranged. One side of the guide rail 321 far away from the fixed plate 312 is pressed and connected with a vertically arranged connecting strip 322 by using a bolt, and the picking needle 4 is fixed at the bottom end of the connecting strip 322.
Four bolts for connecting the fixing plate 312 and the connecting plate 311 are arranged in a rectangular array, the four bolts are distributed on two sides of the guide rail 321 in pairs, and rod parts of the four bolts extend out of the side wall, away from the guide rail 321, of the connecting strip 322. The rod portions of the two bolts located above are provided as the fixed rods 33, the rod portions of the two bolts located below are provided as the stopper rods 341, and the two fixed rods 33 are located at the same height, and the two stopper rods 341 are located at the same height.
The bolts for connecting the guide rail 321 and the connecting bar 322 are arranged at intervals up and down, the rod parts of the bolts located below extend out of the side walls of the connecting bar 322 far away from the guide rail 321, the rod parts of the bolts located below are arranged to be pulling rods 35, the pulling rods 35 are located below the stop rods 341, and the two fixing rods 33 are symmetrically arranged about the pulling rods 35.
An elastic reset piece is respectively arranged between the pulling rod 35 and the two fixing rods 33, the elastic reset piece is always in a stretching state, the elastic reset piece is arranged to be a stretching spring 36, two ends of the stretching spring 36 are respectively sleeved on the outer sides of the pulling rod 35 and the fixing rods 33, and in other embodiments, the elastic reset piece can be also arranged to be a rubber band.
The two stopping rods 341 are commonly connected with the same stopping bar 342, the stopping bar 342 is horizontally arranged and is perpendicular to the two stopping rods 341, two ends of the stopping bar 342 are respectively sleeved and fixed on the two stopping rods 341, and the stopping bar 342 and the two stopping rods 341 jointly form the stopping piece 34.
When the picking needle 4 moves upwards under the action of the tension spring 36 to the condition that the pulling rod 35 is abutted to the bottom end of the stop rod 341, the picking needle 4 cannot move upwards continuously, the reset position of the picking needle 4 is determined, and the reset precision of the picking needle 4 in the vertical upward reset process is ensured.
In this embodiment, the top end surface of the guide rail 321 is a stress portion for abutting against the picking station driving member 81 and the inoculating station driving member 82.
With reference to fig. 1 and 4, the picking station 5 is used for performing two-dimensional control on the culture dish in a horizontal plane, the picking station 5 comprises a two-dimensional driving mechanism 51 and a clamping mechanism 52 connected to an output end of the two-dimensional driving mechanism 51, and the clamping mechanism 52 is used for clamping the culture dish.
The two-dimensional driving mechanism 51 comprises a lower linear module 511 and an upper linear module 512 connected to the output end of the lower linear module 511, the conveying direction of the upper linear module 512 is perpendicular to that of the lower linear module 511, the upper linear module 512 and the lower linear module 511 are electrically connected with a controller, and the controller controls the output ends of the upper linear module 512 and the lower linear module 511 to move so as to adjust the position of the culture dish.
The clamping mechanism 52 comprises a gas claw supporting plate 521 vertically fixed at the output end of the upper linear module 512, a parallel opening and closing type two-finger gas claw 522 vertically arranged is fixed on the side wall of the gas claw supporting plate 521, clamping pieces 523 are respectively fixed on two clamping jaws in the parallel opening and closing type two-finger gas claw 522, the two clamping pieces 523 are symmetrically arranged, and the two clamping pieces 523 are used for clamping a culture dish.
The clamp 523 includes a clamping plate 5231 fixed to the clamping jaw of the parallel opening and closing type two-finger air jaw 522, the clamping plate 5231 is in an L-shaped arrangement, a supporting bottom plate 5232 horizontally arranged is fixed on the inner wall of the clamping plate 5231, one end of the supporting bottom plate 5232 far away from the clamping plate 5231 is fixed with a clamping block 5233, and the clamping block 5233 is used for limiting movement of the culture dish along the length direction of the supporting bottom plate 5232. Two sides of the culture dish are placed on the two supporting bottom plates 5232, and the two clamping pieces 523 are mutually close to each other under the action of the air pawls to clamp the culture dish.
The clamp block 5233 is provided with the butt inclined plane 52331 towards one side of culture dish, and the distance between two butt inclined planes 52331 reduces gradually along the length direction of supporting baseplate 5232 from the one end that is close to clamp plate 5231 to the other end, and the setting of butt inclined plane 52331 makes two clamping pieces 523 can with the different unidimensional culture dish adaptation.
The camera support is fixed on the workbench 1, the camera 9 is arranged on the camera support, the camera 9 is electrically connected with the controller, the camera 9 is used for ranging and photographing the culture dish and then transmitting a photo to image processing software, an image with a colony is processed by the software and then coordinate information of a target colony is extracted, and further the picking station 5 is controlled to drive the culture dish to move to the position of the target colony on the culture dish corresponding to the position of the picking needle 4.
The output end of the upper linear module 512 is also fixed with a backlight plate 91, the backlight plate 91 is horizontally arranged under the culture dish, and the backlight plate 91 is used for enhancing the shooting effect of the camera 9 on the bacterial colonies in the culture dish.
Referring to fig. 2, the picking station driving member 81 is set as a linear module with a stroke capable of being dynamically adjusted, in this embodiment, the picking station driving member 81 is set as an electric cylinder, the electric cylinder is electrically connected with the controller, the rod end of the electric cylinder moves downward to be abutted with the top end surface of the guide rail 321, and an acting force is applied to the guide rail 321, so that the guide rail 321 drives the connecting strip 322 and the picking needle 4 to vertically move downward, and driving of the picking needle 4 is realized. In the process of picking the bacterial colony, in order to obtain the best experimental effect, an experimenter only needs to carry out picking operation on the surface of the bacterial colony, but the height of the bacterial colony surface from the picking needle 4 is changed due to different thickness of culture medium in a culture dish made each time, the dynamic height of the bacterial colony identified by the camera 9 is converted into a dynamic stroke through an electric cylinder, the dynamic adjustment of each picking stroke of the picking needle 4 is realized, the control of the height of the bacterial colony picking is further realized, and the scientificity and reliability of experimental results are further improved.
The inoculating station 6 is used for performing two-dimensional control on the microplate in a horizontal plane, the inoculating station 6 comprises a two-dimensional driving mechanism 51 and a clamping mechanism 52 connected to the output end of the two-dimensional driving mechanism 51, and the clamping mechanism 52 is used for clamping the microplate. The two-dimensional driving mechanism 51 and the clamping mechanism 52 in the inoculation station 6 are identical to the two-dimensional driving mechanism 51 and the clamping mechanism 52 in the picking station 5, and are not described in detail herein.
In this embodiment, the inoculation station driving member 82 is a vertically arranged cylinder, the cylinder is electrically connected with the controller, the rod end of the cylinder moves downwards to be abutted with the top end surface of the guide rail 321, and an acting force is applied to the guide rail 321, so that the guide rail 321 drives the connecting strip 322 and the picking needle 4 to vertically move downwards, and the driving of the picking needle 4 is realized. In other embodiments, the inoculating station drive 82 may also be configured as an electric cylinder or other actuator capable of linear reciprocation.
The vibrator 10 is fixedly arranged on one side, far away from the air claw, of the air claw supporting plate 521 in the inoculation station 6, the clamping mechanism 52 and the micro-pore plate are driven to vibrate when the vibrator 10 vibrates, solution in the micro-pore plate vibrates under the action of the micro-pore plate, and when the picking needle 4 moves downwards to be inserted into the solution in the micro-pore plate, the bacterial colony on the picking needle 4 is more prone to falling into the solution in the micro-pore plate.
The cleaning station 7 comprises a cleaning mechanism, a heating mechanism and a cooling mechanism which are sequentially arranged along the movement track direction of the rotating disc 2.
Referring to fig. 5, the cleaning mechanism includes a cleaning table 711 fixed to the working table 1, the cleaning table 711 includes two arcuate plates disposed at intervals along the radial direction of the rotating disc 2, the arcuate plates are coaxially disposed with the rotating disc 2, and a cleaning passage through which the picking needle 4 passes is formed between opposite side walls of the two arcuate plates. The two side walls of the cleaning channel are respectively fixed with a first brush 713, the bristles of the first brush 713 are horizontally arranged, the first brushes 713 are arranged at intervals on the same side of the cleaning channel, and a first alcohol nozzle 714 is fixedly arranged between the two groups of first brushes 713.
The heating mechanism includes a heating stage 721 fixed to the table 1, the heating stage 721 has the same structure as the cleaning stage 711, and a heating passage 722 is provided in the heating stage 721. Heating plates 723 are fixed to both side walls of the heating channel 722, respectively, and the heating plates 723 extend in the extending direction of the heating channel 722, and in this embodiment, the heating plates 723 are ceramic heating plates 723.
The cooling mechanism includes a cooling stage 731 fixed to the table 1, the cooling stage 731 has the same structure as the cleaning stage 711, and a cooling passage 732 is provided in the cooling stage 731. The cooling channel 732 is fixed with a plurality of cooler nozzles 733 on both side walls, respectively, and the cooler nozzles 733 are arranged along the radial direction of the rotating disk 2, and the cooler nozzles 733 are uniformly distributed along the extending direction of the cooling channel 732.
When the picking needle 4 rotates along with the rotating disc 2, the picking needle 4 enters the cleaning channel, the first hairbrush 713 brushes away massive residues on the picking needle 4, meanwhile, the first alcohol nozzle 714 sprays alcohol outwards to clean and disinfect the picking needle 4, at the moment, the first hairbrush 713 also plays a role of reducing alcohol splashing, the picking needle 4 continues to move into the heating channel 722, the heating piece 723 releases heat to heat the picking needle 4, the picking needle 4 is dried, the picking needle 4 continues to move into the cooling channel 732, the cooler nozzle 733 cools the picking needle 4, cleaning, disinfection, heating and cooling of the picking needle 4 are realized on the premise that the picking needle 4 does not need to move up and down, cleaning time of each picking needle 4 is prolonged, factors of incomplete cleaning are reduced, and reliability and scientificity of experimental results are improved.
The embodiment of the application also discloses an automatic colony selection method, which comprises the following steps:
placing a culture dish with colonies to be picked into a clamping mechanism 52 in a picking station 5 through a manual or mechanical arm, and placing a micro-pore plate into the clamping mechanism 52 in an inoculation station 6 through the manual or mechanical arm;
the motor is controlled to act, the motor drives the rotating disc 2 to rotate, the automatic needle picking reset mechanism 3 and the needle picking 4 rotate along with the rotating disc 2, in the rotating process, the needle picking 4 sequentially passes through the cleaning mechanism, the heating mechanism and the cooling mechanism, and cleaning, disinfection, heating and cooling are completed under the condition that the needle picking 4 does not need to move up and down, so that the needle picking 4 is cleaned;
when the rotating disc 2 rotates for one picking needle interval, different picking needles 4 respectively rotate to the positions right below the picking station driving piece 81 and the inoculating station driving piece 82, the controller controls the rotating disc 2 to stop, controls the two-dimensional driving mechanism 51 in the picking station 5 to move the culture dish to the position where colonies to be picked are located right below the picking needles 4, controls the two-dimensional driving mechanism 51 in the inoculating station 6 to move the micro-porous plate to the position where the holes to be inoculated are located right below the picking needles 4, respectively controls the picking station driving piece 81 and the inoculating station driving piece 82 to apply acting force to the guide rails 321 in the corresponding picking needle automatic resetting mechanism 3, and enables the corresponding guide rails 321 to drive the corresponding picking needles 4 to vertically move downwards so as to pick or inoculate the colonies;
when the two-dimensional driving mechanism 51 in the picking station 5 is controlled to move, the camera 9 is used for measuring the distance of the culture dish and taking a picture, then the picture is transmitted to image processing software, the image with the colony is processed by the software to extract the three-dimensional coordinate information of the target colony, and the controller is used for controlling the two-dimensional driving mechanism 51 in the picking station 5 to move the culture dish to the position of the colony to be picked corresponding to the picking needle 4, so that the position adjustment of the culture dish is realized;
after the picking or inoculating work is finished, the picking station driving piece 81 and the inoculating station driving piece 82 are respectively controlled to remove the acting force on the corresponding guide rail 321, so that the corresponding picking needle 4 vertically and upwards resets under the action of the stretching spring 36 until the pulling rod 35 abuts against the bottom end of the stop bar 342, and the accurate resetting of the picking needle 4 is realized;
the above steps were repeated until all colonies were inoculated into the microplate.
Example two
Referring to fig. 6 and 7, an automatic colony picking apparatus is different from the first embodiment in that the cleaning mechanism includes a frame 741, a baffle 742 is provided at the top of the frame 741, two baffles 742 are provided at intervals along the radial direction of the rotary disc 2, and a cleaning passage for the passage of the picking needle 4 is formed between opposite side walls of the two baffles 742. The baffle 742 slides along the radial direction of the rotating disc 2 and is connected to the support 741, a long round hole is formed in the support 741, a locking bolt is arranged in the long round hole from bottom to top in a penetrating manner, the locking bolt is connected to the bottom end of the baffle 742 in a threaded manner, and the locking bolt is used for locking the baffle 742 at a fixed position. The two side walls of the cleaning channel are respectively fixed with a second hairbrush 743, the bristles of the second hairbrush 743 are horizontally arranged, and the second hairbrush 743 is provided with two groups at intervals on the same side of the cleaning channel. The second alcohol nozzle 744 is fixed to the baffle 742 on the outer side, and the second alcohol nozzle 744 is located between two sets of second brushes 743, and the second alcohol nozzle 744 is disposed along the radial direction of the rotating disk 2. The top end face of the support 741 is recessed downwards at a position in the middle of the two groups of second hairbrushes 7413 to form an inner groove 7411 which is arranged in a bucket shape, the bottom end of the support 741 is provided with an alcohol guide pipe 745, and the top end of the alcohol guide pipe 745 is communicated with the inner cavity of the inner groove 7411.
The heating mechanism is arranged as a heat gun 751, and a nozzle of the heat gun 751 is arranged vertically upwards.
The cooling mechanism is arranged as a cold air gun 761, and a nozzle of the cold air gun 761 is arranged vertically upwards.
The implementation principle of the embodiment is as follows:
when the picking needle 4 rotates along with the rotating disc 2, the picking needle 4 enters a cleaning channel, the second hairbrush 743 brushes off massive residues on the picking needle 4, meanwhile, the second alcohol nozzle 744 sprays alcohol outwards to disinfect the picking needle 4, at the moment, the second hairbrush 743 also plays a role in reducing alcohol splashing, alcohol is discharged through the inner groove 7411 and the alcohol guide tube 745, the picking needle 4 continues to move, hot air sprayed by the hot air gun 751 dries the picking needle 4 above the hot air, and cold air sprayed by the cold air gun 761 cools the picking needle 4 above the hot air gun.
The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
Claims (11)
1. An automatic bacterial colony selection instrument, which comprises a workbench (1), and is characterized in that: the automatic picking and cleaning device comprises a workbench (1), and is characterized in that a rotating disc (2) which is in a disc-shaped arrangement and a power piece which is used for driving the rotating disc (2) to rotate around the circumference of the workbench are rotationally connected, a plurality of picking needles (4) are uniformly distributed on the rotating disc (2) along the circumference of the rotating disc, the picking needles (4) are vertically arranged, the picking needles (4) are vertically and slidingly connected to the rotating disc (2), a picking station (5), an inoculation station (6) and a cleaning station (7) are sequentially arranged on the workbench (1) along the movement direction of the rotating disc (2), the cleaning station comprises a cleaning mechanism which is used for cleaning the picking needles (4), a heating mechanism which is used for heating the picking needles (4) and a cooling mechanism which is used for cooling the picking needles (4), the cleaning mechanism, the heating mechanism and the cooling mechanism are sequentially arranged in the movement path of the picking needles (4) so that the picking needles (4) penetrate through, a station driving piece (81) and an inoculation driving piece (82) which are respectively corresponding to the picking station (5) and the inoculation station (6) are sequentially arranged on the workbench (1), and the automatic picking and cleaning station driving piece (82) are fixedly arranged on the rotating path of the picking needle (4), and the automatic picking and cleaning device is used for driving the picking station (2), and the automatic picking and the picking station driving piece which is fixedly arranged on the moving source; the automatic colony picking instrument further comprises a controller, wherein the controller is electrically connected with the power piece, the picking station driving piece (81) and the inoculation station driving piece (82) and is used for controlling the power piece, the picking station driving piece (81) and the inoculation station driving piece (82) to act;
the cleaning mechanism comprises a bracket (741), wherein a baffle (742) is arranged at the top end of the bracket (741), two baffles (742) are arranged at intervals along the radial direction of the rotating disc (2), and a cleaning channel for a picking needle (4) to pass through is formed between two opposite side walls of the two baffles (742); the baffle plate (742) is connected to the bracket (741) in a sliding manner along the radial direction of the rotating disc (2), an oblong hole is formed in the bracket (741), a locking bolt is arranged in the oblong hole in a penetrating manner from bottom to top, the locking bolt is in threaded connection with the bottom end of the baffle plate (742), and the locking bolt is used for locking the baffle plate (742) at a fixed position; the two side walls of the cleaning channel are respectively fixed with a second brush (743), the bristles of the second brush (743) are horizontally arranged, and the second brushes (743) are arranged at the same side of the cleaning channel at intervals; the baffle plate (742) positioned on the outer side is provided with and fixed with a second alcohol nozzle (744), the second alcohol nozzle (744) is positioned between two groups of second hairbrushes (743), and the second alcohol nozzle (744) is arranged along the radial direction of the rotating disc (2); the top end face of the support (741) is downwards recessed at a position in the middle of the two groups of second hairbrushes (7413) to form an inner groove (7411) which is arranged in a bucket shape, an alcohol guide pipe (745) is arranged at the bottom end of the support (741), and the top end of the alcohol guide pipe (745) is communicated with the inner cavity of the inner groove (7411).
2. The automatic colony picking apparatus of claim 1, wherein: the heating mechanism is provided with a heating channel (722) for the pick needle (4) to pass through, the heating channel (722) is in an arc-shaped arrangement coaxial with the motion track of the pick needle (4) and with the same radius, and a heating plate (723) is fixedly arranged on the side wall of the heating channel (722).
3. The automatic colony picking apparatus of claim 1, wherein: the cooling mechanism is provided with a cooling channel (732) for the pick needle (4) to pass through, the cooling channel (732) is in an arc-shaped arrangement coaxial with the movement track of the pick needle (4) and with the same radius, and a cooler nozzle (733) is fixedly arranged on the side wall of the cooling channel (732).
4. The automatic colony picking apparatus of claim 1, wherein: the picking station driving piece (81) is arranged as a linear module with the stroke capable of being dynamically adjusted.
5. The automatic colony picking apparatus of claim 1, wherein: the picking station (5) comprises a two-dimensional driving mechanism (51) and a clamping mechanism (52) connected with the output end of the two-dimensional driving mechanism (51), and the clamping mechanism (52) is used for clamping the culture dish; the structure of the inoculation station (6) is the same as that of the picking station (5), a clamping mechanism (52) in the inoculation station (6) is used for clamping the micro-pore plate, and a vibrator (10) is fixedly arranged on the clamping mechanism (52) in the inoculation station (6).
6. The automatic colony picking apparatus of claim 5, wherein: the clamping mechanism (52) comprises two symmetrically arranged clamping pieces (523) used for clamping the culture dish, the clamping mechanism (52) further comprises a clamping driving piece used for driving the two clamping pieces (523) to move relatively, and the clamping driving piece is fixedly arranged at the output end of the two-dimensional driving mechanism (51).
7. The automatic colony picking apparatus of claim 1, wherein: the automatic needle picking and resetting mechanism comprises a connecting piece (31) which is used for being fixed with a rotating disc (2), a needle picking fixing piece (32) which is used for fixing a needle picking piece (4) is connected to the connecting piece (31) in a sliding mode along the vertical direction, a stress part which is used for being abutted to a power source to apply force is arranged on the needle picking fixing piece (32), and an elastic resetting piece which is used for enabling the needle picking fixing piece (32) to vertically reset upwards is arranged between the connecting piece (31) and the needle picking fixing piece (32).
8. The automatic colony picking apparatus of claim 7, wherein: the utility model discloses a needle picking device, including needle picking fixing piece (32), connecting piece (31) and elastic restoring piece, be provided with pulling rod (35) on needle picking fixing piece (32), connecting piece (31) are provided with dead lever (33) respectively in the both sides of needle picking fixing piece (32), dead lever (33) are located pulling rod (35) top, dead lever (33) and pulling rod (35) syntropy set up, elastic restoring piece is provided with two, elastic restoring piece's both ends are connected with dead lever (33) and pulling rod (35) respectively.
9. The automatic colony picking apparatus of claim 8, wherein: the elastic reset piece is always in a stretching state, a stop piece (34) used for limiting the moving range of the picking needle (4) is fixedly arranged on the connecting piece (31), and the stop piece (34) is located between the pulling rod (35) and the fixing rod (33).
10. The automatic colony picking apparatus of claim 7, wherein: the elastic restoring element is provided as a tension spring (36) or as a rubber band.
11. An automatic colony picking method based on the automatic colony picking apparatus as claimed in any one of claims 1 to 10, comprising the steps of: the power piece is controlled to drive the rotating disc (2) to rotate, the picking needles (4) rotate along with the rotating disc (2), the rotating disc (2) is controlled to stop at a picking needle interval every time, the picking station driving piece (81) corresponding to the picking station (5) and the inoculating station driving piece (82) corresponding to the inoculating station (6) are controlled to apply force to the corresponding picking needle fixing piece (32) respectively, the corresponding picking needle fixing piece (32) drives the corresponding picking needles (4) to vertically move downwards to realize picking or inoculating of colonies, after the picking or inoculating of colonies is finished, the picking station driving piece (81) corresponding to the picking station (5) and the inoculating station driving piece (82) corresponding to the inoculating station (6) are controlled to withdraw the force applied to the corresponding picking needle fixing piece (32) respectively, and the picking needle fixing piece (32) is driven by the elastic resetting piece to vertically reset the picking needles (4) to an initial position; in the process of rotating the rotating disc (2), the picking needle (4) does not need to move up and down, and sequentially passes through the cleaning mechanism, the heating mechanism and the cooling mechanism to finish cleaning, sterilizing, heating and cooling, so that the picking needle (4) is cleaned; the above steps were repeated until all colonies were inoculated into the microplate.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110845012.4A CN113604348B (en) | 2021-07-26 | 2021-07-26 | Automatic bacterial colony selection instrument and selection method |
| PCT/CN2021/137770 WO2023005107A1 (en) | 2021-07-26 | 2021-12-14 | Automatic colony picking instrument and picking method therefor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110845012.4A CN113604348B (en) | 2021-07-26 | 2021-07-26 | Automatic bacterial colony selection instrument and selection method |
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| CN113604348A CN113604348A (en) | 2021-11-05 |
| CN113604348B true CN113604348B (en) | 2023-10-31 |
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| WO (1) | WO2023005107A1 (en) |
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| CN113604348B (en) * | 2021-07-26 | 2023-10-31 | 中国科学院深圳先进技术研究院 | Automatic bacterial colony selection instrument and selection method |
| CN113667588A (en) * | 2021-07-26 | 2021-11-19 | 中国科学院深圳先进技术研究院 | Picking needle automatic reset mechanism and automatic bacterial colony selecting instrument |
| 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 |
| CN116921362B (en) * | 2023-09-18 | 2023-11-17 | 山西宝泰药业有限责任公司 | Tipping bucket cleaning device for tipping bucket feeding machine for medicine preparation |
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| CN108441417A (en) * | 2018-05-31 | 2018-08-24 | 深圳先进技术研究院 | Bacterial clump picking instrument |
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| CN212316118U (en) * | 2020-09-02 | 2021-01-08 | 中国科学院深圳先进技术研究院 | Bacterial colony picking instrument |
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| DE102011103784B3 (en) * | 2011-06-01 | 2012-09-13 | Technische Universität Braunschweig Carolo-Wilhelmina | Colony separating device and method for separating bacterial colonies |
| CN208701066U (en) * | 2018-05-31 | 2019-04-05 | 深圳先进技术研究院 | Bacterial clump picking instrument |
| CN112111386A (en) * | 2020-09-02 | 2020-12-22 | 中国科学院深圳先进技术研究院 | Bacterial colony picking instrument |
| CN113604348B (en) * | 2021-07-26 | 2023-10-31 | 中国科学院深圳先进技术研究院 | Automatic bacterial colony selection instrument and selection method |
| CN113667588A (en) * | 2021-07-26 | 2021-11-19 | 中国科学院深圳先进技术研究院 | Picking needle automatic reset mechanism and automatic bacterial colony selecting instrument |
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2021
- 2021-07-26 CN CN202110845012.4A patent/CN113604348B/en active Active
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| CN108441417A (en) * | 2018-05-31 | 2018-08-24 | 深圳先进技术研究院 | Bacterial clump picking instrument |
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| WO2023005107A1 (en) | 2023-02-02 |
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