CN115466672A

CN115466672A - Automatic reset mechanism of picking needle, clone picking workstation and clone picking method

Info

Publication number: CN115466672A
Application number: CN202110654554.3A
Authority: CN
Inventors: 何凯; 朱伟; 赵文亮
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2021-06-11
Filing date: 2021-06-11
Publication date: 2022-12-13

Abstract

The application discloses picking needle automatic re-setting mechanism, cloning picking workstation and cloning picking method relates to the technical field that the bacterial colony was picked, and it is including being used for the connecting piece fixed with the conveying piece, has set firmly the guide rail on the connecting piece, and the vertical setting of guide rail, sliding fit has the picking needle mounting that is used for fixed picking needle on the guide rail, is provided with the atress portion that is used for power supply butt application of force on the picking needle mounting, is provided with between connecting piece and the picking needle mounting to be used for making the picking needle mounting along the vertical elasticity piece that upwards resets of guide rail. The automatic picking needle resetting mechanism has the advantages that the whole structure is simple, the structure is compact, the volume ratio of the automatic picking needle resetting mechanism is reduced, and the working efficiency of a cloning picking workstation is improved.

Description

Automatic reset mechanism of picking needle, clone picking workstation and clone picking method

Technical Field

The application relates to the technical field of colony picking, in particular to a picking needle automatic reset mechanism, a clone picking workstation and a clone picking method.

Background

In the fields of large-scale gene sequencing, biochips, biological pharmacy, immunodetection, chemical synthesis and the like in China, a plurality of processes urgently need to use robots to replace tedious manual work to ensure the production needs of a high-throughput and high-precision flow line.

Among the correlation technique, the workstation is picked to clone generally includes the workstation, set up conveying spare on the workstation and be used for driving conveying spare along self circumferential motion's power spare, the periphery interval equipartition of conveying spare has a plurality of groups to pick needle automatic re-setting mechanism, pick needle automatic re-setting mechanism including set firmly in the connecting plate of conveying spare and follow the vertical direction and slide and connect in the connecting plate and be used for the fixed plate of picking the needle, connecting plate and fixed plate all extend along the circumference of conveying spare, be provided with between connecting plate and the fixed plate and be used for making the fixed plate drive the vertical reset spring who upwards resets of picking the needle, reset spring is provided with two in the bilateral symmetry of connecting plate along its extending direction. The workbench is provided with a picking station and an inoculation station, and the workbench is provided with a driving piece for driving the fixing plate to vertically move downwards.

In the gene sequencing work, the conveying piece drives the picking needle automatic reset mechanism to rotate when rotating under the action of the power piece, when the picking needle rotates to the position corresponding to the picking station, the driving piece drives the fixing plate to drive the picking needle to vertically move downwards, picking of target bacterial colonies is achieved, the conveying piece continues to rotate, when the picking needle rotates to the position corresponding to the inoculating station, the driving piece drives the fixing plate to drive the picking needle to vertically move downwards, inoculation of the target bacterial colonies is achieved, when one of the picking needle inoculates the bacterial colonies, other picking needles rotate to the position corresponding to the picking station, the bacterial colonies are picked, the operation is repeated in a circulating mode, and all bacterial colonies in a culture dish are inoculated into the microporous plate.

With respect to the related art among the above, the inventors consider that the following drawbacks exist: the connecting plate and the fixing plate in the automatic picking needle resetting mechanism extend along the circumferential direction of the conveying piece, so that the volume of the automatic picking needle resetting mechanism is larger, and certain improvement space exists.

Disclosure of Invention

In order to reduce the volume ratio of the picking needle automatic reset mechanism and improve the working efficiency of the cloning picking workstation, the application provides the picking needle automatic reset mechanism, the cloning picking workstation and the cloning picking method.

The application provides a picking needle automatic reset mechanism, clone picking workstation and clone picking method, adopts following technical scheme:

the utility model provides a prick needle automatic re-setting mechanism for cloning pick workstation, is including being used for the connecting piece fixed with the conveying piece, the guide rail has set firmly on the connecting piece, the vertical setting of guide rail, sliding fit has the prick needle mounting that is used for fixed prick needle on the guide rail, be provided with the atress portion that is used for power supply butt application of force on the prick needle mounting, be provided with between connecting piece and the prick needle mounting and be used for making the prick needle mounting along the vertical elasticity that upwards resets of guide rail.

Through adopting above-mentioned technical scheme, the atress portion of power supply butt application of force on the slip stitch mounting, apply vertical decurrent effort to the slip stitch mounting, make the slip stitch mounting drive the vertical downstream of slip stitch, accomplish the picking or inoculation to the target bacterial colony, pick or inoculate the completion back, the power supply is no longer to the slip stitch mounting application of force, the slip stitch mounting drives the vertical upwards of slip stitch and resets under the effect that the elasticity resets, the slip stitch automatic re-setting mechanism overall structure is comparatively simple, and compact structure, the volume proportion of slip stitch automatic re-setting mechanism has been reduced.

Preferably, the elastic resetting piece is in a stretching state, the picking needle fixing piece comprises a sliding block in sliding fit with the guide rail and a picking needle fixing plate fixedly arranged on the sliding block, the picking needle fixing plate is used for fixing the picking needle, and when the sliding block is in an initial state, the sliding block abuts against the lower surface of the connecting piece.

By adopting the technical scheme, the elastic resetting piece exerts an acting force on the picking needle fixing piece, so that the picking needle fixing piece and the picking needle vertically reset upwards until the sliding block abuts against the lower surface of the connecting piece, the picking needle fixing piece and the picking needle stop moving under the action of the connecting piece, and the resetting precision of the picking needle is ensured.

Preferably, the connecting piece includes the connecting plate, the connecting plate sets up along the tangential direction of perpendicular to conveying piece circumference, the guide rail sets firmly in the one end of connecting plate dorsad conveying piece.

By adopting the technical scheme, the structure compactness of the automatic picking needle resetting mechanism is further improved, and the volume ratio of the automatic picking needle resetting mechanism is reduced.

Preferably, the guide rail is in threaded connection with a limiting bolt for limiting the downward movement range of the picking needle fixing piece.

By adopting the technical scheme, the downward movement range of the picking needle fixing piece is limited, and the picking needle fixing piece is prevented from moving downward to be separated from the guide rail.

Preferably, two ends of the elastic resetting piece are respectively and fixedly arranged at one end of the connecting piece close to the guide rail and one end of the picking needle fixing piece close to the picking needle, and the axis of the elastic resetting piece is parallel to the side face of the picking needle fixing plate.

Preferably, the elastic restoring piece is an extension spring or a rubber band.

A clone picking workstation comprises a workstation, wherein a conveying piece and a power piece are arranged on the workstation in a closed ring shape, the power piece is used for driving the conveying piece to move, the clone picking workstation further comprises a plurality of picking needle automatic reset mechanisms, the picking needle automatic reset mechanisms are uniformly distributed at intervals along the circumferential direction of the conveying piece, a connecting piece is fixedly arranged on the conveying piece, picking needles are fixedly arranged at the bottom end of a picking needle fixing piece, and the picking needles are vertically arranged;

the automatic picking device comprises a workbench, a plurality of sets of working units and a picking needle driving mechanism, wherein the working units are arranged on the workbench along the circumferential direction of the workbench, each working unit comprises a picking station, an inoculation station and a disinfection and sterilization station which are sequentially arranged at intervals along the motion track direction of a conveying piece, and the picking needle driving mechanism is used for providing a power source for driving a picking needle to vertically move downwards;

the clone picking workstation further comprises a controller, and the controller is used for controlling the power piece and the picking needle driving mechanism to act.

By adopting the technical scheme, a culture dish with bacterial colonies to be picked is placed in a picking station, a microporous plate is placed in a control station, a controller controls a power part to act to enable a conveying part to rotate, the conveying part drives a picking needle automatic reset mechanism and picking needles to rotate, every time the picking needle automatic reset mechanism rotates, the picking needle automatic reset mechanism rotates to the sterilization station to complete picking needle sterilization, meanwhile, every time the picking needle automatic reset mechanism rotates, the controller controls the conveying part to pause, and simultaneously controls a picking needle driving mechanism to drive the picking needle fixing part to drive the picking needles to vertically move downwards to realize picking or inoculating of the bacterial colonies, after picking or inoculating is completed, the picking needle driving mechanism does not apply force to the picking needle fixing part, the picking needle fixing part and the picking needles vertically reset upwards to initial positions under the action of the elastic reset part, and a clone picking station device continues to perform the operation until all the bacterial colonies are inoculated into the microporous plate, and clone the picking station works, and different picking needles simultaneously correspond to the picking station, the inoculation station and the sterilization station in a working unit; the method for matching the annular conveying piece with the multiple sets of working units has the advantages that the expandability is high, the rotating speed of the conveying piece is increased to the maximum value under the condition that picking, inoculating and disinfecting are successfully completed by the picking needles, the number of sets of the working units and the number of the picking needles are increased, the picking efficiency is increased, the limitation of a cloning picking workstation on the picking efficiency of bacterial colonies is broken through, the picking efficiency of bacterial colonies is greatly improved, in addition, the automatic resetting mechanism for the picking needles is simple and compact in structure and small in volume ratio, and the control over the whole volume of equipment is convenient to achieve.

Preferably, the conveying member is long round, the conveying member comprises a linear portion and arc portions located at two ends of the linear portion, and the plurality of sets of working units are located on two sides of the linear portion of the conveying member.

Through adopting above-mentioned technical scheme, be convenient for arrange compact structure to the work unit.

Preferably, the disinfection and sterilization station comprises a disinfection and sterilization table fixedly arranged on the workbench, and a brush assembly, a high-pressure spray nozzle and a hot air gun are fixedly arranged on the disinfection and sterilization table in sequence along the motion track direction of the conveying member.

Through adopting above-mentioned technical scheme, after the slip stitch got into disinfection and isolation platform, when the slip stitch was in the pause state, the position of slip stitch was corresponding with the position of brush subassembly, and the brush subassembly will be brushed the massive residue on the slip stitch and fall, and the slip stitch continues to move, and high pressure nozzle disinfects the slip stitch through spraying alcohol, and hot-blast rifle weathers the slip stitch through blowing out hot-blast.

Preferably, the brush assembly comprises a vertically arranged brush head and a driving piece for driving the brush head to rotate, and the axis direction of the brush head is parallel to the axis direction of the picking needle.

Through adopting above-mentioned technical scheme, when making brush head rotate, the different positions on the brush head contact with the tucking needle, and is more thorough to the clearance of tucking needle, simultaneously, has prolonged the live time of brush head, has reduced the washing and the change number of times of brush head.

Preferably, the picking needle driving mechanisms in the same set of working units are arranged into two groups, the two groups of picking needle driving mechanisms correspond to the picking station and the inoculation station respectively, and the picking needle driving mechanisms are vertically arranged electric cylinders.

Through adopting above-mentioned technical scheme, in order to obtain best experimental effect, the operation of picking only needs to be implemented to the bacterial colony surface to the experimenter, but because the culture medium thickness is different in the culture dish of doing at every turn, leads to the bacterial colony surface apart from the height of picking the needle to change, picks the needle through electric cylinder drive, realizes picking the needle and picking the dynamic adjustment of stroke at every turn.

Preferably, the picking station comprises a first X-axis linear module, a first Y-axis linear module and a culture dish supporting plate fixedly arranged at the output end of the first Y-axis linear module, the first X-axis linear module is arranged on the workbench along the tangential direction perpendicular to the circumferential direction of the conveying piece, the first Y-axis linear module is fixedly arranged at the output end of the first X-axis linear module and is arranged along the direction perpendicular to the first X-axis linear module, and the controller is further used for controlling the first X-axis linear module and the first Y-axis linear module to act.

Through adopting above-mentioned technical scheme, place the culture dish in culture dish supporting plate, realize the adjustment to the culture dish position through the cooperation of first X axis nature module and first Y axis nature module, control culture dish removes to operating position.

Preferably, the inoculation station comprises a second X-axis linear module, a second Y-axis linear module and a micro-porous plate bearing plate fixedly arranged at the output end of the second Y-axis linear module, the second X-axis linear module is arranged on the workbench along the tangential direction perpendicular to the circumferential direction of the conveying member, and the second Y-axis linear module is fixedly arranged at the output end of the second X-axis linear module and is arranged along the direction perpendicular to the second X-axis linear module; the controller is also used for controlling the action of the second X-axis linear module and the second Y-axis linear module.

Through adopting above-mentioned technical scheme, place the micropore board in micropore board bearing board, realize the adjustment to the micropore board position through the cooperation of second X axis nature module and second Y axis nature module, control micropore board removes to operating position.

Preferably, the conveying member comprises a timing belt or a chain.

A clone picking method of a clone picking workstation comprises the following steps:

the automatic picking needle resetting mechanism is controlled to rotate along with the conveying piece, the conveying piece is controlled to pause when rotating by one picking needle automatic resetting mechanism interval, meanwhile, the picking needle driving mechanism is controlled to apply force to the picking needle fixing piece, the picking needle fixing piece is enabled to drive the picking needle to vertically move downwards, picking or inoculation of bacterial colonies is achieved, after picking or inoculation of the bacterial colonies is completed, the picking needle driving mechanism is controlled to remove the force applied to the 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;

when the conveying piece rotates for one space of the automatic picking needle resetting mechanism, the automatic picking needle resetting mechanism rotates to a disinfection and sterilization station to complete the disinfection and sterilization work of the picking needle;

the above procedure was repeated until all colonies were inoculated into the microplate.

Drawings

Fig. 1 is a schematic view of the overall structure of the present application.

Fig. 2 is a partially enlarged schematic view of a portion a in fig. 1.

Fig. 3 is a partial structural schematic diagram showing the automatic return mechanism of the picking needle in the present application.

Fig. 4 is a partial structural schematic view of the present application hiding the picking needle fixing plate, the extension spring and the connecting bolt to show the slider structure.

Fig. 5 is a partial structural view of the first X-axis linear module shown in the present application.

FIG. 6 is a schematic illustration of a portion of a sterilization station shown in the present application.

Description of reference numerals: 1. a work table; 11. a limiting ring; 2. a conveying member; 21. a power member; 3. a picking needle automatic reset mechanism; 31. a connecting member; 311. a connecting plate; 312. an extension plate; 313. a limiting plate; 32. an extension spring; 321. a connecting bolt; 33. a guide rail; 331. a limit bolt; 34. a slider; 35. a picking needle fixing plate; 36. a triangular support plate; 4. picking a station; 41. a first X-axis linear module; 411. a fixed frame body; 412. a lead screw; 413. a sliding block; 414. a slide rail; 415. a support frame; 42. a first Y-axis linear module; 5. an inoculation station; 51. a second X-axis linear module; 52. a second Y-axis linear module; 6. a disinfection and sterilization station; 61. a sterilizing platform; 611. a vertical plate; 612. accommodating grooves; 62. a brush assembly; 621. a brush head; 622. a drive motor; 63. a high pressure spray head; 64. a hot air gun; 7. a culture dish; 8. a microporous plate; 9. a U-shaped frame; 91. a needle picking drive mechanism; 92. a camera; 10. and (4) picking a needle.

Detailed Description

The present application is described in further detail below with reference to figures 1-6.

The embodiment of the application discloses workstation is picked to clone, refer to fig. 1, including the controller, place in horizontal work plane's workstation 1, it sets up in workstation 1's conveying piece 2 to be long circle type closed ring-type, a power part 21 for driving conveying piece 2 motion, along conveying piece 2's circumference interval equipartition in conveying piece 2's a plurality of groups pick needle automatic re-setting mechanism 3 and a plurality of cover set firmly in workstation 1's work cell along conveying piece 2's circumference, the work cell is including picking station 4, inoculation station 5 and disinfection and isolation station 6, pick station 4, inoculation station 5 and disinfection and isolation station 6 are arranged along conveying piece 2's movement orbit direction at interval in proper order. The automatic reset mechanism 3 for any picking needle is provided with a picking needle 10 for picking and inoculating a target bacterial colony, and the picking needle 10 is vertically arranged.

The conveying member 2 comprises two linear parts, and a plurality of sets of working units are positioned on the outer sides of the two linear parts of the conveying member 2. In this embodiment, the automatic return mechanism 3 for the picker needle is provided with 100 sets, and two sets of working units are provided outside the two linear portions, respectively.

The conveying part 2 comprises a synchronous belt, and the power part 21 comprises four synchronous belt wheels arranged on the workbench 1 at intervals along the motion track direction of the synchronous belt and a motor used for driving the synchronous belt wheels to rotate.

In other embodiments, the conveying member 2 includes a chain, and the power member 21 includes four sprockets arranged at intervals along the moving track direction of the chain on the working table 1 and a motor for driving the sprockets to rotate. It will be appreciated that the conveyor 2 and the power member 21 may also be other mechanisms for effecting movement in the circumferential direction of the conveyor 2.

Referring to fig. 1 to 3, a limiting ring 11 is fixedly connected to the outer side of the synchronous belt on the worktable 1, the limiting ring 11 is arranged along the motion track direction of the synchronous belt, and the limiting ring 11 and the synchronous belt are arranged at intervals.

The automatic picking needle resetting mechanism 3 comprises a connecting piece 31 for fixing with a synchronous belt, a guide rail 33 which is fixedly arranged on the connecting piece 31 and is vertically arranged, a picking needle fixing piece which is in sliding fit with the guide rail 33 and is used for fixing the picking needle 10, and an elastic resetting piece for resetting the picking needle 10.

The coupling member 31 includes a coupling plate 311, and the coupling plate 311 is perpendicular to a tangential direction of the circumference of the transferring member 2. The vertical upwards extension of one end that the connecting plate 311 is close to the hold-in range has extension board 312, and extension board 312 passes through bolt fixed connection in the hold-in range outside. The lower surface of the connecting plate 311 is fixed with a limiting plate 313 through bolts at a position corresponding to the limiting ring 11, the limiting plate 313 is a U-shaped plate with a downward opening, two side walls opposite to the opening end of the limiting plate 313 are respectively contacted with two side walls of the limiting ring 11, and a plurality of balls are arranged between the two vertically opposite side walls of the limiting plate 313 and the limiting ring 11 and are not shown in the attached drawing. The matching of the limit plate 313 and the limit ring 11 limits the motion track of the automatic picking needle resetting mechanism 3, and the extension plate 312 is fixedly connected with the synchronous belt, so as to limit the motion track of the synchronous belt, and the synchronous belt keeps a state of rotating along the long round track.

Referring to fig. 3 and 4, the guide rail 33 is fixed to a lower surface of one end of the connection plate 311 facing away from the extension plate 312, and the needle raising fixing member is located outside the guide rail 33. The picking needle fixing member includes a slider 34 slidably fitted to the guide rail 33 and a picking needle fixing plate 35 fixed to a side of the slider 34 away from the guide rail 33 by a bolt, and the picking needle 10 is fixed to a bottom end of the picking needle fixing plate 35 by a bolt. The slider 34 is located below the connection plate 311, and when the picking needle 10 is completely returned, the tip end surface of the slider 34 abuts against the lower surface of the connection plate 311, and the slider 34 is restricted from moving further upward. The bottom end of one side of the guide rail 33, which is provided with the sliding block 34, is fixed with a limiting bolt 331, and the limiting bolt 331 is used for limiting the downward movement range of the sliding block 34, so as to limit the downward movement range of the picking needle 10. The picking needle fixing plate 35 is located outside the connecting plate 311, and both side walls of the picking needle fixing plate 35 in the width direction are flush with both side walls of the connecting plate 311 in the width direction. For promoting the joint strength between guide rail 33 and connecting plate 311, fixedly connected with triangle-shaped backup pad 36 between guide rail 33 and the connecting plate 311, set up the logical groove that is used for reducing its self weight on the triangle-shaped backup pad 36.

The working unit further comprises a picking needle driving mechanism 91 for driving the picking needle 10 to vertically move downwards, and the picking needle driving mechanism 91 is electrically connected with the controller. The picking needle fixing plate 35 is provided with a force receiving portion for abutting and applying force to the picking needle driving mechanism 91, and the force receiving portion is a top end face of the picking needle fixing plate 35.

In this embodiment, the elastic restoring member is an extension spring 32 obliquely arranged, and in other embodiments, the elastic restoring member can also be arranged into other elastic members such as rubber bands. The extension spring 32 is located at one side of the connection plate 311 and the picking needle fixing plate 35, the axial direction of the extension spring 32 is parallel to the side wall of the picking needle fixing plate 35, and both ends of the extension spring 32 are respectively connected with the bottom end of the picking needle fixing plate 35 and one end of the connection plate 311 near the picking needle fixing plate 35. The extension spring 32 is a spring with a hook, the needle picking fixing plate 35 and the connecting plate 311 are fixedly connected with the connecting bolts 321 on the side walls respectively, two ends of the extension spring 32 are connected to the two connecting bolts 321 respectively, and the extension spring 32 is in a stretching state all the time.

The picking needle fixing plate 35 drives the picking needle 10 to vertically move downwards under the action of the picking needle driving mechanism 91, so that the picking needle 10 can pick or inoculate target bacterial colonies, after the target bacterial colonies are picked or inoculated, the picking needle driving mechanism 91 is lifted to remove the acting force on the picking needle fixing plate 35, the picking needle fixing plate 35 drives the picking needle 10 to vertically reset upwards under the action of the tension spring 32, the top end face of the sliding block 34 is abutted to the lower surface of the connecting plate 311, and the accurate resetting of the picking needle 10 is realized.

It can be known that the automatic reset mechanism 3 for picking needles can also be used in other automatic reset components or mechanisms, and is not limited to cloning and picking workstations.

Referring to fig. 1 and 5, the two sides of the linear portion of the timing belt are perpendicular to the longitudinal direction thereof and are the X-axis direction, and the perpendicular to the X-axis direction in the horizontal plane is the Y-axis direction.

With reference to fig. 1 and 5, the picking station 4 is used to drive the culture dish 7 to move horizontally. The picking station 4 comprises a first X-axis linear module 41, a first Y-axis linear module 42 and a culture dish supporting plate fixedly arranged at the output end of the first Y-axis linear module 42, and the culture dish 7 is fixed on the upper surface of the culture dish supporting plate. The first X-axis linear module 41 is mounted on the worktable 1 along the X-axis direction, and the first Y-axis linear module 42 is fixedly disposed at the output end of the first X-axis linear module 41 and arranged along the Y-axis direction. The first X-axis linear module 41 is used for driving the first Y-axis linear module 42 to move along the X-axis direction, the first Y-axis linear module 42 is used for driving the culture dish supporting plate to move along the Y-axis direction, the position of the culture dish 7 is adjusted, and the first X-axis linear module 41 and the first Y-axis linear module 42 are both electrically connected with the controller.

The inoculation station 5 is used for driving the microporous plate 8 to move horizontally. The inoculation station 5 comprises a second X-axis linear module 51, a second Y-axis linear module 52 and a microplate support plate fixedly arranged at the output end of the second Y-axis linear module 52, and the microplate 8 is fixed on the upper surface of the microplate support plate. The second X-axis linear module 51 is mounted on the worktable 1 along the X-axis direction, and the second Y-axis linear module 52 is fixedly mounted on the output end of the second X-axis linear module 51 and arranged along the Y-axis direction. The second X-axis linear module 51 is used for driving the second Y-axis linear module 52 to move along the X-axis direction, the second Y-axis linear module 52 is used for driving the microplate support plate to move along the Y-axis direction, so as to adjust the position of the microplate 8, and the second X-axis linear module 51 and the second Y-axis linear module 52 are both electrically connected with the controller.

It should be noted that the first X-axis linear module 41, the first Y-axis linear module 42, the second X-axis linear module 51, and the second Y-axis linear module 52 have the same structure, and the structure of the first X-axis linear module 41 will be described as an example.

The first X-axis linear module 41 includes a fixed frame 411 disposed along the X-axis direction, a lead screw 412 disposed along the length direction of the fixed frame 411 is rotatably connected to the fixed frame 411, and a motor for driving the lead screw 412 to rotate is fixedly connected to the fixed frame 411. The outer side of the screw 412 is sleeved with a sliding block 413 matched with the screw, and a sliding rail 414 for limiting the sliding block 413 to rotate so that the sliding block 413 moves along the axial direction of the screw 412 is fixedly connected to the fixed frame 411. The sliding block 413 is fixedly connected with a support frame 415, a top end of the support frame 415 is located above the fixing frame 411, and a top end of the support frame 415 is an output end of the first X-axis linear module 41.

With reference to fig. 1, the work unit also comprises two U-shaped racks 9 corresponding to the picking station 4 and the inoculation station 5, respectively. The picking needle driving mechanisms 91 in the same set of working units are provided with two sets, and the two sets of picking needle driving mechanisms 91 are respectively fixed on the two U-shaped frames 9. The picking needle driving mechanism 91 is located right above the picking needle 10, the picking needle driving mechanism 91 is a vertically arranged electric cylinder, and a rod portion of the electric cylinder vertically moves downwards to abut against the upper surface of the picking needle fixing plate 35 to drive the picking needle fixing plate 35 and the picking needle 10 to vertically move downwards.

In order to obtain the best experimental effect, the experimenter needs to perform the picking operation only on the surface of the bacterial colony, but the height from the surface of the bacterial colony to the picking needle 10 is changed due to different thicknesses of the culture medium in the culture dish 7, and the picking needle 10 is driven by the electric cylinder to realize the dynamic adjustment of the picking stroke of the picking needle 10 every time. It should be understood that, in other embodiments, the picking needle driving mechanism 91 may be configured as other mechanisms capable of satisfying the dynamic adjustment of the stroke, such as a linear module.

The U-shaped frame 9 corresponding to the picking station 4 is further provided with a camera 92, the camera 92 measures the distance of the culture dish 7 and transmits a picture to image processing software after photographing, the image with the bacterial colony is processed by the software to extract three-dimensional coordinate information of the target bacterial colony, and then the picking station 4 is controlled to drive the target bacterial colony on the culture dish 7 to move to the working position corresponding to the picking needle 10.

With reference to fig. 1 and 6, the disinfecting and sterilizing station 6 includes a disinfecting and sterilizing table 61 fixedly disposed on the workbench 1, the disinfecting and sterilizing table 61 includes two vertical plates 611 disposed at intervals, the two vertical plates 611 both extend along the movement track direction of the synchronous belt, a distance is left between two opposite side walls of the two vertical plates 611, a receiving groove 612 for allowing the picking needle 10 to pass through is formed between the two vertical plates 611, and a disinfecting and sterilizing device is fixedly disposed on a side wall of the receiving groove 612. When the distance between the automatic picking needle resetting mechanisms 3 is increased every time, the automatic picking needle resetting mechanisms 3 on the conveying part 2 are rotated into the accommodating grooves 612 of the disinfection and sterilization table 61, and the disinfection and sterilization work is completed through the disinfection and sterilization device.

The disinfection and sterilization device comprises a brush component 62, a high-pressure spray nozzle 63 and a hot air gun 64 which are sequentially arranged on the disinfection and sterilization platform 61 along the motion track of the conveying part 2, a flat plate is fixedly connected between the two vertical plates 611, the brush component 62, the high-pressure spray nozzle 63 and the hot air gun 64 are all arranged on the flat plate, and the high-pressure spray nozzle 63 and the hot air gun 64 are all positioned below the picking needle 10. The brush assembly 62 comprises a driving motor 622 fixedly arranged on the side wall of the vertical plate 611, the driving motor 622 is vertically arranged, a brush head 621 is fixedly arranged at the output end of the driving motor 622 coaxially, and bristles of the brush head 621 are vertically arranged upwards. In addition, the axial direction of the output shaft of the driving motor 622 is parallel to the axial direction of the picker needle 10.

Brush head 621 in the disinfection and sterilization device rotates under the effect of driving piece, after the slip-stitch 10 got into the holding tank 612 of disinfection and sterilization platform 61, when the slip-stitch 10 was in the pause state, the position of slip-stitch 10 corresponded with the position of brush subassembly 62, the slip-stitch 10 was located in brush head 621, massive residue on the slip-stitch 10 was brushed away to pivoted brush head 621, when brush head 621 rotated, different positions on the brush head 621 contacted with slip-stitch 10, the clearance to slip-stitch 10 was more thorough, and simultaneously, brush head 621's live time has been prolonged, brush head 621's washing and change number of times have been reduced, slip-stitch 10 continues to move, high pressure nozzle 63 disinfects slip-stitch 10 through spraying alcohol, hot-air gun 64 weathers slip-stitch 10 through blowing out hot-blast.

It should be noted that the sterilization station is mainly used to sterilize the picking needle 10 passing through the station, and in other embodiments, the specific structure is not limited to the combination of specific tools such as a brush assembly, a sprayer, and a hot air gun.

In addition, it should be emphasized that, during the working process of the clone picking workstation, different picking needles 10 simultaneously correspond to the picking station 4, the inoculation station 5 and the sterilization station 6 in the working unit, and during the practical application process, the distance between different stations in the clone picking workstation can be equal to the integral multiple of the distance between the picking needle automatic reset mechanisms 3.

The application also discloses a clone picking method of the clone picking workstation, which comprises the following steps:

placing a culture dish 7 with bacterial colonies to be picked into a culture dish supporting plate of the picking station 4 manually or mechanically, and placing a micropore plate 8 into a micropore plate supporting plate of the inoculation station 5 manually or mechanically;

the controller controls the inoculation station 5 to move the microporous plate 8 to a position where a hole to be inoculated corresponds to the pricking pin 10, the position is a working position of the microporous plate 8, and in the working process of the clone picking station, the controller controls the inoculation station 5 to move the microporous plate 8 to move different hole positions to be inoculated to working positions corresponding to the pricking pin 10;

the controller controls the picking station 4 to move the culture dish 7 to a position under the camera 92, the camera 92 measures the distance of the culture dish 7 and takes a picture, the picture is transmitted to image processing software, the image with the bacterial colony is processed by the software to extract three-dimensional coordinate information of a target bacterial colony, the controller controls the picking station 4 to move the culture dish 7 to a position where the target bacterial colony corresponds to the picking needle 10, the position is a working position of the culture dish 7, and in the working process of the clone picking station, the controller controls the picking station 4 to move the culture dish 7 to move different target bacterial colony positions to working positions corresponding to the picking needle 10;

meanwhile, the controller controls the power part 21 to drive the synchronous belt to rotate, the synchronous belt drives the picking needle automatic reset mechanism 3 to rotate, the synchronous belt rotates one space of the picking needle automatic reset mechanism 3 every time, the picking needle automatic reset mechanism 3 rotates to a position right below the picking needle driving mechanism 91, and the controller controls the synchronous belt to stop;

the picking station 4 and the inoculation station 5 respectively move target bacterial colonies and hole sites to be inoculated to the positions right below the picking needles 10, all the picking needle driving mechanisms 91 move downwards and apply force to the picking needle fixing plates 35 to drive the picking needles 10 to move downwards to complete picking or inoculation work, after the picking or inoculation work is completed, the controller controls the picking needle driving mechanisms 91 to remove acting force on the picking needle fixing plates 35, the picking needles 10 vertically reset upwards under the action of the tension springs 32 until the end faces of the top ends of the sliding blocks 34 abut against the lower surfaces of the connecting plates 311, and accurate resetting of the picking needles 10 is achieved;

when the synchronous belt rotates for every distance of one picking needle automatic reset mechanism 3, the picking needle automatic reset mechanism 3 rotates to a disinfection and sterilization station 6, after the picking needle 10 enters the accommodating groove 612 of the disinfection and sterilization table 61, when the picking needle 10 is in a pause state, the position of the picking needle 10 corresponds to the position of the brush component 62, the picking needle 10 is positioned in the brush head 621, the rotating brush head 621 brushes away large residues on the picking needle 10, when the brush head 621 rotates, different positions on the brush head 621 are in contact with the picking needle 10, the picking needle 10 is cleaned more thoroughly, the picking needle 10 continues to move, the high-pressure spray head 63 sprays alcohol to disinfect the picking needle 10, and the hot air gun 64 blows out hot air to dry the picking needle 10;

the above procedure is repeated until all colonies are inoculated into the microplate 8.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: equivalent changes in structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. The utility model provides a picking needle automatic re-setting mechanism for cloning pick workstation which characterized in that: including being used for connecting piece (31) fixed with conveying piece (2), guide rail (33) have set firmly on connecting piece (31), guide rail (33) vertical setting, sliding fit has the tucking needle mounting that is used for fixed tucking (10) on guide rail (33), be provided with the atress portion that is used for power supply butt application of force on the tucking needle mounting, be provided with between connecting piece (31) and the tucking needle mounting and be used for making the tucking needle mounting along the vertical elasticity that upwards resets of guide rail (33) reset.

2. The automatic picking needle repositioning mechanism for a clone picking workstation of claim 1, wherein: the elastic resetting piece is in a stretching state, the picking needle fixing piece comprises a sliding block (34) in sliding fit with the guide rail (33) and a picking needle fixing plate (35) fixedly arranged on the sliding block (34), the picking needle fixing plate (35) is used for fixing the picking needle (10), and when the sliding block (34) is in an initial state, the sliding block (34) abuts against the lower surface of the connecting piece (31).

3. The automatic picking needle repositioning mechanism for a clone picking workstation of claim 1, wherein: the connecting piece (31) comprises a connecting plate (311), the connecting plate (311) is arranged along the tangential direction perpendicular to the circumferential direction of the conveying piece (2), and the guide rail (33) is fixedly arranged at one end, back to the conveying piece (2), of the connecting plate (311).

4. The automatic pick needle repositioning mechanism for a clone picking station as claimed in claim 1, wherein: and a limiting bolt (342) used for limiting the downward movement range of the picking needle fixing piece is connected to the guide rail (33) in a threaded manner.

5. The automatic pick needle repositioning mechanism for a clone picking station as claimed in claim 2, wherein: the two ends of the elastic resetting piece are respectively and fixedly arranged at one end of the connecting piece (31) close to the guide rail (33) and one end of the picking needle fixing piece close to the picking needle (10), and the axis of the elastic resetting piece is parallel to the side face of the picking needle fixing plate (35).

6. The automatic pick needle repositioning mechanism for a clone picking station as claimed in claim 1, wherein: the elastic reset piece is an extension spring (32) or a rubber band.

7. A clone picking workstation characterized by: the automatic picking device comprises a workbench (1), wherein a conveying piece (2) arranged in a closed ring shape and a power piece (21) used for driving the conveying piece (2) to move are arranged on the workbench (1), the cloning and picking workstation further comprises a plurality of automatic picking needle resetting mechanisms (3) according to any one of claims 1 to 6, the plurality of automatic picking needle resetting mechanisms (3) are uniformly distributed at intervals along the circumferential direction of the conveying piece (2), a connecting piece (31) is fixedly arranged on the conveying piece (2), a picking needle (10) is fixedly arranged at the bottom end of the picking needle fixing piece, and the picking needle (10) is vertically arranged;

the automatic picking and inoculating device is characterized in that a plurality of sets of working units are arranged on the working table (1) along the circumferential direction of the working table, each working unit comprises a picking station (4), an inoculating station (5) and a disinfecting and sterilizing station (6) which are sequentially arranged at intervals along the motion trail direction of the conveying piece (2), and the working unit further comprises a picking needle driving mechanism (91) for providing a power source for driving the picking needle (10) to vertically move downwards;

the clone picking workstation further comprises a controller, and the controller is used for controlling the power piece (21) and the picking needle driving mechanism (91) to act.

8. The clone picking workstation of claim 7, wherein: the conveying piece (2) is in a long round shape, the conveying piece (2) comprises a straight line portion and arc portions located at two ends of the straight line portion, and a plurality of sets of working units are located on two sides of the straight line portion of the conveying piece (2).

9. The clone picking workstation of claim 7, wherein: the disinfection and sterilization station (6) comprises a disinfection and sterilization table (61) fixedly arranged on the workbench (1), and a brush component (62), a high-pressure spray nozzle (63) and a hot air gun (64) are fixedly arranged on the disinfection and sterilization table (61) in sequence along the motion track direction of the conveying piece (2).

10. The clone picking workstation of claim 9, wherein: the brush assembly (62) comprises a vertically arranged brush head (621) and a driving piece for driving the brush head (621) to rotate, and the axial direction of the brush head (621) is parallel to the axial direction of the picking needle (10).

11. The clone picking workstation of claim 7, wherein: the same set of picking needle driving mechanisms (91) in the working unit are arranged into two sets, the two sets of picking needle driving mechanisms (91) correspond to the picking station (4) and the inoculation station (5) respectively, and the picking needle driving mechanisms (91) are vertically arranged electric cylinders.

12. The clone picking workstation of claim 7, wherein: pick station (4) and include first X axle linear module (41), first Y axle linear module (42) and set firmly the culture dish supporting plate in the output of first Y axle linear module (42), first X axle linear module (41) is installed on workstation (1) along the tangential direction of perpendicular to conveying member (2) circumference, first Y axle linear module (42) sets firmly in the output of first X axle linear module (41) and arranges along the direction of perpendicular to first X axle linear module (41), the controller still is used for controlling first X axle linear module (41) and the action of first Y axle linear module (42).

13. The clone picking workstation of claim 7, wherein: the inoculation station (5) comprises a second X-axis linear module (51), a second Y-axis linear module (52) and a micro-porous plate bearing plate fixedly arranged at the output end of the second Y-axis linear module (52), the second X-axis linear module (51) is arranged on the workbench (1) along the tangential direction perpendicular to the circumferential direction of the conveying piece (2), and the second Y-axis linear module (52) is fixedly arranged at the output end of the second X-axis linear module (51) and is arranged along the direction perpendicular to the second X-axis linear module (51); the controller is also used for controlling the action of the second X-axis linear module (51) and the second Y-axis linear module (52).

14. The clone picking workstation of claim 7, wherein: the conveying member (2) comprises a synchronous belt or a chain.

15. A clone picking method based on a clone picking workstation as claimed in any one of claims 7 to 14, characterized in that: the method comprises the following steps:

the automatic picking needle resetting mechanism (3) rotates along with the conveying piece (2), the conveying piece (2) rotates by one distance of the automatic picking needle resetting mechanism (3), the conveying piece (2) stops, and meanwhile the picking needle driving mechanism (91) is controlled to apply force to the picking needle fixing piece, so that the picking needle fixing piece drives the picking needle (10) to vertically move downwards to pick or inoculate bacterial colonies, after the picking or inoculating of the bacterial colonies is completed, the picking needle driving mechanism (91) is controlled to remove the force applied to the picking needle fixing piece, and the picking needle fixing piece drives the picking needle (10) to vertically reset upwards to an initial position under the action of the elastic resetting piece;

when the conveying piece (2) rotates for every interval of the automatic picking needle resetting mechanisms (3), the automatic picking needle resetting mechanisms (3) rotate to the disinfection and sterilization station (6) to complete disinfection and sterilization work of the picking needles (10);

the above procedure is repeated until all colonies are inoculated into the microplate (8).