WO2023005107A1 - 自动菌落挑选仪及挑选方法 - Google Patents

自动菌落挑选仪及挑选方法 Download PDF

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Publication number
WO2023005107A1
WO2023005107A1 PCT/CN2021/137770 CN2021137770W WO2023005107A1 WO 2023005107 A1 WO2023005107 A1 WO 2023005107A1 CN 2021137770 W CN2021137770 W CN 2021137770W WO 2023005107 A1 WO2023005107 A1 WO 2023005107A1
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WIPO (PCT)
Prior art keywords
picking
needle
station
pick
cleaning
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Ceased
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PCT/CN2021/137770
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English (en)
French (fr)
Inventor
何凯
朱伟
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Publication of WO2023005107A1 publication Critical patent/WO2023005107A1/zh
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Classifications

    • 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—Disinfection or sterilisation of materials or objects, in general; Accessories therefor
    • A61L2/16—Disinfection or sterilisation of materials or objects, in general; Accessories therefor using chemical substances
    • A61L2/18—Liquid substances
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12—Brushes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/20—Cleaning of moving articles, e.g. of moving webs or of objects on a conveyor
    • 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
    • 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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F26—DRYING
    • F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
    • F26B23/00—Heating arrangements

Definitions

  • the invention relates to the field of colony selection equipment, in particular to an automatic colony selection instrument and a selection method.
  • the automatic colony sorting instrument usually includes a workbench, a transmission part arranged on the workbench and a power part for driving the transmission part to move along its own circumference.
  • the needles and the needle-picking automatic reset mechanism corresponding to the needle-picking needles one by one, the automatic needle-picking reset mechanism is used to drive the needles to reset vertically upwards.
  • the workbench is provided with a picking station, an inoculation station and a cleaning station along the circumference of the conveying part, and a driving member for driving the pick needle to move vertically downward is also arranged on the workbench.
  • the transmission part rotates around itself under the action of the power part, the picking needle and the automatic reset mechanism of the picking needle move together with the transmission part, and the picking needle rotates to the picking station, inoculation station and
  • the driving part drives the pick needle to move vertically downward, and then realizes the picking, inoculation and disinfection of the pick needle in turn, and so on, until all the colonies in the petri dish are inoculated into the microwells board.
  • the inventor believes that there are the following defects: the picking needles are reused during the working process of the automatic colony picker, and it needs to be cleaned and disinfected after each picking is completed, while the automatic colony picker in the related art
  • the needle cleaning process of the instrument is controlled by jogging, which leads to limited cleaning time and incomplete cleaning, which reduces the reliability and scientificity of the experimental results. Therefore, there is room for improvement.
  • the application provides an automatic colony sorting instrument and a sorting method.
  • a kind of automatic colony selection instrument and selection method provided by the application adopt the following technical scheme:
  • An automatic colony sorting instrument comprising a workbench, on which a rotating disk arranged in the shape of a disk and a power part for driving the rotating disk to rotate around its own circumference are rotatably connected, and the rotating disk is connected along its circumferential direction.
  • the picking needles are arranged vertically, and the picking needles are vertically slidably connected to the rotating disk, and the working table is sequentially provided with a picking station and an inoculation station along the moving direction of the rotating disk and a cleaning station, the cleaning station includes a cleaning mechanism for cleaning the picks, a heating mechanism for heating the picks and a cooling mechanism for cooling the picks, the cleaning mechanism, the heating mechanism and the cooling mechanism are arranged in sequence
  • Picking needles are passed through in the moving path of the picking needles, and the picking station driver and the inoculation station driving member respectively corresponding to the picking station and the inoculation station are arranged on the workbench.
  • the position driver and the inoculation station driver are used to provide a power source for driving the needles to move vertically downward, and the rotating disk is also fixed with an automatic reset mechanism corresponding to the needles one by one;
  • the automatic colony picking instrument also includes a controller, the controller is electrically connected to the power part, the picking station driving part and the inoculation station driving part, and is used to control the power part, the picking station driving part and the inoculation station driving part. bit driver action.
  • the petri dish with the colonies to be picked is placed in the picking station, and the microplate for inoculating the picked colonies is placed in the inoculation station, and the controller controls the power part to drive the rotation
  • the disk rotates, and the rotating disk drives the needles to rotate. Every time a needle distance is rotated, different needles correspond to the picking station and the inoculation station at the same time.
  • the driving part of the picking station and the driving part of the inoculation station apply force to the corresponding picking needle, so that the picking needle moves vertically downward, and the picking or inoculation of the colony is completed.
  • the picking needle is The needle resets vertically upward under the action of the automatic needle reset mechanism; during the rotation of the rotating disk, the picking needle does not need to move vertically, but directly passes through the cleaning mechanism, heating mechanism and cooling mechanism along its moving path to realize the needle picking Cleaning and disinfection, heating and cooling, without affecting the high speed of the turntable, maximize the cleaning path of each pick needle at the cleaning station, thereby prolonging the cleaning time of each pick needle to the maximum extent, reducing the The factors of incomplete cleaning improve the reliability and scientificity of the experimental results.
  • the cleaning method in this application can realize the simultaneous cleaning of multiple needles under a single cleaning station, which ensures the cleaning efficiency of the needles.
  • the cost of cleaning stations is reduced; in addition, through the combination of the rotating disk and several sets of needles, the overall footprint of the automatic colony picker is small, and the adaptability of the automatic colony picker to different spaces is improved.
  • the cleaning mechanism is provided with a cleaning channel for the needle to pass through, and the cleaning channel is arranged in an arc shape coaxial with the motion track of the picking needle and with the same radius, and the side wall of the cleaning channel is fixed A first hair brush and a first alcohol nozzle are provided.
  • the pick needles rotate with the rotating disk
  • the pick needles enter the cleaning channel
  • Cleaning and disinfection on the premise that the needles do not need to move up and down, realize the cleaning and disinfection of the needles, prolong the cleaning time of each needle, reduce the factors of incomplete cleaning, and improve the reliability of the experimental results and scientific.
  • the heating mechanism is provided with a heating channel for the pick needle to pass through, and the heating channel is arranged in an arc shape coaxial with the motion track of the pick needle and with the same radius, and the side wall of the heating channel is fixed With heating plate.
  • the cooling mechanism is provided with a cooling passage for the pick needle to pass through, and the gap in the cooling mechanism is a cooling passage, and the cooling passage is an arc coaxial with the movement track of the pick needle and the same radius It is provided that a cooler nozzle is fixed on the side wall of the cooling channel.
  • the picking station driving member is set as a linear module whose stroke can be dynamically adjusted.
  • the experimenter needs to carry out the picking operation only on the surface of the colony, but because the thickness of the medium in the culture dish is different each time, the height from the surface of the colony to the pick needle is Changeable, by setting the driving part of the picking station as a linear module whose stroke can be dynamically adjusted, the dynamic adjustment of each picking stroke of the picking needle is realized, and then the control of the height of the colony picking is realized, which further improves the The scientificity and reliability of the experimental results.
  • the picking station includes a two-dimensional drive mechanism and a clamping mechanism connected to the output end of the two-dimensional drive mechanism, the clamping mechanism is used to clamp 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 to clamp the microwell plate, and the vibrator is fixed on the clamping mechanism in the inoculation station .
  • the vibrator when the vibrator vibrates, it drives the clamping mechanism in the inoculation station and the microporous plate to vibrate, and the solution in the microporous plate vibrates under the action of the microporous plate, and the pick needle moves downward and is inserted into the micropore.
  • the colonies on the pick needle are more likely to fall into the solution in the microplate.
  • the clamping mechanism includes two symmetrically arranged clamping parts for clamping the culture dish, and the clamping mechanism also includes a clamping driving part for driving the two clamping parts to move relatively,
  • the clamping driving member is fixed on the output end of the two-dimensional driving mechanism.
  • the picking needle automatic reset mechanism includes a connecting piece for fixing with the rotating disk, and a picking needle fixing piece for fixing the picking needle is slidably connected to the connecting piece in the vertical direction, and the picking needle fixing piece A force-receiving part for abutting against the power source to apply a force is arranged on the upper part, and an elastic restoring part for vertically upwardly resetting the pick fixing part is arranged between the connecting part and the pick fixing part.
  • the power source abuts against the force-receiving part on the needle fixing part, and applies a vertical downward force to the needle fixing part, so that the needle fixing part drives the needle to move vertically downward , to complete the picking or inoculation of the target colony. After the picking or inoculation is completed, the power source no longer exerts force on the fixing part of the picking needle.
  • the overall structure of the needle automatic reset mechanism is relatively simple and compact, which reduces the volume ratio of the needle automatic reset mechanism.
  • a pulling rod is provided on the needle fixing member, fixing rods are respectively arranged on both sides of the fixing member on the connecting member, the fixing rod is located above the pulling rod, and the fixing rod and the pulling rod Arranged in the same direction, there are two elastic restoring parts, and the two ends of the elastic restoring parts are respectively connected with the fixing rod and the pulling rod.
  • the elastic reset member is always in a stretched state
  • the connecting member is fixed with a stopper for limiting the movement range of the pick needle, and the stopper is located between the pulling rod and the fixing rod.
  • the pick needle moves upwards under the action of the elastic reset member until the pull rod abuts against the stopper, the pick needle cannot continue to move upward, the reset position of the pick needle is determined, and the pick needle is guaranteed to be vertically upward Reset accuracy on reset.
  • the elastic return member is set as a tension spring or a rubber band.
  • An automatic colony selection method of an automatic colony selection instrument comprising the following steps:
  • the driving part of the station exerts force on the corresponding picking pin fixing part, so that the corresponding picking pin fixing part drives the corresponding picking pin to move vertically downward to realize the picking or inoculation of the colony.
  • the pick needle does not need to move up and down, and passes through the cleaning mechanism, heating mechanism and cooling mechanism in turn to complete the cleaning, disinfection, heating and cooling work, so as to realize the cleaning of the pick needle;
  • the petri dish with the colonies to be picked is placed in the picking station, and the microplate for inoculating the picked colonies is placed in the inoculation station, and the controller controls the power part to drive the rotation
  • the disk rotates, and the rotating disk drives the needles to rotate. Every time a needle distance is rotated, different needles correspond to the picking station and the inoculation station at the same time.
  • the driving part of the picking station and the driving part of the inoculation station apply force to the corresponding picking needle, so that the picking needle moves vertically downward, and the picking or inoculation of the colony is completed.
  • the picking needle is The needle resets vertically upward under the action of the automatic needle reset mechanism; during the rotation of the rotating disk, the picking needle does not need to move vertically, but directly passes through the cleaning mechanism, heating mechanism and cooling mechanism along its moving path to realize the needle picking Cleaning and disinfection, heating and cooling, without affecting the high speed of the turntable, maximize the cleaning path of each pick needle at the cleaning station, thereby prolonging the cleaning time of each pick needle to the maximum extent, reducing the The factors of incomplete cleaning improve the reliability and scientificity of the experimental results.
  • the cleaning method in this application can realize the simultaneous cleaning of multiple needles under a single cleaning station, which ensures the cleaning efficiency of the needles.
  • the cost of cleaning stations is reduced; in addition, through the combination of the rotating disk and several sets of needles, the overall footprint of the automatic colony picker is small, and the adaptability of the automatic colony picker to different spaces is improved.
  • Fig. 1 is a schematic diagram showing the overall structure of the automatic colony picking apparatus in Example 1.
  • Fig. 2 is a schematic diagram showing the overall structure of the automatic colony picking instrument in Example 1.
  • Fig. 3 is a partial structural schematic diagram showing the automatic reset mechanism for picking needles in the first embodiment.
  • Fig. 4 is a partial structural schematic diagram showing the picking station structure in the first embodiment.
  • Fig. 5 is a partial structural schematic diagram showing the structure of the cleaning station in the first embodiment.
  • Fig. 6 is a partial structural schematic diagram showing the cleaning station in the second embodiment.
  • Fig. 7 is a partially exploded schematic diagram showing the structure of the cleaning mechanism in the second embodiment.
  • Embodiment 1 of the present application discloses an automatic colony sorting instrument, combined with Fig. 1 and Fig. 2, including a controller and a workbench 1, on which a motor with a vertical output shaft is fixed, and the motor is electrically connected to the controller , the output end of the motor is fixedly connected with a rotating disk 2 arranged in a circle, and the rotating disk 2 is coaxially arranged with the output shaft of the motor.
  • a controller and a workbench 1 on which a motor with a vertical output shaft is fixed, and the motor is electrically connected to the controller , the output end of the motor is fixedly connected with a rotating disk 2 arranged in a circle, and the rotating disk 2 is coaxially arranged with the output shaft of the motor.
  • Workbench 1 is provided with picking station 5, inoculation station 6 and cleaning station 7 successively along the motion track direction of rotating disc 2, and picking station 5, inoculation station 6 and cleaning station 7 are respectively used for feeding
  • the pick 4 picks and inoculates the colony and cleans the pick 4.
  • a support frame 11 is fixed on the workbench 1, and a pick station driver 81 corresponding to the pick station 5 and an inoculation station driver 82 corresponding to the inoculation station 6 are fixed on the support frame 11.
  • the station driver 81 and the inoculation station driver 82 are respectively used to drive the pick needle 4 corresponding to the picking station 5 and the inoculation station 6 to move vertically downwards, so as to realize the picking and inoculation of bacterial colonies.
  • the automatic reset mechanism 3 for picking needles includes a connecting piece 31 fixed on the outer edge of the rotating disk 2.
  • the connecting piece 31 includes a connecting plate 311 arranged in an L shape. Extend radially and be fixed on the upper surface of the rotating disk 2 by bolts.
  • One end of the connecting plate 311 vertically arranged away from the side wall of the axis of the rotating disk 2 is connected with a fixed plate 312 by bolts.
  • the fixed plate 312 is located at Turn disc 2 outside.
  • the fixing plate 312 is slidably connected with a needle fixing member 32 along the vertical direction.
  • the needle fixing member 32 includes a guide rail 321 slidingly connected to the side wall of the fixing plate 312 away from the connecting plate 311, and the guide rail 321 is vertically arranged.
  • the side of the guide rail 321 away from the fixing plate 312 is connected with a vertically arranged connecting bar 322 by bolts, and the pick 4 is fixed on the bottom end of the connecting bar 322 .
  • the rods of the two upper bolts are set as fixed rods 33, and the rods of the two lower bolts are configured as stop rods 341, and the two fixed rods 33 are at the same height, and the two stop rods 341 are at the same height.
  • an elastic reset part is respectively arranged, and the elastic reset part is always in a stretched state, and the elastic reset part is set as a stretch spring 36, and the two ends of the stretch spring 36 are respectively sleeved on the pull rod 35 and the outer side of the fixed rod 33, in other embodiments, the elastic return member can also be set as a rubber band.
  • the two stop bars 341 are connected with the same stop bar 342, the stop bar 342 is horizontally arranged and perpendicular to the two stop bars 341, and the two ends of the stop bar 342 are sleeved and fixed on the two stop bars 341 respectively. , the stop bar 342 and the two stop rods 341 together constitute the stop member 34 .
  • the top end surface of the guide rail 321 is a force-receiving part for abutting against the driving part 81 of the picking station and the driving part 82 of the inoculation station.
  • the picking station 5 is used for two-dimensional control of the culture dish in the horizontal plane, and the picking station 5 includes a two-dimensional driving mechanism 51 and a clamping mechanism connected to the output end of the two-dimensional driving mechanism 51 52.
  • the clamping mechanism 52 is used to clamp the culture dish.
  • the two-dimensional drive mechanism 51 includes 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 the conveying direction of the lower linear module 511, and the upper linear Both the module 512 and the lower linear module 511 are electrically connected to the controller, and the controller controls the movement of the output ends of the upper linear module 512 and the lower linear module 511 to adjust the position of the culture dish.
  • the clamping mechanism 52 includes an air gripper support plate 521 vertically fixed on the output end of the upper linear module 512. On the side wall of the air gripper support plate 521, a vertically arranged parallel opening and closing two-finger air gripper 522 is fixed. The two clamping jaws of the closed two-finger air claw 522 are respectively fixed with clamping pieces 523 , the two clamping pieces 523 are arranged symmetrically, and the two clamping pieces 523 are used for clamping the culture dish.
  • the clamping part 523 includes a splint 5231 fixed to the jaws of the parallel opening and closing type two-finger air claw 522.
  • the splint 5231 is arranged in an L shape.
  • the inner wall of the splint 5231 is fixed with a horizontally arranged support base plate 5232.
  • the support base plate 5232 is far away from the splint 5231
  • a clamping block 5233 is fixed at one end thereof, and the clamping block 5233 is used to limit the movement of the petri dish along the length direction of the supporting bottom plate 5232 .
  • the two sides of the culture dish are placed on the two supporting bottom plates 5232, and the two clamping parts 523 approach each other under the action of air claws to clamp the culture dish.
  • the clamp block 5233 is provided with an abutment slope 52331 on the side facing the culture dish.
  • the distance between the two abutment slopes 52331 gradually decreases from one end close to the splint 5231 to the other end along the length direction of the support base plate 5232.
  • the abutment slope 52331 The arrangement of the two clamping pieces 523 can be adapted to different sizes of culture dishes.
  • a camera bracket is fixed on the workbench 1, and a camera 9 is arranged on the camera bracket.
  • the camera 9 is electrically connected to the controller.
  • the camera 9 is used to measure the range of the petri dish and take pictures, and then the pictures are sent to the image processing software.
  • the coordinate information of the target colony is extracted, and then the picking station 5 is controlled to drive the petri dish to move to the target colony on the petri dish corresponding to the position of the pick pin 4 .
  • the output end of the upper linear module 512 is also fixed with a backlight plate 91, which is horizontally arranged directly below the petri dish, and the backlight plate 91 is used to enhance the shooting effect of the camera 9 on the colonies in the petri dish.
  • the picking station driving part 81 is set as a linear module whose stroke can be dynamically adjusted.
  • the picking station driving part 81 is set as an electric cylinder, which is electrically connected to the controller, and The rod end of the cylinder moves down to abut against the top end surface of the guide rail 321, and exerts an active force on the guide rail 321, so that the guide rail 321 drives the connecting bar 322 and the pick needle 4 to move vertically downwards, thereby realizing the driving of the pick needle 4.
  • the experimenter In the process of colony picking, in order to obtain the best experimental results, the experimenter needs to pick only the surface of the colony, but because the thickness of the medium in the culture dish is different each time, the distance between the surface of the colony and the pick needle is 4
  • the height of the colony is variable, and the dynamic height of the colony identified by the camera 9 is converted into a dynamic stroke by the electric cylinder, so as to realize the dynamic adjustment of each picking stroke of the pick needle 4, and then realize the control of the height of the colony picking, further The scientificity and reliability of the experimental results are improved.
  • the inoculation station 6 is used to carry out two-dimensional control in the horizontal plane to the microwell plate.
  • the inoculation station 6 includes a two-dimensional drive mechanism 51 and a clamping mechanism 52 connected to the output end of the two-dimensional drive mechanism 51.
  • the clamping mechanism 52 is used for Clamp the microplate.
  • the two-dimensional driving mechanism 51 and the clamping mechanism 52 in the inoculation station 6 have the same structure as the two-dimensional driving mechanism 51 and the clamping mechanism 52 in the picking station 5 , and will not be repeated here.
  • the drive member 82 of the inoculation station is a cylinder arranged vertically, the cylinder is electrically connected to the controller, and the rod end of the cylinder moves down to abut against the top end surface of the guide rail 321 to exert force on the guide rail 321,
  • the guide rail 321 drives the connecting bar 322 and the pick pin 4 to move vertically downwards, so as to drive the pick pin 4 .
  • the driving member 82 of the inoculation station can also be configured as an electric cylinder or other actuators capable of linear reciprocating motion.
  • the vibrator 10 is fixedly installed on the side of the air claw support plate 521 in the inoculation station 6 away from the air claw.
  • the vibrator 10 drives the clamping mechanism 52 and the microporous plate to vibrate. Vibration occurs under the action of the vibration, and when the pick pin 4 moves downward and is inserted into the solution in the microwell plate, the colonies on the pick pin 4 are more likely to drop into the solution in the microwell plate.
  • the cleaning station 7 includes a cleaning mechanism, a heating mechanism and a cooling mechanism, and the cleaning mechanism, the heating mechanism and the cooling mechanism are arranged in sequence along the movement track direction of the rotating disk 2 .
  • the cleaning mechanism includes a cleaning table 711 fixed on the workbench 1.
  • the cleaning table 711 includes two arc-shaped plates arranged at intervals along the radial direction of the rotating disc 2.
  • the arc-shaped plates are coaxially arranged with the rotating disc 2.
  • Two A cleaning channel for the pick pin 4 to pass is formed between the opposite side walls of the arc-shaped plate.
  • the first hairbrush 713 is respectively fixed on the two side walls of the cleaning passage, and the bristles of the first hairbrush 713 are arranged horizontally.
  • a first alcohol nozzle 714 is installed and fixed in the middle.
  • the heating mechanism includes a heating platform 721 fixed on the workbench 1 , the structure of the heating platform 721 is the same as that of the cleaning platform 711 , and a heating channel 722 is arranged in the heating platform 721 .
  • Heating chips 723 are respectively fixed on the two side walls of the heating channel 722 , and the heating chips 723 extend along the extending direction of the heating channel 722 .
  • the heating chips 723 are set as ceramic heating chips 723 .
  • the cooling mechanism includes a cooling platform 731 fixed on the workbench 1 , the structure of the cooling platform 731 is the same as that of the cleaning platform 711 , and a cooling channel 732 is arranged in the cooling platform 731 .
  • Cooler nozzles 733 are respectively fixed on the two side walls of the cooling channel 732 .
  • the cooler nozzles 733 are arranged along the radial direction of the rotating disk 2 .
  • the needle 4 When the needle 4 rotates with the rotating disk 2, the needle 4 enters the cleaning channel, and the first brush 713 brushes off the large residue on the needle 4, and at the same time, the first alcohol nozzle 714 sprays alcohol outward to cleanse the needle.
  • the needle 4 is cleaned and sterilized.
  • the first brush 713 also plays the role of reducing alcohol splashing.
  • the needle 4 continues to move to the heating channel 722.
  • the heating plate 723 releases heat to heat the needle 4, and the needle 4 is baked. Dry, the pin 4 continues to move to the cooling channel 732, and the cooler nozzle 733 cools the pin 4.
  • the embodiment of the present application also discloses a method for automatic colony selection, comprising the following steps:
  • the motor drives the rotating disk 2 to rotate, the needle automatic reset mechanism 3 and the needle 4 rotate together with the rotating disk 2, during the rotation process, the needle 4 passes through the cleaning mechanism, the heating mechanism and the cooling mechanism in sequence, 4. Under the condition of no need to move up and down, complete cleaning and disinfection, heating and cooling, and realize the cleaning of the needle 4;
  • the controller controls the rotary disk 2 to stop, and controls the picking station 5.
  • the two-dimensional drive mechanism 51 moves the petri dish to the point where the colony to be picked is directly below the pick pin 4, and controls the two-dimensional drive mechanism 51 in the inoculation station 6 to move the microplate to the position where the hole to be inoculated is located directly under the pick pin 4.
  • the camera 9 measures the distance of the petri dish and takes a picture, and then the photo is sent to the image processing software, and the image with the colony is processed by the software to extract the three-dimensional image of the target colony. Coordinate information, the controller controls the two-dimensional drive mechanism 51 in the picking station 5 to move the petri dish to the position corresponding to the colony to be picked and the pick pin 4, so as to realize the position adjustment of the petri dish;
  • an automatic colony sorting instrument differs from Embodiment 1 in that the cleaning mechanism includes a bracket 741, and a baffle 742 is arranged on the top of the bracket 741, and the baffle 742 is arranged at intervals along the radial direction of the rotating disk 2 There are two baffle plates 742, and a cleaning passage for the pick pins 4 to pass is formed between the opposite side walls of the two baffle plates 742.
  • the baffle plate 742 is slidably connected to the bracket 741 along the radial direction of the rotating disk 2.
  • the bracket 741 is provided with an oblong hole, and a locking bolt is threaded through the oblong hole from bottom to top, and the locking bolt is threadedly connected to the baffle plate 742.
  • Second brushes 743 are respectively fixed on the two side walls of the cleaning channel, the bristles of the second brushes 743 are arranged horizontally, and two groups of second brushes 743 are arranged at intervals on the same side of the cleaning channel.
  • a second alcohol nozzle 744 is installed and fixed on the outer baffle 742 .
  • the second alcohol nozzle 744 is located between the two groups of second brushes 743 .
  • the second alcohol nozzle 744 is arranged along the radial direction of the rotating disk 2 .
  • the top end face of the bracket 741 is sunken downwards in the middle of the two groups of second brushes 743 to form an inner groove 7411 arranged in a bucket shape.
  • the bottom end of the bracket 741 is equipped with an alcohol guide tube 745, and the top of the alcohol guide tube 745 is connected to the inner groove.
  • the cavity of the groove 7411 is connected.
  • the heating mechanism is set as a heat gun 751, and the nozzle of the heat gun 751 is arranged vertically upward.
  • the cooling mechanism is configured as a cold air gun 761, and the nozzle of the cold air gun 761 is arranged vertically upward.
  • the needle 4 When the needle 4 rotates with the rotating disk 2, the needle 4 enters the cleaning channel, and the second brush 743 brushes off the large residue on the needle 4, and at the same time, the second alcohol nozzle 744 sprays alcohol outward to clean the needle.
  • the needle 4 is disinfected.
  • the second brush 743 also plays a role in reducing alcohol splashing.
  • the alcohol is discharged through the inner groove 7411 and the alcohol guide tube 745.
  • the pick needle 4 continues to move, and the hot air sprayed by the heat gun 751 will pass through the The pick pins 4 above it are dried, and the cold air gun 761 sprays cold air to cool down the pick pins 4 passing through its top.

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Abstract

一种自动菌落挑选仪及挑选方法，其包括工作台，工作台上转动连接有呈圆盘状设置的转动盘和用于驱动转动盘绕自身周向转动的动力件，转动盘上沿其周向间隔均布有若干挑针，工作台上沿转动盘的运动方向依次设置有挑取工位、接种工位和清理工位，清理工位包括用于清洗挑针的清洗机构、用于加热挑针的加热机构和用于冷却挑针的冷却机构，工作台上设置有分别与挑取工位和接种工位相对应的挑取工位驱动件和接种工位驱动件，转动盘上还固设有与挑针一一对应挑针自动复位机构。

Description

自动菌落挑选仪及挑选方法 技术领域
本发明涉及菌落挑选设备领域，尤其是涉及一种自动菌落挑选仪及挑选方法。
 背景技术
国内大规模基因测序、生物芯片、生物制药、免疫检测及化学合成等领域有许多工序急需用机器人代替繁琐的手工工作来确保高通量、高精度的流水线生产需要。在基因测序工作流程中克隆挑取环节的工作量很大，即将含有外源基因插入的宿主细胞挑取到液体培养基中，在这一过程中，通常会用到自动菌落挑选仪进行菌落的挑选移位操作。
相关技术中，自动菌落挑选仪通常包括工作台、设置于工作台上的传送件和用于驱动传送件沿自身周向运动的动力件，传送件的周缘间隔均布有若干竖直设置的挑针和与挑针一一对应的挑针自动复位机构，挑针自动复位机构用于驱动挑针竖直向上复位。工作台上沿传送件的周向设置有挑取工位、接种工位和清理工位，工作台上还设置有用于驱动挑针竖直向下移动的驱动件。
自动菌落挑选仪工作时，传送件在动力件的作用下绕自身周向转动，挑针以及挑针自动复位机构随传送件一同运动，挑针分别转动至与挑取工位、接种工位和清理工位相对应的位置时，驱动件驱动挑针竖直向下运动，依次实现目标菌落的挑取、接种和挑针的消毒，如此循环往复，直至将培养皿中的所有菌落接种到微孔板中。
针对上述中的相关技术，发明人认为存在以下缺陷：挑针在自动菌落挑选仪工作的过程中重复使用，需要在每次挑取完成后对其进行清洗消毒，而相关技术中的自动菌落挑选仪对挑针的清理过程为点动控制，导致挑针的清理时间有限，存在清理不彻底的因素，降低了实验结果的可靠性和科学性，因此，存在一定的改进空间。
 技术问题
为了延长挑针的清理时间，提高实验结果的可靠性和准确性，本申请提供一种自动菌落挑选仪及挑选方法。
 技术解决方案
本申请提供的一种自动菌落挑选仪及挑选方法采用如下的技术方案：
一种自动菌落挑选仪，包括工作台，所述工作台上转动连接有呈圆盘状设置的转动盘和用于驱动转动盘绕自身周向转动的动力件，所述转动盘上沿其周向间隔均布有若干挑针，所述挑针竖向设置，所述挑针竖向滑动连接于转动盘,所述工作台上沿转动盘的运动方向依次设置有挑取工位、接种工位和清理工位，所述清理工位包括用于清洗挑针的清洗机构、用于加热挑针的加热机构和用于冷却挑针的冷却机构，所述清洗机构、加热机构和冷却机构依次设置于挑针的移动路径中供挑针穿过，所述工作台上设置有分别与挑取工位和接种工位相对应的挑取工位驱动件和接种工位驱动件，所述挑取工位驱动件和接种工位驱动件用于提供驱动挑针竖直向下移动的动力源，所述转动盘上还固设有与挑针一一对应挑针自动复位机构；
所述自动菌落挑选仪还包括控制器，所述控制器电性连接于动力件、挑取工位驱动件和接种工位驱动件,用于控制动力件、挑取工位驱动件和接种工位驱动件动作。
通过采用上述技术方案，将带有待挑取菌落的培养皿放入于挑取工位，将用于接种挑取后的菌落的微孔板放入于接种工位，控制器控制动力件带动转动盘转动，转动盘带动挑针转动，每转动一个挑针间距，不同的挑针同时与挑取工位和接种工位相对应，控制器控制动力件停顿，使转动盘及挑针停顿，分别控制挑取工位驱动件和接种工位驱动件对相应的挑针施力，使挑针竖直向下移动，完成菌落的挑取或接种，菌落的挑取或接种完成后，挑针在挑针自动复位机构的作用下竖直向上复位；转动盘转动的过程中，挑针无需沿竖向移动，而是沿其移动路径直接依次穿过清洗机构、加热机构和冷却机构，实现对挑针的清洗消毒、加热和冷却，在不影响转盘高转速的条件下，最大限度的延长清理工位对每根挑针的清理路径，进而最大限度的延长了每根挑针的清理时间，减少了清理不彻底的因素，提高了实验结果的可靠性和科学性，同时，本申请中的清理方式可以实现单一清理工位下多挑针清理的同时进行，保证了挑针的清理效率的同时，降低了清理工位的成本；另外，通过转动盘与若干组挑针配合的形式，使得自动菌落挑选仪整体的占地空间小，提升了自动菌落挑选仪与不同空间的适配性。
优选的，所述清洗机构中设置有用于供挑针穿过的清洗通道，所述清洗通道呈与挑针的运动轨迹同轴、同半径的弧形设置，所述清洗通道的侧壁上固设有第一毛刷和第一酒精喷嘴。
通过采用上述技术方案，挑针随转动盘转动时，挑针进入于清洗通道中，第一毛刷将挑针上大块的残留物刷掉，第一酒精喷嘴向外喷出酒精对挑针进行清洗及消毒，在挑针无需上下移动的前提下，实现了对挑针的清洗及消毒，延长了每根挑针的清理时间，减少了清理不彻底的因素，提高了实验结果的可靠性和科学性。
优选的，所述加热机构中设置有用于供挑针穿过的加热通道，所述加热通道呈与挑针的运动轨迹同轴、同半径的弧形设置，所述加热通道的侧壁上固设有加热片。
通过采用上述技术方案，挑针随转动盘转动时，挑针进入于加热通道中，加热片释放热量对挑针加热，将挑针烘干。
优选的，所述冷却机构中设置有用于供挑针穿过的冷却通道，所述冷却机构中的间隙为冷却通道，所述冷却通道呈与挑针的运动轨迹同轴、同半径的弧形设置，所述冷却通道的侧壁上固设有冷却器喷嘴。
通过采用上述技术方案，挑针随转动盘转动时，挑针进入于冷却通道中，冷却器喷嘴对挑针进行降温。
优选的，所述挑取工位驱动件设置为行程能进行动态调整的直线模组。
通过采用上述技术方案，为了取得最佳的实验效果，实验人员需要仅针对菌落表面实施挑取作业，但是由于每次所做的培养皿里培养基厚度不同，导致菌落表面距离挑针的高度是变化的，通过将挑取工位驱动件设置为行程能进行动态调整的直线模组，实现对挑针每次挑取行程的动态调整，进而实现对菌落挑取的高度的控制，进一步提高了实验结果的科学性和可靠性。
优选的，所述挑取工位包括二维驱动机构和与二维驱动机构的输出端连接的夹持机构，所述夹持机构用于夹持培养皿；
所述接种工位的结构与挑取工位的结构相同，所述接种工位中的夹持机构用于夹持微孔板，所述接种工位中的夹持机构上固设有振动器。
通过采用上述技术方案，振动器振动时带动接种工位中的夹持机构以及微孔板振动，微孔板中的溶液在微孔板的作用下发生振动，挑针向下移动插入于微孔板中的溶液中时，使挑针上的菌落更易掉落到微孔板里的溶液中。
优选的，所述夹持机构包括两个对称设置的、用于将培养皿夹紧的夹持件，所述夹持机构还包括用于驱动两个夹持件相对移动的夹持驱动件，所述夹持驱动件固设于二维驱动机构的输出端。
优选的，所述挑针自动复位机构包括用于与转动盘固定的连接件，所述连接件上沿竖直方向滑移连接有用于固定挑针的挑针固定件，所述挑针固定件上设置有用于与动力源抵接施力的受力部，所述连接件与挑针固定件之间设置有用于使挑针固定件竖直向上复位的弹性复位件。
通过采用上述技术方案，动力源抵接施力于挑针固定件上的受力部，对挑针固定件施加竖直向下的作用力，使挑针固定件带动挑针竖直向下移动，完成对目标菌落的挑取或接种，挑取或接种完成后，动力源不再对挑针固定件施力，挑针固定件在弹性复位件的作用下带动挑针竖直向上复位，挑针自动复位机构整体结构较为简单，且结构紧凑，减小了挑针自动复位机构的体积占比。
优选的，所述挑针固定件上设置有拉动杆，所述连接件上于挑针固定件的两侧分别设置有固定杆，所述固定杆位于拉动杆上方，所述固定杆和拉动杆同向设置，所述弹性复位件设置有两个，所述弹性复位件的两端分别与固定杆和拉动杆连接。
通过采用上述技术方案，通过两个弹性复位件的设置，增加了弹性复位件带动挑针固定件复位的过程中，对挑针固定件施加的作用力的均匀性，进而增加了挑针固定件移动过程中的稳定性。
优选的，所述弹性复位件始终处于拉伸状态，所述连接件上固设有用于限制挑针的移动范围的止动件，所述止动件位于拉动杆和固定杆之间。
通过采用上述技术方案，挑针在弹性复位件的作用下向上移动至拉动杆与止动件抵接时，挑针无法继续向上移动，确定了挑针的复位位置，保证了挑针竖直向上复位时的复位精度。
优选的，所述弹性复位件设置为拉伸弹簧或皮筋。
一种自动菌落挑选仪的自动菌落挑选方法，包括以下步骤：
控制动力件带动转动盘转动，挑针随转动盘转动，转动盘每转动一个挑针间距，控制转动盘停顿，分别控制挑取工位对应的挑取工位驱动件和接种工位对应的接种工位驱动件对相应的挑针固定件施力，使相应的挑针固定件带动对应的挑针竖直向下移动，实现菌落的挑取或接种，菌落的挑取或接种完成后，分别控制挑取工位对应的挑取工位驱动件和接种工位对应的接种工位驱动件撤去对相应的挑针固定件的施力，挑针固定件在弹性复位件的作用下带动挑针竖直向上复位至初始位置；
转动盘转动的过程中，挑针无需上下移动，依次穿过清洗机构、加热机构和冷却机构中完成清洗消毒、加热和冷却工作，实现对挑针的清理；
重复上述步骤直至所有菌落都被接种到微孔板中。
 有益效果
通过采用上述技术方案，将带有待挑取菌落的培养皿放入于挑取工位，将用于接种挑取后的菌落的微孔板放入于接种工位，控制器控制动力件带动转动盘转动，转动盘带动挑针转动，每转动一个挑针间距，不同的挑针同时与挑取工位和接种工位相对应，控制器控制动力件停顿，使转动盘及挑针停顿，分别控制挑取工位驱动件和接种工位驱动件对相应的挑针施力，使挑针竖直向下移动，完成菌落的挑取或接种，菌落的挑取或接种完成后，挑针在挑针自动复位机构的作用下竖直向上复位；转动盘转动的过程中，挑针无需沿竖向移动，而是沿其移动路径直接依次穿过清洗机构、加热机构和冷却机构，实现对挑针的清洗消毒、加热和冷却，在不影响转盘高转速的条件下，最大限度的延长清理工位对每根挑针的清理路径，进而最大限度的延长了每根挑针的清理时间，减少了清理不彻底的因素，提高了实验结果的可靠性和科学性，同时，本申请中的清理方式可以实现单一清理工位下多挑针清理的同时进行，保证了挑针的清理效率的同时，降低了清理工位的成本；另外，通过转动盘与若干组挑针配合的形式，使得自动菌落挑选仪整体的占地空间小，提升了自动菌落挑选仪与不同空间的适配性。
 附图说明
图1是实施例一中显示自动菌落挑选仪的整体结构示意图。
图2是实施例一中显示自动菌落挑选仪的整体结构示意图。
图3是实施例一中显示挑针自动复位机构的局部结构示意图。
图4是实施例一中显示挑取工位结构的局部结构示意图。
图5是实施例一中显示清理工位结构的局部结构示意图。
图6是实施例二中显示清理工位的局部结构示意图。
图7是实施例二中显示清洗机构的结构的局部爆炸示意图。
附图标记说明：
1、工作台；11、支撑架；2、转动盘；3、挑针自动复位机构；31、连接件；311、连接板；312、固定板；32、挑针固定件；321、导轨；322、连接条；33、固定杆；34、止动件；341、止动杆；342、止动条；35、拉动杆；36、拉伸弹簧；4、挑针；5、挑取工位；51、二维驱动机构；511、下线性模组；512、上线性模组；52、夹持机构；521、气爪支板；522、平行开闭型两指气爪；523、夹持件；5231、夹板；5232、支撑底板；5233、夹块；52331、抵接斜面；6、接种工位；7、清理工位；711、清洗台；713、第一毛刷；714、第一酒精喷嘴；721、加热台；722、加热通道；723、加热片；731、冷却台；732、冷却通道；733、冷却器喷嘴；741、支架；7411、内凹槽；742、挡板；743、第二毛刷；744、第二酒精喷嘴；745、酒精导流管；751、热风枪；761、冷风枪；81、挑取工位驱动件；82、接种工位驱动件；9、相机；91、背光板；10、振动器。
 本发明的实施方式
以下结合附图1-7对本申请作进一步详细说明。
本申请实施例一公开了一种自动菌落挑选仪，结合图1和图2，包括控制器、工作台1，工作台1上固定有输出轴竖向设置的电机，电机与控制器电性连接，电机的输出端固定连接有呈圆形设置的转动盘2，转动盘2与电机的输出轴同轴设置。转动盘2的外缘处沿其周向间隔均布有若干组挑针自动复位机构3，任意一组挑针自动复位机构3底端均固定有用于进行菌落的挑取和接种的挑针4，挑针4竖向设置。
工作台1上沿转动盘2的运动轨迹方向依次设置有挑取工位5、接种工位6和清理工位7，挑取工位5、接种工位6和清理工位7分别用于供挑针4对菌落进行挑取、接种以及对挑针4进行清理。工作台1上固定有支撑架11，支撑架11上固定有与挑取工位5相对应的挑取工位驱动件81和与接种工位6相对应的接种工位驱动件82，挑取工位驱动件81和接种工位驱动件82分别用于驱动与挑取工位5和接种工位6相对应的挑针4竖直向下运动，实现菌落的挑取和接种。
结合图1和图3，挑针自动复位机构3包括固定于转动盘2外缘的连接件31，连接件31包括呈L型设置的连接板311，连接板311水平设置的一端沿转动盘2的径向延伸且使用螺栓压紧固定于转动盘2的上表面，连接板311竖直设置的一端远离转动盘2的轴线的侧壁上使用螺栓压紧连接有固定板312，固定板312位于转动盘2外侧。固定板312上沿竖直方向滑移连接有挑针固定件32，挑针固定件32包括滑移连接于固定板312远离连接板311的侧壁的导轨321，导轨321竖向设置。导轨321远离固定板312的一侧使用螺栓压紧连接有竖向设置的连接条322，挑针4固定于连接条322底端。
用于连接固定板312和连接板311的螺栓呈矩形阵列设置有四个，四个螺栓两两分布于导轨321的两侧，四个螺栓的杆部均伸出于连接条322远离导轨321的侧壁。位于上方的两个螺栓的杆部设置为固定杆33，位于下方的两个螺栓的杆部设置为止动杆341，且两个固定杆33位于同一高度，两个止动杆341位于同一高度。
用于连接导轨321和连接条322的螺栓上下间隔设置有两个，位于下方的螺栓的杆部伸出于连接条322远离导轨321的侧壁，位于下方的螺栓的杆部设置为拉动杆35，拉动杆35位于止动杆341下方，两个固定杆33关于拉动杆35对称设置。
拉动杆35与两个固定杆33之间分别设置有弹性复位件，弹性复位件始终处于拉伸状态，弹性复位件设置为拉伸弹簧36，拉伸弹簧36的两端分别套设于拉动杆35和固定杆33外侧，其他实施例中，弹性复位件还可以设置为皮筋。
两个止动杆341上共同连接有同一止动条342，止动条342水平设置且与两个止动杆341垂直，止动条342的两端分别套设固定于两个止动杆341，止动条342和两个止动杆341共同构成止动件34。
挑针4在拉伸弹簧36的作用下向上移动至拉动杆35与止动杆341底端抵接时，挑针4无法继续向上移动，确定了挑针4的复位位置，保证了挑针4竖直向上复位时的复位精度。
本实施例中，导轨321的顶端端面即为用于与挑取工位驱动件81和接种工位驱动件82抵接的受力部。
结合图1和图4，挑取工位5用于对培养皿进行水平面内的二维控制，挑取工位5包括二维驱动机构51和连接于二维驱动机构51的输出端的夹持机构52，夹持机构52用于夹紧培养皿。
二维驱动机构51包括下线性模组511和连接于下线性模组511的输出端的上线性模组512，上线性模组512的输送方向与下线性模组511的输送方向相互垂直，上线性模组512和下线性模组511均与控制器电性连接，控制器控制上线性模组512和下线性模组511的输出端移动，实现对培养皿位置的调整。
夹持机构52包括竖向固定于上线性模组512的输出端的气爪支板521，气爪支板521的侧壁上固定有竖向设置的平行开闭型两指气爪522，平行开闭型两指气爪522中的两个夹爪上分别固定有夹持件523，两个夹持件523对称设置，两个夹持件523用于夹紧培养皿。
夹持件523包括固定于平行开闭型两指气爪522的夹爪的夹板5231，夹板5231呈L型设置，夹板5231的内壁上固定有水平设置的支撑底板5232，支撑底板5232远离夹板5231的一端固定有夹块5233，夹块5233用于限制培养皿沿支撑底板5232长度方向的移动。培养皿的两侧放置于两个支撑底板5232上，两个夹持件523在气爪的作用下相互靠近，将培养皿夹紧。
夹块5233朝向培养皿的一侧设置有抵接斜面52331，两个抵接斜面52331之间的距离沿支撑底板5232的长度方向自靠近夹板5231的一端向另一端逐渐减小，抵接斜面52331的设置使两个夹持件523能与不同尺寸的培养皿适配。
工作台1上固定有相机支架，相机支架上设置有相机9，相机9与控制器电性连接，相机9用于对培养皿测距并拍照后将照片传至图像处理软件，带有菌落的图像经软件处理后提取出目标菌落的坐标信息，进而控制挑取工位5驱动培养皿移动至培养皿上的目标菌落与挑针4的位置相对应。
上线性模组512的输出端还固定有背光板91，背光板91水平设置于培养皿的正下方，背光板91用于增强相机9对培养皿中的菌落的拍摄效果。
参照图2，挑取工位驱动件81设置为行程能进行动态调整的直线模组，本实施例中，挑取工位驱动件81设置为电缸，电缸与控制器电性连接，电缸的杆端向下移动至与导轨321的顶端端面抵接，对导轨321施加作用力，使导轨321带动连接条322和挑针4竖直向下移动，实现对挑针4的驱动。菌落挑取的过程中，为了取得最佳的实验效果，实验人员需要仅针对菌落表面实施挑取作业，但是由于每次所做的培养皿中的培养基厚度不同，导致菌落表面距离挑针4的高度是变化的，通过电缸将相机9识别的菌落的动态高度转化为动态行程，实现对挑针4的每次挑取行程的动态调整，进而实现对菌落挑取的高度的控制，进一步提高了实验结果的科学性和可靠性。
接种工位6用于对微孔板进行水平面内的二维控制，接种工位6包括二维驱动机构51和连接于二维驱动机构51的输出端的夹持机构52，夹持机构52用于夹紧微孔板。接种工位6中的二维驱动机构51以及夹持机构52与挑取工位5中的二维驱动机构51以及夹持机构52结构相同，在此不再赘述。
本实施例中，接种工位驱动件82为竖向设置的气缸，气缸与控制器电性连接，气缸的杆端向下移动至与导轨321的顶端端面抵接，对导轨321施加作用力，使导轨321带动连接条322和挑针4竖直向下移动，实现对挑针4的驱动。在其他实施例中，接种工位驱动件82还可以设置为电缸或其他能进行直线往复运动的执行机构。
接种工位6中的气爪支板521远离气爪的一侧固定安装有振动器10，振动器10振动时带动夹持机构52以及微孔板振动，微孔板中的溶液在微孔板的作用下发生振动，挑针4向下移动插入于微孔板中的溶液中时，使挑针4上的菌落更易掉落到微孔板里的溶液中。
清理工位7包括清洗机构、加热机构和冷却机构，清洗机构、加热机构和冷却机构沿转动盘2的运动轨迹方向依次排布。
参照图5，清洗机构包括固定于工作台1的清洗台711，清洗台711包括两块沿转动盘2的径向间隔设置的弧形板，弧形板与转动盘2同轴设置，两个弧形板相对的两侧壁之间形成供挑针4通过的清洗通道。清洗通道的两侧壁上分别固定有第一毛刷713，第一毛刷713的刷毛水平设置，第一毛刷713于清洗通道的同侧间隔设置有两组，两组第一毛刷713中间安装固定有安装固定有第一酒精喷嘴714。
加热机构包括固定于工作台1的加热台721，加热台721的结构与清洗台711的结构相同，加热台721中设置有加热通道722。加热通道722的两侧壁上分别固定有加热片723，加热片723沿加热通道722的延伸方向延伸，本实施例中，加热片723设置为陶瓷加热片723。
冷却机构包括固定于工作台1的冷却台731，冷却台731的结构与清洗台711的结构相同，冷却台731中设置有冷却通道732。冷却通道732的两侧壁上分别固定有冷却器喷嘴733，冷却器喷嘴733沿转动盘2的径向设置，冷却器喷嘴733沿冷却通道732的延伸方向间隔均布有若干。
挑针4随转动盘2转动时，挑针4进入于清洗通道中，第一毛刷713将挑针4上大块的残留物刷掉，同时第一酒精喷嘴714向外喷出酒精对挑针4清洗及消毒，此时第一毛刷713还起到了减少酒精喷溅的作用，挑针4继续移动至加热通道722中，加热片723释放热量对挑针4加热，将挑针4烘干，挑针4继续移动至冷却通道732中，冷却器喷嘴733对挑针4降温，在挑针4无需上下移动的前提下，实现了对挑针4的清洗消毒、加热及冷却，延长了每根挑针4的清理时间，减少了清理不彻底的因素，提高了实验结果的可靠性和科学性。
本申请实施例还公开一种自动菌落挑选方法，包括以下步骤：
将带有待挑取的菌落的培养皿通过人工或机械手臂放入于挑取工位5中的夹持机构52中，将微孔板通过人工或机械手臂放入于接种工位6中的夹持机构52中；
控制电机动作，电机驱动转动盘2转动，挑针自动复位机构3以及挑针4随转动盘2一起转动，转动过程中，挑针4依次穿过清洗机构、加热机构和冷却机构，在挑针4无需上下移动的条件下，完成清洗消毒、加热和冷却，实现对挑针4的清理；
转动盘2每转动一个挑针间距，不同挑针4分别转动至挑取工位驱动件81和接种工位驱动件82正下方，控制器控制转动盘2停顿，控制挑取工位5中的二维驱动机构51将培养皿移动至待挑取菌落位于挑针4的正下方，控制接种工位6中的二维驱动机构51将微孔板移动至待接种孔位位于挑针4的正下方时，分别控制挑取工位驱动件81和接种工位驱动件82对相应的挑针自动复位机构3中的导轨321施加作用力，使相应的导轨321带动对应的挑针4竖直向下移动，实现菌落的挑取或接种；
控制挑取工位5中的二维驱动机构51运动时，通过相机9对培养皿测距并拍照后将照片传至图像处理软件，带有菌落的图像经软件处理后提取出目标菌落的三维坐标信息，控制器控制挑取工位5中的二维驱动机构51将培养皿移动至待挑取菌落与挑针4相对应的位置，实现对培养皿的位置调整；
挑取或接种工作完成后，分别控制挑取工位驱动件81和接种工位驱动件82撤去对对应的导轨321的作用力，使对应的挑针4在拉伸弹簧36的作用下竖直向上复位，至拉动杆35抵接于止动条342底端，实现挑针4的精准复位；
重复上述步骤直至所有菌落都被接种到微孔板中。
实施例二
结合图6和图7，一种自动菌落挑选仪，与实施例一不同之处在于，清洗机构包括支架741，支架741顶端设置有挡板742，挡板742沿转动盘2的径向间隔设置有两块，两块挡板742相对的两侧壁之间形成用于供挑针4通过的清洗通道。挡板742沿转动盘2的径向滑移连接于支架741，支架741上开设有长圆型孔，长圆型孔中自下而上穿设有锁紧螺栓，锁紧螺栓螺纹连接于挡板742底端，锁紧螺栓用于将挡板742锁紧于固定位置。清洗通道的两侧壁上分别固定有第二毛刷743，第二毛刷743的刷毛水平设置，第二毛刷743于清洗通道的同侧间隔设置有两组。位于外侧的挡板742上安装固定有第二酒精喷嘴744，第二酒精喷嘴744位于两组第二毛刷743中间，第二酒精喷嘴744沿转动盘2的径向设置。支架741的顶端端面于两组第二毛刷743中间的位置向下凹陷形成呈斗状设置的内凹槽7411，支架741底端安装有酒精导流管745，酒精导流管745顶端与内凹槽7411的内腔连通。
加热机构设置为热风枪751，热风枪751的喷头竖直向上设置。
冷却机构设置为冷风枪761，冷风枪761的喷头竖直向上设置。
上述实施例的实施原理为：
挑针4随转动盘2转动时，挑针4进入于清洗通道中，第二毛刷743将挑针4上大块的残留物刷掉，同时第二酒精喷嘴744向外喷出酒精对挑针4进行消毒，此时第二毛刷743还起到了减少酒精喷溅的作用，酒精通过内凹槽7411和酒精导流管745排出，挑针4继续移动，热风枪751喷出热风将经过其上方的挑针4烘干，冷风枪761喷出冷风对经过其上方的挑针4降温。
以上均为本申请的较佳实施例，并非依此限制本申请的保护范围，故：凡依本申请的结构、形状、原理所做的等效变化，均应涵盖于本申请的保护范围之内。

Claims (12)

  1. 一种自动菌落挑选仪，包括工作台(1)，其特征在于：所述工作台(1)上转动连接有呈圆盘状设置的转动盘(2)和用于驱动转动盘(2)绕自身周向转动的动力件，所述转动盘(2)上沿其周向间隔均布有若干挑针(4)，所述挑针(4)竖向设置，所述挑针(4)竖向滑动连接于转动盘(2),所述工作台(1)上沿转动盘(2)的运动方向依次设置有挑取工位(5)、接种工位(6)和清理工位(7)，所述清理工位包括用于清洗挑针(4)的清洗机构、用于加热挑针(4)的加热机构和用于冷却挑针(4)的冷却机构，所述清洗机构、加热机构和冷却机构依次设置于挑针(4)的移动路径中供挑针(4)穿过，所述工作台(1)上设置有分别与挑取工位(5)和接种工位(6)相对应的挑取工位驱动件(81)和接种工位驱动件(82)，所述挑取工位驱动件(81)和接种工位驱动件(82)用于提供驱动挑针(4)竖直向下移动的动力源，所述转动盘(2)上还固设有与挑针(4)一一对应挑针自动复位机构(3)；
    所述自动菌落挑选仪还包括控制器，所述控制器电性连接于动力件、挑取工位驱动件(81)和接种工位驱动件(82),用于控制动力件、挑取工位驱动件(81)和接种工位驱动件(82)动作。
  2. 根据权利要求1所述的自动菌落挑选仪，其特征在于：所述清洗机构中设置有用于供挑针(4)穿过的清洗通道(712)，所述清洗通道(712)呈与挑针(4)的运动轨迹同轴、同半径的弧形设置，所述清洗通道(712)的侧壁上固设有第一毛刷(713)和第一酒精喷嘴(714)。
  3. 根据权利要求1所述的自动菌落挑选仪，其特征在于：所述加热机构中设置有用于供挑针(4)穿过的加热通道(722)，所述加热通道(722)呈与挑针(4)的运动轨迹同轴、同半径的弧形设置，所述加热通道(722)的侧壁上固设有加热片(723)。
  4. 根据权利要求1所述的自动菌落挑选仪，其特征在于：所述冷却机构中设置有用于供挑针(4)穿过的冷却通道(732)，所述冷却通道(732)呈与挑针(4)的运动轨迹同轴、同半径的弧形设置，所述冷却通道(732)的侧壁上固设有冷却器喷嘴(733)。
  5. 根据权利要求1所述的自动菌落挑选仪，其特征在于：所述挑取工位驱动件(81)设置为行程能进行动态调整的直线模组。
  6. 根据权利要求1所述的自动菌落挑选仪，其特征在于：所述挑取工位(5)包括二维驱动机构(51)和与二维驱动机构(51)的输出端连接的夹持机构(52)，所述夹持机构(52)用于夹持培养皿；
    所述接种工位(6)的结构与挑取工位(5)的结构相同，所述接种工位(6)中的夹持机构(52)用于夹持微孔板，所述接种工位(6)中的夹持机构(52)上固设有振动器(10)。
  7. 根据权利要求6所述的自动菌落挑选仪，其特征在于：所述夹持机构(52)包括两个对称设置的、用于将培养皿夹紧的夹持件(523)，所述夹持机构(52)还包括用于驱动两个夹持件(523)相对移动的夹持驱动件，所述夹持驱动件固设于二维驱动机构(51)的输出端。
  8. 根据权利要求1所述的自动菌落挑选仪，其特征在于：所述挑针自动复位机构(3)包括用于与转动盘(2)固定的连接件(31)，所述连接件(31)上沿竖直方向滑移连接有用于固定挑针(4)的挑针固定件(32)，所述挑针固定件(32)上设置有用于与动力源抵接施力的受力部，所述连接件(31)与挑针固定件(32)之间设置有用于使挑针固定件(32)竖直向上复位的弹性复位件。
  9. 根据权利要求8所述的自动菌落挑选仪，其特征在于：所述挑针固定件(32)上设置有拉动杆(35)，所述连接件(31)上于挑针固定件(32)的两侧分别设置有固定杆(33)，所述固定杆(33)位于拉动杆(35)上方，所述固定杆(33)和拉动杆(35)同向设置，所述弹性复位件设置有两个，所述弹性复位件的两端分别与固定杆(33)和拉动杆(35)连接。
  10. 根据权利要求9所述的自动菌落挑选仪，其特征在于：所述弹性复位件始终处于拉伸状态，所述连接件(31)上固设有用于限制挑针(4)的移动范围的止动件(34)，所述止动件(34)位于拉动杆(35)和固定杆(33)之间。
  11. 根据权利要求8所述的自动菌落挑选仪，其特征在于：所述弹性复位件设置为拉伸弹簧(36)或皮筋。
  12. 一种基于权利要求1-11任一所述的自动菌落挑选仪的自动菌落挑选方法，其特征在于，包括以下步骤：
    控制动力件带动转动盘(2)转动，挑针(4)随转动盘(2)转动，转动盘(2)每转动一个挑针间距，控制转动盘(2)停顿，分别控制挑取工位(5)对应的挑取工位驱动件(81)和接种工位(6)对应的接种工位驱动件(82)对相应的挑针固定件(32)施力，使相应的挑针固定件(32)带动对应的挑针(4)竖直向下移动，实现菌落的挑取或接种，菌落的挑取或接种完成后，分别控制挑取工位(5)对应的挑取工位驱动件(81)和接种工位(6)对应的接种工位驱动件(82)撤去对相应的挑针固定件(32)的施力，挑针固定件(32)在弹性复位件的作用下带动挑针(4)竖直向上复位至初始位置；
    转动盘(2)转动的过程中，挑针(4)无需上下移动，依次穿过清洗机构、加热机构和冷却机构中完成清洗消毒、加热和冷却工作，实现对挑针(4)的清理；
    重复上述步骤直至所有菌落都被接种到微孔板中。
PCT/CN2021/137770 2021-07-26 2021-12-14 自动菌落挑选仪及挑选方法 Ceased WO2023005107A1 (zh)

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