Pneumatic spindle type full-automatic bacterial colony selecting equipment

Abstract

The invention discloses pneumatic spindle type full-automatic bacterial colony selecting equipment, and belongs to the technical field of biopharmaceutical equipment. Comprising an integral metal plate frame, a feeding and discharging transmission module, a three-axis moving module, a teasing needle module and a storage and disinfection rotating module. The synchronous belt conveying mechanism is embedded into the whole metal plate frame, the feeding and discharging transmission module and the three-axis moving module are installed on the upper portion of the whole metal plate frame, a hollow rotating platform of the storage and disinfection rotating module is embedded into a deck plate of the whole metal plate frame, and the teasing needle module is fixed to a vertical shaft nut seat of a vertical shaft electric sliding table. A culture dish is placed at a designated position through the synchronous belt conveying mechanism, the bacterial colony selecting precision of the equipment can be effectively improved by adopting an air main shaft structure, meanwhile, a camera is adopted for conducting visual analysis on bacterial colonies in the culture dish, good bacterial colonies are selected out of the culture dish and placed into a microwell plate, work is continuously repeated in this way for large-scale screening, and the screening efficiency is improved. The structure is simple, stable and reliable, the automation degree is high, and the qualified rate and precision of bacterial colony selection are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of biopharmaceutical technology, and in particular to a fully automated colony selection device using a gas-driven spindle. Background Technology

[0002] In microbial modification projects, cloning tens of thousands of colonies (e.g., yeast, E. coli, etc. in the microbial field) may yield only a dozen or so healthy, mature colony products. Due to the minute nature of these colonies, manual selection requires a microscope, which is extremely inefficient. Furthermore, selection based on subjective human judgment is prone to missing targets. Manual operation is increasingly unable to meet the rapidly evolving needs of modern biopharmaceutical engineering. Therefore, researching a fully automated, air-spindle-type colony selection device is of paramount importance. Summary of the Invention

[0003] To overcome the shortcomings of the prior art, the present invention aims to provide a fully automatic colony selection device with an air spindle, which automatically selects good colonies from petri dishes and places them into microplates.

[0004] To achieve the above-mentioned objectives, the pneumatic spindle type fully automatic colony selection device of the present invention includes an integral sheet metal frame, a loading and unloading transmission module, a three-axis movement module, a needle picking module, and a storage and disinfection rotation module. A synchronous belt conveyor mechanism is embedded inside the integral sheet metal frame. The loading and unloading transmission module and the three-axis movement module are bolted to the upper part of the integral sheet metal frame. The hollow rotating platform of the storage and disinfection rotation module is embedded in the table panel of the integral sheet metal frame. The needle picking module is bolted to the vertical axis nut seat of the vertical axis electric slide table.

[0005] Furthermore, the overall sheet metal frame includes a front end plate, a left end plate, a platform, a profile frame, a rear end plate, a right end plate, wheels, a ground brake, and a synchronous belt conveyor mechanism. The front end plate, left end plate, platform, profile frame, rear end plate, and right end plate are assembled into a support by bolts or welding, forming the support platform for the entire equipment. A foot plate is welded to the lower end of the profile frame, and the ground brake and wheels are bolted to the foot plate. The left end plate and right end plate are bolted to both ends of the profile frame along its length. The front end plate and rear end plate are bolted to both ends of the profile frame along its width. The platform has an elongated hole drilled in the middle along its length and is bolted to the upper surface of the profile frame. The synchronous belt conveyor mechanism includes a synchronous belt, a driving synchronous pulley, a driven synchronous pulley, and a synchronous belt conveyor drive motor. The synchronous belt wraps around the driving synchronous pulley and the driven synchronous pulley, and the synchronous belt conveyor drive motor drives the synchronous belt to rotate through the driving synchronous pulley.

[0006] Furthermore, the loading and unloading transmission module is installed within the overall sheet metal frame, positioned above the synchronous belt conveyor mechanism, with the petri dish fixing plate protruding from the platform of the overall sheet metal frame. The loading and unloading transmission module includes petri dish assemblies, limiting weldments, rotating components, petri dish boxes, and cylinders. The limiting weldments are fixed to the platform of the profile frame, and the bottom of the limiting weldments at the outlet of the feeding hopper and the inlet of the unloading hopper are provided with notches for the passage of the petri dish assemblies. The petri dish assemblies are stacked layer by layer into the limiting weldments. When the synchronous belt conveyor mechanism operates, it carries the bottommost petri dish assembly from the feeding hopper. The piston rod end of the cylinder clamps the bottommost petri dish assembly, restricting its vertical movement. The petri dish assembly includes a petri dish fixing plate, a petri dish, and a petri dish lid. A synchronous belt conveyor transports the petri dish assembly to the working area and the unloading hopper. The rotating assembly is located in the working area. The rotating assembly's motor is fixed to the profile frame of the overall sheet metal frame. The output shaft of the rotating assembly's drive motor is connected to a rotary bearing. The petri dish assembly, which is transported to the working area by the synchronous belt conveyor, is placed on the rotary bearing. The rotating assembly's drive motor rotates the four petri dishes on the petri dish assembly to the appropriate position through the rotary bearing.

[0007] Furthermore, the three-axis movement module can drive the needle-picking module to move along the horizontal, vertical, and triangular axes. The three-axis movement module includes a horizontal axis guide rail bracket, a horizontal axis guide rail, a horizontal axis drive device, a vertical axis guide rail bracket, a vertical axis guide rail, a vertical axis drive device, and a vertical axis electric slide. The horizontal axis is parallel to the width direction of the overall sheet metal frame, the vertical axis is parallel to the length direction of the overall sheet metal frame, and the vertical axis is parallel to the height direction of the overall sheet metal frame. Two horizontal axis guide rail brackets are arranged parallel to each other along the length direction of the overall sheet metal frame. The horizontal axis guide rail brackets are fixed to the tabletop of the overall sheet metal frame. The horizontal axis drive motor of the horizontal axis drive device is fixed to one of the horizontal axis guide rail brackets. The output shaft of the horizontal axis drive motor is connected to the horizontal axis ball screw via a coupling. The two ends of the horizontal axis ball screw are supported on the bearing seats of the horizontal axis guide rail bracket. The horizontal axis nut seat is threadedly connected to the horizontal axis ball screw. The horizontal axis nut seat and the horizontal axis electric slide... The block is fixed to the bottom of the vertical axis guide rail, and the horizontal axis slider is slidably connected to the horizontal axis guide rail. The vertical axis drive motor of the vertical axis drive device is fixed on the vertical axis guide rail bracket. The output shaft of the vertical axis drive motor is connected to the vertical axis ball screw through a coupling. The two ends of the vertical axis ball screw are supported on the bearing seats of the vertical axis guide rail bracket. The vertical axis nut seat is threadedly connected to the vertical axis ball screw. The vertical axis slider is installed on the inner side of the vertical axis nut seat and is slidably connected to the vertical axis guide rail. The vertical axis electric slide table's vertical axis guide rail bracket is fixed on the vertical axis nut seat. The vertical axis drive motor is fixed on the vertical axis guide rail bracket. The output shaft of the vertical axis drive motor is connected to the vertical axis ball screw through a coupling. The two ends of the vertical axis ball screw are supported on the bearing seats of the vertical axis guide rail bracket. The vertical axis nut seat is threadedly connected to the vertical axis ball screw. The vertical axis slider is installed on the vertical axis nut seat and is slidably connected to the vertical axis guide rail.

[0008] Furthermore, the needle-picking module includes a mounting base plate, a ball bearing box, ball bearings, a camera, a needle-picking mechanism, a ball bearing box drive motor, a pneumatic spindle, a pneumatic pressure sensor, a cylinder assembly, a suction cup, a ball bearing guide plate, a ball bearing guide tube, a motor mounting bracket, a pneumatic spindle bearing seat, and a pneumatic spindle floating shaft. The mounting base plate is mounted on the vertical axis nut seat of the vertical axis electric slide of the three-axis moving module and moves synchronously with the three-axis moving module. The ball bearing box drive motor is bolted to the mounting base plate via the motor mounting bracket. The center hole of the ball bearing guide plate passes through the spindle of the ball bearing box drive motor and is then fixed to the mounting base plate. The ball bearing box and the ball bearings... The main shaft of the box drive motor is fixedly connected. One end of the steel ball through tube is connected to the hole of the steel ball through plate, and the other end is connected to the opening and closing door of the needle picking mechanism. The camera is fixed to the mounting plate with bolts. The air main shaft consists of a fixed shaft and an air main shaft floating shaft. The fixed shaft is fixed to the mounting plate through the air main shaft bearing seat. The air main shaft floating shaft slides up and down along the inner wall of the fixed shaft under the action of high pressure gas. The needle picking mechanism is bolted to the mounting plate below the air main shaft. The cylinder assembly is installed on the front side of the mounting plate. The push rod of the cylinder assembly is equipped with a suction cup for easy suction of the culture dish lid on the culture dish assembly.

[0009] Furthermore, the needle-picking mechanism comprises a central mounting base, clamping arms, a pneumatic main shaft floating shaft, a return spring, a lower mounting sleeve, a needle-picking mechanism, and a pressure feedback spring. The pneumatic main shaft floating shaft passes through the central hole of the central mounting base and is slidably connected to the central hole. Clamping arms are respectively provided on both sides of the central mounting base, and the clamping arms are hinged to the central mounting base via pins. A return spring is provided between the clamping arms and the central mounting base, and the two clamping arms are clamped by the return spring. The lower mounting sleeve is threadedly connected to the lower part of the pneumatic main shaft floating shaft. The lower end of the pneumatic spindle floating shaft is equipped with a negative electrode plate. The pick is slidably connected in the center hole of the lower mounting sleeve. The upper end of the pick is connected to a locking rod, and the upper end of the locking rod is equipped with a positive electrode plate. A pressure feedback spring is fitted in the middle of the pick. An electromagnet is fitted on the outer side of the lower end of the pick. The bottom of the electromagnet is equipped with an arc-shaped structure that matches the steel ball. A photoelectric switch is provided in the inner cavity of the lower end of the pick. The distance between the locking rod and the pneumatic spindle floating shaft is adjusted by the thread between the pneumatic spindle floating shaft and the lower mounting sleeve.

[0010] Furthermore, the middle mounting base is connected to the steel ball passage tube via a thread. The steel ball passage tube feeds material into the opening and closing gate of the needle-picking mechanism formed by the two clamping arms opening against the elastic force of the return spring. The middle mounting base is provided with a steel ball sliding groove, which is connected to the opening and closing gate of the needle-picking mechanism between the two clamping arms. The steel ball falls into the opening and closing gate of the needle-picking mechanism between the two clamping arms through the steel ball passage tube.

[0011] Furthermore, the floating shaft of the air spindle is fitted inside the air spindle, the air spindle is connected to an external cylinder, and the air spindle is provided with an air spindle inlet and an air spindle return port.

[0012] Furthermore, the pressure feedback spring is fitted between the shoulder of the picking needle and the stepped hole of the lower mounting sleeve, and is locked into the internal thread hole of the picking needle through the external thread of the locking rod, thus compressing and fixing the pressure feedback spring between the lower mounting sleeve and the picking needle; the air spindle floating shaft drives the lower mounting sleeve to push out through the threaded connection, overcoming the elastic force of the return spring, and moves within the opening and closing gate of the picking mechanism between the two clamping arms.

[0013] Furthermore, the storage and disinfection rotating module consists of a rotating disk, a deep-hole plate, a micro-hole plate, a hollow rotating platform, and an injection head; the bottom surface of the rotating disk is installed on the hollow rotating platform, on which the deep-hole plate and the micro-hole plate are placed and fixed, and the deep-hole plate has a demagnetizing mechanism embedded in it; the output shaft of the hollow rotating platform's rotating motor is connected to a slewing bearing, and the hollow rotating platform's rotating motor drives the rotating disk to rotate through the slewing bearing; the injection head is suspended above the deep-hole and micro-hole plates.

[0014] This invention utilizes a camera for visual analysis. Colonies selected by the picking mechanism are placed into the calibration holes of a microplate under the operation of a three-axis moving module. The background control system comprehensively adjusts the three-axis moving module. Simultaneously, a hollow rotating platform drives a storage and disinfection rotating module, moving the calibration hole on the deep well plate directly below the picking needle of the entire picking mechanism. The vertical axis electric slide moves downwards, delivering a steel ball into the calibration hole of the deep well plate. The demagnetizing mechanism embedded in the deep well plate is activated, causing the steel ball to fall into the calibration hole due to loss of magnetic attraction. The injection head then injects disinfectant into the hole for disinfection. Once all holes in the deep well plate are filled with steel balls, they are manually removed and poured into a steel ball box for recycling.

[0015] Compared with existing technologies, this invention uses a synchronous belt conveyor to place the culture dish into a designated position, and a three-axis moving module to drive the picking needle module along the horizontal, vertical, and axial directions. Simultaneously, the use of a pneumatic spindle structure effectively improves the accuracy of colony selection. Furthermore, a camera visually analyzes the colonies within the culture dish, selecting good colonies and placing them into a microplate. This process is repeated continuously for large-scale screening. The overall sheet metal frame of this invention is constructed from high-strength aluminum alloy profiles in a single unit, resulting in high assembly efficiency, a simple and stable overall structure, lightweight and compact design, and a high degree of automation, significantly improving the pass rate and accuracy of colony selection. Attached Figure Description

[0016] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein: Figure 1 This is a schematic diagram of the structure of the present invention.

[0017] Figure 2 for Figure 1 A structural diagram of the overall sheet metal frame.

[0018] Figure 3 for Figure 1 A schematic diagram of the loading and unloading transmission module.

[0019] Figure 4 for Figure 1 A schematic diagram of the structure of the three-axis motion module.

[0020] Figure 5 for Figure 1 A schematic diagram of the needle-picking module.

[0021] Figure 6 for Figure 5 A schematic diagram of the needle-picking mechanism.

[0022] Figure 7 for Figure 6 Schematic diagram of the BB cross-section structure.

[0023] Figure 8 for Figure 6 A frontal cross-section.

[0024] Figure 9 for Figure 6 A schematic diagram of the state of adsorbed steel balls.

[0025] Figure 10 for Figure 1 A schematic diagram of the structure of the storage and disinfection rotating module.

[0026] The diagram shows: 1. Sheet metal frame; 2. Loading / unloading transmission module; 3. Three-axis movement module; 4. Needle picking module; 5. Storage and disinfection rotation module; 101. Front sealing plate; 102. Left sealing plate; 103. Tabletop; 104. Profile frame; 105. Rear sealing plate; 106. Right sealing plate; 107. Wheels; 108. Ground brake; 109. Synchronous belt conveyor mechanism; 201. Petri dish assembly; 202. Limiting weldment; 203. Rotating assembly; 204. Petri dish box; 205. Cylinder; 301. Horizontal axis guide rail bracket; 302. Water... 303. Horizontal axis guide rail; 304. Horizontal axis drive device; 305. Vertical axis guide rail bracket; 306. Vertical axis drive device; 307. Vertical axis electric slide; 308. Horizontal axis drive motor; 309. Horizontal axis ball screw; 310. Horizontal axis nut seat; 311. Horizontal axis slider; 312. Vertical axis drive motor; 313. Vertical axis ball screw; 314. Vertical axis nut seat; 315. Vertical axis slider; 316. Vertical axis guide rail bracket; 317. Vertical axis drive motor; 318. Vertical axis ball screw... 319. Rod; 320. Vertical shaft nut seat; 321. Vertical shaft slider; 401. Vertical shaft guide rail; 402. Mounting base plate; 403. Steel ball box; 404. Steel ball; 405. Camera; 406. Needle picking mechanism; 407. Steel ball box drive motor; 408. Pneumatic spindle; 409. Air pressure sensor; 410. Cylinder assembly; 411. Suction cup; 412. Petri dish lid; 413. Steel ball guide plate; 414. Steel ball guide tube; 415. Motor mounting bracket; 416. Pneumatic spindle air inlet; 417. Fixed shaft; 418. Pneumatic spindle bearing 418. Air return port of the main air shaft; 419. Floating shaft of the main air shaft; 420. Opening and closing door of the needle picking mechanism; 421. Electromagnet; 423. Middle mounting seat; 424. Clamping arm; 425. Return spring; 426. Lower mounting sleeve; 427. Needle picking; 428. Locking rod; 429. Pressure feedback spring; 430. Photoelectric switch; 431. Negative electrode plate; 432. Positive electrode plate; 433. Steel ball sliding chute; 501. Rotary disk; 502. Deep hole plate; 503. Hollow rotating platform; 504. Injection head; 505. Micro-orifice plate. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of protection of this invention.

[0028] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 As shown, the pneumatic spindle type fully automatic colony selection device of the present invention mainly includes an integral sheet metal frame 1, a loading and unloading transmission module 2, a three-axis moving module 3, a needle picking module 4, and a storage and disinfection rotating module 5. A synchronous belt conveyor mechanism 109 is embedded inside the integral sheet metal frame 1. The loading and unloading transmission module 2 and the three-axis moving module 3 are bolted to the upper part of the integral sheet metal frame 1. The hollow rotating platform 503 of the storage and disinfection rotating module 5 is embedded in the table panel 103 of the integral sheet metal frame 1. The needle picking module 4 is bolted to the vertical axis nut seat 319 of the vertical axis electric slide 307.

[0029] Preferably, the overall sheet metal frame 1 mainly includes a front sealing plate 101, a left sealing plate 102, a tabletop 103, a profile frame 104, a rear sealing plate 105, a right sealing plate 106, wheels 107, ground brakes 108, a synchronous belt conveyor mechanism 109, etc. The front sealing plate 101, left sealing plate 102, platform 103, profile frame 104, rear sealing plate 105, and right sealing plate 106 are assembled into a support by bolts or welding, forming the support platform for the entire equipment. A foot plate is welded to the lower end of the profile frame 104, and a ground brake 108 and wheels 107 are bolted to the foot plate. The left sealing plate 102 and right sealing plate 106 are bolted to both ends of the profile frame 104 along its length. The front sealing plate 101 and rear sealing plate 105 are bolted to both ends of the profile frame 104 along its width. The platform 103 has an elongated hole drilled in the middle along its length and is bolted to the upper surface of the profile frame 104. The synchronous belt conveyor mechanism 109 includes a synchronous belt, a driving synchronous pulley, a driven synchronous pulley, and a synchronous belt conveyor drive motor. The synchronous belt wraps around the driving synchronous pulley and the driven synchronous pulley, and the synchronous belt conveyor drive motor drives the synchronous belt through the driving synchronous pulley.

[0030] Preferably, the loading and unloading transmission module 2 is installed inside the overall sheet metal frame 1 and placed above the synchronous belt conveyor mechanism 109, with the petri dish fixing plate protruding from the tabletop 103 of the overall sheet metal frame 1; the loading and unloading transmission module 2 mainly includes a petri dish assembly 201, a limiting weldment 202, a rotating assembly 203, a petri dish box 204, a cylinder 205, etc. The limiting weldment 202 is fixed to the platform 103 of the profile frame 104. The bottom of the limiting weldment 202 at the outlet of the feeding hopper and the inlet of the unloading hopper is provided with notches for the passage of the petri dish assembly 201. The petri dish assemblies 201 are stacked and placed layer by layer into the limiting weldment 202. When the synchronous belt conveyor 109 runs, it carries the bottommost petri dish assembly 201 out of the feeding hopper. The piston rod end of the cylinder 205 clamps the topmost petri dish assembly 201, restricting its vertical movement. The cylinder 205 is model MGCLF20_20. The petri dish assembly 201 includes... The petri dish fixing plate, petri dish, and petri dish cover 411 are transported to the working area and the unloading hopper by the synchronous belt conveyor mechanism 109. The rotating component 203 is set in the working area. The rotating component drive motor is fixed on the profile frame 104 of the overall sheet metal frame 1. The output shaft of the rotating component drive motor is connected to the rotary bearing. The petri dish assembly 201, which is transported to the working area by the synchronous belt conveyor mechanism 109, is placed on the rotary bearing. The rotating component drive motor rotates the four petri dishes on the petri dish assembly 201 to a suitable position through the rotary bearing, which can reduce the movement distance of the three-axis moving module 3 and effectively improve the efficiency of colony selection. The loading and unloading transmission module 2 transports the culture dish assembly 201 from the bottom to the working position via the synchronous belt conveyor mechanism 109, waiting for the picking needle module 4 to select it. During the selection process of the picking needle module 4, when the colonies in a culture dish box are selected, the rotating component 203 rotates to rotate the next culture dish box to the bottom of the picking needle mechanism 4, and the selection is completed in sequence. The selected culture dish assembly 201 is transported to the unloading hopper via the synchronous belt conveyor mechanism 109.

[0031] Preferably, the three-axis moving module 3 can drive the needle picking module 4 to move along the horizontal axis, vertical axis, and vertical axis. The three-axis moving module 3 mainly includes a horizontal axis guide rail bracket 301, a horizontal axis guide rail 302, a horizontal axis drive device 303, a vertical axis guide rail bracket 304, a vertical axis guide rail 305, a vertical axis drive device 306, and a vertical axis electric slide 307. The horizontal axis is parallel to the width direction of the overall sheet metal frame 1, the vertical axis is parallel to the length direction of the overall sheet metal frame 1, and the vertical axis is parallel to the height direction of the overall sheet metal frame 1. Two horizontal axis guide rail brackets 301 are arranged parallel to the length direction of the overall sheet metal frame 1. The horizontal axis guide rail brackets 301 are fixed to the tabletop 103 of the overall sheet metal frame 1. The horizontal axis drive motor 308 of the horizontal axis drive device 303 is fixed to one of the horizontal axis guide rail brackets 301. The output shaft of the horizontal axis drive motor 308 is connected to the horizontal axis ball screw 309 via a coupling. The two ends of the horizontal axis ball screw 309 are supported on the bearing seats of the horizontal axis guide rail bracket 301. The horizontal axis nut seat 310 is threadedly connected to the horizontal axis ball screw 309. The horizontal axis nut seat 310, the horizontal axis slider 311, and the bottom of the vertical axis guide rail 305 are connected and fixed together. The horizontal axis slider 311 is slidably connected to the horizontal axis guide rail 302. The vertical axis drive motor 312 of the vertical axis drive device 306 is fixed to the vertical axis guide rail. On the guide rail bracket 304, the output shaft of the vertical axis drive motor 312 is connected to the vertical axis ball screw 313 via a coupling. Both ends of the vertical axis ball screw 313 are supported on the bearing seats of the vertical axis guide rail bracket 304. The vertical axis nut seat 314 is threadedly connected to the vertical axis ball screw 313. The vertical axis slider 315 is mounted inside the vertical axis nut seat 314 and is slidably connected to the vertical axis guide rail 313. The vertical axis guide rail bracket 316 of the vertical axis electric slide table 307 is fixed on the vertical axis guide rail. On the straight shaft nut seat 314, the vertical shaft drive motor 317 is fixed on the vertical shaft guide rail bracket 316. The output shaft of the vertical shaft drive motor 317 is connected to the vertical shaft ball screw 318 through a coupling. The two ends of the vertical shaft ball screw 318 are supported on the bearing seats of the vertical shaft guide rail bracket 316. The vertical shaft nut seat 319 is threadedly connected to the vertical shaft ball screw 318. The vertical shaft slider 320 is mounted on the vertical shaft nut seat 319 and is slidably connected to the vertical shaft guide rail 321.

[0032] Preferably, the needle-picking module 4 mainly includes a mounting base plate 401, a ball box 402, a ball 403, a camera 404, a needle-picking mechanism 405, a ball box drive motor 406, a pneumatic spindle 407, a pneumatic pressure sensor 408, a cylinder assembly 409, a suction cup 410, a ball guide plate 412, a ball guide tube 413, a motor mounting bracket 414, a pneumatic spindle bearing seat 417, and a pneumatic spindle floating shaft 419, etc. The mounting base plate 401 is mounted on the vertical axis nut seat 319 of the vertical axis electric slide 307 of the three-axis moving module 3, and moves synchronously with the three-axis moving module 3; the ball bearing box drive motor 406 is fixed to the mounting base plate 401 with bolts through the motor fixing bracket 414; the center hole of the ball bearing through plate 412 passes through the main shaft of the ball bearing box drive motor 406 and is fixed to the mounting base plate 401; the ball bearing box 402 is fixedly connected to the main shaft of the ball bearing box drive motor 406; one end of the ball bearing through tube 413 is connected to the hole of the ball bearing through plate 412, and the other end is connected to the needle picking mechanism opening and closing door 420; the camera 404 is fixed to the mounting base plate 401 with bolts; the pneumatic spindle 407 is fixed to the fixed shaft 41. The system consists of a 6-axis main shaft and a floating shaft 419. The fixed shaft 416 is fixed to the mounting base plate 401 via a main shaft bearing seat 417. The floating shaft 419 slides up and down along the inner wall of the fixed shaft 416 under the action of high-pressure gas. The purpose of setting up the main shaft 407 is to precisely control the vertical movement of the picking mechanism 405 through the stroke of the main shaft 407, so as to accurately pick up colonies. The picking mechanism 405 is bolted to the mounting base plate 401 below the main shaft 407. The cylinder assembly 409 is installed on the front side of the mounting base plate 401. The push rod of the cylinder assembly 409 is equipped with a suction cup 410 for conveniently aspirating the petri dish cover 411 on the petri dish assembly 201.

[0033] Preferably, the needle-picking mechanism 405 mainly consists of a central mounting base 423, clamping arms 424, a pneumatic main shaft floating shaft 419, a return spring 425, a lower mounting sleeve 426, a needle 427, and a pressure feedback spring 429. The pneumatic main shaft floating shaft 419 passes through the central hole of the central mounting base 423 and is slidably connected to the central hole. Clamping arms 424 are respectively provided on both sides of the central mounting base 423. The clamping arms 424 are hinged to the central mounting base 423 via pins. A return spring 425 is provided between the clamping arms 424 and the central mounting base 423, and the two clamping arms 424 are clamped together by the return spring 425. The lower mounting sleeve 426 is threadedly connected to the lower part of the pneumatic main shaft floating shaft 419. A negative electrode plate 431 is provided at the lower end of the pneumatic main shaft floating shaft 419. The needle 427 is slidably connected to the center of the lower mounting sleeve 426. Inside the hole, the upper end of the picking needle 427 is connected to a locking rod 428, and the upper end of the locking rod 428 is provided with a positive electrode plate 432. A pressure feedback spring 429 is fitted in the middle of the picking needle 427. An electromagnet 421 is fitted on the outer side of the lower end of the picking needle 427. The bottom of the electromagnet 421 is provided with an arc-shaped structure that is compatible with the steel ball 403, so that the electromagnet 421 can better attract the steel ball 403. A photoelectric switch 430 is provided in the inner cavity of the lower end of the picking needle 427. The distance between the locking rod 428 and the floating shaft 419 of the pneumatic spindle is adjusted by the thread between the floating shaft 419 of the pneumatic spindle and the lower mounting sleeve 426.

[0034] Preferably, the middle mounting base 423 is threaded into the steel ball passage tube 413, and the steel ball passage tube 413 feeds material into the needle picking mechanism opening and closing gate 420 formed by the two clamping arms 424 opening against the elastic force of the return spring 425; the middle mounting base 423 is provided with a steel ball sliding groove 433, which communicates with the needle picking mechanism opening and closing gate 420 between the two clamping arms 424, and the steel ball 403 falls into the needle picking mechanism opening and closing gate 420 between the two clamping arms 424 through the steel ball passage tube 413.

[0035] Preferably, the floating shaft 419 of the air spindle is fitted inside the air spindle 407, the air spindle 407 is connected to an external cylinder, and the air spindle 407 is provided with an air spindle inlet 415 and an air spindle return port 418.

[0036] Preferably, the pressure feedback spring 429 is fitted between the shoulder of the picking needle 427 and the stepped hole of the lower mounting sleeve 426, and is locked into the internal thread hole of the picking needle 427 by the external thread of the locking rod 428, thus compressing and fixing the pressure feedback spring 429 between the lower mounting sleeve 426 and the picking needle 427; the air spindle floating shaft 419 drives the lower mounting sleeve 426 to push out through the threaded connection, overcoming the elastic force of the return spring 425, and moves within the picking mechanism opening and closing gate 420 between the two clamping arms 424. The push rod of the external cylinder of the pneumatic spindle 407 pushes the floating shaft 419 of the pneumatic spindle. When the photoelectric switch 430 at the shaft end of the picking needle 427 contacts the steel ball 403, the electromagnet 421 is energized and attracts the steel ball 403. The push rod continues to advance and is fully extended. When the steel ball 403 picks up the bacteria in the agar of the culture dish, the picking needle 427 overcomes the elastic force of the pressure feedback spring 429 and moves in the lower mounting sleeve 426. Finally, the locking rod 428 contacts the floating shaft 419 of the pneumatic spindle, causing the negative electrode plate 4... 31. With the positive electrode plate 432 connected, the circuit is activated, and the feed signal of the air spindle floating shaft 419 is fed back to the background control system in real time. The background control system then stops the external robotic arm from feeding to prevent the air spindle floating shaft 419 from further feeding and damaging the agar layer. The colonies adsorbed by the steel ball 403 are delivered to the designated position by the external robotic arm of the central mounting base 423. At this time, the external cylinder of the air spindle floating shaft 419 stops supplying air, and the air spindle floating shaft 419 automatically retracts, thus completing the colony selection. The pressure feedback spring 429 is model BCN8.02, and the pressure feedback spring 429 is an externally purchased component.

[0037] Preferably, the storage and disinfection rotating module 5 mainly consists of a rotating disk 501, a deep-hole plate 502, a micro-hole plate 505, a hollow rotating platform 503, and an injection head 504. The bottom surface of the rotating disk 501 is mounted on the hollow rotating platform 503, on which the deep-hole plate 502 and the micro-hole plate 505 are placed and fixed. The storage and disinfection rotating module 5 adopts a two-station structure of the deep-hole plate 502 and the micro-hole plate 505. When the injection head 504 cleans the steel balls 403 in one deep-hole plate 502, the other micro-hole plate 505 can continue to work, which can effectively improve work efficiency. The deep-hole plate 502 is embedded with a demagnetizing mechanism, the model of which is SCT-18. The output shaft of the hollow rotating platform's rotating motor is connected to a slewing bearing, and the hollow rotating platform's rotating motor drives the rotating disk 501 to rotate through the slewing bearing. The injection head 504 is suspended above the deep-hole plate 502 and the micro-hole plate 505. The colonies selected by the needle-picking mechanism 405 are placed into the calibration holes of the microplate 505 under the operation of the three-axis moving module 3. The background control system comprehensively adjusts the three-axis moving module 3. At the same time, the hollow rotating platform 503 drives the storage and disinfection rotating module 5 to move, moving the calibration hole on the deep well plate 502 directly below the needle 427 of the needle-picking mechanism 405. The vertical axis electric slide 307 moves downward, sending the steel ball 403 into the calibration hole of the deep well plate 502. The demagnetizing mechanism embedded in the deep well plate 502 is activated, and the steel ball 403 falls into the calibration hole of the deep well plate 502 due to the loss of magnetic attraction. The injection head 504 injects disinfectant into the hole for disinfection. After all the holes of the deep well plate 502 are filled with steel balls 403, the steel balls 403 are manually removed and poured into the steel ball box 402 for recycling.

[0038] The synchronous belt conveyor drive motor, rotating component drive motor, hollow rotating platform rotating motor, horizontal axis drive motor 308, vertical axis drive motor 312, vertical axis drive motor 317, steel ball box drive motor 406, air pressure sensor 408, cylinder assembly 409, negative electrode plate 431, positive electrode plate 432, electromagnet 421, and photoelectric switch 430 of the present invention are connected to the background control system.

[0039] When the air-driven fully automatic colony selection device of the present invention is in operation, the steel ball box drive motor 406 rotates, driving the steel ball box 402 to rotate together. When the opening on the bottom plate of the steel ball box 402 rotates to be coaxial with the opening on the steel ball through plate 412, the steel ball 403 passes through the steel ball through plate 412 and the steel ball through tube 413 from inside the steel ball box 402, enters the needle picking mechanism opening and closing door 420 and waits; the camera 404 scans the position coordinates of the culture dish assembly 201 on the working position and feeds them back to the background control system. The background control system comprehensively adjusts the position of the picking needle 427 of the picking mechanism 405 based on the coordinate position of the culture dish box 204. Coordinates; the cylinder assembly 409 actuates, lifting the culture dish lid 411 of the culture dish box 204 via the suction cup 410, exposing the colonies inside the culture dish box 204 for selection; the background control system adjusts the horizontal and vertical axis positions of the picking needle 427 of the picking needle mechanism 405 based on the coordinates provided by the camera 404, and the vertical axis electric slide 307 moves downward. When the end of the picking needle mechanism opening and closing door 420 is 0.5mm away from the colonies inside the culture dish box 201, the movement stops, the air inlet 415 of the air main shaft is vented, and the floating shaft 419 of the air main shaft drives the picking needle 427 of the picking needle mechanism 405 to move downward. The electromagnet 421 of the picking needle 427 attracts the steel balls 403 that have rolled down from the steel ball tube 413 and are waiting to be picked. The picking mechanism opening and closing door 420 opens, and the picking needle 427 of the picking mechanism 405 continues to move downwards carrying the steel balls 403 that have rolled down from the steel ball tube. It uses the static electricity on the steel balls 403 that have rolled down from the steel ball tube 413 to touch and attract the colonies to be picked. Air returns through the air return port 418 of the air main shaft, the floating shaft 419 of the air main shaft rises, the vertical axis electric slide 307 rises, and the background control system controls the movement of the three-axis movement module 3 according to the set coordinates. The camera 404 provides visual observation. The system analyzes the process and selects good colonies from the picking needle 427 of the picking mechanism 405. These colonies are then placed at the designated positions above the microplate 505. A slight vibration caused by rapid airflow from the air spindle 407 causes the colonies to fall into the designated holes on the microplate 505. The back-end control system then moves the picking needle 427 of the picking mechanism 405 to the designated hole position on the deep-well plate 502. The demagnetizing mechanism embedded in the deep-well plate 502 activates, causing the steel ball 403 to fall into the designated hole of the deep-well plate 502 due to loss of magnetic attraction. The injection head 504 then injects disinfectant into the hole. Throughout the process, the air pressure sensor 408 monitors the air pressure status in real time, thus completing one selection process. After the colony selection in the culture dish box 204 is completed, the cylinder assembly 409 is activated to cover the culture dish lid 411 on the selected culture dish box 204. The background control system then opens the next culture dish box 204 to continue selecting colonies. When the microplate 505 and deep well plate 502 are full, they are manually transported to the next process.

[0040] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An air spindle type fully automatic colony picking apparatus, characterized by: The gas spindle type full-automatic colony picking device comprises an integral sheet metal frame (1), an up-down feeding transmission module (2), a three-axis moving module (3), a picking needle module (4), and a storage and disinfection rotating module (5); the inside of the integral sheet metal frame (1) is embedded with a synchronous belt conveying mechanism (109), the up-down feeding transmission module (2) and the three-axis moving module (3) are bolted on the upper part of the integral sheet metal frame (1), the hollow rotating platform (503) of the storage and disinfection rotating module (5) is embedded into the table panel (103) of the integral sheet metal frame (1), and the picking needle module (4) is bolted on the vertical shaft nut seat (319) of the vertical shaft electric slide (307).

2. The air-spindle full-automatic colony picking device according to claim 1, characterized in that: The integral sheet metal frame (1) comprises a front sealing plate (101), a left sealing plate (102), a table panel (103), a profile frame (104), a rear sealing plate (105), a right sealing plate (106), a wheel (107), a ground brake (108), and a synchronous belt conveying mechanism (109); the front sealing plate (101), the left sealing plate (102), the table panel (103), the profile frame (104), the rear sealing plate (105), and the right sealing plate (106) are combined into a support by means of bolting or welding, thereby becoming the support platform of the whole device; the lower end of the profile frame (104) is welded with a ground plate, the ground brake (108) and the wheel (107) are bolted on the ground plate; the left sealing plate (102) and the right sealing plate (106) are bolted on the two ends of the profile frame (104) in the length direction; the front sealing plate (101) and the rear sealing plate (105) are bolted on the two ends of the profile frame (104) in the width direction; the table panel (103) is bolted on the upper end surface of the profile frame (104) after a long hole is dug in the middle of the length direction; the synchronous belt conveying mechanism (109) comprises a synchronous belt, a driving synchronous belt wheel, a driven synchronous belt wheel, and a synchronous belt conveying mechanism driving motor, the synchronous belt is wound around the driving synchronous belt wheel and the driven synchronous belt wheel, and the synchronous belt conveying mechanism driving motor drives the synchronous belt to run through the driving synchronous belt wheel.

3. The gas-spindle type full-automatic colony picking device according to claim 1, characterized in that: The upper and lower feeding transmission module (2) is installed in the overall sheet metal frame (1), is placed above the synchronous belt conveying mechanism (109), and the culture dish fixing plate is exposed to the table panel (103) of the overall sheet metal frame (1); the upper and lower feeding transmission module (2) comprises a culture dish assembly (201), a limiting weld (202), a rotating assembly (203), a culture dish box (204) and a cylinder (205); the limiting weld (202) is fixed on the table panel (103) of the profile frame (104), the bottom of the limiting weld (202) at the outlet of the feeding bin and the inlet of the discharging bin is provided with an aperture for the culture dish assembly (201) to pass through; the culture dish assembly (201) is placed in the limiting weld (202) in the form of stacking, when the synchronous belt conveying mechanism (109) operates, the culture dish assembly (201) at the lowermost layer of the feeding bin is taken out from the feeding bin, the piston rod end of the cylinder (205) clamps the culture dish assembly (201) above the lowermost layer, and the cylinder (205) limits the up-and-down movement thereof; the culture dish assembly (201) comprises a culture dish fixing plate, a culture dish and a culture dish cover (411), the synchronous belt conveying mechanism (109) conveys the culture dish assembly (201) to a working area and a discharging bin; the rotating assembly (203) is arranged in the working area, the rotating assembly rotating motor is fixed on the profile frame (104) of the overall sheet metal frame (1), the output shaft of the rotating assembly rotating motor is connected with a rotary bearing, the culture dish assembly (201) conveyed to the working area by the synchronous belt conveying mechanism (109) is placed on the rotary bearing, and the rotating assembly rotating motor turns the four culture dishes on the culture dish assembly (201) to appropriate positions through the rotary bearing.

4. The gas-spindle type full-automatic colony picking device according to claim 1, characterized in that: The three-axis moving module (3) can drive the picking needle module (4) to move along the horizontal axis, the vertical axis and the vertical axis direction. The three-axis moving module (3) comprises a horizontal axis guide rail support (301), a horizontal axis guide rail (302), a horizontal axis driving device (303), a vertical axis guide rail support (304), a vertical axis guide rail (305), a vertical axis driving device (306), and a vertical axis electric sliding platform (307). The horizontal axis is parallel to the width direction of the overall sheet metal frame (1), the vertical axis is parallel to the length direction of the overall sheet metal frame (1), and the vertical axis is parallel to the height direction of the overall sheet metal frame (1). The two horizontal axis guide rail supports (301) are arranged in parallel along the length direction of the overall sheet metal frame (1), and the horizontal axis guide rail support (301) is fixed on the table panel (103) of the overall sheet metal frame (1). The horizontal axis driving motor (308) of the horizontal axis driving device (303) is fixed on one of the horizontal axis guide rail supports (301), the output shaft of the horizontal axis driving motor (308) is connected with the horizontal axis ball screw (309) through a shaft coupling, the two ends of the horizontal axis ball screw (309) are supported on the bearing seat of the horizontal axis guide rail support (301), the horizontal axis nut seat (310) is threadedly connected with the horizontal axis ball screw (309), the horizontal axis nut seat (310) and the horizontal axis sliding block (311) are fixedly connected with the bottom of the vertical axis guide rail (305), and the horizontal axis sliding block (311) is slidably connected with the horizontal axis guide rail (302). The vertical axis driving motor (312) of the vertical axis driving device (306) is fixed on the vertical axis guide rail support (304), the output shaft of the vertical axis driving motor (312) is connected with the vertical axis ball screw (313) through a shaft coupling, the two ends of the vertical axis ball screw (313) are supported on the bearing seat of the vertical axis guide rail support (304), the vertical axis nut seat (314) is threadedly connected with the vertical axis ball screw (313), the vertical axis sliding block (315) is arranged on the inner side of the vertical axis nut seat (314), and the vertical axis sliding block (315) is slidably connected with the vertical axis guide rail (305). The vertical axis guide rail support (316) of the vertical axis electric sliding platform (307) is fixed on the vertical axis nut seat (314), the vertical axis driving motor (317) is fixed on the vertical axis guide rail support (316), the output shaft of the vertical axis driving motor (317) is connected with the vertical axis ball screw (318) through a shaft coupling, the two ends of the vertical axis ball screw (318) are supported on the bearing seat of the vertical axis guide rail support (316), the vertical axis nut seat (319) is threadedly connected with the vertical axis ball screw (318), the vertical axis sliding block (320) is arranged on the vertical axis nut seat (319), and the vertical axis sliding block (320) is slidably connected with the vertical axis guide rail (321).

5. The gas-spindle type full-automatic colony picking device according to claim 1, characterized in that: The needle picking module (4) comprises a mounting base plate (401), a steel ball box (402), steel balls (403), a camera (404), a needle picking mechanism (405), a steel ball box driving motor (406), a gas spindle (407), a gas pressure sensor (408), a cylinder assembly (409), a suction cup (410), a steel ball passing plate (412), a steel ball passing pipe (413), a motor fixing frame (414), a gas spindle bearing seat (417), a gas spindle floating shaft (419); the mounting base plate (401) is mounted on the vertical shaft nut seat (319) of the vertical shaft electric slide table (307) of the three-axis moving module (3) and moves synchronously with the three-axis moving module (3); the steel ball box driving motor (406) is bolted on the mounting base plate (401) through the motor fixing frame (414), the center hole of the steel ball passing plate (412) passes through the spindle of the steel ball box driving motor (406) and is fixed on the mounting base plate (401), the steel ball box (402) is fixedly connected with the spindle of the steel ball box driving motor (406), one end of the steel ball passing pipe (413) is connected with the hole of the steel ball passing plate (412), and the other end is connected with the opening and closing door (420) of the needle picking mechanism; the camera (404) is bolted on the mounting base plate (401); the gas spindle (407) is composed of a fixed shaft (416) and a gas spindle floating shaft (419), the fixed shaft (416) is fixed on the mounting base plate (401) through the gas spindle bearing seat (417), and the gas spindle floating shaft (419) slides up and down along the inner wall of the fixed shaft (416) under the action of high-pressure gas; the needle picking mechanism (405) is bolted on the mounting base plate (401) below the gas spindle (407); the cylinder assembly (409) is mounted on the front side of the mounting base plate (401), and the suction cup (410) for conveniently sucking the culture dish cover (411) on the culture dish assembly (201) is mounted on the push rod of the cylinder assembly (409).

6. A gas-spindle full-automatic colony picking device according to claim 5, characterized in that: The needle picking mechanism (405) is composed of a middle mounting seat (423), clamping arms (424), a gas main shaft floating shaft (419), a reset spring (425), a lower mounting sleeve (426), a needle (427), and a pressure feedback spring (429). The gas main shaft floating shaft (419) passes through the center hole of the middle mounting seat (423) and is in sliding connection with the center hole. The two sides of the middle mounting seat (423) are respectively provided with clamping arms (424). The clamping arms (424) are hinged to the middle mounting seat (423) through a pin shaft. The reset spring (425) is arranged between the clamping arms (424) and the middle mounting seat (423). The two clamping arms (424) are clamped through the reset spring (425). The lower mounting sleeve (426) is threadedly connected to the lower part of the gas main shaft floating shaft (419). The lower end of the gas main shaft floating shaft (419) is provided with a negative electrode sheet (431). The needle (427) is in sliding connection with the center hole of the lower mounting sleeve (426). The upper end of the needle (427) is connected with a lock rod (428). The upper end of the lock rod (428) is provided with a positive electrode sheet (432). The middle part of the needle (427) is sleeved with the pressure feedback spring (429). The electromagnet (421) is sleeved outside the lower end of the needle (427). The bottom of the electromagnet (421) is provided with an arc structure matched with the steel ball (403). The lower end cavity of the needle (427) is provided with a photoelectric switch (430). The distance between the lock rod (428) and the gas main shaft floating shaft (419) is adjusted through the threads between the gas main shaft floating shaft (419) and the lower mounting sleeve (426).

7. A gas-spindle full-automatic colony picking device according to claim 6, characterized in that: The middle mounting seat (423) is threadedly connected to the steel ball passing pipe (413). The steel ball passing pipe (413) supplements the material in the needle picking mechanism opening and closing door (420) formed by the two clamping arms (424) overcoming the elastic force of the reset spring (425). The middle mounting seat (423) is provided with a steel ball sliding chute (433). The steel ball sliding chute (433) is communicated with the needle picking mechanism opening and closing door (420) between the two clamping arms (424). The steel ball (403) falls into the needle picking mechanism opening and closing door (420) between the two clamping arms (424) through the steel ball passing pipe (413).

8. The gas-spindle type full-automatic colony picking device according to claim 6, characterized in that: The gas main shaft floating shaft (419) is sleeved in the gas main shaft (407). The gas main shaft (407) is connected with an external cylinder. The gas main shaft (407) is provided with a gas main shaft air inlet (415) and a gas main shaft air return port (418).

9. The gas-spindle type full-automatic colony picking device according to claim 6, characterized in that: The pressure feedback spring (429) is sleeved between the shaft shoulder of the needle (427) and the stepped hole of the lower mounting sleeve (426). The outer threads of the lock rod (428) are locked into the inner threaded holes of the needle (427), so as to compress and fix the pressure feedback spring (429) between the lower mounting sleeve (426) and the needle (427). The gas main shaft floating shaft (419) drives the lower mounting sleeve (426) to move out through threaded connection, overcomes the elastic force of the reset spring (425), and moves in the needle picking mechanism opening and closing door (420) between the two clamping arms (424).

10. The gas-spindle type full-automatic colony picking device according to claim 1, characterized in that: The storage and disinfection rotating module (5) is composed of a rotating disc (501), a deep hole plate (502), a microporous plate (505), a hollow rotating platform (503) and a liquid injection head (504); the bottom surface of the rotating disc (501) is installed on the hollow rotating platform (503), the deep hole plate (502) and the microporous plate (505) are placed and fixed on the top surface of the rotating disc (501), and a demagnetization mechanism is embedded in the deep hole plate (502); the output shaft of a hollow rotating platform rotating motor is connected with a slewing bearing, the hollow rotating platform rotating motor drives the rotating disc (501) to rotate through the slewing bearing; and the liquid injection head (504) is suspended above the deep hole plate (502) and the microporous plate (505).

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