Pneumatic spindle type full-automatic bacterial colony selecting equipment

Abstract

The utility model 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, a pneumatic spindle structure is adopted, the bacterial colony selecting precision of the equipment can be effectively improved, 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, and large-scale screening is conducted. 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] The utility model relates to the technical field of biopharmaceuticals, in particular to an air spindle type fully automatic bacterial colony picking device. Background Art

[0002] In microbial transformation projects, cloning tens of thousands of colonies (for example, yeast and E. coli in the microbial field) can only yield a dozen or so healthy, mature colony products. Due to the tiny nature of the colonies, manual selection requires the use of a microscope, which is extremely inefficient. Furthermore, selection is based on subjective judgment and can easily miss targets. Manual operations are no longer sufficient to meet the rapid development of modern biopharmaceutical engineering. Therefore, the development of an air-spindle, fully automated colony picking device is particularly important. Summary of the Invention

[0003] In order to overcome the deficiencies of the prior art, the present invention aims to provide an air-spindle type fully automatic colony picking device to automatically pick good colonies from a culture dish and place them into a microplate.

[0004] In order to achieve the above-mentioned purpose of the invention, the air spindle type fully automatic colony picking equipment of the utility model includes an integral sheet metal frame, a loading and unloading transmission module, a three-axis moving module, a needle picking module, and a storage and disinfection rotation module; the interior of the integral sheet metal frame is embedded with a synchronous belt conveying mechanism, the loading and unloading transmission module and the three-axis moving module are installed on the upper part of the integral sheet metal frame by bolts, the hollow rotating platform of the storage and disinfection rotation module is embedded in the table panel of the integral sheet metal frame, and the needle picking module is fixed to the vertical axis nut seat of the vertical axis electric slide table with bolts.

[0005] Furthermore, the overall sheet metal frame includes a front covering plate, a left covering plate, a table panel, a profile frame, a rear covering plate, a right covering plate, wheels, a floor brake, and a synchronous belt conveying mechanism; the front covering plate, the left covering plate, the table panel, the profile frame, the rear covering plate, and the right covering plate are bolted or welded to form a support, which becomes a supporting platform for the entire equipment; a ground anchor plate is welded at the lower end of the profile frame, and the floor brake and the wheels are bolted to the ground anchor plate; the left covering plate and the right covering plate are bolted to the two ends of the profile frame in the length direction; the front covering plate and the rear covering plate are bolted to the two ends of the profile frame in the width direction; the table panel is fixed to the upper end face of the profile frame with bolts after a long hole is dug in the middle along its length direction; the synchronous belt conveying mechanism includes a synchronous belt, an active synchronous pulley, a passive synchronous pulley, and a synchronous belt conveying mechanism driving motor. The synchronous belt is wrapped around the active synchronous pulley and the passive synchronous pulley, and the synchronous belt conveying mechanism driving motor drives the synchronous belt to operate through the active synchronous pulley.

[0006] Furthermore, the loading and unloading transmission module is installed in the overall sheet metal frame and placed above the synchronous belt conveyor mechanism, and the culture dish fixing plate is exposed from the table panel of the overall sheet metal frame; the loading and unloading transmission module includes a culture dish assembly, a limiting weldment, a rotating assembly, a culture dish box, and a cylinder; the limiting weldment is fixed on the table panel of the profile frame, and the bottom of the limiting weldment at the feed bin outlet and the discharge bin entrance is provided with a notch for the culture dish assembly to pass through; the culture dish assembly is stacked layer by layer into the limiting weldment, and when the synchronous belt conveyor mechanism is running, the culture dish assembly at the bottom of the feed bin is taken out from the feed bin, The piston rod end of the cylinder clamps the culture dish assembly on the bottom layer, and its up and down movement is restricted by the cylinder; the culture dish assembly includes a culture dish fixing plate, a culture dish, and a culture dish cover, and the synchronous belt conveyor mechanism conveys the culture dish assembly to the working area and the unloading bin; the rotating assembly is arranged in the working area, and the rotating motor of the rotating assembly is fixed on the profile frame of the integral sheet metal frame. The output shaft of the rotating assembly driving motor is connected to the slewing bearing. The culture dish assembly transported to the working area by the synchronous belt conveyor mechanism is placed on the slewing bearing, and the rotating assembly driving motor rotates the four culture dishes on the culture dish assembly to the appropriate position through the slewing bearing.

[0007] Furthermore, the three-axis movement module can drive the needle picking module to move along the horizontal axis, vertical axis and vertical axis directions. The three-axis movement module includes a horizontal axis guide rail bracket, a horizontal axis guide rail, a horizontal axis driving device, a vertical axis guide rail bracket, a vertical axis guide rail, a vertical axis driving 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; the two horizontal axis guide rail brackets are arranged in parallel along the length direction of the overall sheet metal frame, the horizontal axis guide rail brackets are fixed on the table panel of the overall sheet metal frame, the horizontal axis driving motor of the horizontal axis driving device is fixed on one of the horizontal axis guide rail brackets, the output shaft of the horizontal axis driving motor is connected to the horizontal axis ball screw through a coupling, the two ends of the horizontal axis ball screw are supported on the bearing seat 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, the horizontal axis slide The block is connected and 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, and the output shaft of the vertical axis drive motor is connected to the vertical axis ball screw through a coupling, and both ends of the vertical axis ball screw are supported on the bearing seat 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 the vertical axis slider is slidably connected to the vertical axis guide rail; the vertical axis guide rail bracket of the vertical axis electric slide is fixed on the vertical axis nut seat, the vertical axis drive motor is fixed on the vertical axis guide rail bracket, and the output shaft of the vertical axis drive motor is connected to the vertical axis ball screw through a coupling, and both ends of the vertical axis ball screw are supported on the bearing seat 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 the vertical axis slider is slidably connected to the vertical axis guide rail.

[0008] Furthermore, the needle picking module includes a mounting base, a steel ball box, steel balls, a camera, a needle picking mechanism, a steel ball box driving motor, an air spindle, an air pressure sensor, a cylinder assembly, a suction cup, a steel ball passing plate, a steel ball passing tube, a motor fixing frame, an air spindle bearing seat, and an air spindle floating shaft; the mounting base is installed 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 steel ball box driving motor is fixed to the mounting base with bolts through the motor fixing frame, and the center hole of the steel ball passing plate passes through the main shaft of the steel ball box driving motor and is fixed to the mounting base, and the steel ball box and the steel ball The main shaft of the box driving motor is fixedly connected, one end of the steel ball passing tube is connected to the hole of the steel ball passing 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 base with bolts; the air spindle is composed of a fixed shaft and an air spindle floating shaft, the fixed shaft is fixed to the mounting base through the air spindle bearing seat, and the air spindle 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 installed on the mounting base below the air spindle with bolts; the cylinder assembly is installed on the front side of the mounting base, and the push rod of the cylinder assembly is equipped with a suction cup for conveniently sucking the culture dish cover on the culture dish assembly.

[0009] Furthermore, the needle picking mechanism is composed of a middle mounting seat, a clamping arm, an air spindle floating shaft, a reset spring, a lower mounting sleeve, a needle picking, and a pressure feedback spring; the air spindle floating shaft passes through the center hole of the middle mounting seat and is slidably connected to the center hole, and clamping arms are respectively provided on both sides of the middle mounting seat, and the clamping arms are hinged to the middle mounting seat through a pin shaft, and a reset spring is provided between the clamping arms and the middle mounting seat, and the two clamping arms are clamped by the reset spring; the lower mounting sleeve is connected to the lower part of the air spindle floating shaft by a threaded connection. The lower end of the air spindle floating shaft is provided with a negative electrode sheet, the picking needle is slidably connected to the center hole of the lower mounting sleeve, the upper end of the picking needle is connected to a locking rod, and the upper end of the locking rod is provided with a positive electrode sheet. The middle part of the picking needle is provided with a pressure feedback spring, and the electromagnet is provided on the outer side of the lower end of the picking needle. The bottom of the electromagnet is provided with an arc structure adapted to the steel ball, and the inner cavity of the lower end of the picking needle is provided with a photoelectric switch. The distance between the locking rod and the air spindle floating shaft is adjusted by the thread between the air spindle floating shaft and the lower mounting sleeve.

[0010] Furthermore, the middle mounting seat is connected to the steel ball passing tube through a thread, and the steel ball passing tube overcomes the elastic force of the reset spring to open the two clamping arms to form an opening and closing door of the needle picking mechanism to feed the material; a steel ball sliding inclined groove is provided in the middle mounting seat, and the steel ball sliding inclined groove is connected to the opening and closing door of the needle picking mechanism between the two clamping arms, and the steel ball falls into the opening and closing door of the needle picking mechanism between the two clamping arms through the steel ball passing tube.

[0011] Furthermore, the air spindle floating shaft is sleeved in the air spindle, the air spindle is connected to the external air cylinder, and the air spindle air inlet and the air spindle air return port are provided on the air spindle.

[0012] Furthermore, the pressure feedback spring is sleeved between the shoulder of the picking pin and the stepped hole of the lower mounting sleeve, and is locked into the internal threaded hole of the picking pin through the external thread of the locking rod, compressing the pressure feedback spring and fixing it between the lower mounting sleeve and the picking pin; the air spindle floating shaft drives the lower mounting sleeve out through a threaded connection, overcomes the elastic force of the reset spring, and moves in the opening and closing door of the needle picking mechanism between the two clamping arms.

[0013] Furthermore, the storage and disinfection rotating module consists of a rotating disk, a deep-well plate, a micro-well 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-well plate and the micro-well plate are placed and fixed, and the deep-well plate is embedded with a demagnetization mechanism; the output shaft of the hollow rotating platform rotating motor is connected to the rotary bearing, and the hollow rotating platform rotating motor drives the rotating disk to rotate through the rotary bearing; the injection head is suspended above the deep well and the micro-well plate.

[0014] This utility model uses a camera for visual analysis. The colonies selected by the needle picking mechanism are placed into the calibrated holes of the microplate under the operation of the three-axis mobile module. The background control system comprehensively adjusts the three-axis mobile module. At the same time, the hollow rotating platform drives the storage and disinfection rotating module to move, moving the calibrated hole on the deep-well plate to directly below the needle of the entire needle picking mechanism. The vertical axis electric slide moves downward, sending steel balls into the calibrated hole of the deep-well plate. The demagnetization mechanism embedded in the deep-well plate is activated, and the steel balls fall into the calibrated holes of the deep-well plate due to the loss of magnetic attraction. The injection head injects disinfectant into the holes for disinfection. When all the holes in the deep-well plate are filled with steel balls, the steel balls are manually removed and poured into the steel ball box for recycling.

[0015] Compared with existing technologies, this new device uses a synchronous belt conveyor mechanism to place culture dishes in designated locations. A three-axis motion module drives the needle picking module along the horizontal, vertical, and vertical axes. The pneumatic spindle structure also effectively improves the accuracy of bacterial colony selection. A camera is used to visually analyze the bacterial colonies in the culture dishes, selecting good colonies from the dishes and placing them in microplates. This process is repeated repeatedly for large-scale screening. The new device's integrated sheet metal frame is constructed from high-strength aluminum alloy profiles, resulting in efficient assembly, a simple overall structure, a stable and reliable structure, a lightweight and compact design, and a high degree of automation, significantly improving the pass rate and accuracy of bacterial colony selection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to make the content of the utility model easier to understand, the utility model is further described in detail below based on specific embodiments and in conjunction with the accompanying drawings, wherein:

[0017] Figure 1 It is a structural diagram of the present utility model.

[0018] Figure 2 for Figure 1 Schematic diagram of the structure of the overall sheet metal frame.

[0019] Figure 3 for Figure 1 Schematic diagram of the structure of the loading and unloading transmission module.

[0020] Figure 4 for Figure 1 Schematic diagram of the structure of the three-axis mobile module.

[0021] Figure 5 for Figure 1 Schematic diagram of the structure of the needle picking module.

[0022] Figure 6 for Figure 5 Schematic diagram of the structure of the needle picking mechanism.

[0023] Figure 7 for Figure 6 Schematic diagram of BB cross-sectional structure.

[0024] Figure 8 for Figure 6 Front cross-section view of .

[0025] Figure 9 for Figure 6 Schematic diagram of the adsorption state of steel balls.

[0026] Figure 10 for Figure 1 Schematic diagram of the structure of the storage and disinfection rotating module.

[0027] As shown in the figure: 1. Sheet metal frame; 2. Loading and unloading transmission module; 3. Three-axis moving module; 4. Picking needle module; 5. Storage and disinfection rotation module; 101. Front cover; 102. Left cover; 103. Table panel; 104. Profile frame; 105. Rear cover; 106. Right cover; 107. Wheel; 108. Floor brake; 109. Synchronous belt conveyor mechanism; 201. Culture dish assembly; 202. Limiting weldment; 203. Rotating assembly; 204. Culture dish box; 205. Cylinder; 301. Horizontal axis guide rail bracket; 302. Water Horizontal axis guide rail; 303, horizontal axis drive device; 304, vertical axis guide rail bracket; 305, vertical axis guide rail; 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 Rod; 319, vertical axis nut seat; 320, vertical axis slider; 321, vertical axis guide rail; 401, mounting base; 402, steel ball box; 403, steel balls; 404, camera; 405, needle picking mechanism; 406, steel ball box drive motor; 407, air spindle; 408, air pressure sensor; 409, cylinder assembly; 410, suction cup; 411, culture dish cover; 412, steel ball passing plate; 413, steel ball passing tube; 414, motor fixing bracket; 415, air spindle air inlet; 416, fixed shaft; 417, air spindle bearing Seat; 418, air return port of air spindle; 419, air spindle floating shaft; 420, opening and closing door of needle picking mechanism; 421, electromagnet; 423, middle mounting seat; 424, clamping arm; 425, reset spring; 426, lower mounting sleeve; 427, needle picking; 428, locking rod; 429, pressure feedback spring; 430, photoelectric switch; 431, negative electrode sheet; 432, positive electrode sheet; 433, steel ball sliding chute; 501, rotating disk; 502, deep well plate; 503, hollow rotating platform; 504, injection head; 505, microplate. DETAILED DESCRIPTION

[0028] In order to make the invention purpose, technical solution and advantages of the utility model more clearly understood, the utility model is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not intended to limit the scope of protection of the utility model.

[0029] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 As shown, the air spindle type fully automatic colony picking equipment 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. The internal part of the integral sheet metal frame 1 is embedded with a synchronous belt conveyor mechanism 109. 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.

[0030] Preferably, the integral sheet metal frame 1 mainly includes a front cover plate 101, a left cover plate 102, a table panel 103, a profile frame 104, a rear cover plate 105, a right cover plate 106, wheels 107, a floor brake 108, a synchronous belt conveying mechanism 109, etc. The front cover 101, the left cover 102, the table panel 103, the profile frame 104, the rear cover 105, and the right cover 106 are combined into a support by bolts or welding to form a support platform for the entire equipment; the lower end of the profile frame 104 is welded with an anchor plate, and the ground brake 108 and the wheel 107 are bolted to the anchor plate; the left cover 102 and the right cover 106 are bolted to the ends of the profile frame 104 in the length direction; the front cover 101 and the rear cover 105 are bolted to the ends of the profile frame 104 in the width direction; the table panel 103 is fixed to the upper end face of the profile frame 104 with bolts after a long hole is dug in the middle along its length direction; the synchronous belt conveying mechanism 109 includes a synchronous belt, an active synchronous pulley, a passive synchronous pulley, and a synchronous belt conveying mechanism driving motor. The synchronous belt is wrapped around the active synchronous pulley and the passive synchronous pulley, and the synchronous belt conveying mechanism driving motor drives the synchronous belt to operate through the active synchronous pulley.

[0031] Preferably, the loading and unloading transmission module 2 is installed in the overall sheet metal frame 1 and placed above the synchronous belt conveyor mechanism 109, and the culture dish fixing plate is exposed to the table panel 103 of the overall sheet metal frame 1; the loading and unloading transmission module 2 mainly includes a culture dish assembly 201, a limiting weldment 202, a rotating assembly 203, a culture dish box 204, a cylinder 205, etc. The limiting weldment 202 is fixed on the table panel 103 of the profile frame 104. The bottom of the limiting weldment 202 at the outlet of the feed bin and the entrance of the discharge bin is provided with a notch for the culture dish assembly 201 to pass through; the culture dish assembly 201 is placed in the limiting weldment 202 in a stacked form layer by layer. When the synchronous belt conveyor mechanism 109 is running, the culture dish assembly 201 at the bottom of the feed bin is taken out from the feed bin, and the piston rod end of the cylinder 205 clamps the culture dish assembly 201 on the bottom layer, and its up and down movement is limited by the cylinder 205. The model of the cylinder 205 is MGCLF20_20; the culture dish assembly 201 contains The culture dish fixing plate, culture dish, culture dish cover 411, and the synchronous belt conveyor mechanism 109 convey the culture dish assembly 201 to the working area and the unloading bin; the rotating assembly 203 is arranged in the working area, and the rotating assembly driving motor is fixed on the profile frame 104 of the overall sheet metal frame 1. The output shaft of the rotating assembly driving motor is connected to the slewing bearing. The culture dish assembly 201 conveyed to the working area by the synchronous belt conveyor mechanism 109 is placed on the slewing bearing. The rotating assembly driving motor rotates the four culture dishes on the culture dish assembly 201 to the appropriate position through the slewing bearing, which can reduce the moving 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 through the synchronous belt conveyor mechanism 109, waiting for selection by the needle picking module 4. During the selection process of the needle picking module 4, when the colonies in a culture dish box are selected, the rotating assembly 203 rotates and rotates the next culture dish box to the bottom of the needle picking mechanism 4, completing the selection in sequence. The selected culture dish assembly 201 is transported to the unloading bin through the synchronous belt conveyor mechanism 109.

[0032] 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 directions. 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, a vertical axis electric slide 307, etc. 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 brackets 301 are arranged parallel to the length direction of the overall sheet metal frame 1, the horizontal axis guide rail bracket 301 is fixed on the table panel 103 of the overall sheet metal frame 1, the horizontal axis drive motor 308 of the horizontal axis drive device 303 is fixed on 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 through a coupling, the two ends of the horizontal axis ball screw 309 are supported on the bearing seat 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 and the horizontal axis slider 311 are connected and fixed together with the bottom of the vertical axis guide rail 305, and 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 on the vertical axis guide On the rail bracket 304, the output shaft of the vertical axis drive motor 312 is connected to the vertical axis ball screw 313 through a coupling, and both ends of the vertical axis ball screw 313 are supported on the bearing seat of the vertical axis guide rail bracket 304. The vertical axis nut seat 314 is threadedly connected to the vertical axis ball screw 313, and the vertical axis slider 315 is installed on the inner side of the vertical axis nut seat 314. The vertical axis slider 315 is slidably connected to the vertical axis guide rail 313; the vertical axis guide rail bracket 316 of the vertical axis electric slide 307 is fixed on the vertical axis. 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, both ends of the vertical shaft ball screw 318 are supported on the bearing seat 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 installed on the vertical shaft nut seat 319, and the vertical shaft slider 320 is slidingly connected to the vertical shaft guide rail 321.

[0033] Preferably, the needle picking module 4 mainly includes an installation base plate 401, a steel ball box 402, a steel ball 403, a camera 404, a needle picking mechanism 405, a steel ball box drive motor 406, an air spindle 407, an air pressure sensor 408, a cylinder assembly 409, a suction cup 410, a steel ball passing plate 412, a steel ball passing tube 413, a motor fixing frame 414, an air spindle bearing seat 417, an air 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 steel ball box driving motor 406 is fixed to the mounting base plate 401 with bolts through the motor fixing frame 414, the center hole of the steel ball passing plate 412 passes through the main shaft of the steel ball box driving motor 406 and is fixed to the mounting base plate 401, the steel ball box 402 is fixedly connected to the main shaft of the steel ball box driving motor 406, one end of the steel ball passing tube 413 is connected to the hole of the steel ball passing plate 412, and the other end is connected to the opening and closing door 420 of the needle picking mechanism; the camera 404 is fixed to the mounting base plate 401 with bolts; the air spindle 407 is fixed by the fixed shaft 41 6 and the air spindle floating shaft 419, the fixed shaft 416 is fixed to the mounting base 401 through the air spindle bearing seat 417, and the air 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 purpose of setting the air spindle 407 is to accurately control the vertical movement of the needle picking mechanism 405 through the stroke of the air spindle 407, so as to accurately grab the colony; the needle picking mechanism 405 is installed on the mounting base 401 below the air spindle 407 with bolts; the cylinder assembly 409 is installed at the front side of the mounting base 401, and the push rod of the cylinder assembly 409 is equipped with a suction cup 410 for conveniently sucking the culture dish cover 411 on the culture dish assembly 201.

[0034] Preferably, the needle picking mechanism 405 is mainly composed of a middle mounting seat 423, a clamping arm 424, an air spindle floating shaft 419, a reset spring 425, a lower mounting sleeve 426, a picking needle 427, a pressure feedback spring 429, etc. The air spindle floating shaft 419 passes through the center hole of the middle mounting seat 423 and is slidably connected to the center hole. Clamping arms 424 are respectively provided on both sides of the middle mounting seat 423. The clamping arms 424 are hinged to the middle mounting seat 423 through a pin shaft. A reset spring 425 is provided between the clamping arms 424 and the middle mounting seat 423. The two clamping arms 424 are clamped by the reset spring 425. The lower mounting sleeve 426 is connected to the lower part of the air spindle floating shaft 419 by a thread. The lower end of the air spindle floating shaft 419 is provided with a negative electrode sheet 431. The picking needle 427 is slidably connected to the center of the lower mounting sleeve 426. In the hole, the upper end of the picking needle 427 is connected to the locking rod 428, and the upper end of the locking rod 428 is provided with a positive electrode sheet 432. The middle part of the picking needle 427 is provided with a pressure feedback spring 429, and the electromagnet 421 is provided on the outer side of the lower end of the picking needle 427. The bottom of the electromagnet 421 is provided with an arc structure that is compatible with the steel ball 403, so that the electromagnet 421 can better absorb the steel ball 403. The inner cavity of the lower end of the picking needle 427 is provided with a photoelectric switch 430. The distance between the locking rod 428 and the air spindle floating shaft 419 is adjusted by the thread between the air spindle floating shaft 419 and the lower mounting sleeve 426.

[0035] Preferably, the middle mounting seat 423 is connected to the steel ball passing tube 413 through a thread, and the steel ball passing tube 413 replenishes 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 return spring 425; a steel ball sliding inclined groove 433 is provided in the middle mounting seat 423, and the steel ball sliding inclined groove 433 is communicated with the needle picking mechanism opening and closing door 420 between the two clamping arms 424, and 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 tube 413.

[0036] Preferably, the air spindle floating shaft 419 is sleeved in the air spindle 407 , the air spindle 407 is connected to an external air cylinder, and the air spindle 407 is provided with an air spindle air inlet 415 and an air spindle air return port 418 .

[0037] Preferably, the pressure feedback spring 429 is sleeved between the shoulder of the picking pin 427 and the stepped hole of the lower mounting sleeve 426, and is locked into the internal threaded hole of the picking pin 427 through the external thread of the locking rod 428, compressing the pressure feedback spring 429 and fixing it between the lower mounting sleeve 426 and the picking pin 427; the air spindle floating shaft 419 drives the lower mounting sleeve 426 to be pushed out through a threaded connection, overcomes the elastic force of the reset spring 425, and moves in the opening and closing door 420 of the needle picking mechanism between the two clamping arms 424. The push rod of the external cylinder of the air spindle 407 pushes the air spindle floating shaft 419. When the photoelectric switch 430 at the shaft end of the pick needle 427 contacts the steel ball 403, the electromagnet 421 is electrically attracted to the steel ball 403, and the push rod continues to move forward and is completely ejected. When the steel ball 403 is dipped into the bacteria in the agar of the culture dish, the pick 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 air spindle floating shaft 419, so that the negative electrode sheet 403 is pressed against the bottom of the cylinder. 31. The positive electrode sheet 432 is connected, completing the circuit and feeding the feed signal of the air spindle floating shaft 419 back to the background control system in real time. The background control system then stops the external robotic arm to prevent the air spindle floating shaft 419 from further feeding and damaging the agar layer. The bacterial colonies adsorbed by the steel ball 403 are delivered to the designated position by the external robotic arm of the central mounting seat 423. At this point, the external air cylinder of the air spindle floating shaft 419 stops supplying air, and the air spindle floating shaft 419 automatically retracts, completing the colony selection. The pressure feedback spring 429 is a purchased part and is model BCN8.02.

[0038] Preferably, the storage and disinfection rotary module 5 is mainly composed of a rotating disk 501, a deep-well plate 502, a micro-well plate 505, a hollow rotating platform 503, and a liquid injection head 504. The bottom surface of the rotating disk 501 is mounted on the hollow rotating platform 503, on which the deep-well plate 502 and the micro-well plate 505 are placed and fixed. The storage and disinfection rotary module 5 adopts a two-station structure of the deep-well plate 502 and the micro-well plate 505. When the liquid injection head 504 cleans the steel balls 403 in one deep-well plate 502, the other micro-well plate 505 can continue to work, which can effectively improve work efficiency. The deep-well plate 502 is embedded with a demagnetization mechanism, and the model of the demagnetization mechanism is SCT-18; the output shaft of the hollow rotating platform rotating motor is connected to the rotary bearing, and the hollow rotating platform rotating motor drives the rotating disk 501 to rotate through the rotary bearing; the liquid injection head 504 is suspended above the deep-well plate 502 and the micro-well plate 505. The colonies picked by the needle picking mechanism 405 are placed into the calibrated 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 calibrated holes on the deep-well plate 502 to just below the needle picking mechanism 405's needle picking mechanism 405. The vertical axis electric slide 307 moves downward, sending the steel ball 403 into the calibrated orifice of the deep-well plate 502. The demagnetization mechanism embedded in the deep-well plate 502 is activated, and the steel ball 403 falls into the calibrated holes of the deep-well plate 502 due to the loss of magnetic attraction. The injection head 504 injects disinfectant into the hole for disinfection. When each hole in the deep-well plate 502 is filled with steel balls 403, the steel balls 403 are manually removed and poured into the steel ball box 402 for recycling.

[0039] The synchronous belt conveying mechanism drive motor, rotating assembly 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 sheet 431, positive electrode sheet 432, electromagnet 421, and photoelectric switch 430 of the utility model are connected to the background control system.

[0040] When the air spindle type fully automatic colony picking device of the present invention is working, when the steel ball box driving motor 406 rotates, it drives the steel ball box 402 to rotate together, and when the opening on the bottom plate of the steel ball box 402 rotates to be coaxial with the opening on the steel ball passing plate 412, the steel ball 403 passes through the steel ball passing plate 412 and the steel ball passing tube 413 channel from 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 back to the background control system, and the background control system comprehensively adjusts the picking needle 427 of the picking mechanism 405 according to the coordinate position of the culture dish box 204. Position coordinates; the cylinder assembly 409 moves, and the culture dish cover 411 of the culture dish box 204 is lifted through the suction cup 410, and the colonies in the culture dish box 204 are exposed and waiting to be picked; the background control system adjusts the horizontal and vertical axis positions of the picking needle 427 of the picking needle mechanism 405 according to the coordinates provided by the camera 404, and the vertical axis electric slide 307 moves downward. When the end of the opening and closing door 420 of the picking needle mechanism is 0.5 mm away from the colonies in the culture dish box 201, the movement stops, the air spindle air inlet 415 is ventilated, and the air spindle floating shaft 419 drives the picking needle 427 of the picking needle mechanism 405 to move downward, and the picking needle 427 installed in the picking needle mechanism 40 The electromagnet 421 of the needle head of the picking needle 427 of 5 absorbs the steel ball 403 that rolls down from the steel ball tube 413 and waits for work, the opening and closing door 420 of the picking needle mechanism opens, and the picking needle 427 of the picking needle mechanism 405 carries the steel ball 403 that rolls down from the steel ball tube and waits for work and continues to move downward, and uses the static electricity on the steel ball 403 that rolls down from the steel ball tube 413 and waits for work to touch and absorb the bacteria to be selected; the air return port 418 of the air spindle returns air, the air spindle floating shaft 419 rises, the vertical axis electric slide 307 rises, and the background control system controls the movement of the three-axis mobile module 3 according to the set coordinates, and uses the camera 404 to perform Through visual analysis, the good colonies picked out by the picking needle 427 of the picking mechanism 405 are sent to the calibrated position above the micro-well plate 505. With the slight vibration of the rapid ventilation of the air spindle 407, the colonies fall into the calibrated holes on the micro-well plate 505. The background control system then moves the picking needle 427 of the picking mechanism 405 to the calibrated hole position of the deep-well plate 502. The demagnetization mechanism embedded in the deep-well plate 502 is activated, and the steel ball 403 falls into the calibrated hole of the deep-well plate 502 due to the loss of magnetic attraction. The liquid injection head 504 injects liquid into the hole for disinfection. During the whole process, the air pressure sensor 408 monitors the air pressure status in real time, and the selection process is completed. When the colony selection in the culture dish box 204 is completed, the cylinder assembly 409 is actuated to cover the culture dish cover 411 on the selected culture dish box 204, and the background control system repeatedly opens the next culture dish box 204 and continues to select colonies; when the microplate 505 and the deep-well plate 502 are full, they are manually transported to the next process.

[0041] The above shows and describes 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 above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements are intended to fall within the scope of the present invention. The scope of protection claimed in this invention is defined by the appended claims and their equivalents.

Claims

1. An air spindle type fully automatic colony picking device, characterized by: The air spindle type fully automatic colony picking device comprises 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 conveying mechanism (109) is embedded in the interior of the integral sheet metal frame (1), the loading and unloading transmission module (2) and the three-axis moving module (3) are mounted on the upper part of the integral sheet metal frame (1) by bolts, a 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), and the needle picking module (4) is fixed to the vertical axis nut seat (319) of the vertical axis electric slide table (307) by bolts.

2. The air spindle type fully 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), wheels (107), a floor 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 assembled into a support by means of bolts or welding, and become a supporting platform for the entire equipment; a ground plate is welded to the lower end of the profile frame (104), and the floor brake (108) and the wheels (107) are bolted together. Installed on the anchor plate; the left sealing plate (102) and the right sealing plate (106) are fixed to the two ends of the profile frame (104) in the length direction with bolts; the front sealing plate (101) and the rear sealing plate (105) are fixed to the two ends of the profile frame (104) in the width direction with bolts; the table panel (103) is fixed to the upper end surface of the profile frame (104) with bolts after a long hole is dug in the middle along its length direction; the synchronous belt conveying mechanism (109) includes a synchronous belt, an active synchronous pulley, a passive synchronous pulley, and a synchronous belt conveying mechanism driving motor, the synchronous belt is wrapped around the active synchronous pulley and the passive synchronous pulley, and the synchronous belt conveying mechanism driving motor drives the synchronous belt to operate through the active synchronous pulley.

3. The air spindle type fully automatic colony picking device according to claim 1, characterized in that: The loading and unloading transmission module (2) is installed in the overall sheet metal frame (1) and is placed above the synchronous belt conveyor mechanism (109), and the culture dish fixing plate is exposed from the table panel (103) of the overall sheet metal frame (1); the loading and unloading transmission module (2) includes a culture dish assembly (201), a limiting weldment (202), a rotating assembly (203), a culture dish box (204), and a cylinder (205); the limiting weldment (202) is fixed on the table panel (103) of the profile frame (104), and the bottom of the limiting weldment (202) at the feed bin outlet and the discharge bin inlet is provided with a notch for the culture dish assembly (201) to pass through; the culture dish assembly (201) is stacked layer by layer into the limiting weldment (202), and when the synchronous belt conveyor mechanism (109) is running, the culture dish assembly at the bottom of the feed bin is moved to the bottom of the feed bin. (201) is taken out from the feed bin, and the piston rod end of the cylinder (205) clamps the culture dish assembly (201) on the bottom layer, and its up and down movement is restricted by the cylinder (205); the culture dish assembly (201) includes a culture dish fixing plate, a culture dish, and a culture dish cover (411), and the synchronous belt conveying mechanism (109) conveys the culture dish assembly (201) to the working area and the unloading bin; the rotating assembly (203) is set in the working area, and the rotating motor of the rotating assembly is fixed on the profile frame (104) of the integral sheet metal frame (1), and the output shaft of the rotating motor of the rotating assembly is connected to the rotary bearing, and 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 motor of the rotating assembly rotates the four culture dishes on the culture dish assembly (201) to the appropriate position through the rotary bearing.

4. The air-spindle fully automatic colony picking device according to claim 1, characterized in that: The three-axis moving module (3) can drive the needle picking module (4) to move along the horizontal axis, vertical axis and vertical axis directions. The three-axis moving module (3) includes a horizontal axis guide rail bracket (301), a horizontal axis guide rail (302), a horizontal axis driving device (303), a vertical axis guide rail bracket (304), a vertical axis guide rail (305), a vertical axis driving 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); the two horizontal axis guide rail brackets (301) are parallel to the length direction of the overall sheet metal frame (1). The horizontal axis guide rail bracket (301) is arranged in parallel with the horizontal axis guide rail bracket (301), the horizontal axis drive motor (308) of the horizontal axis drive device (303) is fixed on 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) through a coupling, both ends of the horizontal axis ball screw (309) are supported on the bearing seat 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. The vertical axis guide rail (302) is fixed together, and 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 on the vertical axis guide rail bracket (304), the output shaft of the vertical axis drive motor (312) is connected to the vertical axis ball screw (313) through a coupling, both ends of the vertical axis ball screw (313) are supported on the bearing seat 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 installed on the inner side of the vertical axis nut seat (314), and the vertical axis slider (315) is slidably connected to the vertical axis guide rail (305). Dynamic connection; the vertical axis guide rail bracket (316) of the vertical axis electric slide (307) is fixed on the vertical axis nut seat (314), the vertical axis drive motor (317) is fixed on the vertical axis guide rail bracket (316), the output shaft of the vertical axis drive motor (317) is connected to the vertical axis ball screw (318) through a coupling, both ends of the vertical axis ball screw (318) are supported on the bearing seat of the vertical axis guide rail bracket (316), the vertical axis nut seat (319) is threadedly connected to the vertical axis ball screw (318), the vertical axis slider (320) is installed on the vertical axis nut seat (319), and the vertical axis slider (320) is slidably connected to the vertical axis guide rail (321).

5. The air-spindle fully automatic colony picking device according to claim 1, characterized in that: The needle picking module (4) includes a mounting base (401), a steel ball box (402), steel balls (403), a camera (404), a needle picking mechanism (405), a steel ball box driving motor (406), an air spindle (407), an air pressure sensor (408), a cylinder assembly (409), a suction cup (410), a steel ball passing plate (412), a steel ball passing tube (413), a motor fixing frame (414), an air spindle bearing seat (417), an air spindle floating shaft ( 419); 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 steel ball box driving motor (406) is fixed to the mounting base plate (401) with bolts through the motor fixing frame (414), and the center hole of the steel ball passing plate (412) passes through the main shaft of the steel ball box driving motor (406) and is fixed to the mounting base plate (401). The steel ball box ( 402) is fixedly connected to the main shaft of the steel ball box drive motor (406), one end of the steel ball passing tube (413) is connected to the hole of the steel ball passing plate (412), and the other end is connected to the opening and closing door (420) of the needle picking mechanism; the camera (404) is fixed to the mounting base (401) with bolts; the air spindle (407) is composed of a fixed shaft (416) and an air spindle floating shaft (419), and the fixed shaft (416) is fixed to the mounting base (401) through the air spindle bearing seat (417). 1), the floating shaft (419) of the air spindle 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 installed on the mounting base (401) at the lower position of the air spindle (407) with bolts; the cylinder assembly (409) is installed at the front side position of the mounting base (401), and a suction cup (410) for facilitating the suction of the culture dish cover (411) on the culture dish assembly (201) is installed on the push rod of the cylinder assembly (409).

6. The air spindle type fully automatic colony picking device according to claim 5, characterized in that: The needle picking mechanism (405) is composed of a middle mounting seat (423), a clamping arm (424), an air spindle floating shaft (419), a return spring (425), a lower mounting sleeve (426), a needle picking (427), and a pressure feedback spring (429); the air spindle floating shaft (419) passes through the center hole of the middle mounting seat (423) and is slidably connected to the center hole. Clamping arms (424) are respectively provided on both sides of the middle mounting seat (423), and the clamping arms (424) are hinged to the middle mounting seat (423) through a pin shaft. A return spring (425) is provided between the clamping arms (424) and the middle mounting seat (423), and the two clamping arms (424) are clamped by the return spring (425); the lower mounting sleeve (426) is connected to the lower part of the air spindle floating shaft (419) by threading. The lower end of the air spindle floating shaft (419) is provided with a negative electrode sheet (431), the picking needle (427) is slidably connected to the center hole of the lower mounting sleeve (426), the upper end of the picking needle (427) is connected to a locking rod (428), the upper end of the locking rod (428) is provided with a positive electrode sheet (432), the middle part of the picking needle (427) is sleeved with a pressure feedback spring (429), the electromagnet (421) is sleeved on the outer side of the lower end of the picking needle (427), the bottom of the electromagnet (421) is provided with an arc structure adapted to the steel ball (403), the lower end inner cavity of the picking needle (427) is provided with a photoelectric switch (430), and the distance between the locking rod (428) and the air spindle floating shaft (419) is adjusted by a thread between the air spindle floating shaft (419) and the lower mounting sleeve (426).

7. The air spindle type fully automatic colony picking device according to claim 6, characterized in that: The middle mounting seat (423) is connected to the steel ball passing tube (413) through a thread, and the steel ball passing tube (413) is used to feed the material into the needle picking mechanism opening and closing door (420) formed by the two clamping arms (424) opening to overcome the elastic force of the return spring (425); a steel ball sliding inclined groove (433) is provided in the middle mounting seat (423), and the steel ball sliding inclined groove (433) is communicated with the needle picking mechanism opening and closing door (420) between the two clamping arms (424), and 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 tube (413).

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

9. The air spindle type fully automatic colony picking device according to claim 6, characterized in that: The pressure feedback spring (429) is sleeved between the shoulder of the picking needle (427) and the stepped hole of the lower mounting sleeve (426), and is locked into the internal threaded hole of the picking needle (427) through the external thread of the locking rod (428), thereby 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 be pushed out through the threaded connection, overcomes the elastic force of the reset spring (425), and moves in the opening and closing door (420) of the picking needle mechanism between the two clamping arms (424).

10. The air spindle type fully automatic colony picking device according to claim 1, characterized in that: The storage and disinfection rotating module (5) consists of a rotating disk (501), a deep-well plate (502), a micro-well plate (505), a hollow rotating platform (503), and a liquid injection head (504); the bottom surface of the rotating disk (501) is mounted on the hollow rotating platform (503), on which the deep-well plate (502) and the micro-well plate (505) are placed and fixed, and a demagnetization mechanism is embedded in the deep-well plate (502); the output shaft of the rotating motor of the hollow rotating platform is connected to the rotary bearing, and the rotating motor of the hollow rotating platform drives the rotating disk (501) to rotate through the rotary bearing; the liquid injection head (504) is suspended above the deep-well plate (502) and the micro-well plate (505).

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