CN118272203A - Negative pressure adsorption type sampler, bacteria picking system and sampling method - Google Patents

Abstract

The invention provides a negative pressure adsorption type sampler, a fungus picking system and a sampling method, and relates to the technical field of biological equipment, wherein the negative pressure adsorption type sampler comprises: the suction nozzle is provided with a mechanical connection structure; the suction nozzle interface is communicated with the negative pressure interface, and an adsorption hole is formed in the suction nozzle interface; the sampling needle comprises an adsorption section and a sampling section connected with the adsorption section; and a Morse cone structure arranged between the adsorption hole and the adsorption section. The Morse taper surface structure comprises a first taper surface with Morse taper and a second taper surface with Morse taper, wherein the first taper surface with Morse taper is arranged on the inner wall of the adsorption hole, and the second taper surface with Morse taper is arranged on the outer wall of the adsorption section. According to the invention, the negative pressure interface is matched with the suction nozzle interface, so that the sampling needle can be adsorbed and fixed by utilizing the negative pressure rapidly, the guiding and positioning process between the sampling needle and the suction nozzle interface can be automatically realized through the Morse conical surface structure, and the installation efficiency and the butt joint precision are improved.

Description

Negative pressure adsorption sampler, bacteria picking system and sampling method

Technical Field

The invention relates to the technical field of biological equipment, and in particular to a negative pressure adsorption sampler, a bacteria picking system and a sampling method.

Background technique

In the field of life sciences, colony cultivation and picking operations are often required. In the prior art, the traditional method of picking bacteria in colonies is mostly manual picking with a handheld sampling needle, which has the problems of high labor costs, low sampling efficiency, large random deviation of sampling positions, and easy sampling errors.

Summary of the invention

In order to overcome the above-mentioned defects of the prior art, the technical problem to be solved by the embodiments of the present invention is to provide a negative pressure adsorption sampler, a bacteria picking system and a sampling method, so as to improve the convenience of replacing the sampling needle and improve the degree of automation of the colony picking process.

The above-mentioned object of the present invention can be achieved by adopting the following technical scheme. The present invention provides a negative pressure adsorption sampler, comprising:

A suction nozzle, wherein the suction nozzle is provided with a mechanical connection structure;

A suction nozzle interface and a negative pressure interface are arranged on the suction nozzle, the suction nozzle interface is connected to the negative pressure interface, and a suction hole is arranged on the suction nozzle interface;

A sampling needle, the sampling needle comprises an adsorption section and a sampling section connected to the adsorption section; and a Morse taper surface structure arranged between the adsorption hole and the adsorption section, the Morse taper surface structure comprises a first taper surface with a Morse taper arranged on the inner wall of the adsorption hole, and a second taper surface with a Morse taper arranged on the outer wall of the adsorption section, when the suction nozzle interface is in a negative pressure state, the adsorption section can be adsorbed in the adsorption hole so that the first taper surface and the second taper surface are connected to each other.

In a preferred embodiment of the present invention, both the first tapered surface and the second tapered surface are conical surfaces.

In a preferred embodiment of the present invention, the sampling needle further comprises a limiting section arranged between the adsorption section and the sampling section, and a radial diameter of the limiting section is less than or equal to a maximum radial diameter of the adsorption section.

In a preferred embodiment of the present invention, the sampling needle further comprises a placement section arranged between the limiting section and the sampling section, and a radial diameter of the placement section is greater than a maximum radial diameter of the sampling section.

In a preferred embodiment of the present invention, the mechanical connection structure includes a connection plate, an external flange, and a bracket connecting the connection plate and the external flange, and the connection plate is detachably connected to the suction nozzle.

The present invention also provides a bacteria picking system, comprising:

Optical platform;

A colony collection station disposed on the optical platform, the colony collection station comprising at least one sampling needle box;

A mechanical arm, movably arranged on the side of the bacterial colony collection platform;

The aforementioned negative pressure adsorption sampler, the negative pressure adsorption sampler is connected to the mechanical arm through the mechanical connection structure; and a negative pressure module, the negative pressure module is connected to the negative pressure interface.

In a preferred embodiment of the present invention, the colony collection station also includes a first optical bracket arranged on the optical platform, a slot plate arranged on the first optical bracket, and a first support plate arranged on the slot plate, and the sampling needle box is arranged on the first support plate.

In a preferred embodiment of the present invention, two sampling needle boxes are provided, namely a first sampling needle box and a second sampling needle box.

In a preferred embodiment of the present invention, the sampling needle box includes a box side wall, a box base and a well plate arranged at two ends of the box side wall, and a box cover detachably covered on the well plate.

In a preferred embodiment of the present invention, a position marking structure is provided on the orifice plate, and the position marking structure includes a plurality of marking points arranged on the orifice plate.

In a preferred embodiment of the present invention, the bacterial colony collection station further comprises at least one bacterial sample collection box disposed on the card slot plate.

In a preferred embodiment of the present invention, the colony collection station also includes a second optical bracket arranged on the card slot plate, a collection plate adapter arranged on the second optical bracket, and a second support plate arranged on the collection plate adapter, and the bacterial sample collection box is arranged on the second support plate.

In a preferred embodiment of the present invention, the bacterial sample collection box comprises a bacterial sample collection plate, and the bacterial sample collection plate is provided with a plurality of bacterial sample collection slots.

In a preferred embodiment of the present invention, the negative pressure module includes an air compressor and a vacuum generator, the air inlet of the vacuum generator is connected to the air compressor, and the vacuum port of the vacuum generator is connected to the negative pressure interface.

In a preferred embodiment of the present invention, the robotic arm is a multi-axis robotic arm.

The present invention also provides a sampling method using a bacteria picking system, comprising the following steps:

Create a user coordinate system to obtain the spatial positions of the robotic arm, sampling needle box, and bacterial sample collection box;

Start the air compressor;

Control the mechanical arm to drive the suction nozzle to move above the orifice plate of the first sampling needle box preset with the sampling needle;

Controlling the vacuum generator to generate vacuum, and using the suction nozzle interface to absorb the sampling needle;

Move the sampling needle to the target bacterial sample position, control the sampling needle to pick up the target bacterial sample, and complete the sampling operation;

The sampling needle is moved to the top of the bacterial sample collection box, and the target bacterial sample is washed into the buffer solution preset in the well groove of the bacterial sample collection plate to complete the sample storage operation;

The sampling needle is moved to the top of the second sampling needle box, and the vacuum generator is controlled to release the vacuum, so that the sampling needle is separated from the suction nozzle interface and falls into the orifice plate of the second sampling needle box, thereby completing the replacement operation.

The technical solution of the present invention has the following significant beneficial effects:

When the negative pressure adsorption sampler described in the present invention is used, the suction nozzle is quickly fixed on the target device by using a mechanical connection structure. The vacuum device can be connected through the negative pressure interface to form a negative pressure, and the negative pressure can be transmitted to the suction nozzle interface through the negative pressure interface. When the suction nozzle interface is in a negative pressure state, the suction nozzle interface can adsorb the adsorption section of the sampling needle through the adsorption hole, thereby adsorbing and fixing the sampling needle on the suction nozzle. And through the Morse cone surface structure, during the adsorption docking process between the adsorption hole and the adsorption section, the first cone surface and the second cone surface can provide guidance for the movement between the adsorption section and the adsorption hole, so that the adsorption section can accurately enter the adsorption hole, thereby realizing the positioning and installation process of the adsorption section and the adsorption hole. When the sampling needle is fixed on the suction nozzle, the target colony can be picked by moving the sampling needle.

The present invention can quickly utilize negative pressure to absorb and fix the sampling needle by cooperating with the suction nozzle interface through the negative pressure interface, so that the connection process between the suction nozzle interface and the sampling needle does not require additional connection operations, and the suction nozzle interface and the sampling needle can be unlocked by releasing the negative pressure, thereby significantly improving the installation and removal efficiency of the sampling needle. During the adsorption process of the sampling needle and the suction nozzle interface, the Morse cone surface structure can automatically realize the guiding and positioning process between the sampling needle and the suction nozzle interface, thereby improving the installation efficiency and docking accuracy between the sampling needle and the suction nozzle interface.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

The accompanying drawings described herein are only for explanation purposes and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the various components in the figures are only schematic, used to help understand the present invention, and are not specifically limited to the shapes and proportional dimensions of the various components of the present invention. Those skilled in the art can select various possible shapes and proportional dimensions to implement the present invention according to the teachings of the present invention.

FIG1 is a schematic diagram of a three-dimensional structure of a negative pressure adsorption sampler;

FIG2 is a schematic diagram of a three-dimensional structure of an external flange;

FIG3 is a schematic diagram of a three-dimensional structure of a connecting plate;

FIG4 is a cross-sectional structural schematic diagram of the nozzle interface and the sampling needle in a connected state;

FIG5 is a schematic diagram of a three-dimensional structure of a sampling needle;

FIG6 is a schematic diagram of a side view of the structure of a sampling needle;

FIG7 is a schematic diagram of a three-dimensional structure of a robotic arm;

FIG8 is a schematic diagram of a three-dimensional structure of a bacterial colony collection station;

FIG9 is a schematic diagram of a three-dimensional structure of the first support plate;

FIG10 is a schematic diagram of a three-dimensional cross-sectional structure of the first sampling needle box;

FIG11 is a schematic diagram of a front three-dimensional structure of an orifice plate;

FIG12 is a schematic diagram of a three-dimensional structure of a bacteria picking system;

FIG13 is a partial enlarged structural schematic diagram of a bacteria picking system;

FIG14 is an experimental diagram of the first sampling of the sampling needle;

FIG15 is an experimental diagram of a second sampling with a new sampling needle at the same position;

FIG16 is a diagram showing the third sampling experiment with a new sampling needle at the same position;

FIG. 17 is an experimental diagram of the fourth sampling with a new sampling needle at the same position.

Reference numerals of the above drawings:

10. Negative pressure adsorption sampler; 101. External flange; 102. Bracket; 103. Connecting plate; 104. Suction nozzle;

105. Suction nozzle interface; 1051. Adsorption hole;

106, sampling needle; 1061, adsorption section; 1062, sampling section; 1063, limiting section; 1064, placement section;

107, negative pressure interface; 108, first cone surface; 109, second cone surface;

20. Bacteria colony collection platform; 201. First optical support; 202. Card slot plate; 203. First support plate;

204, first sampling needle box; 2041, box base; 2043, box side wall; 2044, box cover;

2045, orifice plate; 20451, through hole; 20452, marking point;

205, collection plate adapter; 206, bacterial sample collection box; 207, second optical bracket; 208, second support plate; 209, second sampling needle box;

30. Robotic arm; 301. IO interface; 302. Network cable interface; 303. Air pipe interface;

40. Vacuum generator;

50. Air compressor;

60. Optical platform.

Detailed ways

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Please refer to FIG. 1 , in an embodiment of the present invention, a negative pressure adsorption sampler 10 is provided, and the negative pressure adsorption sampler 10 comprises: a suction nozzle 104, on which a mechanical connection structure is provided; a suction nozzle interface 105 and a negative pressure interface 107 are arranged on the suction nozzle 104, the suction nozzle interface 105 is connected to the negative pressure interface 107, and a suction hole 1051 is arranged on the suction nozzle interface 105; a sampling needle 106, the sampling needle 106 comprises an adsorption section 1061, and a suction hole 1051 is arranged on the suction nozzle interface 105; and a suction hole 1051 is arranged on the suction nozzle interface 105. and a Morse taper surface structure arranged between the adsorption hole 1051 and the adsorption section 1061, the Morse taper surface structure comprising a first taper surface 108 with a Morse taper arranged on the inner wall of the adsorption hole 1051, and a second taper surface 109 with a Morse taper arranged on the outer wall of the adsorption section 1061. When the suction nozzle interface 105 is in a negative pressure state, the adsorption section 1061 can be adsorbed in the adsorption hole 1051 so that the first taper surface 108 and the second taper surface 109 are connected to each other.

In general, when the negative pressure adsorption sampler 10 is used, the suction nozzle 104 is quickly fixed on the target device by using the mechanical connection structure. The vacuum device can be connected through the negative pressure interface 107 to form negative pressure, and the negative pressure can be transmitted to the suction nozzle interface 105 through the negative pressure interface 107. When the suction nozzle interface 105 is in a negative pressure state, the suction nozzle interface 105 can adsorb the adsorption section 1061 of the sampling needle 106, so that the sampling needle 106 is adsorbed and fixed on the suction nozzle 104.

Furthermore, through the Morse cone surface structure, during the adsorption docking process between the adsorption hole 1051 and the adsorption section 1061, the first cone surface 108 and the second cone surface 109 can provide guidance for the movement between the adsorption section 1061 and the adsorption hole 1051, so that the adsorption section 1061 can accurately enter the adsorption hole 1051, thereby realizing the positioning and installation process of the adsorption section 1061 and the adsorption hole 1051. When the sampling needle 106 is fixed on the suction nozzle 104, the sampling needle 106 is moved by the target device, so that the target colony can be picked.

By cooperating with the negative pressure interface 107 and the nozzle interface 105, the sampling needle 106 can be quickly adsorbed and fixed by using negative pressure, so that the connection process of the nozzle interface 105 and the sampling needle 106 does not require additional connection operations. And the nozzle interface 105 and the sampling needle 106 can be unlocked by releasing the negative pressure, thereby significantly improving the installation and removal efficiency of the sampling needle 106. During the adsorption process of the sampling needle 106 and the nozzle interface 105, the Morse cone surface structure can automatically realize the guiding and positioning process between the sampling needle 106 and the nozzle interface 105, thereby improving the installation efficiency and docking accuracy between the sampling needle 106 and the nozzle interface 105.

In an embodiment of the present invention, as shown in the embodiment of FIG4 , both the first conical surface 108 and the second conical surface 109 are conical surfaces. When the nozzle interface 105 is under negative pressure, the adsorption hole 1051 can generate a suction effect, thereby being used to capture the adsorption section 1061 .

When at least part of the adsorption section 1061 enters into the adsorption hole 1051, the first conical surface 108 and the second conical surface 109 can play a guiding role, so that the adsorption section 1061 can slide along the first conical surface 108 through the second conical surface 109 into the adsorption hole 1051, thereby improving the docking accuracy between the adsorption section 1061 and the adsorption hole 1051.

By setting the first conical surface 108 and the second conical surface 109 as conical surfaces, the two conical surfaces can play a guiding and limiting role during adsorption and docking, thereby avoiding the problem of jamming between the adsorption section 1061 and the adsorption hole 1051. The designer can determine the Morse taper size of the first conical surface 108 and the second conical surface 109 according to the use requirements, and no specific limitation is made here.

In an embodiment of the present invention, as shown in the embodiment of FIG. 5 , the sampling needle 106 further includes a limiting section 1063 disposed between the adsorption section 1061 and the sampling section 1062 , and a radial diameter of the limiting section 1063 is less than or equal to a maximum radial diameter of the adsorption section 1061 .

Specifically, the limiting section 1063 is cylindrical and is arranged coaxially with the sampling section 1062. In the embodiment shown in FIG4 , when the radial diameter of the limiting section 1063 is equal to the maximum radial diameter of the adsorption section 1061, the limiting section 1063 can abut against the adsorption hole 1051 port of the suction nozzle interface 105, thereby limiting the distance of the adsorption section 1061 entering the adsorption hole 1051, which is convenient for controlling the axial installation accuracy between the suction nozzle interface 105 and the sampling needle 106, and the radial limiting can be formed by the Morse taper structure, so that each sampling needle 106 can have the same radial installation accuracy with the suction nozzle interface 105, thereby improving the installation accuracy and use stability of the sampling needle 106.

In other embodiments, when the radial diameter of the limiting section 1063 is less than or equal to the maximum radial diameter of the adsorption section 1061, the limiting section 1063 can provide a certain installation margin, so that the limiting section 1063 can avoid interference between the suction nozzle interface 105 and the sampling needle 106 when they cooperate, so that the first cone surface 108 and the second cone surface 109 can be accurately connected, thereby improving the axial installation accuracy.

In an embodiment of the present invention, the sampling needle 106 further includes a placement section 1064 disposed between the limiting section 1063 and the sampling section 1062 , and a radial diameter of the placement section 1064 is greater than a maximum radial diameter of the sampling section 1062 .

Specifically, the placement section 1064 is cylindrical and is coaxially arranged with the sampling section 1062. The placement section 1064 can form an axial limit with the through hole 20451 on the orifice plate 2045, so that during the process of taking and placing the sampling needle 106, the sampling needle 106 can be placed in the through hole 20451 of the orifice plate 2045 through the placement section 1064.

In other embodiments, designers may also adjust the shapes of the limiting section 1063 and the placement section 1064 according to usage requirements, which is not specifically limited here.

In a specific embodiment, such as the embodiment shown in FIG. 5 and FIG. 6 , the total length of the sampling needle 106 is about 31.5 mm. Among them, a second conical surface 109 is provided on the adsorption section 1061 to match the suction nozzle interface 105, and the second conical surface 109 is a conical surface. The length L of the second conical surface 109 is about 10 mm, the diameter a of the small end circular surface of the second conical surface 109 is 2 mm, and the diameter b of the large end circular surface of the second conical surface 109 is 6 mm. The conical surface slope of the second conical surface 109 of the sampling needle 106 is consistent with the conical surface slope of the first conical surface 108 of the suction nozzle interface 105. In order to avoid interference when the suction nozzle interface 105 and the sampling needle 106 are matched, the large end of the second conical surface 109 is connected to the limiting section 1063, and the limiting section 1063 is a cylinder with a diameter of 6 mm and a length of 0.5 mm.

In order to ensure the accuracy of the fit between the first conical surface 108 and the second conical surface 109, during machining, the small end circular surface diameter of the second conical surface 109, the large end circular surface diameter of the second conical surface 109, and the conical surface length of the second conical surface 109 are all finely machined, with a machining accuracy of ±0.01mm, and the conical surface roughness Ra1.6 is strictly guaranteed. Similarly, the first conical surface 108 can also be machined using the aforementioned method.

In order to neatly place multiple sampling needles 106 in the through holes 20451 of the orifice plate 2045, the limiting section 1063 is connected to the placing section 1064, and the placing section 1064 is a column with a diameter of 8 mm and a thickness of 1.5 mm. The placing section 1064 can form an axial limit with the through holes 20451 of the orifice plate 2045, so that the sampling needle 106 can be placed in the through holes 20451 of the orifice plate 2045. The designer can determine the specific structure of the orifice plate 2045 according to the use requirements, such as a 96-well plate, and no specific limitation is made here.

In an embodiment of the present invention, as shown in FIG. 2 and FIG. 3 , the mechanical connection structure includes a connecting plate 103 , an external flange 101 , and a bracket 102 connecting the external flange 101 and the connecting plate 103 , and the connecting plate 103 and the suction nozzle 104 are detachably connected.

Specifically, the connecting plate 103 and the nozzle interface 105 can be relatively arranged at the two ends of the nozzle 104, and the connecting plate 103 and the nozzle interface 105 can be arranged coaxially, so that the setting direction of the nozzle interface 105 can be synchronously controlled by controlling the installation position of the connecting plate 103, which is convenient for installation and use.

The bracket 102 includes a plurality of spaced connection copper columns, which are respectively connected to the external flange 101 and the connection plate 103, and the connection plate 103 is arranged parallel to the external flange 101. A connection column can be arranged on the suction nozzle 104, which is passed through the connection plate 103 and is detachably connected by a nut. The external flange 101 can be used to connect an external motion device, such as a mechanical arm 30 or a slider, so that the suction nozzle 104 and the sampling needle 106 can be driven to move through the external motion device for picking and storing bacterial samples.

Implementation Method 2

Please refer to Figures 12 and 13. An embodiment of the present invention also provides a bacteria picking system, which includes: an optical platform 60; a colony collection table 20 arranged on the optical platform 60, the colony collection table 20 includes at least one sampling needle box; a robotic arm 30, which is movably arranged on the side of the colony collection table 20; a negative pressure adsorption sampler 10 such as the negative pressure adsorption sampler 10 in embodiment one, the negative pressure adsorption sampler 10 is connected to the robotic arm 30 through a mechanical connection structure; and a negative pressure module, which is connected to the negative pressure interface 107.

The specific structure, working principle and beneficial effects of the negative pressure adsorption sampler 10 are the same as those in the above-mentioned embodiment, and will not be described in detail here. The bacteria picking system can improve the convenience of replacing the sampling needle 106 and improve the automation of the colony picking process by using the negative pressure adsorption sampler 10.

In an embodiment of the present invention, as shown in the embodiment of Figure 8, the colony collection station 20 also includes a first optical bracket 201 arranged on the optical platform 60, a slot plate 202 arranged on the first optical bracket 201, and a first support plate 203 arranged on the slot plate 202, and the sampling needle box is arranged on the first support plate 203.

By placing the sampling needle box on the first optical support 201, the spatial position of the sampling needle box can be obtained based on the optical platform 60 and the first optical support 201, so that the robot arm 30 can automatically perform the operation of replacing the sampling needle 106 according to the position of the sampling needle box.

Specifically, in the embodiment shown in FIG9 , the first support plate 203 is set to be a rectangular parallelepiped, for example, the length, width and height of the first support plate 203 are set to 135 mm, 93 mm and 6 mm respectively, and the four height sides of the first support plate 203 are provided with fillets with a radius of 6 mm. A rectangular parallelepiped groove is provided in the middle of the upper surface of the first support plate 203, and the length, width and height of the groove are 127 mm, 85 mm and 3 mm respectively, and the four height sides of the groove are provided with fillets with a radius of 2 mm. The rectangular parallelepiped groove can be used to place a sampling needle box.

In order to fix the first support plate 203 on the card slot plate 202, four screw holes with a diameter of 4.5 mm can be set in the middle of the first support plate 203 for fixing the first support plate 203 to the card slot plate 202 with screws. In order to ensure that the sampling needle box is fixed on the first support plate 203, eight threaded holes with a diameter of 1.5 mm can be set around the first support plate 203 for fixing the sampling needle box to the first support plate 203 with bolts.

In the embodiment of the present invention, two sampling needle boxes are provided, namely, a first sampling needle box 204 and a second sampling needle box 209. By providing two sampling needle boxes, the first sampling needle box 204 can be used to store the sampling needles 106 to be used, and the second sampling needle box 209 can be used to store the used sampling needles 106, thereby avoiding the contamination of the used sampling needles 106 to the sampling needles 106 to be used, and improving the accuracy of the bacterial sample picking results.

In an embodiment of the present invention, as shown in the embodiment of FIG. 10 , the sampling needle box includes a box side wall 2043 , a box base 2041 and a hole plate 2045 disposed at opposite ends of the box side wall 2043 , and a box cover 2044 detachably covered on the hole plate 2045 .

After the processing of the box side wall 2043, the box base 2041, the orifice plate 2045 and the box cover 2044 is completed, the various parts are assembled by screws to assemble the sampling needle box. By opening the box cover 2044, the orifice plate 2045 placed in the sampling needle box can be exposed, and multiple sampling needles 106 can be pre-stored on the orifice plate 2045, so that the robot arm 30 drives the suction nozzle interface 105 to replace each sampling needle 106 in turn to pick bacteria samples.

Specifically, in the embodiment shown in FIG. 11 , the orifice plate 2045 is a 96-orifice plate. The 96-orifice plate is in the shape of a rectangular parallelepiped as a whole, and its length, width and height are 120.7 mm, 78.7 mm and 5 mm respectively. In the height direction, the upper surface of the 96-orifice plate has 96 through holes 20451 with a diameter of 6.8 mm and a hole center spacing of 9 mm for placing the sampling needle 106. The 96 through holes 20451 are arranged in 8 rows and 12 columns.

In an embodiment of the present invention, a position marking structure is provided on the orifice plate 2045 , and the position marking structure includes a plurality of marking points 20452 arranged on the orifice plate 2045 .

The marked points 20452 can be used to assist the robot arm 30 in positioning each sampling needle 106 , thereby facilitating the control of the robot arm 30 to drive the nozzle 104 to replace each sampling needle 106 in sequence.

Specifically, there are four marking points 20452, which are respectively set at the four corners of the orifice plate 2045. The marking points 20452 are marked through holes with a diameter of 0.5 mm and a depth of 1 mm. The distance between each marking point 20452 and the center of the through hole 20451 set at the four corners of the orifice plate 2045 is 5 mm, so that based on the position of the marking point 20452 and the adjacent through hole 20451 and the arrangement method between each through hole 20451, the spatial position of each through hole 20451 can be obtained.

In an embodiment of the present invention, the bacterial colony collection station 20 further includes at least one bacterial sample collection box 206 disposed on the card slot plate 202. The bacterial sample collection box 206 can be used to store and preserve the bacterial sample picked up by the sampling needle 106.

In an embodiment of the present invention, as shown in the embodiment of Figure 8, the colony collection station 20 also includes a second optical bracket 207 arranged on the card slot plate 202, a collection plate adapter 205 arranged on the second optical bracket 207, and a second support plate 208 arranged on the collection plate adapter 205, and the bacterial sample collection box 206 is arranged on the second support plate 208.

By placing the bacterial sample collection box 206 on the second optical bracket 207, the spatial position of the bacterial sample collection box 206 is obtained according to the optical platform 60, the first optical bracket 201 and the second optical bracket 207, so that the robot arm 30 can obtain the position signal of the bacterial sample collection box 206 to perform the operation of storing the bacterial sample attached to the sampling needle 106 into the bacterial sample collection box 206.

Specifically, the second support plate 208 is connected to the bacterial sample collection box 206, and the second support plate 208 can be better fixed through the collection plate adapter 205, so that the bacterial sample collection box 206 is fixed on the second optical bracket 207. The structure of the second support plate 208 can refer to the first support plate 203, and will not be repeated here.

In an embodiment of the present invention, the bacterial sample collection box 206 includes a bacterial sample collection plate (not shown), and a plurality of bacterial sample collection slots are provided on the bacterial sample collection plate.

Specifically, the number of bacterial sample collection slots can be set corresponding to the number of through holes 20451 on the well plate 2045. For example, when the well plate 2045 is a 96-well plate, the 96-well plate is provided with 96 through holes 20451, and the number of bacterial sample collection slots on the bacterial sample collection plate can also be set to 96. By setting the through holes 20451 corresponding to the bacterial sample collection slots, the bacterial samples picked up by each sampling needle 106 can be independently stored in a bacterial sample collection slot, which has a better use effect.

Furthermore, during the use of the bacterial sample collection plate, a buffer solution may be preset in the bacterial sample collection tank. The buffer solution can wash the bacterial sample attached to the sampling needle 106 into the bacterial sample collection tank, thereby realizing the bacterial sample collection operation. The designer can determine the composition of the buffer solution according to the experimental needs, and no specific limitation is made here.

In an embodiment of the present invention, such as the embodiment shown in Figure 12, the negative pressure module includes an air compressor 50 and a vacuum generator 40, the air inlet of the vacuum generator 40 is connected to the air compressor 50, and the vacuum port of the vacuum generator 40 is connected to the negative pressure interface 107.

The air compressor 50 can supply compressed air to the air inlet, and the vacuum generator 40 can be driven by compressed air to form a vacuum. By connecting the vacuum port of the vacuum generator 40 with the negative pressure interface 107, when the vacuum generator 40 generates a vacuum, the negative pressure interface 107 can transfer the vacuum to the suction nozzle interface 105 to generate a negative pressure adsorption effect, so that the suction nozzle interface 105 can adsorb and fix the sampling needle 106.

Specifically, the vacuum generator 40 includes a vacuum suction valve and a vacuum breaking valve. The mechanical arm 30 may also be provided with an IO port, a network cable interface 302 and an air pipe interface 303, and the mechanical arm 30 may be connected to the network through the network cable interface 302, thereby realizing remote control.

By making the vacuum suction valve port connected to the IO port of the robot 30 at a low level and the connected vacuum breaking valve port at a high level, the vacuum generator 40 is controlled to suck vacuum. When the vacuum generator 40 sucks vacuum, a negative pressure can be generated at the suction nozzle interface 105 connected to the robot 30, and the suction nozzle interface 105 can absorb and fix the sampling needle 106 through the negative pressure. By making the vacuum breaking valve port connected to the IO port of the robot 30 at a low level and the connected vacuum suction valve port at a high level, the vacuum generator 40 is controlled to break vacuum. By making the vacuum breaking valve port connected to the IO port of the robot 30 at a high level and the connected vacuum suction valve port at a high level, the vacuum generator 40 is controlled to stop working.

In other embodiments, designers may adjust the control method of the vacuum generator 40 according to usage requirements, and no specific limitation is made herein.

In an embodiment of the present invention, as shown in FIG. 7 , the robot arm 30 is a multi-axis robot arm. The multi-axis robot arm can drive the nozzle 104 to move in multiple directions, has better movement flexibility, and can better realize the replacement of the sampling needle 106 and the bacterial sample picking operation. The designer can connect the multi-axis robot arm to the control system to control the movement of the multi-axis robot arm. The designer can determine the structure of the multi-axis robot arm according to the use needs, such as a four-axis robot arm, and no specific restrictions are made here.

Implementation Method 3

An embodiment of the present invention provides a sampling method using a bacteria picking system, comprising the following steps:

Step 100 : Create a user coordinate system to obtain the spatial positions of the robot arm 30 , the sampling needle box, and the bacteria sample collection box 206 .

Step 200: Start the air compressor 50.

Step 300 : Control the robot arm 30 to drive the suction nozzle 104 to move above the orifice plate 2045 of the first sampling needle box 204 where the sampling needle 106 is preset.

Step 400 : Control the vacuum generator 40 to generate vacuum, and use the suction nozzle interface 105 to absorb the sampling needle 106 .

Step 500: Move the sampling needle 106 to the target bacterial sample position, control the sampling needle 106 to pick up the target bacterial sample, and complete the sampling operation.

Step 600: Move the sampling needle 106 to above the bacterial sample collection box 206, wash the target bacterial sample into the buffer solution preset in the well of the bacterial sample collection plate, and complete the sample storage operation.

Step 700: Move the sampling needle 106 to the top of the second sampling needle box 209, control the vacuum generator 40 to release the vacuum, so that the sampling needle 106 is separated from the nozzle interface 105 and falls into the orifice plate 2045 of the second sampling needle box 209, completing the replacement operation.

In the embodiment of the present invention, the robot arm 30 is a four-axis robot arm 30, and the user coordinate system can be established by the two-point method. The rule for establishing the user coordinate system is: the robot arm 30 drives the nozzle interface 105 to absorb the sampling needle 106 so that the needle tip moves to the first point in the space as the coordinate origin of the user coordinate system, and then controls the robot arm 30 to drive the sampling needle 106 to move the needle tip to the second point in the space, and the direction from the first point to the second point is used as the positive direction of the x-axis of the user coordinate system, and then the y-axis and z-axis of the user coordinate system are established respectively according to the "right-hand rule".

In an embodiment of the present invention, the sampling needle box includes a first sampling needle box 204 and a second sampling needle box 209. The first sampling needle box 204 is used to store the sampling needles 106 to be used, and the second sampling needle box 209 is used to store the used sampling needles 106.

When in use, the vacuum generator 40 is controlled to suck vacuum by making the vacuum suction valve port connected to the IO port of the robot arm 30 at a low level and the vacuum breaking valve port connected at a high level. When the vacuum generator 40 sucks vacuum, a negative pressure can be generated at the suction nozzle interface 105 connected to the robot arm 30, and the suction nozzle interface 105 can absorb and fix the sampling needle 106 through the negative pressure. The suction nozzle interface 105 absorbs the sampling needle 106 to be used pre-stored on the orifice plate 2045 of the first sampling needle box 204, and the robot arm 30 drives the sampling needle 106 to be used to move to the target bacterial sample position, and then performs the operation of picking the bacterial sample.

In a specific embodiment, the same position of the target bacteria sample is sampled 4 times, and a new sampling needle 106 is replaced after each sampling, thereby obtaining the embodiments shown in Figures 14, 15, 16 and 17. As can be seen from the above figures, the bacteria picking system improves the replacement stability of the sampling needle 106 by using the negative pressure adsorption sampler 10, thereby improving the repeated positioning accuracy of the bacteria picking system and having a better use effect.

After completing the sampling operation, the robotic arm 30 drives the sampling needle 106 attached with the target bacterial sample to move to the top of the bacterial sample collection box 206, so that the target bacterial sample attached to the needle tip of the sampling needle 106 moves up and down repeatedly 5 times in the buffer solution in the hole groove, and each up and down movement distance is about 10 mm. The target bacterial sample is collected in the buffer solution and the sample storage operation is performed.

After completing the sample storage operation, the robotic arm 30 drives the used sampling needle 106 to move to above the orifice plate 2045 of the second sampling needle box 209, and uses the robotic arm 30 to insert the used sampling needle 106 into the through hole 20451 in the orifice plate 2045. When the used sampling needle 106 is about 10 mm above the orifice plate 2045, the vacuum breaking valve port connected to the IO port of the robotic arm 30 is at a low level, and the vacuum suction valve port connected is at a high level, thereby controlling the vacuum generator 40 to break the vacuum, so that the sampling needle 106 falls into the through hole 20451 for storage.

In an embodiment of the present invention, the through holes 20451 on the orifice plate 2045 of the first sampling needle box 204, the through holes 20451 on the orifice plate 2045 of the second sampling needle box 209, and the hole slots on the bacteria sample collection plate of the bacteria sample collection box 206 are arranged in a one-to-one correspondence, and the through holes 20451 on the orifice plate 2045 of the first sampling needle box 204, the through holes 20451 on the orifice plate 2045 of the second sampling needle box 209, and the hole slots on the bacteria sample collection plate of the bacteria sample collection box 206 can be numbered to form No. 1, No. 2, No. 3...No. 96, and the above steps 100 to step 700 are repeated using each number in turn, and a new sampling needle 106 is replaced after each sampling, thereby avoiding the cross-contamination problem caused by repeated use of the sampling needle 106 during sampling, and improving the accuracy of the bacteria sample picking results.

All articles and references disclosed, including patent applications and publications, are incorporated herein by reference for various purposes. The term "consisting essentially of ... " describing a combination should include determined elements, ingredients, parts or steps and other elements, ingredients, parts or steps that do not substantially affect the basic novel features of the combination. The combination of elements, ingredients, parts or steps described here using the terms "comprising" or "including" also contemplates an embodiment consisting essentially of these elements, ingredients, parts or steps. Here, by using the term "may", it is intended to illustrate that any attribute described that "may" includes is optional. Multiple elements, ingredients, parts or steps can be provided by a single integrated element, ingredient, part or step. Alternatively, a single integrated element, ingredient, part or step can be divided into separate multiple elements, ingredients, parts or steps. The disclosure "one" or "one" used to describe an element, ingredient, part or step is not said to exclude other elements, ingredients, parts or steps.

Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referred to each other. The above embodiments are only for illustrating the technical concept and features of the present invention. The purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and it cannot be used to limit the scope of protection of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be covered within the scope of protection of the present invention.

Claims (16)

1. A negative pressure adsorption sampler, comprising:

The suction nozzle is provided with a mechanical connection structure;

The suction nozzle comprises a suction nozzle interface and a negative pressure interface which are arranged on the suction nozzle, wherein the suction nozzle interface is communicated with the negative pressure interface, and the suction nozzle interface is provided with a suction hole;

The sampling needle comprises an adsorption section and a sampling section connected with the adsorption section; and

The Morse taper surface structure comprises a first taper surface with Morse taper and a second taper surface with Morse taper, wherein the first taper surface is arranged on the inner wall of the adsorption hole, the second taper surface is arranged on the outer wall of the adsorption section, the adsorption section can be adsorbed in the adsorption hole under the negative pressure state of the suction nozzle interface, and the first taper surface is butted with the second taper surface.

2. The negative pressure suction sampler of claim 1, wherein the first conical surface and the second conical surface are conical surfaces.

3. The negative pressure adsorption sampler of claim 1, wherein the sampling needle further comprises a limiting section disposed between the adsorption section and the sampling section, the limiting section having a radial diameter less than or equal to a maximum radial diameter of the adsorption section.

4. The negative pressure adsorption sampler of claim 3, wherein the sampling needle further comprises a placement segment disposed between the spacing segment and the sampling segment, the placement segment having a radial diameter greater than a maximum radial diameter of the sampling segment.

5. The negative pressure suction sampler of claim 1, wherein the mechanical connection structure comprises a connection plate, an external flange, and a bracket connecting the connection plate and the external flange, the connection plate being detachably connected to the suction nozzle.

6. A picking system, comprising:

An optical platform;

A colony collection station disposed on the optical platform, the colony collection station comprising at least one sampling needle cartridge;

The mechanical arm is movably arranged at the side of the colony collecting table;

The negative pressure adsorption sampler of any one of claims 1 to 5, which is connected to the mechanical arm by the mechanical connection structure; and

And the negative pressure module is connected with the negative pressure interface.

7. The picking system of claim 6, wherein the colony collection station further comprises a first optical mount disposed on the optical platform, a detent plate disposed on the first optical mount, and a first pallet disposed on the detent plate, the sampling needle cartridge being disposed on the first pallet.

8. The picking system of claim 7, wherein there are two sampling needle cassettes, a first sampling needle cassette and a second sampling needle cassette.

9. The picking system of claim 8, wherein the sampling needle cartridge comprises a cartridge sidewall, a cartridge base and an orifice plate disposed opposite ends of the cartridge sidewall, and a cartridge cover removably covering the orifice plate.

10. The picking system of claim 9, wherein the well plate is provided with a position marking structure, the position marking structure comprising a plurality of marking points disposed on the well plate.

11. The picking system of claim 7, wherein the colony collection station further comprises at least one fungus-like collection cartridge disposed on the card slot plate.

12. The picking system of claim 11, wherein the colony collection station further comprises a second optical mount disposed on the card slot plate, a collection plate adapter disposed on the second optical mount, and a second tray disposed on the collection plate adapter, the bacterial sample collection cartridge being disposed on the second tray.

13. The picking system of claim 12, wherein the fungus sample collection cartridge comprises a fungus sample collection plate having a plurality of fungus sample collection wells disposed thereon.

14. The bacteria picking system of claim 6, wherein the negative pressure module comprises an air compressor and a vacuum generator, an air inlet of the vacuum generator is in communication with the air compressor, and a vacuum port of the vacuum generator is in communication with the negative pressure interface.

15. The system of claim 6, wherein the robotic arm is a multi-axis robotic arm.

16. A sampling method using a picking system, comprising the steps of:

Creating a user coordinate system, and acquiring the spatial positions of the mechanical arm, the sampling needle box and the fungus sample collection box;

Starting an air compressor;

controlling the mechanical arm to drive the suction nozzle to move to the position above a pore plate of a first sampling needle box preset with a sampling needle;

controlling a vacuum generator to generate vacuum, and adsorbing the sampling needle by using a suction nozzle interface;

the sampling needle is moved to a target fungus sample position, the sampling needle is controlled to pick a target fungus sample, and sampling operation is completed;

The sampling needle is moved to the upper part of the fungus sample collecting box, the target fungus sample is cleaned to buffer solution preset in a hole groove of a fungus sample collecting plate, and sample storage operation is completed;

And moving the sampling needle to the upper part of the second sampling needle box, controlling the vacuum generator to release vacuum, enabling the sampling needle to be separated from the suction nozzle interface and fall into a pore plate of the second sampling needle box, and completing the replacement operation.