新型克隆挑取机器人设计与实验研究

朱伟; 赵文亮; 何凯

doi:10.12211/2096-8280.2020-059

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新型克隆挑取机器人设计与实验研究

研究论文 | 更新时间：2025-03-20

- 新型克隆挑取机器人设计与实验研究
- Design and experimental research of new robot for clone selection
- 合成生物学 2021年2卷第1期页码：134-144
- 作者机构：
  
  1.中国科学院深圳先进技术研究院，深圳市精密工程重点实验室，广东深圳 518055
  2.中国科学院深圳先进技术研究院，粤港澳人机智能协同系统联合实验室广东深圳 518055
- 作者简介：
  
  [ "朱伟（1991-），男，硕士，助理工程师，主要研究方向为机械结构设计、运动控制、机器视觉。E-mail：wei.zhu@siat.ac.cn" ]
  [ "何凯（1972-），男，博士，教授级高级工程师，主要研究方向为精密制造及自动化技术、工业机器人、金属成形技术及装备、生物制造自动化技术等。E-mail：kai.he@siat.ac.cn" ]
- 基金信息：
  
  国家重点研发计划(2018YFA0902900)
- DOI：10.12211/2096-8280.2020-059
  中图分类号： TH772;Q78
- 收稿：2020-04-04，
  
  修回：2020-11-17，
  
  纸质出版：2021-02-28
- 稿件说明：
移动端阅览
朱伟, 赵文亮, 何凯. 新型克隆挑取机器人设计与实验研究[J]. 合成生物学, 2021, 2(1): 134-144

ZHU Wei, ZHAO Wenling, HE Kai. Design and experimental research of new robot for clone selection[J]. Synthetic Biology Journal, 2021, 2(1): 134-144
朱伟, 赵文亮, 何凯. 新型克隆挑取机器人设计与实验研究[J]. 合成生物学, 2021, 2(1): 134-144 DOI： 10.12211/2096-8280.2020-059.

ZHU Wei, ZHAO Wenling, HE Kai. Design and experimental research of new robot for clone selection[J]. Synthetic Biology Journal, 2021, 2(1): 134-144 DOI： 10.12211/2096-8280.2020-059.

摘要

克隆挑取主要运用于基因测序、蛋白质表达和高通量筛选等领域。当前克隆挑取任务主要由手工完成，随着科研院所以及医药公司对克隆挑取这项任务需求的爆发式增长，低效率的人工挑取已满足不了市场需求。与人工相比，机器人在挑取效率和精度上均得到了显著提升。基于传统克隆挑取机器人加工成本高、挑取周期长和消毒不彻底等因素，本文设计了一种新型克隆挑取机器人，采用气缸驱动夹取机构，在夹取机构中运用气爪来抓取一次性挑针的方法实现克隆挑取操作。搭建了一套基于工控机运动控制、HexSight菌落识别及定位的嵌入式集成系统，并通过对大肠杆菌克隆的挑取进行了实验验证。结果表明控制系统可以实现对菌落的识别与定位，定位精度为0.03 mm，各气缸、气爪可以精确挑取指定菌落并接种到96孔板中，证明了一次性挑针挑取方式的可行性。

Abstract

Clone-selecting is a prerequisite for gene sequencing

protein expression

high-throughput screening and so on. The operation is to select clones that meet specific requirements from medium

and then inoculate them for culture

which is performed so far mainly by manual operation. With rapid growth in demand for cloning selection at research institutes and pharmaceutical companies

the labor-intensive and less efficient selection can no longer meet the market demand

and robot is expected to be a solution. At present

challenges with such a robot include its clone-selecting efficiency and accuracy as well as the survival rate of selected clones during the culture. In this article

the design for a new type of clone-selecting robot is reported

which employs a cylinder to drive the gripping system with disposable needles connected to the pneumatic claw for clone-gripping. Moreover

an integrated system based on industrial computer control with the HexSight imagining technology was developed for position and identification. The robot was tested experimentally by selecting

coli

clones

which could position and identify the colonies

with an identification time of 130 ms and positioning accuracy of 0.03 mm for inoculating them into 96

-well plates for culture.

关键词

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references

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