CN115181645A

CN115181645A - Automatic coating machine of bacteria cultivation

Info

Publication number: CN115181645A
Application number: CN202210785011.XA
Authority: CN
Inventors: 韩毅; 冯微宏; 徐泽; 樊玲芳; 姚国君; 周虹
Original assignee: Wuxi Center for Disease Control and Prevention
Current assignee: Wuxi Center for Disease Control and Prevention
Priority date: 2022-06-30
Filing date: 2022-06-30
Publication date: 2022-10-14

Abstract

The invention discloses an automatic coating machine for bacterial culture, which comprises a mechanical arm, a coating rod, a camera mechanism and a signal transmitter, wherein the mechanical arm is used for clamping the coating rod to coat a culture dish; the consumable storage box is internally provided with a coating rod accommodating barrel for accommodating a coating rod, and the coating rod accommodating barrel is provided with a signal receiver corresponding to the signal transmitter; the culture dish is arranged in the culture dish seat; the culture dish seat is movably arranged on the bottom supporting base; a waste storage cassette; the camera shooting mechanism shoots, identifies and controls the mechanical arm to work on the consumable storage box, the culture dish seat and the waste storage box. This automatic coating machine of bacterial culture through being provided with consumptive material storage box and discarded object storage box, in the in-process of mechanical arm coating deposit with abandon the operation integration to the coating step with the coating stick for the coating process is continuous, and coating process automation can realize, has also reduced personnel's intensity of labour when effectively promoting coating efficiency.

Description

Automatic coating machine of bacteria cultivation

Technical Field

The invention relates to the technical field of bacterial coating, in particular to an automatic coating machine for bacterial culture.

Background

The process of isolating individual microorganisms from a population of microorganisms is referred to as isolation of the microorganisms. The streaking method and the spreading method are the most commonly used separation and purification methods, i.e., a small amount of material to be separated is picked up by a pipette or an inoculating loop, dropped on the surface of sterile agar and continuously spread or streaked, and then microbial cells are scattered, so that single colonies are obtained. At present, most of the manual operations are carried out by experimenters, and are carried out by using a metal or plastic sterile L rod (also called a coating rod) or an inoculating loop; the method has high requirements on personnel operation and is time-consuming and labor-consuming. Therefore, an instrument capable of automatically coating on a culture dish is needed, so that the working efficiency is improved, and the operation intensity of personnel is relieved.

Disclosure of Invention

The invention aims to provide an automatic coating machine for bacterial culture, which solves the problems in the prior art, enables the coating process to be continuous and automatic, effectively improves the coating efficiency and reduces the labor intensity of personnel.

In order to achieve the purpose, the invention provides the following scheme: the invention provides an automatic coating machine for bacterial culture, which comprises

The mechanical arm is used for clamping a coating rod to coat the culture dish, and a camera shooting mechanism and a signal transmitter are connected to a clamping arm of the mechanical arm;

the consumable storage box is internally provided with a coating rod accommodating cylinder for accommodating a coating rod, and the coating rod accommodating cylinder is provided with a signal receiver corresponding to the signal transmitter;

the culture dish is arranged in the culture dish seat;

the culture dish seat is movably arranged on the bottom supporting base;

the waste storage box is used for containing the waste coating rod, and the camera shooting mechanism is right for shooting and identifying the consumable storage box, the culture dish seat and the waste storage box and controlling the mechanical arm to work.

In one embodiment, the camera shooting mechanism comprises an IPC camera, an IPC processor is arranged in the IPC camera, and the IPC processor comprises a control unit, a pickup and acquisition unit, a storage unit and an IPC image processing unit; the collecting unit is used for collecting the images of the consumable storage box, the culture dish seat and the waste storage box through the work of the IPC camera driven by the control unit, and transmitting the images of the consumable storage box, the culture dish seat and the waste storage box to the storage unit for storage after the images of the consumable storage box, the culture dish seat and the waste storage box are converted into dense point cloud information through the IPC image processing unit.

In one embodiment, a first box body for accommodating paint rod accommodating cylinders is arranged in the consumable storage box, a plurality of groups of paint rod accommodating cylinders are placed in the first box body, each paint rod accommodating cylinder comprises a cylinder body and a receiver seat for accommodating a signal receiver, the paint rods are placed in the cylinder bodies, and the receiver seats are arranged on the side edges of the cylinder bodies.

In one embodiment, the top of the first box body is hinged to a box cover through a hinge, a plurality of paint rod holes are formed in the box cover, and the paint rod holes coincide with the projection of the barrel body.

In one embodiment, the tray base comprises a tray movable seat and a tray fixed seat, the tray movable seat is movably connected with the tray fixed seat through a connecting spring, a T-shaped chute is formed in one side of the tray fixed seat, a T-shaped sliding block is fixedly connected to one side of the consumable storage box and one side of the waste storage box, and the T-shaped sliding block is matched with the T-shaped chute.

In one embodiment, a handle is arranged on one side of the base supporting movable seat, and an anti-skidding sleeve is sleeved outside the handle.

In one embodiment, a worm wheel, a servo motor and a worm are arranged in the culture dish seat, the servo motor is fixedly connected with the bottom supporting movable seat, the output end of the servo motor is fixedly connected with the worm, the worm is meshed with the worm wheel, and one side of the worm wheel is fixedly connected with the culture dish seat.

In one embodiment, a clamping plate and a buffer spring are arranged in the culture dish seat, the culture dish seat is movably connected with the clamping plate through the buffer spring, and the clamping plate is used for clamping the culture dish.

In one embodiment, the signal transmitter comprises an infrared sensor and the signal receiver comprises an infrared receiver, the infrared sensor being signal linked to the infrared receiver.

Compared with the prior art, the invention has the following beneficial technical effects:

(1) This automatic coating machine of bacterial culture through being provided with consumptive material storage box and waste storage box, in the in-process of mechanical arm coating deposit with the operation integration to the coating step of abandoning of coating stick for the coating process is continuous, and coating process automation can realize, has also reduced personnel's intensity of labour when effectively promoting coating efficiency.

(2) This automatic coating machine of bacterial culture owing to be provided with the IPC camera, through the inside IPC treater work simulation arm movement track of IPC camera paint and accurate location coating stick abandon the position, intelligent degree is high, has saved the arm programming process.

(3) This automatic coating machine of bacterial culture owing to link firmly infrared receiver in the inside of arm lock, the signal connection through infrared sensor and infrared receiver looks adaptation makes the arm lock just can fix a position the coating stick position before pressing from both sides the clamp and get the coating stick, avoids the arm lock to appear pressing from both sides the phenomenon of getting the coating stick, has promoted arm lock success rate of operation and work efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic view of the structure of the present invention;

FIG. 2 is a schematic structural diagram of an IPC camera and an infrared sensor according to the present invention;

FIG. 3 is a schematic view of a clamp arm according to the present invention;

FIG. 4 is a schematic view of the disassembled structure of the bottom supporting base and the culture dish seat of the present invention;

FIG. 5 is a schematic view of a disassembled structure of the consumable storage cartridge of the present invention;

FIG. 6 is a schematic view of the internal structure of the movable base of the present invention;

FIG. 7 is a schematic view of the internal structure of the consumable storage cartridge of the present invention;

in the figure: 1. a mechanical arm; 11. clamping arms; 2. a consumable storage box; 21. a first case; 22. a box cover; 23. a paint rod hole; 24. a hinge; 25. a coating rod accommodating cylinder; 26. a cylinder body; 27. an infrared receiver mount; 3. a bottom supporting base; 31. a base supporting movable seat; 32. a bottom supporting fixed seat; 33. a connecting spring; 34. a T-shaped slider; 35. a T-shaped chute; 36. a handle; 4. a culture dish seat; 41. a splint; 42. a buffer spring; 43. a worm gear; 44. a servo motor; 45. a worm; 5. a waste storage cassette; 6. an IPC camera; 7. an infrared sensor; 8. an infrared receiver.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

As shown in fig. 1-7, the present invention provides an automatic coating machine for bacterial culture, comprising a mechanical arm 1 for clamping a coating rod to coat a culture dish, wherein a camera mechanism and a signal emitter are connected to a clamping arm 11 of the mechanical arm 1; the consumable storage box 2 is internally provided with a coating rod accommodating cylinder 25 for accommodating a coating rod, and the coating rod accommodating cylinder 25 is provided with a signal receiver corresponding to the signal transmitter; the culture dish seat 4 is provided with a culture dish which is arranged in the culture dish seat 4; a bottom supporting base 3, and a culture dish seat 4 is movably arranged on the bottom supporting base 3; the waste storage box 5 is used for containing the waste coating rods, and the shooting mechanism shoots, identifies and controls the mechanical arm to work the consumable storage box 2, the culture dish seat 4 and the waste storage box 5.

In one embodiment, the camera mechanism comprises an IPC camera 6, an IPC processor is arranged in the IPC camera 6, and the IPC processor comprises a control unit, a pickup and acquisition unit, a storage unit and an IPC image processing unit; the IPC camera 6 calibration process is as follows; for the first time: the collecting and collecting unit drives the IPC camera 6 to work through the IPC processor to collect images of the culture dish seat 4 and the waste storage box 5 and convert the images of the culture dish seat 4 and the waste storage box 5 into dense point cloud information through the IPC image processing unit, the dense point cloud information comprises chroma and three-dimensional coordinates of the images, the center of the three-dimensional coordinates is the geometric center of a connection point of the culture dish seat 4 and the bottom supporting base 3, the X axis is the direction along the bottom supporting base 3, the Y axis is the direction along the culture dish seat 4, and the storage unit stores the dense point cloud information; second and subsequent: the mechanical arm 1 moves into the culture dish seat 4 through a coating rod in the clamping arm 11 clamping consumable storage box 2, the mechanical arm 1 is continuously controlled to use the coating rod to coat the culture dish seat 4, the mechanical arm 1 is controlled to move into the waste storage box 5 after coating is finished, the clamping arm 11 is loosened to discard the coating rod into the waste storage box 5, the mechanical arm 1 continuously drives the IPC camera 6 to move in the process, the IPC camera 6 continuously takes videos in the moving process, the taken videos are converted into a plurality of frames of images, the IPC camera 6 drives the IPC image processing unit to work through the IPC processor to convert the images into source point clouds, the IPC processor analyzes the chroma and three-dimensional coordinates of the source point clouds and the dense point clouds, interference items are eliminated, the coordinate set of the movement track of the coating rod and the coordinates of the coating rod discarded into the waste storage box 5, and the mechanical arm 1 drives the coating rod to accurately perform coating and coating completion discarding operation.

In one embodiment, a first box 21 for containing paint stick containers 25 is disposed inside the consumable storage box 2, the paint stick containers 25 are arranged in several groups, each paint stick container 25 comprises a barrel 26 and an infrared receiver seat 27 for containing the infrared receiver 8, the paint sticks are placed in the barrel 26, and the infrared receiver seat 27 is disposed on the side of the barrel 26.

In one embodiment, the top of the first box 21 is hinged to a box cover 22 through a hinge 24, and the box cover 22 is made of transparent tempered glass. The box cover 22 is provided with a plurality of coating rod holes 23, and the projection of the coating rod holes 23 and the projection of the cylinder 26 are superposed.

In one embodiment, the bottom supporting base 3 comprises a bottom supporting movable seat 31 and a bottom supporting fixed seat 32, the bottom supporting movable seat 31 is movably connected with the bottom supporting fixed seat 32 through a connecting spring 33, a T-shaped sliding groove 35 is formed in one side of the bottom supporting fixed seat 32, a T-shaped sliding block 34 is fixedly connected to one side of the consumable storage box 2 and one side of the waste storage box 5, and the T-shaped sliding block 34 is matched with the T-shaped sliding groove 35.

In one embodiment, a handle 36 is arranged on one side of the base-supporting movable seat 31, and an anti-slip sleeve is sleeved outside the handle 36.

In one embodiment, a worm wheel 43, a servo motor 44 and a worm 45 are arranged in the culture dish seat 4, the servo motor 44 is fixedly connected with the bottom supporting movable seat 31, the output end of the servo motor 44 is fixedly connected with the worm 45, the worm 45 is meshed with the worm wheel 43, and one side of the worm wheel 43 is fixedly connected with the culture dish seat 4.

In one embodiment, a clamping plate 41 and a buffer spring 42 are arranged in the culture dish seat 4, and the culture dish seat 4 is movably connected with the clamping plate 41 through the buffer spring 42.

In another embodiment, the signal emitter comprises an infrared sensor 7 and the signal receiver comprises an infrared receiver 8, the infrared sensor 7 being signal linked to the infrared receiver 8.

The during operation, at first take out the culture dish that has agar, and with the culture dish through splint 41 fixed to culture dish seat 4 in, close lid 22 and first box body 21 through hinge 24 after that, and pass coating rod hole 23 with the coating rod and insert inside coating rod holding cylinder 25, its one end exposes coating rod hole 23 outside arm lock 11 centre gripping of being convenient for, drive mechanical arm 1 and open IPC camera 6 work after that, at first in coating rod motion to culture dish seat 4 in mechanical arm 1 passes through 11 centre gripping consumptive material storage boxes 2 of arm lock, and continuously control mechanical arm 1 and use the coating rod to carry out coating to culture dish seat 4, in-process at coating, drive worm 45 through drive servo motor 44 and rotate, worm 45 then drive worm wheel 43 and rotate and can make culture dish seat 4 rotate, thereby make the coating rod scribble the material even on the culture dish, can set for fixed program and optional procedure during coating: such as the most basic 4-zone scribe or spiral coating of a full petri dish, can also be provided in the form of X-axis and Y-axis custom scribes. After the coating is finished, the mechanical arm 1 is controlled to move to the waste storage box 5, the clamping arm 11 is loosened to discard a coating rod into the waste storage box 5, the mechanical arm 1 continuously drives the IPC camera 6 to move in the process, the IPC camera 6 continuously takes videos in the moving process, the taken videos are converted into multi-frame images, the IPC camera 6 drives the IPC image processing unit to work through the IPC processor to convert the images into source point clouds, the IPC processor analyzes the chroma and three-dimensional coordinates of the source point clouds and the dense point clouds, eliminates interference items, selects a coordinate set of the motion track of the coating rod and the coordinates of the coating rod discarded to the waste storage box 5, and the mechanical arm 1 drives the coating rod to accurately discard the coating and the discarded coating;

meanwhile, the consumable storage cartridge 2 and the waste storage cartridge 5 may be detached from the docking base 3 by the T-shaped sliding grooves 35 and the T-shaped sliders 34, and then the detached consumable storage cartridge 2 and the waste storage cartridge 5 may be removed for sterilization and then mounted on the docking base 3 again.

Automatic coating machine of bacterial culture, in the course of the work, the used consumptive material of bacteria experiment requirement is sterile state, and the coating stick just should accomplish aseptically when being got by arm 1 clamp. The solution is as follows: the coating rod is inserted into the consumable storage box 2 in advance, and is autoclaved together with the consumable storage box 2, and is installed and used after sterilization. The paint stick should be slightly higher than the barrel 26 and the paint stick hole 23 for the robot arm 1 to grip. Because the head part of the coating rod is mainly contacted with the bacteria sample liquid during coating bacteria, the tail part of the coating rod does not need to be contacted, and the tail part is not high in requirement on sterility when being clamped by the mechanical arm 1.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.

The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims

1. The utility model provides a bacterial culture automatic coating machine which characterized in that: comprises that

the culture dish is arranged in the culture dish seat;

the culture dish seat is movably arranged on the bottom supporting base;

the waste storage box is used for containing the waste coating rod, and the camera shooting mechanism is right for shooting, identifying and controlling the consumable storage box, the culture dish seat and the waste storage box to work by the mechanical arm.

2. The automatic bacteria culture coating machine according to claim 1, wherein: the camera shooting mechanism comprises an IPC camera, an IPC processor is arranged in the IPC camera, and the IPC processor comprises a control unit, a pickup and acquisition unit, a storage unit and an IPC image processing unit; the collecting unit is used for collecting the images of the consumable storage box, the culture dish seat and the waste storage box through the work of the IPC camera driven by the control unit, and transmitting the images of the consumable storage box, the culture dish seat and the waste storage box to the storage unit for storage after the images of the consumable storage box, the culture dish seat and the waste storage box are converted into dense point cloud information through the IPC image processing unit.

3. The automatic bacteria culture coater according to claim 1, wherein: the consumable storage box is characterized in that a first box body for containing a paint rod containing barrel is arranged in the consumable storage box, the paint rod containing barrels are arranged in the first box body, the paint rod containing barrel comprises a barrel body and a receiver seat for containing a signal receiver, the paint rod is arranged in the barrel body, and the receiver seat is arranged on the side edge of the barrel body.

4. The automatic bacteria culture coater according to claim 3, wherein: the top of the first box body is hinged to a box cover through a hinge, a plurality of coating rod holes are formed in the box cover, and the coating rod holes coincide with the projection of the barrel.

5. The automatic bacteria culture coating machine according to claim 1, wherein: the support base is including holding in the palm end sliding seat and support end fixing base, hold in the palm the end sliding seat pass through coupling spring with hold in the palm end fixing base swing joint, T type spout has been seted up to one side of holding in the palm end fixing base, one side of consumptive material storage box and discarded object storage box has all linked firmly T type slider, T type slider and T type spout looks adaptation.

6. The automatic bacteria culture coater according to claim 5, wherein: one side of the support base movable seat is provided with a handle, and an anti-skidding sleeve is sleeved outside the handle.

7. The automatic bacteria culture coater according to claim 5, wherein: the culture dish comprises a culture dish seat and is characterized in that a worm wheel, a servo motor and a worm are arranged in the culture dish seat, the servo motor is fixedly connected with the bottom supporting movable seat, the output end of the servo motor is fixedly connected with the worm, the worm is meshed with the worm wheel, and one side of the worm wheel is fixedly connected with the culture dish seat.

8. The automatic bacteria culture coater according to claim 1, wherein: the culture dish is characterized in that a clamping plate and a buffer spring are arranged in the culture dish seat, the culture dish seat is movably connected with the clamping plate through the buffer spring, and the clamping plate is used for clamping the culture dish.

9. The automatic bacteria culture coating machine according to claim 1, wherein: the signal transmitter comprises an infrared sensor, the signal receiver comprises an infrared receiver, and the infrared sensor is in signal link with the infrared receiver.