CN206609889U - A kind of full-automatic sample body-packing based on Sterility testing flow - Google Patents

Abstract

The utility model discloses a kind of full-automatic sample body-packing based on Sterility testing flow.The utility model devise collection bacterium bottle and collection bacterium bottle the special fixture with flexible pipe syringe needle realize the controllability of hose segment position, whole process manipulator just only needs to grab culture product and syringe needle fixture, two manipulators crawl collection bacterium bottle and syringe needle from collection bacterium bottle holder disk, pass through servomotor controller tool hand, collection bacterium bottle is moved in the push pedal of crank transfer bar mechanism and fixed together with fixture, syringe needle and fixture are reached the position specified by fixed route and stretch flexible pipe by syringe needle manipulator, again by the way that three flexible pipes side by side are put into peristaltic pump groove and current limliting groove positioned at the auxiliary body of peristaltic pump and current-limiting apparatus, then realized by three coaxial cams to three any two current limlitings of flexible pipe arranged side by side.The position that the utility model solves flexible pipe is difficult the problem determined, and the use cam of innovation is simplified whole current-limiting apparatus the current limliting of flexible pipe, easy to operate.

Description

A kind of full-automatic sample body-packing based on Sterility testing flow

Technical field

The utility model belongs to food and medicine analysis field, be related to loaded in test sample sample carry out automatic subpackaging in In three collection bacterium bottles and it is automatically added to the device of corresponding culture medium.

Background technology

In recent years, a lot of food of China's generation, drug quality security incident so that matter of the government and street levels to food medicine Amount ensures to pay much attention to.Sterility test as food and medicine quality control key project, in 2010 editions newest GMP《Medicine Quality of production management regulation》It is proposed and clearly requires with 2015 editions pharmacopeia, is that enterprise and regulator examine to qualified products The big event tested.Normal sterile checks the laminar flow platform that one-way gas flow is installed in a controlled environment, is put on laminar flow platform A germ collector is put to complete sterility test.Sterility test instrument contains Sterilized isolator, membrane filtration system（Collect bacterium operation instrument And Bacteria Incubator）, the part such as microbiological incubator, substitute that normal sterile inspection method is there is provided controlled gnotobasis and implements Steriling test, with the characteristics of integrated level is high, input cost is low, environment controllability is more preferable, is increasingly taken seriously, obtains extensively Application.In order to realize that collection bacterium process, from changing, improves efficiency.

Bacterium of some the domestic enterprises in membrane filter method detects food and medicine, has been achieved for considerable entering at this stage Exhibition, but in detection process, wherein just include the operation such as packing of sample and the addition of nutrient solution, be substantially it is complete manually implemented, Manually implemented collection bacterium bottle is installed, flexible pipe is installed and syringe needle is exchanged for.The step of being related to due to the process is more, and many is all to repeat Operation, so maloperation is easily produced manually, so as to influence the correctness of experimental result.Requirement of the process to environment is also compared It is harsh, it is necessary to be carried out in desinfection chamber, it is local 100 grades under 10000 grades of background cleanliness factor, unidirectionally flow air, due to it is artificial because The limitation of element, is manually operated and is extremely difficult to this requirement.In order to reach this environmental requirement, it is necessary to by the process sterile Completed in experimental box, this requires to make collection bacterium packaging operation realize full-automatic intelligent control, because the space of experimental box is limited, Need sample body-packing being integrated into incubator.Transfer process needs to be completed with special flexible pipe, Current Domestic for The achievement in research of the placement technology of flexible hose is very rare, and especially pharmaceuticals industry diameter is less than 6 millimeters of flexible pipe.And The position deformation of transfer process flexible pipe is big, can not be realized at all using the operation for directly stretching flexible pipe.In other transfer process Need to carry out current limliting to three flexible pipes, limit two therein, the operation of conducting one.Because the gap between flexible pipe only has 1 to 2 millimeters, artificial operation, is mainly realized by current limliting clip by root current limliting at this stage, and is easily malfunctioned, but automatically Under the realization of change and the requirement of environment, the method and process of such direct labor's operation do not allow.

The content of the invention

The utility model is inserted into for membrane filtration collection bacterium bottle, collection bacterium bottle institute's peace with flexible pipe turn and hose end syringe needle Furthermore for trial jar, medium bottle and buffer solution bottle and realize that exchanging any one that realizes three flexible pipes arranged side by side for turns on Device.

The utility model include collection bacterium bottle catching robot module, syringe needle catching robot module, collection bacterium bottle install module, Flexible pipe is installed module, current-limiting apparatus module, constituted for main several parts such as trial jar handling module.

Syringe needle catching robot module is main to be completed by the first gantry-type mechanical arm, and the first gantry-type mechanical arm realizes six certainly By degree motion, the gripping portion of the first gantry-type mechanical arm is an electromagnetic valve mechanism, and magnetic field is produced when energization, compresses bullet Spring.The position that first gantry-type mechanical arm starts is in directly over the needle position of collection bacterium bottle holder disk, and syringe needle is fixed on one can So that in the syringe needle fixture with the first mutual adhesive of gantry-type mechanical arm calutron, syringe needle connects syringe needle and picked up with fixture by manipulator Afterwards, control the first gantry-type mechanical arm servomotor that syringe needle is moved into specified location by predetermined route by control system, Flexible pipe is in the state that is straightened, and by syringe needle the surface of wriggling head groove and current limliting groove location is moved to flexible pipe.

Collect bacterium bottle catching robot module main by the completion of the second gantry-type mechanical arm, the second gantry-type mechanical arm six is freely Degree motion, the second gantry-type mechanical arm gripping portion is the calutron of an energy and the mutual adhesive of syringe needle fixture, first gantry Formula manipulator and the second gantry-type mechanical arm realize that the crawl of collection bacterium bottle is realized in co-operating, and collection bacterium bottle is fixed on collection bacterium bottle fixture On, collection bacterium bottle can be firmly fixed in its groove, after the second gantry-type mechanical arm crawl collection bacterium bottle fixture, be by control Syringe needle is moved on the push-plate of slider-crank mechanism by system the second gantry-type mechanical arm of control by predetermined route, the groove on push-plate Coordinate with collection bacterium bottle fixture, and after fixed set bacterium bottle, the second gantry-type mechanical arm unclamps fixture, returns to initial position.

Collect bacterium bottle and module is installed mainly by a slider-crank mechanism, liquid outlet groove is constituted, collection bacterium bottle is in slider-crank mechanism In the presence of be pulled to vertical position from horizontal level, bottleneck upward, and the fluid hole of bottom of bottle be placed exactly in liquid outlet groove just on Side, the liquid in bottle can be flowed into liquid outlet groove, while whole slider-crank mechanism can be with the case where motor drives leading screw to rotate Movement up and down by a small margin is realized, coordinates follow-up mechanism to complete associative operation.

It is main by peristaltic pump, gag lever post, gear, rack, local flexible pipe tensioning mechanism, servomotor structure that flexible pipe installs module Into.Local flexible pipe tensioning mechanism is arranged on peristaltic pump wriggling head, is divided former and later two, is driven respectively by servomotor.First dragon Gate-type manipulator moves flexible pipe to position set in advance, under the driving of servomotor, and limiting block drives flexible pipe to move down Flexible pipe is pressed onto in the wriggling groove of peristaltic pump and the current limliting groove of current limiting plate in, flexible pipe compact heap above current limliting groove is by flexible pipe pressure Tightly, current limliting bar is moved to next position in the driving of motor, and tensioned flexible pipe is locally loosened, and starts peristaltic pump, The installation process of whole flexible pipe terminates.

Current-limiting apparatus module includes three cams, servomotor, guide rail, current limliting grooves, and three drive with axis cam in motor Leading screw turns to the position up to the front of flexible pipe, then drives three same axis cams by motor, and controls the rotation of three cams Gyration reaches the conducting for controlling three flexible pipes successively.

Include catching robot, commutator and sliding block for trial jar handling module, catching robot is by the rotary motion of motor The grasp force of manipulator is converted into, catching robot is in the presence of motor and leading screw, it is possible to achieve move up and down；Test sample, Culture jar, buffer solution bottle are moved to the underface of catching robot, catching robot can be by bottle in the presence of conveyer belt Coordinate the plug operation for completing syringe needle after crawl with the first gantry-type mechanical arm again, syringe needle is inserted into in trial jar, test sample exists 90 degree of upsets are realized in the presence of upset motor, bottleneck position directed downwardly will be rotated to for trial jar, and fill in peristaltic pump and current limliting Test liquid is transferred in collection bacterium bottle under the cooperation put, then successively by addition, the punching that culture medium is completed the step of presetting Wash operation.

The beneficial effects of the utility model：

The utility model realized in isolator the automatic peace of flexible pipe turn, flexible pipe it is automatic exchange for, automatic current limiting, syringe needle Automatic to exchange the operation such as plug for, specific innovation is mainly reflected in the following aspects；

Its position can not be accurately controlled for culture product flexible pipe syringe needle, it is difficult to problem is directly captured with manipulator, using pre- First to the thinking of culture product and the additional fixture of syringe needle, manipulator need to only capture the fixture in fixed position, be also convenient for changing for syringe needle Extract operation, such design, which will be greatly simplified, grabs syringe needle robot manipulator structure, at utmost reduces the cost of system, and integrally It is simple in construction, it is easy to operate.

It is difficult to realize any one difficulty for turning on remaining current-limiting operation for three flexible pipes, using coaxial special three Cam structure, only the anglec of rotation of cam need to be controlled just to realize the current limliting of flexible pipe, it is simple in construction, succinct, it is easy to operate most Limits reduce cost.

It is difficult to be affixed directly to the top of pallet liquid outlet groove for collection bacterium bottle, using slider-crank mechanism by bottle and fixture Vertical position and fix tightly are shifted onto from horizontal level, the mechanism is simple to operate, can greatly simplify the knot for grabbing collection bacterium bottle manipulator Structure, and slider-crank mechanism is simple to operate, recyclability strong, efficiency high.

The utility model is largely alleviated during Sterility testing, complicated flexible pipe installation, current limliting and collection bacterium Installation, the plug of syringe needle of bottle exchange operation for and false positive bacterium may operated as caused by maloperation, can effectively improve sterile The function of detection, realizes the full-automatic intelligent of whole process.

Brief description of the drawings

Fig. 1 general structure schematic diagrams 1 of the present utility model；

Fig. 2 general structure schematic diagrams 2 of the present utility model；

Fig. 3 grabs test sample modular structure schematic diagram；

Fig. 4 is grabbed for trial jar robot manipulator structure schematic diagram；

Fig. 5 current-limiting apparatus and flexible pipe install module general structure schematic diagram 1；

Fig. 6 current-limiting apparatus and flexible pipe install module general structure schematic diagram 2；

Fig. 7 current limliting modular structure schematic diagrams；

Fig. 8 flexible pipes peace turns modular structure schematic diagram；

Fig. 9 the first current limliting cams；

Figure 10 the second current limliting cams；

The current limliting cams of Figure 11 the 3rd；

Figure 12 grabs syringe needle manipulator structural representation；

Figure 13 syringe needle clamp structure figures；

Figure 14 grabs collection bacterium bottle and collection bacterium bottle installs module overall structure diagram；

Figure 15 grabs collection bacterium bottle fixture manipulator schematic diagram；

Figure 16 collection bacterium bottles install modular structure schematic diagram；

Specific component names in figure are

1st, sliding block；2nd, lifting slider；3rd, leading screw；4th, bearing；5th, stepper motor；6th, vertical sliding block；7th, leading screw；8th, cable branch Frame；9th, motor support plate；10th, the first lifting slider；11st, stepper motor；12nd, optical axis；13rd, stepper motor；14th, sliding block；15th, prop up Frame；16th, sliding block；17th, motor；18th, servomotor；19th, aluminium section bar support；20th, manipulator；21st, shaft coupling；22nd, leading screw；23、 Guide rail；24th, guide rail；25th, sliding block；26th, for trial jar；27th, leading screw；28th, shaft coupling；29th, stepper motor；30th, guide rail；31st, wriggle Head；32nd, sliding block；33rd, sliding block；34th, sliding block is moved forward and backward；35th, cable support；36th, electric machine support；37th, motor；38th, axle；39、 Flexible pipe；40th, bottom plate；41st, Xian Guan auxiliary bodies；42nd, gag lever post；43rd, peristaltic pump；44th, peristaltic pump support；45th, shaft coupling；46、 Stepper motor；47th, motor support plate；48th, support；49th, leading screw；50th, guide rail；51st, sliding block；52nd, stepper motor；53rd, camshaft； 54th, flexible pipe limited block one；55th, flexible pipe limited block two；56th, limited block fixed mount；57th, flexible pipe stopper slot；58th, flexible pipe limited block Three；59th, servomotor；60th, limited block；61st, current limliting groove；62nd, leading screw；63rd, servomotor；64th, cam 1；65th, cam 2；66、 Cam 3；67th, leading screw；68th, servomotor；69th, rack；70th, motor；71st, support；72nd, bacterium is bottled unloads box for collection；73rd, syringe needle is pressed from both sides Tool；74th, leading screw；75th, motor fixing plate；76th, guide rail；77th, servomotor；78th, leading screw；79th, the second lifting slider；80th, bacterium is collected Bottle fixture；81st, manipulator；82nd, support；83rd, stepper motor；84th, liquid outlet groove plate；85th, sliding block；86th, optical axis；87th, leading screw；88、 Push rod；89th, leading screw；90th, stepper motor；91st, optical axis；92nd, leading screw；93rd, sliding block；94；Lifter plate.

Embodiment

Below by drawings and examples, the technical solution of the utility model is described in further detail.

As shown in Figure 1 and Figure 2, overall mechanical structure mainly includes：Collect bacterium bottle syringe needle catching robot module, collection bacterium bottle Catching robot module, collection bacterium bottle install module, flexible pipe installation module, flexible pipe current limliting module and syringe needle and exchange module composition for, its In：

Collection bacterium bottle syringe needle catching robot module includes：Vertical sliding block 6；Leading screw 7；Cable support 8；Motor support plate 9；Step Stepper motor 11；Support 14；Sliding block 16；Motor 17；Servomotor 18；Aluminium section bar support 19；Shaft coupling 21；Screw mandrel 22；Guide rail 23； Guide rail 24；Sliding block 25；Guide rail 30；Sliding block 32；Optical axis 33；Bacterium is bottled unloads box 72 for collection；Syringe needle fixture 73；Leading screw 74, is shown in Figure 12 And Figure 13.

Concrete structure：The end of servomotor 18 is that a magnetic valve can grab syringe needle, servo electricity with the cooperation of syringe needle fixture 73 Machine 18 is fixed in motor support plate 9, and the sliding block 25 on the upper end of motor support plate 9 and leading screw 74 is connected, and lower end and optical axis 33 connect Connect, leading screw 74 is fixed on guide rail 24, and drive leading screw 74 to rotate by shaft coupling by stepper motor 17, guide rail 24 is fixed on On vertical sliding block 6, vertical sliding block 6 is connected to make to grab syringe needle manipulator with vertically movable leading screw 7 to be realized and moves up and down, vertical shifting The dynamic lower end of leading screw 7 is fixed on the sliding block 32 on guide rail 30, and sliding block 32 can be moved on guide rail 30, corresponding with sliding block 32 another The sliding block 16 of side can be moved on guide rail 23.

One end of cable support 8 is fixed on sliding block 16, and guide rail 23 and guide rail 30 are fixed on aluminium section bar support 19；Work During, manipulator is located at the surface of syringe needle fixture in collection bacterium bottle box 72, and manipulator moves down into syringe needle fixture setting position, Then solenoid valves, syringe needle fixture 73 is fixed on manipulator；Then sliding block 6 makes manipulator rise to conjunction along leading screw 7 Suitable position；Then the driving mechanical hand of sliding block 25 that stepper motor 17 is delivered torque on leading screw 74, leading screw 74 is moved to silk The medium position of bar 74, and then stepper motor 11 leading screw 22 is delivered torque to so as to being moved with movable slider 32 by shaft coupling 21 Dynamic, syringe needle is also moved forward and backward together therewith.

Collection bacterium bottle catching robot module includes：Lifting slider 10；Optical axis 12；Stepper motor 13；Sliding block 14；Leading screw 27； Shaft coupling 28；Stepper motor 29；Movable sliding block 34；Cable support 35；Motor fixing plate 75；Guide rail 76；Servomotor 77； Leading screw 78；Lifting slider 79；Collect bacterium bottle fixture 80；Manipulator 81；Sliding block 85；Optical axis 86；Leading screw 87, is shown in Figure 14, Figure 15 and figure 16。

Concrete structure：The axle of servomotor 77 and a gripping-type manipulator 81 are connected, and motor 77 is rotated by exporting To make manipulator 81 carry out grasping movement, servomotor 77 is fixed on motor fixing plate 75, the upper end of motor fixing plate 75 and Sliding block 85 is connected, and lower end and optical axis 86 are connected, and leading screw 78 is fixed on guide rail 76, and stepper motor 13 will be rotated by shaft coupling and turned round Square is exported to leading screw 78, so as to drive the mobile driving mechanical hand 81 on leading screw 78 of sliding block 85 to move left and right；Guide rail 76 1 End is fixed on lifting slider 10, and the other end is fixed on lifting slider 79, and lifting slider 10 can do along leading screw 87 and move down It is dynamic, at the same the other end of guide rail 76 and optical axis 12 coordinate, optical axis 12 is located on sliding block 14, and leading screw 87 is located at movable sliding block 34 On.

During sliding block work, grab collection bacterium bottle manipulator and be located at the bottled surface for unloading collection bacterium bottle fixture in box 72 of collection bacterium, when When grabbing syringe needle manipulator and being moved to relevant position, manipulator 81 reaches the specified location of fixture moving down, and motor 77 is exported Torque is converted into the grasp force of manipulator, collection bacterium bottle is captured, then manipulator is moved upwards up under identical type of drive Specified location, stepper motor 13 outputs torque to the sliding block on leading screw 78, driving leading screw by commutator and is moved to the left to song In the groove of handle slide block mechanism push pedal 85, and fix tightly.

Collection bacterium bottle, which installs module, to be included：Section bar support 14；Support 82；Stepper motor 83；Liquid outlet groove plate 84；Push rod 88；Silk Bar 89；Stepper motor 90；Optical axis 91；Leading screw 92；Sliding block 93；Lifter plate 94.

Concrete structure：There is the groove that can be engaged with collection bacterium bottle fixture 80 bottom on the push rod 88 of slider-crank mechanism, it is sliding Block 93 is located on leading screw 92, and the one end of leading screw 92 is connected by shaft coupling with stepper motor 83, and whole slide block mechanism is located at lifter plate On 94, and lifter plate is located at the position of the middle groove of liquid outlet groove plate 84, can be rotated in the driving leading screw 89 of stepper motor 90 So as to realize moving up and down for slider-crank mechanism, stepper motor 90 is located on support 82；During work, when collection bacterium bottle fixture is pacified It is attached on push rod 88, electric motor starting drives leading screw 92 to rotate to drive sliding block 93 to move, and push rod 88 is rotated to by horizontal level Vertical position, and collect the surface that bacterium bottom of bottle portion fluid hole is located just at the fluid hole of liquid outlet groove plate 84, driven by stepper motor 90 Dynamic leading screw can move up and down the bottle realization of collection bacterium, to facilitate discharge opeing.

Flexible pipe peace revolving die block includes：Wriggling first 31；Flexible pipe 39；Xian Guan auxiliary bodies 41；Gag lever post 42；Peristaltic pump 43；It is compacted Dynamic pump support 44；Flexible pipe limited block 1；Flexible pipe limited block 2 55；Limited block fixed mount 56；Flexible pipe stopper slot 57；Flexible pipe is spacing Block 3 58；Servomotor 59；Leading screw 67；Servomotor 68；Rack 69；Motor 70；Support 71, is shown in Fig. 8.

Concrete structure：The mechanism of the module is mainly put in the two ends of peristaltic pump wriggling head groove, is divided into three parts；First Point：Flexible pipe limited block 3 58 is fixed on the first half of the wriggling first 31 of peristaltic pump, and flexible pipe stopper slot 57 and leading screw 67 match Close, and there are three grooves being coincide with flexible pipe size on flexible pipe stopper slot 57, leading screw 67 is connected on servomotor 68, limited block It can realize and move up and down under the driving of motor 68；Part II：Flexible pipe limited block 2 55 is fixed by limited block fixed mount Also there are three bar grooves matched with flexible pipe size on the latter half of wriggling head, flexible pipe limited block 1, itself and leading screw coordinate Driven by servomotor 59, it is possible to achieve limited block is moved up and down, Part III：The bottom of gag lever post 42 is fixed on rack 69 On, the gear on the rack other end and motor 70 coordinates, and the rotation of motor can drive pinion rotation and with carry-over bar motion, make Gag lever post can rotate on the guide rail of the end face of support 71.

During work, the module is started when the manipulator for grabbing syringe needle module moves flexible pipe the position of peristaltic pump groove to Work, rotate that flexible pipe is spacing by gag lever post first, then flexible pipe is moved down into limit in the presence of syringe needle manipulator is grabbed In the groove of position block 57 and in stopper slot 54, then both are moved down to compacted in the driving bottom hose of motor 68 and 59 along wriggling groove The bottom of dynamic head groove, peristaltic pump is opened, and gag lever post returns to initial position in the presence of motor 70 simultaneously.

Flexible pipe current limliting module includes：Bottom plate 40；Shaft coupling 45；Stepper motor 46；Motor support plate 47；Support 48；Leading screw 49；Guide rail 50；Sliding block 51；Stepper motor 52；Camshaft 53；Limited block 60；Current limliting groove 61；Leading screw 62；Servomotor 63；First Cam 64,；Second cam 65；3rd cam 66, is shown in Fig. 5-Fig. 7 and Fig. 9-Figure 11.

Concrete mechanism：The positions of three bar grooves on bottom plate 40 on fixed current limliting groove 61, current limliting groove 61 and peristaltic pump 43 In the same horizontal line, the one end of current limliting groove 40 is fixed on the support 48 of current-limiting apparatus wriggling groove after being connected with peristaltic pump, three The front interposition of current limliting groove is equipped with corresponding first cam 64, the second cam 65, the 3rd cam 3 66, cam and transmission respectively Axle 53 coordinates, while axle 53 can be connected by shaft coupling and stepper motor 52.Stepper motor 52 is fixed on sliding block 51, sliding block It is connected with leading screw 49, leading screw 49 is arranged on guide rail 50, and leading screw 49 is connected with motor 46, stepper motor 46 is arranged on motor branch On fagging 47, under the driving of motor 46, sliding block 51 and motor 52, axle 53 and cam can be movable along guide rail together. Limited block 60 is connected with leading screw 62, can be realized in the driving lower position block 60 of motor 63 movable.

During work, the operation that flexible pipe current limliting module is realized is carried out after flexible pipe peace revolving die block, in previous step In operation, flexible pipe has been positioned at current limliting groove and suffered, and then motor 63 starts limited block by the direction along leading screw 62 towards flexible pipe It is mobile, it is moved to compresses flexible pipe always, motor stops.Then the driving of stepper motor 46 leading screw 49 is rotated, and sliding block 51 will be towards The direction of flexible pipe current limliting groove is moved to when the second cam and the 3rd cam contact that i.e. camshaft 53 enters bottom plate untill flexible pipe In 40 groove, the then rotational band moving cam of motor 52 rotation is realized sequential to three flexible pipes to wherein one conducting other two The operation of root current limliting.

Syringe needle, which exchanges module for, to be included：Sliding block 1；Lifting slider 2；Leading screw 3；Bearing 4；Stepper motor 5；Manipulator 20；For examination Bottle 26；Electric machine support 36；Motor 37；Axle 38, is shown in Fig. 3 and Fig. 4.

Concrete structure：Manipulator 20 can be realized under the driving of motor 37 is converted into grasp force, one by the power of rotation Rise and be fixed on electric machine support 36, electric machine support 36 is connected with the axle 38 of stepper motor 5 again simultaneously, and stepper motor 5 is fixed on On bearing 4, bearing 4 is fixed on lifting slider 2 again can carry out moving down with sliding block under the driving of motor along leading screw 3 It is dynamic.Leading screw 3 is fixed on the slider 1, and sliding block 1 can be moved on guide rail 30；The mechanism is to coordinate syringe needle catching robot together Complete the operation of exchanging for of syringe needle.

During work, by manipulator, crawl, will for trial jar, medium bottle and buffer solution bottle successively from conveyer belt below When grabbing position high as needle position for trial jar 26, and the serum cap for making bottle and syringe needle alignment are corrected, grab syringe needle Manipulator is inserted the needle into in trial jar, stepper motor 5 starts, for trial jar in stepping towards the direction movement for trial jar mouthful It is rotated by 90 ° under the effect of the revolving force of motor 5, make bottleneck is positioned against lower section, facilitates the liquid in peristaltic pump pumps bottle.Complete After the extraction of liquid, manipulator returns to horizontal level in the presence of stepper motor 5 again, and then lifting slider 2 is moved down Bottle is put back on conveyer belt, then manipulator captures culture medium bottle again according to crawl for the operation of trial jar, and completes to insert The operation that pin, extraction are put back to.

To sum up, the utility model devise collection bacterium bottle and collection bacterium bottle special fixture with flexible pipe syringe needle realize hose sections Divide the controllability of position, be that following manipulator captures syringe needle respectively and collection bacterium bottle is ready to the position specified, whole mistake Journey manipulator just only needs to grab culture product and syringe needle fixture, grabs bottle manipulator and grabs syringe needle manipulator and moved up in same guide rail Dynamic, two manipulators crawl collection bacterium bottle and syringe needle from collection bacterium bottle holder disk are accurately controlled manipulator by servomotor, will collected Bacterium bottle is moved in the push pedal of crank transfer bar mechanism and fixed together with fixture, and syringe needle manipulator passes through syringe needle and fixture solid Fixed route reaches the position specified and stretches flexible pipe, then will side by side by the auxiliary body positioned at peristaltic pump and current-limiting apparatus Three flexible pipes be put into peristaltic pump groove and current limliting groove, then realized by three coaxial cams to three flexible pipes arranged side by side times Two current limlitings of meaning.The position that the design solves flexible pipe is difficult the problem determined, and the use cam of innovation makes to the current limliting of flexible pipe Whole current-limiting apparatus is simplified, easy to operate.

Claims (1)

1. a kind of full-automatic sample body-packing based on Sterility testing flow, including collection bacterium bottle catching robot module, syringe needle Catching robot module, collection bacterium bottle install module, flexible pipe and install module, current-limiting apparatus module and supply trial jar handling module, and it is special Levy and be：

Syringe needle catching robot module is main to be completed by the first gantry-type mechanical arm, and the first gantry-type mechanical arm realizes six degree of freedom Motion, the gripping portion of the first gantry-type mechanical arm is an electromagnetic valve mechanism, and magnetic field, compression spring are produced when energization； The position that first gantry-type mechanical arm starts is in directly over the needle position of collection bacterium bottle holder disk, and syringe needle is fixed on one can be with In the syringe needle fixture of the first mutual adhesive of gantry-type mechanical arm calutron, syringe needle connects after syringe needle picked up with fixture by manipulator, Control the first gantry-type mechanical arm servomotor that syringe needle is moved into specified location by predetermined route by control system, make soft Pipe in the state that is straightened, and by syringe needle the surface of wriggling head groove and current limliting groove location is moved to flexible pipe；

Collect bacterium bottle catching robot module main by the completion of the second gantry-type mechanical arm, the second gantry-type mechanical arm six degree of freedom fortune Dynamic, the second gantry-type mechanical arm gripping portion is the calutron of an energy and the mutual adhesive of syringe needle fixture, the first planer-type machine Tool hand and the second gantry-type mechanical arm realize that the crawl of collection bacterium bottle is realized in co-operating, and collection bacterium bottle is fixed in collection bacterium bottle fixture, Collection bacterium bottle can be firmly fixed in its groove, after the second gantry-type mechanical arm crawl collection bacterium bottle fixture, pass through control system Control the second gantry-type mechanical arm that syringe needle is moved on the push-plate of slider-crank mechanism by predetermined route, the groove on push-plate and Collect bacterium bottle fixture to coordinate, and after fixed set bacterium bottle, the second gantry-type mechanical arm unclamps fixture, returns to initial position；

Collect bacterium bottle and module is installed mainly by a slider-crank mechanism, liquid outlet groove is constituted, work of the collection bacterium bottle in slider-crank mechanism Vertical position is pulled to from horizontal level, upward, and the fluid hole of bottom of bottle is placed exactly in the surface of liquid outlet groove, bottle to bottleneck under In liquid can be flowed into liquid outlet groove, while whole slider-crank mechanism can be realized in the case where motor drives leading screw to rotate Under movement by a small margin, coordinate follow-up mechanism to complete associative operation；

Flexible pipe is installed module and is mainly made up of peristaltic pump, gag lever post, gear, rack, local flexible pipe tensioning mechanism, servomotor； Local flexible pipe tensioning mechanism is arranged on peristaltic pump wriggling head, is divided former and later two, is driven respectively by servomotor；First planer-type Manipulator moves flexible pipe to position set in advance, under the driving of servomotor, and limiting block drives flexible pipe to move down will be soft Pipe is pressed onto in the wriggling groove of peristaltic pump and in the current limliting groove of current limiting plate, and the flexible pipe compact heap above current limliting groove compresses flexible pipe, limit Flow post is moved to next position in the driving of motor, and tensioned flexible pipe is locally loosened, and starts peristaltic pump, whole soft The installation process of pipe terminates；

Current-limiting apparatus module includes three cams, servomotor, guide rail, current limliting grooves, and three drive leading screw with axis cam in motor The position up to the front of flexible pipe is turned to, then three same axis cams are driven by motor, and controls the anglec of rotation of three cams Degree reaches the conducting for controlling three flexible pipes successively；

Include catching robot, commutator and sliding block for trial jar handling module, catching robot changes the rotary motion of motor Into the grasp force of manipulator, catching robot is in the presence of motor and leading screw, it is possible to achieve move up and down；Test sample, culture Liquid bottle, buffer solution bottle are moved to the underface of catching robot, catching robot can capture bottle in the presence of conveyer belt Coordinate the plug operation for completing syringe needle with the first gantry-type mechanical arm again afterwards, syringe needle is inserted into in trial jar, test sample is in upset 90 degree of upsets are realized in the presence of motor, bottleneck position directed downwardly will be rotated to for trial jar, and in peristaltic pump and current-limiting apparatus Test liquid is transferred in collection bacterium bottle under cooperation, then successively by addition, the flushing behaviour that culture medium is completed the step of presetting Make.