CN115181645A - An automatic coating machine for bacterial culture - Google Patents

Abstract

The invention discloses an automatic coating machine for bacterial culture, comprising a mechanical arm for clamping a paint rod to coat a petri dish, a camera mechanism and a signal transmitter are connected to the clamping arm of the mechanical arm; a consumables storage box is provided with The paint rod accommodating cylinder for accommodating the paint rod, the paint rod accommodating cylinder is provided with a signal receiver corresponding to the signal transmitter; the petri dish seat, the petri dish is installed in the petri dish seat; the bottom base, the petri dish seat The activity is installed on the bottom base; the waste storage box; the camera mechanism takes pictures and identifies the consumable storage box, the petri dish holder and the waste storage box, and controls the work of the robotic arm. The bacterial culture automatic coating machine is provided with a storage box for consumables and a storage box for waste, and integrates the storage and disposal of paint rods into the coating step during the coating process of the robotic arm, so that the coating process is continuous and the coating process can be automated. It can effectively improve the coating efficiency and reduce the labor intensity of personnel.

Description

An automatic coating machine for bacterial culture

technical field

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

Background technique

The process of separating individual microorganisms from a microbial population is called microbial isolation. The scribing method and the coating method are the most commonly used separation and purification methods, that is, use a pipette or an inoculation loop to dip a little material to be separated, drop it on the surface of sterile agar, and carry out continuous coating or scribing. The microbial cells will then disperse to obtain individual colonies. At present, it is mostly performed manually by experimental personnel, using metal or plastic aseptic L rods (also known as paint rods) or inoculation loops; this method requires high personnel to operate, and is time-consuming and labor-intensive. Therefore, there is a need for an instrument that can automatically coat a petri dish, so as to improve work efficiency and ease the operation intensity of personnel.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a bacterial culture automatic coating machine to solve the above-mentioned problems in the prior art, so that the coating process is continuous, and the automation of the coating process can be realized, effectively improving the coating efficiency and reducing the labor intensity of personnel.

In order to achieve the above purpose, the present invention provides the following scheme: the present invention provides a bacterial culture automatic coating machine, comprising:

a mechanical arm, used for holding the paint rod to paint the petri dish, and a camera mechanism and a signal transmitter are connected to the clipping arm of the mechanical arm;

a consumables storage box, wherein a paint rod accommodating cylinder for accommodating paint rods is arranged in the consumables storage box, and a signal receiver corresponding to the signal transmitter is arranged at the paint rod accommodating cylinder;

a petri dish seat, the petri dish is installed in the petri dish seat;

a bottom support base, the culture dish seat is movably installed on the bottom support base;

A waste storage box, which is used for accommodating discarded paint rods, the camera mechanism takes pictures and identifies the consumable storage box, the petri dish holder and the waste storage box, and controls the operation of the robotic arm .

In one embodiment, the camera mechanism includes an IPC camera, and the IPC camera is provided with an IPC processor, and the IPC processor includes a control unit, a pickup and acquisition unit, a storage unit, and an IPC image processing unit; the pickup The acquisition unit drives the IPC camera through the control unit to pick up the images of the consumables storage box, the petri dish holder and the waste storage box, and passes the images of the consumables storage box, the petri dish holder and the waste storage box through the IPC image The processing unit converts the dense point cloud information and transmits it to the storage unit for storage.

In one embodiment, the consumables storage box is provided with a first box body for accommodating paint rod accommodating cylinders, and several groups of the paint rod accommodating cylinders are placed in the first box body, and the paint rod accommodating cylinders are placed in the first box body. The accommodating cylinder includes a cylinder body and a receiver seat for accommodating a signal receiver, the paint rod is placed in the cylinder body, and the receiver seat is provided on the side of the cylinder body.

In one embodiment, the top of the first box body is hinged with a box cover through hinges, and a plurality of paint rod holes are opened on the box cover, and the paint rod holes coincide with the projection of the cylinder body.

In one of the embodiments, the support base includes a support movable seat and a support fixed base, the support movable base is movably connected with the support base fixed seat through a connecting spring, and the support base fixed seat is movably connected to the support base. One side is provided with a T-shaped chute, and one side of the consumables storage box and the waste storage box is fixedly connected with a T-shaped sliding block, and the T-shaped sliding block is adapted to the T-shaped sliding groove.

In one of the embodiments, a handle is provided on one side of the movable seat of the support base, and an anti-slip cover is provided on the outside of the handle.

In one embodiment, a worm gear, a servo motor and a worm are arranged in the petri dish seat, the servo motor is fixedly connected with the movable seat of the support base, the output end of the servo motor is fixedly connected with the worm, and the worm is connected with the worm. The worm gear is meshed and connected, and one side of the worm gear is fixedly connected with the culture dish seat.

In one embodiment, a splint and a buffer spring are arranged in the culture dish holder, the culture dish holder is movably connected with the splint through the buffer spring, and the splint is used to clamp the culture dish.

In one of the embodiments, the signal transmitter includes an infrared sensor, the signal receiver includes an infrared receiver, and the infrared sensor is signal-linked with the infrared receiver.

The present invention has achieved the following beneficial technical effects with respect to the prior art:

(1), the bacterial culture automatic coating machine, by being provided with a consumables storage box and a waste storage box, integrates the storage and disposal of the coating rod into the coating step during the coating process of the robotic arm, so that the coating process is continuous, The automation of the coating process can be realized, which effectively improves the coating efficiency and reduces the labor intensity of personnel.

(2) The bacterial culture automatic coating machine is equipped with an IPC camera, and the IPC processor inside the IPC camera works to simulate the motion trajectory of the robotic arm to paint and accurately locate the discarding position of the paint stick. It has a high degree of intelligence and saves money. Robotic arm programming process.

(3), the bacterial culture automatic coating machine, because the infrared receiver is fixed inside the clip arm, the clip arm can position the paint before gripping the paint rod through the matched signal connection between the infrared sensor and the infrared receiver The rod position can avoid the phenomenon that the clamp arm cannot hold the paint rod, and improve the work success rate and work efficiency of the clamp arm.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the structural representation of the present invention;

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

Fig. 3 is the structural representation of the clamp arm of the present invention;

4 is a schematic diagram of the split structure of the support base and the petri dish seat of the present invention;

Fig. 5 is the disassembled structure schematic diagram of the consumables storage box of the present invention;

Fig. 6 is the schematic diagram of the internal structure of the base movable seat of the present invention;

7 is a schematic diagram of the internal structure of the consumables storage box of the present invention;

In the figure: 1. Mechanical arm; 11. Clamping arm; 2. Consumables storage box; 21. First box body; 22. Box cover; 23. Paint rod hole; 24. Hinge; 25. Paint rod accommodating cylinder; 26. Cylinder body; 27. Infrared receiver seat; 3. Supporting base; 31. Supporting movable seat; 32. Supporting fixed seat; 33. Connecting spring; 34. T-slider; 35. T-slide slot; 36, handle; 4, petri dish holder; 41, splint; 42, buffer spring; 43, worm gear; 44, servo motor; 45, worm; 5, waste storage box; 6, IPC camera; 7, infrared sensor 8. Infrared receiver.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The purpose of the present invention is to provide a bacterial culture automatic coating machine to solve the above-mentioned problems in the prior art, so that the coating process is continuous, and the automation of the coating process can be realized, effectively improving the coating efficiency and reducing the labor intensity of personnel.

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

As shown in FIG. 1-FIG. 7, the present invention provides an automatic coating machine for bacterial culture, comprising a robotic arm 1, which is used to clamp a paint rod to paint a petri dish, and a camera mechanism is connected to the clamping arm 11 of the robotic arm 1 and signal transmitter; consumables storage box 2, the consumables storage box 2 is provided with a paint rod accommodating cylinder 25 for accommodating paint rods, and the paint rod accommodating cylinder 25 is provided with a signal receiver corresponding to the signal transmitter; a petri dish Base 4, the petri dish is installed in the petri dish base 4; support base 3, the petri dish base 4 is movably installed on the support base 3; waste storage box 5, the waste storage box 5 is used for accommodating discarded The paint stick, the camera mechanism takes pictures and recognizes the consumables storage box 2, the petri dish holder 4 and the waste storage box 5, and controls the work of the robotic arm.

In one embodiment, the camera mechanism includes an IPC camera 6, and an IPC processor is provided in the IPC camera 6, and the IPC processor includes a control unit, a pick-up and acquisition unit, a storage unit and an IPC image processing unit; the IPC camera 6 calibration process is as follows; The first time: the pickup and acquisition unit drives the IPC camera 6 through the IPC processor to pick up the images of the petri dish holder 4 and the waste storage box 5, and convert the images of the petri dish holder 4 and the waste storage box 5 through the IPC image processing unit It is the dense point cloud information, the dense point cloud information includes the chromaticity and three-dimensional coordinates of the image, the center of the three-dimensional coordinates is the geometric center of the connection point between the petri dish holder 4 and the support base 3, and the X axis is along the support base 3. The direction and the Y axis are along the direction of the petri dish base 4, and the storage unit stores the dense point cloud information; the second and subsequent times: the robotic arm 1 clamps the paint rod in the consumables storage box 2 through the gripping arm 11 and moves to the petri dish In the seat 4, and continuously control the robotic arm 1 to use the paint rod to paint the petri dish seat 4, after the coating is completed, control the robotic arm 1 to move to the waste storage box 5 and release the clamping arm 11. Discard the paint rod into the waste storage box 5. During this process, the movement of the robotic arm 1 continuously drives the movement of the IPC camera 6. The IPC camera 6 continuously captures the video of the movement process, and the captured video is converted into a multi-frame image. The IPC camera 6 drives the IPC image processing unit through the IPC processor. The work converts the image into a source point cloud, and the IPC processor analyzes the chromaticity and 3D coordinates of the source point cloud and the dense point cloud, removes interference items, selects the coordinate set of the paint stick movement trajectory, and discards the paint stick to waste storage. The coordinates of the box 5 enable the robotic arm 1 to drive the paint stick to accurately carry out the paint and paint disposal operations.

In one of the embodiments, the consumables storage box 2 is provided with a first box body 21 for accommodating paint rod accommodating cylinders 25. The paint rod accommodating cylinders 25 are provided with several groups, and each paint rod accommodating cylinder 25 It includes a cylindrical body 26 and an infrared receiver seat 27 for accommodating the infrared receiver 8 . The paint rod is placed in the cylindrical body 26 , and the side of the cylindrical body 26 is provided with an infrared receiver seat 27 .

In one embodiment, the top of the first box body 21 is hinged with a box cover 22 through a hinge 24, and the box cover 22 is supported by transparent tempered glass. A plurality of paint rod holes 23 are opened on the box cover 22 , and the paint rod holes 23 coincide with the projection of the cylinder body 26 .

In one embodiment, the support base 3 includes a support movable seat 31 and a support base fixed base 32 . The support base movable base 31 is movably connected to the support base fixed base 32 through a connecting spring 33 . A T-shaped sliding slot 35 is provided on the side, and a T-shaped sliding block 34 is fixedly connected to one side of the consumables storage box 2 and the waste storage box 5 .

In one of the embodiments, a handle 36 is provided on one side of the base movable seat 31 , and an anti-slip cover is provided on the outside of the handle 36 .

In one embodiment, a worm gear 43, a servo motor 44 and a worm 45 are arranged in the petri dish base 4. The servo motor 44 is fixedly connected to the movable seat 31 of the support base, and the output end of the servo motor 44 is fixedly connected to the worm 45. The worm 45 It is engaged with the worm gear 43 , and one side of the worm gear 43 is fixedly connected with the petri dish base 4 .

In one embodiment, a splint 41 and a buffer spring 42 are provided in the culture dish holder 4 , and the culture dish holder 4 is movably connected to the splint 41 through the buffer spring 42 .

In another embodiment, the signal transmitter includes an infrared sensor 7 , the signal receiver includes an infrared receiver 8 , and the infrared sensor 7 is signal-linked with the infrared receiver 8 .

When working, first take out the petri dish with agar, and fix the petri dish into the petri dish holder 4 through the splint 41, then close the box cover 22 and the first box body 21 through the hinge 24, and put the paint rod. Insert into the paint rod accommodating cylinder 25 through the paint rod hole 23, one end of which is exposed outside the paint rod hole 23 to facilitate the clamping of the clamping arm 11, then drive the mechanical arm 1 and turn on the IPC camera 6 to work, first the mechanical arm 1 passes through the clamping arm 11. Clamp the paint rod in the consumables storage box 2 and move it into the petri dish base 4, and continuously control the robotic arm 1 to use the paint rod to paint the petri dish base 4. During the coating process, drive the servo motor 44 to drive the worm 45. Rotation, the worm 45 then drives the worm wheel 43 to rotate, so that the petri dish seat 4 can be rotated, so that the paint rod can be evenly coated on the petri dish, and fixed programs and optional programs can be set when painting: such as the most basic 4-division line or full The spiral coating of the petri dish can also be set to the X-axis and Y-axis custom scribing form. After the paint is completed, control the robotic arm 1 to move to the waste storage box 5 and release the clamping arm 11 to discard the paint rod into the waste storage box 5. During this process, the movement of the robotic arm 1 continues to drive the IPC camera 6 to move, and the IPC camera 6 Continuously capture the video of the motion process, convert the captured video into a multi-frame image, the IPC camera 6 drives the IPC image processing unit through the IPC processor to convert the image into the source point cloud, and the IPC processor converts the source point cloud and dense point cloud. Analyze the chroma and three-dimensional coordinates of the paint rod, eliminate interference items, select the coordinate set of the paint rod movement trajectory and the coordinates of the paint rod discarded to the waste storage box 5, so that the robot arm 1 drives the paint rod to accurately carry out the paint and paint discarding operations ;

At the same time, the consumables storage box 2 and the waste storage box 5 can be detached from the pallet base 3 through the T-shaped chute 35 and the T-shaped slider 34, and then the detached consumables storage box 2 and waste storage box 5 can be separated. After removing it for sterilization, it can be re-installed on the support base 3.

In the working process of the automatic bacterial culture coating machine, the consumables used in the bacterial experiment are required to be sterile, and the coating rod should be sterile when it is gripped by the robotic arm 1. Solution: The paint stick is pre-inserted into the consumables storage box 2, autoclaved together with the consumables storage box 2, and installed and used after sterilization. The paint rod should be slightly higher than the cylinder body 26 and the paint rod hole 23, so as to facilitate the gripping of the mechanical arm 1. Because the head of the paint stick is mainly in contact with the bacterial sample liquid when applying bacteria, the tail of the paint stick does not need to be in contact.

It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. . Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the invention is to be defined by the appended claims rather than the foregoing description, which are therefore intended to fall within the scope of the claims. All changes that come within the meaning and range of equivalents of , are intended to be embraced within the invention, and any reference signs in the claims shall not be construed as limiting the involved claim.

In the present invention, specific examples are used to illustrate the principles and implementations of the present invention, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention; There will be changes in the specific implementation manner and application scope of the idea of the invention. In conclusion, the contents of this specification should not be construed as limiting the present invention.

Claims (9)

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

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, 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.

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