Robot for culturing paenibacillus angularis

Abstract

The invention discloses a robot for culturing paenibacillus angularis, and relates to the technical field of manipulators, the robot comprises a base, and a robot arm frame main body is fixedly mounted at the top of the base; three-point clamping of the culture dish is achieved through the clamping jaw with the bottom ends located on the same inclined plane, the first arc-shaped plate and the second arc-shaped plate, three clamping points are arranged at the same vertical position of the outer wall of the culture dish, clamping force can be effectively dispersed, instability or damage caused by too large stress of a single clamping point is avoided, and the service life of the culture dish is prolonged. According to the design, force borne by each clamping point is more uniform, so that the overall clamping stability is improved, the bottom ends of the first arc-shaped plate and the second arc-shaped plate or only the bottom end of the second arc-shaped plate can make contact with the outer wall of the bottom of the culture dish subsequently, the bottom of the culture dish is supported, and therefore stable clamping of the culture dish is achieved; and the situation that the manipulator is abraded due to long-term use and cannot be tightly attached to the culture dish, so that the culture dish falls off when being transferred is prevented.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a robot used for culturing Paenibacillus aegypti. Background Art

[0002] In the prior art, in order to avoid contamination of the culture dish during the transfer process during the culture of Paenibacillus aegypti, some laboratories use an automated culture system, that is, a robot is used to transfer the culture dish. The existing robot transfer method is mostly to grab by a mechanical claw, and the mechanical claw contacts the outer wall of the culture dish through the claw tip, thereby achieving transfer;

[0003] Due to the material limitations of the culture dish, a large force when the mechanical claw grabs may damage the culture dish. If the clamping force is too small, the culture dish may not be clamped firmly, causing the culture dish to fall. In addition, the single-point clamping of the mechanical claw only acts on the outer wall of the culture dish. This clamping method causes the clamping force to only contact the outer wall of the culture dish at a single point. After the robot is used for a long time, the robot's gripping parts may malfunction due to wear and other reasons, causing the mechanical claw to clamp unsteadily or tilt, so that it is easy to slip and fall during the process of grabbing and transferring the culture dish.

[0004] To this end, we propose a robot for culturing Bacillus aegypti to solve the above problems. Summary of the invention

[0005] Technical issues solved

[0006] In view of this, and in view of the deficiencies in the prior art, the present invention provides a robot for culturing Paenibacillus aegypti to solve the problems raised in the above background technology.

[0007] Technical Solution

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a robot for culturing Paenibacillus aegypti, comprising a base, a robot arm frame body is fixedly installed on the top of the base, a rectangular frame is fixedly installed on one end of the robot arm frame body away from the base, both sides of one end of the rectangular frame are rotatably connected with electric-controlled telescopic rods, two electric-controlled telescopic rods are symmetrically arranged with the central axis of the rectangular frame as a reference, the two electric-controlled telescopic rods are rotatably connected with push blocks at one end away from the rectangular frame, the push blocks are fixedly connected with round rods at one end away from the electric-controlled telescopic rods, the outer surfaces of both ends of the round rods are fixedly connected with clamps, a sensor device is fixedly installed on the upper surface of the rectangular frame, and also includes an adaptive mechanism arranged below the rectangular frame;

[0009] The adaptive mechanism includes a cylindrical positioning rod fixedly connected to the bottom center of the rectangular frame, a rectangular limiting plate fixedly connected to the bottom of the cylindrical positioning rod, four sliding grooves are opened on the rectangular limiting plate, and moving blocks are slidably connected inside the four sliding grooves. The bottom ends of the moving blocks are rotatably connected to a contact plate 1, and the bottom ends of the moving blocks are rotatably connected to a contact plate 2. A connecting spring is fixedly connected between the contact plate 2 and the contact plate 1 on the same side.

[0010] Preferably, two groups of clamps are provided, each group of clamps is provided with two clamps, the two groups of clamps are symmetrically arranged with reference to the central axis of the rectangular frame, and each clamp is rotatably connected to the bottom of the rectangular frame.

[0011] Preferably, four slide grooves are provided, and the four slide grooves are arranged in a circular array with the center of the rectangular limiting plate as a reference, and the second and first contact plates on the same side are hinged to each other.

[0012] Preferably, the robot for culturing Paenibacillus aegypti also includes a connection mechanism disposed inside the clamp;

[0013] The connecting mechanism includes a pulling spring connected to the inner side of each clamping jaw in a hook-like manner, and the pulling spring is hook-connected to a positioning frame at one end away from the clamping jaw. A connecting rod is fixedly connected to the inside of the positioning frame, and an annular slider is fixedly connected to the end of the connecting rod away from the positioning frame. A circular ring limit block is fixedly connected to the outer surface of the cylindrical positioning rod, and a sleeve is fixedly connected to the outer surface of the connecting rod. A connecting rod is rotatably connected to the inside of the bottom end of the sleeve, and a fixing spring is fixedly connected to the outer surface of one side of the connecting rod, and a restoring spring is fixedly connected to the top of the annular slider.

[0014] Preferably, the positioning frame is sleeved on the outside of the cylindrical positioning rod, the annular slider is slidably connected to the outer surface of the cylindrical positioning rod, the annular limit block is arranged below the annular slider, and the end of the connecting rod away from the sleeve is rotatably connected to the moving block.

[0015] Preferably, four connecting rods are arranged in a circular array with the center of the cylindrical positioning rod as a reference, four rings, connecting rods and fixing springs are arranged in a circular array with the center of the cylindrical positioning rod as a reference, and the fixing springs are fixedly connected to the outer wall of the cylindrical positioning rod at one end away from the connecting rod.

[0016] Preferably, the robot for culturing Paenibacillus aegypti also includes an auxiliary clamping mechanism disposed at the bottom end of each clamping claw;

[0017] The auxiliary clamping mechanism includes a positioning block fixedly connected to the outer wall of the bottom end of the clamping jaw, the positioning block is rotatably connected to an arc plate 2 at one end away from the clamping jaw, the positioning block is rotatably connected to an arc plate 1, a buffer spring is fixedly connected between the arc plate 1 and the arc plate 2, the buffer springs are arranged in multiple equidistant positions, each clamping jaw is slidably connected to a cylindrical extrusion rod, and a limiting spring is sleeved on the outer surface of the cylindrical extrusion rod.

[0018] Preferably, each arc plate 1 is arranged between the clamping jaw and the arc plate 2 on the same side, the cylindrical extrusion rod is arranged obliquely, both ends of the cylindrical extrusion rod extend to the outside of the clamping jaw, and one end of the cylindrical extrusion rod extending out of the clamping jaw contacts the top of the arc plate 2 on the same side.

[0019] Beneficial Effects

[0020] Compared with the prior art, the present invention provides a robot for culturing Paenibacillus aegypti, which has the following beneficial effects:

[0021] The culture dish is clamped at three points by the clamping jaws, the arc plate 1 and the arc plate 2 whose bottom ends are in the same inclined plane. Three clamping points are arranged at the same vertical position on the outer wall of the culture dish, which can effectively disperse the clamping force and avoid instability or damage caused by excessive force on a single clamping point. This design makes the force borne by each clamping point more uniform, thereby improving the overall clamping stability. In the long-term clamping process of the clamping jaws, the clamping may be loose due to irregular shape of the object, displacement of the center of gravity or unexpected circumstances, which may cause the clamping to be unstable or even tilted. However, by arranging three clamping points on the same vertical plane, a more stable support structure can be formed, reducing the risk of tilting of the culture dish.

[0022] The culture dish is clamped at three points by the clamping jaws, the arc plate 1 and the arc plate 2. When the bottom ends of the clamping jaws, the arc plate 1 and the arc plate 2 are all located on the outer wall of the culture dish, the culture dish can be clamped at three points. Due to the vertical size limitation of the culture dish, when the bottom ends of the clamping jaws, the arc plate 1 and the arc plate 2 are not all located on the outer wall of the culture dish (that is, among the three clamping points of the clamping jaws, the arc plate 1 and the arc plate 2 arranged from top to bottom in the vertical direction, the clamping point located at the bottom or the two clamping points located at the bottom cannot contact the outer wall of the culture dish), the bottom ends of the arc plate 1 and the arc plate 2 or only the bottom end of the arc plate 2 will contact the bottom outer wall of the culture dish to support the bottom of the culture dish, thereby achieving a stable clamping of the culture dish and preventing the manipulator from being worn out due to long-term use, which may result in the inability to fit the culture dish tightly, so that the culture dish falls when being transferred;

[0023] The moving block changes its position as the distance between the clamps changes. When the size of the culture dish itself is larger than the initial distance between the clamps, the position of the moving block cannot be changed. The culture dish is clamped by the contact plate 1 and the contact plate 2 located at the center of the culture dish in cooperation with the clamps. When the size of the culture dish itself is smaller than the initial distance between the clamps, the moving blocks arranged in the circular array will move with the movement of the clamps, and the distance between them will gradually shorten, so that the contact plate 1 and the contact plate 2 move synchronously and are located in the middle of the sealed culture dish. The positions of the contact plate 1 and the contact plate 2 can change with the size of the culture dish itself, so that the contact position is always in the center of the culture dish, thereby adapting to the clamping of culture dishes of different sizes.

[0024] Through the cooperation of the adaptive mechanism and the clamping claw, the position of the culture dish to be transferred is auxiliary fixed to avoid the movement of the culture dish during the transfer process, and the adaptive mechanism, the clamping claw and the auxiliary clamping mechanism cooperate with each other, so that the device can adapt to culture dishes of different sizes, and the stable clamping method can avoid the unstable clamping of the mechanical claws due to unexpected situations during the movement of the culture dish. When the culture dish is small in size, the culture dish can be completely fixed by side clamping, top resistance and bottom support, which can simultaneously reduce the impact of vibration between mechanical parts of the robot during long-term operation on the culture dish, and avoid the vibration of the mechanical structure causing the sealing shell above the culture dish to loosen, resulting in failure of the culture dish seal and destruction of the internal culture environment of the Egg Bacillus culture dish. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the overall appearance of the robot of the present invention;

[0026] Figure 2 It is a schematic diagram of the position relationship of the rectangular frame of the present invention;

[0027] Figure 3 This is a schematic diagram of the connection relationship of the clamping jaws of the present invention;

[0028] Figure 4 For the present invention Figure 3 A schematic diagram of the structure enlargement in the middle;

[0029] Figure 5 This is a schematic diagram of the connection relationship of the positioning block of the present invention;

[0030] Figure 6 This is a schematic diagram of the connection relationship of the pull spring of the present invention;

[0031] Figure 7 For the present invention Figure 6 A magnified schematic diagram of the structure at B in the middle;

[0032] Figure 8 It is a schematic diagram of the connection relationship at the connecting rod of the present invention.

[0033] In the figure: 11, base; 12, robot arm body; 13, rectangular frame; 14, electric telescopic rod; 15, push block; 16, gripper; 17, sensor device;

[0034] 21. Columnar positioning rod; 22. Rectangular limiting plate; 23. Slide groove; 24. Moving block; 25. Resistance plate 1; 26. Resistance plate 2; 27. Connecting spring;

[0035] 31. Pull spring; 32. Positioning frame; 33. Connecting rod; 34. Ring slider; 35. Ring stopper; 36. Ring; 37. Connecting rod; 38. Fixing spring; 39. Restoring spring;

[0036] 41. Positioning block; 42. Arc plate 1; 43. Arc plate 2; 44. Buffer spring; 45. Columnar extrusion rod; 46. Limit spring. DETAILED DESCRIPTION

[0037] 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.

[0038] Embodiments of the present invention

[0039] See also Figures 1 to 4 and Figure 6 A robot for culturing Bacillus aegypti comprises a base 11, a robot arm body 12 is fixedly installed on the top of the base 11, a rectangular frame 13 is fixedly installed on one end of the robot arm body 12 away from the base 11, both sides of one end of the rectangular frame 13 are rotatably connected with electric-controlled telescopic rods 14, the electric-controlled telescopic rods 14 are electrically connected to an external controller, two electric-controlled telescopic rods 14 are symmetrically arranged with respect to the central axis of the rectangular frame 13, the two electric-controlled telescopic rods 14 are rotatably connected with push blocks 15 at one end away from the rectangular frame 13, the push blocks 15 are fixedly connected with a round rod at one end away from the electric-controlled telescopic rod 14, the outer surfaces of both ends of the round rod are fixedly connected with clamps 16, and a sensor device 17 is fixedly installed on the upper surface of the rectangular frame 13.

[0040] The robot for culturing Paenibacillus aegypti also includes an adaptive mechanism disposed below the rectangular frame 13;

[0041] The adaptive mechanism includes a cylindrical positioning rod 21 fixedly connected to the bottom center of the rectangular frame 13, a rectangular limiting plate 22 fixedly connected to the bottom of the cylindrical positioning rod 21, four sliding grooves 23 are provided on the rectangular limiting plate 22, and moving blocks 24 are slidably connected inside the four sliding grooves 23. The bottom ends of the moving blocks 24 are rotatably connected to a resistance plate 1 25, and the bottom ends of the moving blocks 24 are rotatably connected to a resistance plate 2 26. A connecting spring 27 is fixedly connected between the resistance plate 26 and the resistance plate 1 25 on the same side.

[0042] There are two groups of clamping jaws 16 , each group of clamping jaws 16 has two clamping jaws. The two groups of clamping jaws 16 are symmetrically arranged with reference to the central axis of the rectangular frame 13 , and each clamping jaw 16 is rotatably connected to the bottom of the rectangular frame 13 .

[0043] Among them, there are four slide grooves 23, and the four slide grooves 23 are arranged in a circular array with the center of the rectangular limiting plate 22 as a reference. The second contact plate 26 and the first contact plate 25 on the same side are hinged to each other, and the hinge point of the contact plate 1 25 and the second contact plate 26 is located on the moving block 24.

[0044] Further embodiments

[0045] See also Figure 2 , Figure 3 and Figures 6 to 8 , the robot for culturing Paenibacillus aegypti also includes a connection mechanism disposed inside the clamp 16;

[0046] The connecting mechanism includes a pulling spring 31 which is hook-connected to the inner side of each clamping jaw 16, and the pulling spring 31 is hook-connected to a positioning frame 32 at one end away from the clamping jaw 16. A connecting rod 33 is fixedly connected inside the positioning frame 32, and an annular slider 34 is fixedly connected to the end of the connecting rod 33 away from the positioning frame 32. A circular ring limit block 35 is fixedly connected to the outer surface of the cylindrical positioning rod 21. A collar 36 is fixedly connected to the outer surface of the connecting rod 33, and a connecting rod 37 is rotatably connected to the bottom end of the collar 36. A fixing spring 38 is fixedly connected to the outer surface of one side of the connecting rod 37, and a restoring spring 39 is fixedly connected to the top of the annular slider 34.

[0047] Among them, the positioning frame 32 is sleeved on the outside of the cylindrical positioning rod 21, the annular slider 34 is slidably connected to the outer surface of the cylindrical positioning rod 21, the annular limit block 35 is arranged below the annular slider 34, and the connecting rod 37 is rotatably connected to the moving block 24 at one end away from the ring 36.

[0048] Among them, four connecting rods 33 are arranged in a circular array with the center of the cylindrical positioning rod 21 as a reference, four rings 36, connecting rods 37 and fixing springs 38 are arranged in a circular array with the center of the cylindrical positioning rod 21 as a reference, and the fixing springs 38 are fixedly connected to the outer wall of the cylindrical positioning rod 21 at one end away from the connecting rod 37. The restoring spring 39 is sleeved on the outer wall of the cylindrical positioning rod 21, and the two ends are respectively fixedly connected to the cylindrical positioning rod 21 and the annular slider 34.

[0049] Further Embodiments

[0050] See also Figure 2 , Figure 3 and Figure 5 , the robot for culturing Paenibacillus aegypti also includes an auxiliary clamping mechanism disposed at the bottom end of each clamping claw 16;

[0051] The auxiliary clamping mechanism includes a positioning block 41 fixedly connected to the outer wall of the bottom end of the clamping jaw 16, and the positioning block 41 is rotatably connected to an arc plate 2 43 at one end away from the clamping jaw 16, and the positioning block 41 is rotatably connected to an arc plate 1 42 inside. A buffer spring 44 is fixedly connected between the arc plate 1 42 and the arc plate 2 43, and the buffer springs 44 are arranged in multiple equidistant positions. A cylindrical extrusion rod 45 is slidably connected to the bottom end of each clamping jaw 16, and a limiting spring 46 is sleeved on the outer surface of the cylindrical extrusion rod 45.

[0052] Among them, each arc plate 1 42 is arranged between the clamping jaw 16 and the arc plate 2 43 on the same side, and the cylindrical extrusion rod 45 is arranged at an angle. Both ends of the cylindrical extrusion rod 45 extend to the outside of the clamping jaw 16, and one end of the cylindrical extrusion rod 45 extends out of the clamping jaw 16 and contacts the top of the arc plate 2 43 on the same side.

[0053] Among them, the clamping jaws 16, the arc plate 1 42 and the bottom end of the arc plate 2 43 are all provided with rubber pads on one side close to the center of the rectangular frame 13, and the outer wall of the end of the cylindrical extrusion rod 45 away from the arc plate 2 43 is wrapped with a rubber layer, which can avoid contact with the Bacillus eggei culture dish to cause hard extrusion.

[0054] The working process and principle of the overall content of the above embodiment are as follows:

[0055] Adaptation to the clamping size of the Bacillus aegypti culture dish:

[0056] After the staff places the robot base 11 at the Egg Bacillus culture device and determines the position of the Egg Bacillus culture dish that needs to be clamped and moved, the staff then manually controls the changes in the horizontal and vertical positions of the robot arm body 12 through an external controller, and places the four clamps 16 above the Egg Bacillus culture dish that needs to be transferred by moving the robot arm body 12.

[0057] It should be noted that in the above process, the work of the robot arm body 12 is achieved by existing technology, so it will not be described in detail here;

[0058] Since the electric telescopic rod 14 is electrically connected to the external controller, that is, the electric telescopic rod 14 is controlled to extend or contract by the external controller, the staff needs to judge the distance between the four clamps 16 in the initial state and the size difference between the culture dishes of Bacillus eggei, and then control the extension or contraction of the electric telescopic rod 14, and control the round rod fixedly connected to the push block 15 and the two clamps 16 fixed at both ends of the round rod through the push block 15 rotatably connected to the output end of the electric telescopic rod 14, so as to cause the two groups of clamps 16 respectively arranged on the two round rods to move towards each other or away from each other.

[0059] The specific sports are as follows:

[0060] When the distance between the four clamping jaws 16 is larger than the size of the culture dish, the staff causes the output shaft of the electric telescopic rod 14 to extend through the external controller, and controls the two groups of clamping jaws 16 to rotate with the connection point between the clamping jaws 16 and the rectangular frame 13 as the fulcrum through the push block 15 and the round rod, so that the two groups of clamping jaws 16 are close to each other and clamp the outer wall of the culture dish;

[0061] When the distance between the four jaws 16 is smaller than the size of the culture dish, the staff causes the output shaft of the electric-controlled telescopic rod 14 to retract through an external controller, and controls the two groups of jaws 16 to rotate with the connection point between the jaws 16 and the rectangular frame 13 as a fulcrum through the push block 15 and the round rod, so as to cause the two groups of jaws 16 to move away from each other, and expand the distance between the two groups of four jaws 16 to a distance greater than the distance of the culture dish, and then control the output shaft of the electric-controlled telescopic rod 14 to extend again, so as to clamp the outer wall of the culture dish through the jaws 16.

[0062] Auxiliary clamping culture dish:

[0063] When the four jaws 16 move toward each other to clamp the outer wall of the culture dish, the cylindrical extrusion rod 45 sliding through the bottom end of each jaw 16 will first contact the outer wall of the culture dish, and as the jaws 16 continue to move toward each other, the cylindrical extrusion rod 45 arranged at the bottom end of the four jaws 16 will move toward the inside of each jaw 16 and gradually fit with the inner wall of the bottom end of the jaw 16 until the inner wall of the jaw 16 fits with the outer wall of the culture dish, thereby clamping the culture dish.

[0064] In the above process, since the limiting spring 46 is sleeved on the outside of the cylindrical extrusion rod 45, and the two ends of the limiting spring 46 are respectively connected to the cylindrical extrusion rod 45 and the clamping jaw 16, the movement of the cylindrical extrusion rod 45 will synchronously stretch the limiting spring 46. At the same time, the movement of the cylindrical extrusion rod 45 will synchronously cause the arc plate 2 43, which is in contact with the end of the cylindrical extrusion rod 45 away from the center of the clamping jaw 16, to move.

[0065] More specifically, during the movement of the cylindrical extrusion rod 45, since the vertical height of the arc plate 2 43 is higher than that of the arc plate 1 42, and the arc plate 1 42 and the arc plate 2 43 are both rotatably connected to the positioning block 41, the arc plate 2 43 pushed by the cylindrical extrusion rod 45 will rotate with the connection point between it and the positioning block 41 as the fulcrum, and the buffer spring 44 equidistantly arranged between the arc plate 1 42 and the arc plate 2 43 will synchronously cause the arc plate 1 42 to move. The specific movement direction is to swing toward the center of the clamping jaw 16 with the connection point between the arc plate 1 42 and the positioning block 41 as the fulcrum, and since the bottom ends of the clamping jaw 16, the arc plate 1 42 and the arc plate 2 43 are all provided with rubber pads on one side close to the center of the rectangular frame 13, when the outer wall of the culture dish is clamped by the clamping jaw 16, the bottom ends of the clamping jaw 16, the arc plate 1 42 and the arc plate 2 43 can all contact with the outer wall of the culture dish, thereby realizing three-point clamping of the outer wall of the culture dish.

[0066] The culture dish is clamped at three points by means of the clamping jaws 16, the arc plate 1 42 and the arc plate 2 43 whose bottom ends are in the same inclined plane. Three clamping points are arranged at the same vertical position on the outer wall of the culture dish, which can effectively disperse the clamping force and avoid instability or damage caused by excessive force on a single clamping point. This design makes the force borne by each clamping point more uniform, thereby improving the overall clamping stability. In the process of long-term clamping by the clamping jaws 16, the clamping may be unstable or even tilted due to irregular shape of the object, displacement of the center of gravity or loose clamping caused by unexpected circumstances. However, by arranging three clamping points on the same vertical plane, a more stable support structure can be formed to reduce the risk of tilting of the culture dish.

[0067] The culture dish is clamped at three points by the clamping jaws 16, the arc plate 1 42 and the arc plate 2 43. When the bottom ends of the clamping jaws 16, the arc plate 1 42 and the arc plate 2 43 are all located on the outer wall of the culture dish, the culture dish can be clamped at three points. Due to the vertical height size limitation of the culture dish, the overall height of the culture dish cannot meet the requirement that the clamping jaws 16, the arc plate 1 42 and the arc plate 2 43 are located on the outer surface of the culture dish at the same time. When the bottom ends of the clamping jaws 16, the arc plate 1 42 and the arc plate 2 43 are not all located on the outer wall of the culture dish (i.e., they are vertically extending from the outer wall of the culture dish), the culture dish can be clamped at three points. Among the three clamping points of the clamping claw 16, arc plate 1 42 and arc plate 2 43 arranged from top to bottom, if the clamping point located at the bottom or the two clamping points located at the bottom cannot contact the outer wall of the culture dish, the bottom of the culture dish will be in contact with the bottom outer wall of the culture dish, supporting the bottom of the culture dish, thereby achieving a stable clamping of the culture dish and preventing the manipulator from being worn out due to long-term use, which may result in the inability to fit closely to the culture dish, so that the culture dish may fall when being transferred.

[0068] Conflict with sealed petri dish tops:

[0069] Before clamping the culture dish that needs to be transferred, in order to prevent the culture dish itself from being contaminated by the outside world, the top of the culture dish needs to be covered to a certain extent (that is, a lid or sealing plug made of the same material as the culture dish is inserted into the top of the culture dish to seal it). At the same time, this method can also prevent the nutrient solution and bacterial strains in the culture dish from splashing due to unexpected circumstances during the movement of the culture dish.

[0070] First, the staff needs to ensure that the distance between the four clamps 16 is larger than the size of the culture dish, so that the four clamps 16 can be retracted to fix the culture dish;

[0071] Subsequently, the robot arm body 12 is controlled by an external controller to move in the vertical direction until the top of the sealed culture dish contacts the contact plate 26. Since the contact plate 1 25 and the contact plate 2 26 are hinged to each other, the bottom end of the contact plate 2 26 moves upward due to the contact force from the top of the sealed culture dish, compressing the connecting spring 27, and acting in the opposite direction on the contact plate 1 25 through the connecting spring 27, prompting the end of the contact plate 1 25 away from the contact plate 2 26 to rotate downward with its connection point with the moving block 24 as a fulcrum until it contacts the top of the sealed culture dish, and the contact plates 1 25 and 26 equidistantly arranged in a ring are both in contact with the top of the sealed culture dish, assisting in sealing and fixing the culture dish.

[0072] When determining whether the distance between the four clamping jaws 16 is greater than the size of the culture dish, the clamping jaws 16 in the initial state will show two movement trends, namely, expanding outward or directly contracting inward. During the movement of the clamping jaws 16, when the clamping jaws 16 need to expand outward to adjust the distance, the positioning frame 32 connected to the inside of the clamping jaws 16 through the pulling spring 31 will move synchronously;

[0073] It should be noted that, in the initial state, the pulling spring 31 is in a stretched state due to the force of the clamping jaw 16, that is, the positioning frame 32 is limited to the top of the annular limit block 35 by the stretching force of the pulling spring 31, and is in a fit state with the surface of the annular limit block 35. Therefore, in the above process, the outward expansion of the clamping jaw 16 will continue to stretch the pulling spring 31, and drive the positioning frame 32 to move downward in the vertical direction through the pulling spring 31. However, the interior of the positioning frame 32 is fixedly connected to the annular slider 34 by the connecting rod 33, and due to the limitation of the annular limit block 35, the annular slider 34 cannot move downward in the vertical direction on the cylindrical positioning rod 21, so that the annular slider 34 maintains its initial position and reversely limits the position of the positioning frame 32 and the connecting rod 33, so that the position of the ring 36 fixedly connected to the connecting rod 33 will not change. In this state, the moving block 24 connected to the ring 36 by the connecting rod 37 will not move.

[0074] When the jaws 16 move inward to adjust the clamping distance (that is, the size of the culture dish to be clamped is smaller than the distance between the four jaws 16 in the initial state), the inward movement of the jaws 16 shortens the horizontal distance of the pulling spring 31. As the jaws 16 drive the pulling spring 31 to change its position, the traction force on the pulling spring 31 gradually decreases, and the force on the annular slider 34 from the pulling spring 31 becomes smaller, and the restoring spring 39 fixedly connected to the top of the synchronous annular slider 34 contracts (the restoring spring 39 is in a stretched state in the initial state due to the force from the annular slider 34 and the pulling spring 31). Therefore, the contraction of the restoring spring 39 will pull the annular slider 34 to move vertically upward on the outer surface of the cylindrical positioning rod 21. At this time, the positioning frame 32 fixedly connected to the annular slider 34 through the connecting rod 33 will move vertically upward synchronously.

[0075] The cam 35 is rotated in the direction of the rotation of the link 37 and the cam 36 is rotated in the direction of the rotation of the link 37.

[0076] The movable block 24 changes its position as the distance between the clamps 16 changes. When the size of the culture dish itself is larger than the initial distance between the clamps 16, the opening of the clamps 16 cannot cause the position of the movable block 24 to change. The culture dish is clamped by the contact plate 1 25 and the contact plate 2 26 located at the center of the culture dish in cooperation with the clamps 16. When the size of the culture dish itself is smaller than the initial distance between the clamps 16, the movable blocks 24 arranged in a circular array will gradually shorten the distance between them as the clamps 16 move, and synchronously make the contact plate 1 25 and the contact plate 2 26 move toward the center of the rectangular limiting plate 22. At this time, the distance between the four groups of contact plates 1 25 and contact plates 2 26 is shortened, and When the four groups of contact plates 1 25 and 26 are in a state of surrounding the center of the top of the sealed culture dish and approaching each other, the contact plate 1 25 will contact the sealing cover on the top of the culture dish, and the contact plate 2 26 will rotate downward to clamp the outer surface of the culture dish, so as to avoid the situation that the four groups of contact plates 1 25 and 26 cannot completely contact the top of the culture dish when clamping a smaller culture dish, that is, the contact plate 2 26 cannot partially or completely contact the culture dish and cannot apply a steady pressure to the top of the culture dish. The positions of the contact plates 1 25 and 26 can change with the size of the culture dish itself, so that the contact position is always in the center of the culture dish, thereby adapting to the clamping of culture dishes of different sizes.

[0077] Through the cooperation of the adaptive mechanism and the clamp 16, the position of the culture dish to be transferred is auxiliary fixed to avoid the movement of the culture dish during the transfer process, and synchronously through the mutual cooperation of the adaptive mechanism, the clamp 16 and the auxiliary clamping mechanism, the device can adapt to culture dishes of different sizes, and the stable clamping method can avoid the unstable clamping of the mechanical claws due to unexpected situations during the movement of the culture dish. When the culture dish is small in size, the culture dish can be completely fixed by side clamping, top resistance and bottom support, which can simultaneously reduce the impact of the vibration between the mechanical parts of the robot during long-term operation on the culture dish, and avoid the vibration of the mechanical structure causing the sealing shell above the culture dish to loosen, resulting in failure of the culture dish seal and destruction of the internal culture environment of the Egg Bacillus culture dish.

[0078] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0079] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot for culturing Bacillus aegypti, comprising a base (11), a robot arm frame body (12) fixedly mounted on the top of the base (11), a rectangular frame (13) fixedly mounted on one end of the robot arm frame body (12) away from the base (11), both sides of one end of the rectangular frame (13) are rotatably connected to electric telescopic rods (14), two electric telescopic rods (14) are symmetrically arranged with the central axis of the rectangular frame (13) as a reference, the two electric telescopic rods (14) are rotatably connected to push blocks (15) at one end away from the rectangular frame (13), the push blocks (15) are fixedly connected to one end of the electric telescopic rod (14) away from the electric telescopic rod (14), the outer surfaces of both ends of the round rod are fixedly connected to clamps (16), and a sensor device (17) is fixedly mounted on the upper surface of the rectangular frame (13), characterized in that: It also includes an adaptive mechanism arranged below the rectangular frame (13); The adaptive mechanism comprises a columnar positioning rod (21) fixedly connected to the center of the bottom of the rectangular frame (13); a rectangular limiting plate (22) is fixedly connected to the bottom of the columnar positioning rod (21); four sliding grooves (23) are provided on the rectangular limiting plate (22); moving blocks (24) are slidably connected inside the four sliding grooves (23); the bottom ends of the moving blocks (24) are rotatably connected to a first contact plate (25); the bottom ends of the moving blocks (24) are rotatably connected to a second contact plate (26); and a connecting spring (27) is fixedly connected between the second contact plate (26) and the first contact plate (25) on the same side.

2. A robot for culturing Paenibacillus aegypti according to claim 1, characterized in that: Two groups of clamping jaws (16) are provided, each group of clamping jaws (16) is provided with two clamping jaws, and the two groups of clamping jaws (16) are symmetrically arranged with reference to the central axis of the rectangular frame (13), and each clamping jaw (16) is rotatably connected to the bottom of the rectangular frame (13).

3. A robot for culturing Paenibacillus aegypti according to claim 1, characterized in that: Four slide grooves (23) are provided, and the four slide grooves (23) are arranged in a circular array with the center of the rectangular limiting plate (22) as a reference, and the second contact plate (26) and the first contact plate (25) on the same side are hinged to each other.

4. A robot for culturing Paenibacillus aegypti according to claim 1, characterized in that: Also included is a connecting mechanism disposed inside the clamping jaw (16); The connection mechanism comprises a pulling spring (31) connected to the inner side of each clamping jaw (16) in a hook-ring manner, the pulling spring (31) is hook-ringed to a positioning frame (32) at one end away from the clamping jaw (16), a connecting rod (33) is fixedly connected inside the positioning frame (32), an end of the connecting rod (33) away from the positioning frame (32) is fixedly connected to an annular slider (34), an outer surface of the columnar positioning rod (21) is fixedly connected to a circular ring limit block (35), an outer surface of the connecting rod (33) is fixedly connected to a sleeve (36), a connecting rod (37) is rotatably connected inside the bottom end of the sleeve (36), a fixing spring (38) is fixedly connected to the outer surface of one side of the connecting rod (37), and a restoring spring (39) is fixedly connected to the top of the annular slider (34).

5. A robot for culturing Paenibacillus aegypti according to claim 4, characterized in that: The positioning frame (32) is sleeved on the outside of the cylindrical positioning rod (21), the annular slider (34) is slidably connected to the outer surface of the cylindrical positioning rod (21), the circular ring limit block (35) is arranged below the annular slider (34), and the end of the connecting rod (37) away from the collar (36) is rotatably connected to the moving block (24).

6. A robot for culturing Paenibacillus aegypti according to claim 4, characterized in that: Four connecting rods (33) are arranged in a circular array with the center of the columnar positioning rod (21) as a reference, four collars (36), connecting rods (37) and fixing springs (38) are arranged in a circular array with the center of the columnar positioning rod (21) as a reference, and one end of the fixing spring (38) away from the connecting rod (37) is fixedly connected to the outer wall of the columnar positioning rod (21).

7. The robot for culturing Paenibacillus aegypti according to claim 1, characterized in that: It also includes an auxiliary clamping mechanism arranged at the bottom end of each clamping jaw (16); The auxiliary clamping mechanism comprises a positioning block (41) fixedly connected to the outer wall of the bottom end of the clamping jaw (16); an end of the positioning block (41) away from the clamping jaw (16) is internally rotatably connected to an arc plate 2 (43); an arc plate 1 (42) is internally rotatably connected to the positioning block (41); a buffer spring (44) is fixedly connected between the arc plate 1 (42) and the arc plate 2 (43); the buffer springs (44) are arranged in a plurality of equal distances; a columnar extrusion rod (45) is slidably connected to the bottom end of each clamping jaw (16); and a limit spring (46) is sleeved on the outer surface of the columnar extrusion rod (45).

8. The robot for culturing Paenibacillus aegypti according to claim 7, characterized in that: Each arc plate 1 (42) is arranged between the clamping jaw (16) and the arc plate 2 (43) on the same side. The columnar extrusion rod (45) is arranged obliquely. Both ends of the columnar extrusion rod (45) extend to the outside of the clamping jaw (16). One end of the columnar extrusion rod (45) extending out of the clamping jaw (16) contacts the top of the arc plate 2 (43) on the same side.

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