Microorganism sample automatic coating and scribing separation platform and coating and scribing method

Abstract

The invention discloses an automatic microorganism sample coating and scribing separation platform and a coating and scribing method, and relates to the field of laboratory automation equipment. The platform comprises an operation table, an injector containing box, a coating device, an injector recycling box, a rotating table, a mechanical clamping jaw, a sample frame, a sample beaker and a control unit. The coating device is provided with a coating base, a coating rotating motor, a supporting frame, a driving motor, a first connecting rod, a second connecting rod, a coating mechanical arm and a scribing arm. The scribing arm is provided with a push-pull cylinder, a piston, a lifting hook, an injector sleeve, a scribing rotating motor and a counterweight rod type linear motor, the front end of the injector sleeve is provided with a hole, a V-shaped baffle is arranged in the injector sleeve, the upper part is provided with a notch, the rear end is connected with the push-pull cylinder, and the piston is fixed with a piston rod and is provided with the lifting hook. The head of the disposable syringe has gradient, and the contact angle and force are adjustable. According to the invention, the Archimedes spiral line can be used as a scribing track to realize separation of the microbial sample, the scribing separation effect of the microbial sample is ensured, and the experiment efficiency is improved.

Description

Technical Field

[0001] The invention relates to the field of laboratory automation equipment, and in particular to an automatic coating and marking separation platform for microbial samples and a coating and marking method. Background Art

[0002] Microbial separation and purification technology is used in the inspection of microbial samples such as food, medicine and clinical pathogens. That is, plate streaking separation is used to make the target bacteria grow separately on the culture medium to obtain single pure colonies.

[0003] At present, the most common method is manual separation by streaking, and the main streaking methods include: cross method, continuous method, grid method, radial method, etc. The manual method has high requirements on the selection of streaking method, the angle between the inoculation loop and the surface of the culture medium, the strength of streaking, etc., and often fails to obtain ideal results.

[0004] In recent years, some automatic streaking separation instruments have emerged, mainly in the following categories: completely simulating manual streaking; streaking samples along a fan shape; using special culture plates for streaking, etc. These instruments all have shortcomings, such as scratches on the surface of the culture medium caused by inoculation loops or streaking tools, poor separation of some samples due to streaking fixation, and large size. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic coating and marking separation platform for microbial samples and a coating and marking method, which can adjust the contact force and contact angle between the marking tool and the culture medium to avoid scratching the surface of the culture medium, realize automatic coating and marking of microbial samples, and improve the work efficiency of sample coating.

[0006] To achieve the above-mentioned purpose, the present invention provides a microbial sample automatic coating and marking separation platform and a coating and marking method. The technical solution adopted by the present invention is: The invention discloses an automatic coating, marking and separation platform for microorganism samples, which is characterized in that it comprises an operating table, a syringe containing box, a coating device, a syringe recovery box, a rotating table, a mechanical clamp, a sample rack, a beaker and a control unit.

[0007] The syringe storage box is used to store spare syringes.

[0008] The coating device is used to receive or eject the syringe and to extract or release the microbial solution sample using the syringe.

[0009] The syringe return box is used to store used syringes.

[0010] The rotating stage is used to fix and rotate the plate culture medium.

[0011] A mechanical gripper is used to grab and move culture plates.

[0012] The sample rack is used to place plate culture medium.

[0013] Beakers are used to hold microbial solution samples.

[0014] The control unit is a control system used to control the platform to achieve automatic coating and marking.

[0015] The syringe accommodating box, the coating device, the syringe recovery box, the rotating table, the mechanical clamping claws and the sample rack are fixed on the operating table.

[0016] Furthermore, the operating table is provided with a circular groove, and the beaker is placed in the groove.

[0017] The syringe accommodating box comprises a box body, a star-shaped rotor and a feeding rotating motor.

[0018] Furthermore, the top of the box body is open, and the syringe is placed into the syringe accommodating box through the opening. The syringes are stacked in the syringe accommodating box. The lower part of the box body is cylindrical, and the cylindrical lower part of the box body is provided with an opening whose size and shape match the syringe. The feeding rotary motor is fixedly connected to the outer wall of the cylindrical end face of the box body, and the shaft of the feeding rotary motor extends into the box body and is fixedly connected to the shaft end of the star-shaped rotor, and the axis line of the star-shaped rotor coincides with the center line of the cylinder at the lower part of the box body.

[0019] The rotating table comprises a rotating surface, a suction cup, a rotating motor, a rod-type linear motor and a supporting plate.

[0020] Furthermore, both ends of the rod-type linear motor are fixedly connected to a support plate, the support plate is fixed to an operating table, the primary upper portion of the rod-type linear motor is fixedly connected to a rotating motor, the shaft end of the rotating motor is fixedly connected to a rotating surface, suction cups are evenly arranged on the rotating surface, and the suction cups are used to fix the culture vessel.

[0021] Furthermore, there are at least three suction cups.

[0022] The mechanical gripper comprises a gripper rotating motor, a gripper base, a lifting cylinder and a gripper.

[0023] Furthermore, the jaw rotating motor is fixed in the center groove of the jaw base, the shaft end of the jaw rotating motor is fixedly connected to the bottom center of the lifting cylinder, and the jaw is fixedly connected to the end of the piston rod of the lifting cylinder.

[0024] The sample rack is provided with a storage plate for placing the coated plate culture medium.

[0025] Furthermore, a lifting ring is provided on the top of the sample rack for lifting the sample rack out of the insertion hole.

[0026] Furthermore, the operating table is provided with a socket, and the lifting rod of the sample rack is inserted into the socket.

[0027] The coating device comprises a coating base, a coating rotating motor, a supporting frame, a driving motor, a first connecting rod, a second connecting rod, a coating mechanical arm and a marking arm.

[0028] Furthermore, the coating base is fixed on the operating table, the coating rotating motor is fixed in the groove in the center of the coating base, the shaft end of the coating rotating motor is fixedly connected to the center of the bottom of the support frame, a double-ear support seat is provided on the top of the support frame, the double-ear support seat and the middle part of the coating robot arm are connected by a rotating shaft, the driving motor is fixed on the side of the support frame, the shaft end of the driving motor is fixedly connected to one end of the first connecting rod, the other end of the first connecting rod is connected to one end of the second connecting rod through a rotating shaft, and the other end of the second connecting rod is connected to the rear part of the coating robot arm through a rotating shaft.

[0029] Furthermore, the end surface of the front part of the coating robot arm and the bottom surface of the lower part of the coating robot arm form an angle of 45°, and the end surface of the front part of the coating robot arm and the top surface of the upper part of the coating robot arm are connected in an arc.

[0030] The marking arm comprises a push-pull cylinder, a piston, a lifting hook, a syringe sleeve, a marking rotary motor and a counterweight rod type linear motor.

[0031] Furthermore, an opening is provided at the front end of the syringe sleeve, and the head of the syringe can extend from the opening.

[0032] Furthermore, a V-shaped baffle is fixedly arranged inside the syringe sleeve, which is used to clamp the wing of the syringe when the syringe extracts the microbial sample, thereby fixing the syringe. A lifting hook is fixed on the top edge of the piston, which is used to pull the syringe handle when the syringe extracts the microbial sample. The V-shaped baffle and the lifting hook cooperate with each other to enable the syringe to extract the microbial sample.

[0033] Furthermore, a notch is provided on the upper portion of the syringe sleeve, and the size and shape of the notch match the syringe.

[0034] Furthermore, the rear end of the syringe sleeve is fixedly connected to the push-pull cylinder, the piston rod of the push-pull cylinder is fixedly connected to the piston, the shaft end of the marking rotary motor is fixedly connected to the center of one end of the push-pull cylinder relative to the piston, and the center of one end of the marking rotary motor relative to the push-pull cylinder is fixedly connected to one end of the secondary of the counterweight rod type linear motor.

[0035] Furthermore, an ear-type support is fixedly arranged on the side of the scribing rotary motor, and a bearing is arranged near the upper part of the front end of the coating robot arm, and the bearing and the ear-type support are movably connected through a rotating shaft.

[0036] Furthermore, the lifting cylinder is driven by any one of a stepper motor, a servo motor or an air pump.

[0037] Furthermore, the push-pull cylinder is driven by any one of a stepper motor, a servo motor or an air pump.

[0038] Furthermore, the clamping jaw is driven by any one of a stepping motor, a servo motor or an air pump.

[0039] Furthermore, the number of circles of the Archimedean spiral drawn by the marking arm ranges from 2 to 12.

[0040] Furthermore, the disposable syringe head has a slope ranging from 15 to 45 degrees, and contacts the surface of the plate culture medium at a certain angle when drawing.

[0041] Furthermore, the number of syringes stored in the syringe accommodating box ranges from 5 to 20.

[0042] Furthermore, the weight of the syringe ranges from 2-4 g.

[0043] Furthermore, the number of the plate culture medium ranges from 2 to 20.

[0044] A method for coating and streaking using an automatic coating and streaking separation platform for microbial samples comprises the following steps: (1) Place the syringe in the syringe container for standby use, place the microbial sample in a liquid state in a beaker, and place the beaker in the groove of the operating table; (2) The control unit controls the coating rotary motor to rotate so that the marking arm moves to the lower part of the syringe housing box, the driving motor drives the first connecting rod, the second connecting rod and the coating mechanical arm to move the slot to the lower part of the syringe housing box, the control unit controls the feeding rotary motor to rotate, the feeding rotary motor drives the star rotor to rotate, the syringe falls into the syringe sleeve, the wing of the syringe is stuck in the front side of the V-shaped baffle, and the handle of the syringe falls into the lifting hook; (3) The coating device moves the syringe head into the beaker, the lifting hook hooks the syringe handle, and the control unit controls the push-pull cylinder to drive the lifting hook to pull the syringe handle to extract the sample; (4) The control unit controls the rotation of the gripper rotary motor and the lifting and lowering of the lifting cylinder to move the gripper to the sample rack and control the gripper to grip the flat plate culture medium on the sample rack. The control unit controls the primary of the rod linear motor to move toward the mechanical gripper. The control unit controls the rotation of the gripper rotary motor to move the flat plate culture medium to just above the suction cup. The gripper moves downward until the flat plate culture medium is sucked by the suction cup, and the gripper releases the flat plate culture medium. (5) The control unit controls the primary of the rod-type linear motor to move toward the coating device, and the coating device moves the head of the syringe to the center of the flat culture medium. According to the lever principle, the control unit adjusts the relative position of the primary and secondary of the counterweight rod-type linear motor so that the contact force between the syringe and the flat culture medium reaches an appropriate level. The push-pull cylinder pushes the piston to press the syringe handle, and the syringe releases the microbial sample to the center of the flat culture medium. (6) The control unit controls the rotation of the rotary motor, which controls the rotation speed of the plate culture medium. The number of turns of the Archimedean spiral coated is controlled by controlling the rotation speed of the rotary motor and the moving speed of the rod-type linear motor. The rotary motor controls the syringe to coat the Archimedean spiral at a uniform speed or uniform deceleration. (7) After the marking is completed, the coating device lifts the syringe and moves the syringe above the syringe recovery box, the control unit controls the marking rotation motor to rotate, the notch flips downward, and the syringe falls into the syringe recovery box; (8) After the marking is completed, the control unit controls the primary movement of the rod linear motor, and the flat plate culture medium moves toward the mechanical gripper following the primary movement of the rod linear motor. The control unit controls the rotation of the gripper rotation motor and the lifting and lowering of the lifting cylinder to move the gripper to the edge of the flat plate culture medium and control the gripper to clamp the flat plate culture medium. The mechanical gripper moves the flat plate culture medium to the placement plate.

[0045] In summary, the beneficial technical effects of the present invention are: (1) The method of the present invention uses the Archimedean spiral as a trajectory to perform streaking separation of microbial samples. The method has a sufficient streaking length to meet the separation and purification requirements of samples of different concentrations. A disposable syringe is used as a streaking tool, and no sterilization or disinfection steps are required, thereby avoiding cross contamination between samples and improving the streaking separation efficiency.

[0046] (2) Based on the lever principle, the streaking arm uses gravity to regulate the contact force between the syringe and the plate culture medium to prevent the syringe from scratching the plate culture medium due to excessive contact force, and to prevent the syringe from failing to draw a line on the surface of the plate culture medium due to insufficient contact force, thus affecting the effect of microbial separation and purification.

[0047] (3) The syringe head has a slope, which increases the contact area with the surface of the plate culture medium when drawing lines, resulting in a better separation effect.

[0048] (4) The angle between the syringe and the surface of the plate culture medium can be adjusted through the coating device to ensure the streaking effect and avoid scratching the plate culture medium.

[0049] (5) The syringe is automatically grabbed and ejected by the marking arm, and the plate is automatically grabbed and replaced by the robotic arm. The degree of automation is high and the marking and separation results are reliable. It can free the operator from tedious experiments, save labor, and improve the efficiency of coating and marking.

[0050] (6) The lifting cylinder, push-pull cylinder and clamping claw can be driven by any one of the structures: stepper motor, servo motor or air pump. When high coating and marking accuracy is required, the servo motor is selected as the power; when coating and marking accuracy is not required, the pneumatic pump is selected as the power to meet the coating and marking requirements in different situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a structural diagram of the automatic coating and streaking separation platform for microbial samples of the present invention; Figure 2 It is a structural diagram of the scribing arm of the present invention; Figure 3 is a longitudinal sectional view of the receiving box of the present invention; Figure 4 It is a structural diagram of the syringe of the present invention; Figure 5 It is a cross-sectional view of the syringe sleeve in front of the V-shaped baffle.

[0052] The reference numerals in the accompanying drawings are: 1. operating table; 2. box body; 3. star rotor; 4. feeding rotary motor; 5. rotating surface; 6. suction cup; 7. rotary motor; 8. rod linear motor; 9. support plate; 10. clamping jaw rotary motor; 11. clamping jaw base; 12. lifting cylinder; 13. clamping jaw; 14. coating rotary motor; 15. support frame; 16. driving motor; 17. first connecting rod; 18. second connecting rod; 19. coating robot arm; 20. push-pull cylinder; 21. piston; 22. lifting hook; 23. syringe sleeve; 24. marking rotary motor; 25. counterweight rod linear motor; 26. V-shaped baffle; 27. notch; 28. lifting rod; 29. ​​storage plate; 30. lifting ring; 31. beaker; 32. Groove; 33. Opening; 34. Syringe receiving box; 35. Syringe recovery box. DETAILED DESCRIPTION

[0053] 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.

[0054] Embodiment 1:

[0055] Reference Figures 1 to 5 , this embodiment provides a platform for automatic coating and streaking separation of microbial samples.

[0056] A microbial sample automatic coating and marking separation platform comprises an operating table 1, a syringe containing box 34, a coating device, a syringe recovery box 35, a rotating table, a mechanical clamp, a sample rack, a beaker 31 and a control unit.

[0057] The syringe accommodating box 34 , the coating device, the syringe recovery box 35 , the rotating table, the mechanical gripper and the sample rack are fixed on the table top of the operating table 1 .

[0058] The beaker 31 is adjacent to the coating device, and the operating table 1 is provided with a circular groove 32 , and the beaker 31 is placed in the groove 32 .

[0059] The syringe recovery box 35 is adjacent to the coating device.

[0060] The syringe accommodating box 34 is located at the upper right of the coating device and the notch 27 can be moved to a position just below the lower opening of the syringe accommodating box 34 .

[0061] The mechanical gripper is adjacent to the rotating table.

[0062] The sample holder and the mechanical gripper are adjacent.

[0063] The syringe accommodating box 34 includes a box body 2, a star-shaped rotor 3 and a feeding rotary motor 4. The box body 2 has an opening at the top, and the syringe is placed into the syringe accommodating box 34 through the opening. The syringes are stacked in the syringe accommodating box 34. The lower part of the box body 2 is cylindrical, and the cylindrical lower part of the box body 2 is provided with an opening whose size and shape match the syringe. The feeding rotary motor 4 is fixedly connected to the outer wall of the cylindrical end face of the box body 2, and the shaft of the feeding rotary motor 4 extends into the box body 2 and is fixedly connected to the shaft end of the star-shaped rotor 3, and the axis center line of the star-shaped rotor 3 coincides with the center line of the lower cylinder of the box body 2.

[0064] The rotating table includes a rotating surface 5, a suction cup 6, a rotating motor 7, a rod-type linear motor 8, and a support plate 9. Both ends of the rod-type linear motor 8 are fixedly connected to the support plate 9, and the support plate 9 is fixed on the operating table 1. The primary upper part of the rod-type linear motor 8 is fixedly connected to the rotating motor 7, and the axial end of the rotating motor 7 is fixedly connected to the rotating surface 5. Suction cups 6 are evenly arranged on the rotating surface 5, and the disk surface of the suction cups 6 faces upward. The bottom of the suction cups 6 is fixedly connected to the rotating surface 5, and the number of suction cups 6 is three.

[0065] The mechanical gripper includes a gripper rotating motor 10 , a gripper base 11 , a lifting cylinder 12 , and a gripper 13 .

[0066] The jaw rotating motor 10 is fixed in the central groove 32 of the jaw base 11 , the shaft end of the jaw rotating motor 10 is fixedly connected to the bottom center of the lifting cylinder 12 , and the jaw 13 is fixedly connected to the rod end of the piston 21 of the lifting cylinder 12 .

[0067] The operating table 1 is provided with a socket, and the lifting rod 28 of the sample rack is inserted into the socket. The sample rack is provided with a storage plate 29, on which the plate culture medium is placed. A lifting ring 30 is provided on the top of the sample rack for lifting the sample rack out of the socket.

[0068] The coating device includes a coating base 13, a coating rotating motor 14, a support frame 15, a driving motor 16, a first connecting rod 17, a second connecting rod 18, a coating mechanical arm 19 and a scribing arm.

[0069] The coating base 13 is fixed on the operating table 1, and the coating rotating motor 14 is fixed in the groove 32 in the center of the coating base 13. The shaft end of the coating rotating motor 14 is fixedly connected to the bottom center of the support frame 15. A double-ear support seat is arranged on the top of the support frame 15. The double-ear support seat and the middle part of the coating robot arm 19 are connected by a rotating shaft. The driving motor 16 is fixed on the side of the support frame 15. The shaft end of the driving motor 16 is fixedly connected to one end of the first connecting rod 17, and the other end of the first connecting rod 17 and one end of the second connecting rod 18 are connected by a rotating shaft. The other end of the second connecting rod 18 is connected to the rear part of the coating robot arm 19 by a rotating shaft. The end face of the front part of the coating robot arm 19 and the bottom face of the lower part of the coating robot arm 19 are at an angle of 45°, and the end face of the front part of the coating robot arm 19 and the top face of the upper part of the coating robot arm 19 are connected in a circular arc.

[0070] The marking arm comprises a push-pull cylinder 20 , a piston 21 , a lifting hook 22 , a syringe sleeve 23 , a marking rotary motor 24 and a counterweight rod type linear motor 25 .

[0071] An opening 33 is provided at the front end of the syringe sleeve 23, and the head of the syringe can extend from the opening 33. A V-shaped baffle 26 is fixedly provided inside the syringe sleeve 23, and a notch 27 is provided at the upper part of the syringe sleeve 23. The size and shape of the notch 27 match the syringe.

[0072] A lifting hook 22 is fixed to the top edge of the piston 21 for lifting the syringe handle when the syringe extracts the microorganism sample. The V-shaped baffle 26 and the lifting hook 22 cooperate with each other to enable the syringe to extract the microorganism sample.

[0073] The rear end of the syringe sleeve 23 is fixedly connected to the push-pull cylinder 20, the piston 21 rod of the push-pull cylinder 20 is fixedly connected to the piston 21, the shaft end of the marking rotary motor 24 is fixedly connected to the center of one end of the push-pull cylinder 20 relative to the piston 21, and the center of one end of the marking rotary motor 24 relative to the push-pull cylinder 20 is fixedly connected to one end of the secondary of the counterweight rod linear motor 25.

[0074] An ear-type support is fixedly arranged on the side of the scribing rotary motor 24, and a bearing is arranged near the upper part of the front end of the coating robot arm 19, and the bearing and the ear-type support are movably connected through a rotating shaft.

[0075] The push-pull cylinder 20, the clamping claw 13 and the lifting cylinder 12 are driven by a stepping motor.

[0076] The weight of the syringe is 4 g, the slope of the syringe head is 45°, and the capacity of the syringe for transferring microbial samples is 10 µL.

[0077] Reference Figures 1 to 5 The method for applying the microbial sample automatic coating and streaking separation platform to perform coating and streaking comprises the following steps: (1) Place the syringe head away from the coating device and with the bevel of the head facing downward into the syringe storage box 34 for standby use. The syringe storage box 34 reserves 20 syringes for injection. The microbial sample is placed in the beaker 31, and the beaker 31 is placed in the groove 32 of the operating table 1; (2) The control unit controls the coating rotary motor 14 to rotate so that the marking arm moves in the lateral direction. The control unit controls the coating rotary motor 14 to rotate so that the marking arm moves to the lower part of the opening of the syringe accommodating box 34. The control unit controls the driving motor 16 to rotate so as to drive the first connecting rod 17, the second connecting rod 18 and the coating mechanical arm 19 to move the marking arm in the longitudinal direction. The driving motor 16 drives the first connecting rod 17, the second connecting rod 18 and the coating mechanical arm 19 to move the slot 27 just below the lower part of the opening of the syringe accommodating box 34. The control unit controls the feeding rotary motor 4 to rotate. The feeding rotary motor 4 drives the star rotor 3 to rotate. The syringe falls into the syringe sleeve 23. The wing of the syringe is stuck in the front side of the V-shaped baffle 26. The handle of the syringe falls into the lifting hook 22. (3) The coating device moves the syringe head into the beaker 31, and the lifting hook 22 hooks the syringe handle. The control unit controls the push-pull cylinder 20 to drive the lifting hook 22 to lift the syringe handle to extract the sample; (4) The control unit controls the rotation motor 10 of the clamping jaws to rotate so that the clamping jaws 13 move in the lateral direction, controls the lifting and lowering of the lifting cylinder 12 to move the clamping jaws 13 in the longitudinal direction, controls the clamping jaws 13 to move to the sample rack and controls the clamping jaws 13 to clamp the plate culture medium on the sample rack, and controls the primary of the rod-type linear motor 8 to move to the mechanical clamping jaws. When the control unit controls the rotation motor 10 of the clamping jaws to rotate so that the plate culture medium moves to the top of the rotating surface 5, the clamping jaws 13 move downward until the plate culture medium is sucked by the suction cup 6, and the clamping jaws 13 release the plate culture medium; (5) The control unit controls the primary of the rod-type linear motor 8 to move toward the coating device, and the coating device moves the head of the syringe to the center of the plate culture medium. The coating device moves the syringe and the plate culture medium to form a 45° angle. According to the lever principle, the control unit adjusts the relative position of the primary and secondary of the counterweight rod-type linear motor so that the contact force between the syringe and the plate culture medium reaches an appropriate level. The push-pull cylinder 20 pushes the piston 21 to press the syringe handle, and the syringe releases the microbial sample to the center of the plate culture medium. (6) The control unit controls the rotation of the rotary motor 7, and the rotary motor 7 controls the rotation speed of the plate culture medium. The coating of the 6-turn spiral line is controlled by controlling the rotation speed of the rotary motor 7 and the moving speed of the rod-type linear motor 8; (7) After step (6) is completed, the coating device lifts the syringe and moves the syringe to the top of the syringe recovery box 35, and the control unit controls the scribing rotation motor 24 to rotate, the notch 27 flips downward, and the syringe falls into the syringe recovery box 35; (8) After step (6) is completed, the control unit controls the drive motor 16 to rotate to separate the syringe and the plate culture medium. The plate culture medium follows the primary of the rod-type linear motor 8 controlled by the control unit and moves toward the mechanical clamp. The control unit controls the rotation of the clamp rotation motor 10 and the lifting of the lifting cylinder 12 to move the clamp 13 to the edge of the plate culture medium and control the clamp 13 to clamp the plate culture medium. The mechanical clamp moves the plate culture medium to the storage plate 29 of the sample rack.

[0078] Embodiment 2:

[0079] Different from Example 1, in this embodiment, the push-pull cylinder 20, the clamping claw 13 and the lifting cylinder 12 are all driven by a servo motor; the weight of the syringe is 4g, the slope of the syringe head is 45°, and the capacity of the syringe for removing microbial samples is 2010µL; the control unit controls the rotation of the rotary motor 7, the rotary motor 7 controls the rotation speed of the plate culture medium, and the number of turns of the Archimedean spiral is controlled by controlling the rotation speed of the rotary motor 7 and the moving speed of the rod linear motor 8. The rotary motor 7 controls the syringe to uniformly decelerate and apply 12 turns of the Archimedean spiral.

[0080] Implementation:3:

[0081] Different from Example 1, in this embodiment, the push-pull cylinder 20, the clamping claw 13 and the lifting cylinder 12 are all driven by an air pump; the weight of the syringe is 2g, the slope of the syringe head is 15°, and the capacity of the syringe for removing microbial samples is 1000µL; the control unit controls the rotation of the rotary motor 7, the rotary motor 7 controls the rotation speed of the plate culture medium, and the number of turns of the Archimedean spiral is controlled by controlling the rotation speed of the rotary motor 7 and the moving speed of the rod-type linear motor 8. The rotary motor 7 controls the syringe to uniformly decelerate and apply 2 turns of the Archimedean spiral.

Claims

1. An automatic coating and streaking separation platform for microbial samples, characterized in that: It includes an operating table, a syringe containing box, a coating device, a syringe recovery box, a rotating table, a mechanical gripper, a sample rack, a beaker, a syringe and a control unit; The coating device comprises a coating base, a coating rotary motor, a support frame, a driving motor, a first connecting rod, a second connecting rod, a coating mechanical arm and a marking arm, wherein the coating base is fixed on the operating table, the coating rotary motor is fixed in a groove at the center of the coating base, the shaft end of the coating rotary motor is fixedly connected to the bottom center of the support frame, a double-ear supporting seat is arranged on the top of the support frame, the double-ear supporting seat and the middle part of the coating mechanical arm are connected by a rotating shaft, the driving motor is fixed on the side of the support frame, the shaft end of the driving motor is fixedly connected to one end of the first connecting rod, the other end of the first connecting rod is connected to one end of the second connecting rod by a rotating shaft, the other end of the second connecting rod is connected to the rear part of the coating mechanical arm by a rotating shaft, the end face of the front part of the coating mechanical arm and the bottom edge of the lower part of the coating mechanical arm form an angle of 45°, and the end face of the front part of the coating mechanical arm and the top surface of the upper part of the coating mechanical arm are connected in a circular arc; The marking arm includes a push-pull cylinder, a piston, a lifting hook, a syringe sleeve, a marking rotary motor and a counterweight rod type linear motor, the front end of the syringe sleeve is provided with an opening, the upper part of the syringe sleeve is provided with a notch, the size and shape of the notch match the syringe, the piston rod of the push-pull cylinder is fixedly connected to the piston, the rear end of the syringe sleeve is fixedly connected to the push-pull cylinder, the shaft end of the marking rotary motor is fixedly connected to the center of one end of the push-pull cylinder relative to the piston, and the center of one end of the marking rotary motor relative to the push-pull cylinder is fixedly connected to one end of the secondary of the counterweight rod type linear motor; An ear-type support is fixedly arranged on the side of the scribing rotary motor, a bearing is arranged at the front end of the coating robot arm near the upper part, and the bearing and the ear-type support are movably connected through a rotating shaft; The head of the syringe has a slope, and when drawing lines, the syringe contacts the surface of the plate culture medium at a certain angle.

2. The microbial sample automatic coating and streaking separation platform according to claim 1, characterized in that: A V-shaped baffle is fixedly arranged inside the syringe sleeve, which is used to clamp the wings of the syringe to fix the syringe when the syringe extracts the microbial sample. The top edge of the piston is provided with a lifting hook, which is used to lift the syringe handle when the syringe extracts the microbial sample.

3. The microbial sample automatic coating and streaking separation platform according to claim 2, characterized in that: The syringe accommodating box comprises a box body, a star-shaped rotor and a feeding rotary motor. The box body has an opening at the top, and the syringe is placed into the syringe accommodating box through the opening. The syringes are stacked in the syringe accommodating box. The lower part of the box body is cylindrical, and the cylindrical lower part of the box body is provided with an opening whose size and shape match the syringe. The feeding rotary motor is fixedly connected to the outer wall of the cylindrical end surface of the box body, and the shaft of the feeding rotary motor extends into the box body and is fixedly connected to the shaft end of the star-shaped rotor. The axis center line of the star-shaped rotor coincides with the center line of the cylinder at the lower part of the box body.

4. The microbial sample automatic coating and streaking separation platform according to claim 3, characterized in that: The rotating table includes a rotating surface, a suction cup, a rotating motor, a rod-type linear motor, and a support plate. Both ends of the rod-type linear motor are fixedly connected to the support plate, and the support plate is fixed to the operating table. The primary upper part of the rod-type linear motor is fixedly connected to the rotating motor, and the axial end of the rotating motor is fixedly connected to the rotating surface. The suction cups are evenly arranged on the rotating surface, and the suction cups are used to fix the culture vessel. There are at least three suction cups.

5. The microbial sample automatic coating and streaking separation platform according to claim 4, characterized in that: The mechanical clamp includes a clamp rotating motor, a clamp base, a lifting cylinder, and a clamp. The clamp rotating motor is fixed in a central groove of the clamp base, the shaft end of the clamp rotating motor is fixedly connected to the bottom center of the lifting cylinder, and the clamp is fixedly connected to the end of the piston rod of the lifting cylinder.

6. The microbial sample automatic coating and streaking separation platform according to claim 5, characterized in that: The operating table is provided with a socket, the lifting rod of the sample rack is inserted into the socket, the sample rack is provided with a storage plate, and the top of the sample rack is provided with a lifting ring.

7. A method for coating and streaking using the microbial sample automatic coating and streaking separation platform according to claim 6, characterized in that: (1) placing a syringe into the syringe holding box for standby use, placing a microbial sample into a beaker, and placing the beaker into the groove of the operating table; (2) The control unit controls the coating rotary motor to rotate so that the marking arm moves to the lower part of the lower opening of the syringe accommodating box, the driving motor drives the first connecting rod, the second connecting rod and the coating mechanical arm to move the slot to the lower part of the syringe accommodating box, the control unit controls the feeding rotary motor to rotate, the feeding rotary motor drives the star rotor to rotate, and the syringe falls from the slot into the syringe sleeve; (3) The coating device moves the head of the syringe into the beaker, the lifting hook hooks the syringe handle, and the control unit controls the push-pull cylinder to drive the lifting hook to lift the syringe handle to extract the sample; (4) The control unit controls the rotation of the gripper rotary motor and the lifting and lowering of the lifting cylinder to move the gripper to the sample rack and control the gripper to clamp the plate culture medium on the sample rack, the control unit controls the primary of the rod-type linear motor to move toward the mechanical gripper, the control unit controls the rotation of the gripper rotary motor to move the plate culture medium to just above the rotating surface, the gripper moves downward until the plate culture medium is sucked by the suction cup, and the gripper releases the plate culture medium; (5) The control unit controls the primary of the rod-type linear motor to move toward the coating device, and the coating device moves the head of the syringe to the center of the flat culture medium. The control unit adjusts the relative positions of the primary and secondary of the counterweight rod-type linear motor to adjust the contact force between the syringe and the flat culture medium. The push-pull cylinder pushes the piston to press the handle of the syringe, and the syringe releases the microbial sample to the center of the flat culture medium. (6) The control unit controls the rotation of the rotary motor, and the rotary motor controls the rotation speed of the plate culture medium. The number of turns of the coated Archimedean spiral is controlled by controlling the rotation speed of the rotary motor and the moving speed of the primary of the rod-type linear motor; (7) After step (6) is completed, the coating device lifts the syringe and moves the syringe to the top of the syringe recovery box, the control unit controls the scribing rotary motor to rotate, the notch flips downward, and the syringe falls into the syringe recovery box; (8) After step (6) is completed, the control unit controls the driving motor to rotate to separate the syringe and the plate culture medium, the control unit controls the primary of the rod-type linear motor to move toward the mechanical gripper, the control unit controls the rotation of the gripper rotation motor and the lifting and lowering of the lifting cylinder to move the gripper to the edge of the plate culture medium and control the gripper to clamp the plate culture medium, and the mechanical gripper moves the plate culture medium to the placement plate.

8. The coating and scribing method according to claim 7, characterized in that: The lifting cylinder is driven by any one of a stepping motor, a servo motor or an air pump.

9. The coating and scribing method according to claim 7, characterized in that: The push-pull cylinder is driven by any one of a stepping motor, a servo motor or an air pump.

10. The coating and scribing method according to claim 7, characterized in that: The clamping jaw is driven by any one of a stepping motor, a servo motor or an air pump.

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