An automatic coating and streaking separation platform for microbial samples and a coating and streaking method

Abstract

An automatic spreading and streaking separation platform for microbial samples and a spreading and streaking method, which relate to the field of laboratory automation equipment. The platform includes an operating table, a syringe storage box, a spreading device, a syringe recycling box, a rotating table, a mechanical gripper, a sample rack, a sample beaker and a control unit. The spreading device has a spreading base, a spreading rotating motor, a support frame, a driving motor, a first connecting rod, a second connecting rod, a spreading robotic arm and a streaking arm. The streaking arm has a push-pull cylinder, a piston, a lifting hook, a syringe sleeve, a streaking rotating motor and a counterweight rod linear motor. The front end of the syringe sleeve is provided with an opening, and there is a V-shaped baffle inside, with a notch on the upper part, and the rear end is connected to the push-pull cylinder. The piston is fixed to the piston rod and has a lifting hook. The head of the disposable syringe has a slope, and the contact angle and force are adjustable. The present invention can use the Archimedes spiral as the streaking trajectory to achieve the separation of microbial samples, ensure the streaking separation effect of microbial samples and improve the experimental efficiency.

Description

Technical Field

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

[0002] In the inspection of microbial samples such as food, drugs, and clinical pathogenic bacteria, the microbial isolation and purification technology, namely plate streaking separation, is used to make the target bacteria grow separately on the culture medium to obtain single pure colonies.

[0003] Currently, the commonly used method is for inspectors to streak and separate by hand. The main streaking methods include: cross method, continuous method, grid method, radiation method, etc. The manual method has high operating requirements for the selection of streaking methods, 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 including the following categories: fully simulating manual streaking; streaking the sample along a fan shape; using a special culture plate for streaking, etc. These instruments all have deficiencies, such as scratching the surface of the culture medium caused by the inoculation loop or streaking tool, poor separation effect of some samples due to fixed streaking, and large volume. Summary of the Invention

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

[0006] To achieve the above purpose, the present invention provides an automatic coating and streaking separation platform for microbial samples and a coating and streaking method. The technical solution adopted by the present invention is:

[0007] An automatic coating and streaking separation platform for microbial samples, characterized by comprising an operating table, a syringe storage box, a coating device, a syringe recycling box, a rotating table, a mechanical gripper, a sample rack, a beaker, and a control unit.

[0008] The syringe storage box is used to store spare syringes.

[0009] The coating device is used to receive or withdraw the syringe and extract or release the microbial solution sample by using the syringe.

[0010] The syringe recycling box is used to store the used syringes.

[0011] The rotating table is used to fix and rotate the plate culture medium.

[0012] The mechanical gripper is used to grasp and move the plate culture medium.

[0013] The sample rack is used to place the flat culture medium.

[0014] The beaker is used to hold the microbial solution sample.

[0015] The control unit is a control system used to control the platform to achieve automatic coating and streaking.

[0016] The syringe storage box, the coating device, the syringe recycling box, the turntable, the mechanical gripper and the sample rack are fixed on the operating table surface.

[0017] Furthermore, the operating table is provided with a circular groove, and the beaker is placed in the groove.

[0018] The syringe storage box includes a box body, a star rotor and a feeding rotary motor.

[0019] Furthermore, the upper part of the box body is open, the syringe is put into the syringe storage box from the opening, the syringes are stacked in the syringe storage box, the lower part of the box body is cylindrical, an opening matching the size and shape of the syringe is arranged on the cylindrical lower part of the box body, the feeding rotary motor is fixedly connected to the outer wall of the cylindrical end face of the box body, the shaft of the feeding rotary motor extends into the box body and is fixedly connected to the shaft end of the star rotor, and the central axis of the star rotor coincides with the central line of the lower cylinder of the box body.

[0020] The turntable includes a rotating surface, a suction cup, a rotary motor, a rod-type linear motor and a support plate.

[0021] Furthermore, both ends of the rod-type linear motor are fixedly connected to the support plate, the support plate is fixed on the operating table, the upper part of the primary of the rod-type linear motor is fixedly connected to the rotary motor, the shaft end of the rotary motor is fixedly connected to the rotating surface, and suction cups are uniformly arranged on the rotating surface, and the suction cups are used to fix the culture vessel.

[0022] Furthermore, there are at least three suction cups.

[0023] The mechanical gripper includes a gripper rotary motor, a gripper base, a lifting cylinder and a gripper.

[0024] Furthermore, the gripper rotary motor is fixed in the central groove of the gripper base, the shaft end of the gripper rotary motor is fixedly connected to the center of the bottom surface of the lifting cylinder, and the gripper is fixedly connected to the end of the piston rod of the lifting cylinder.

[0025] The sample rack is provided with a placing flat plate for placing the coated flat culture medium.

[0026] Furthermore, a lifting ring is arranged at the top of the sample rack for lifting the sample rack out of the jack.

[0027] Furthermore, the operating table is provided with a jack, and the lifting rod of the sample rack is inserted into the jack.

[0028] The coating device includes a coating base, a coating rotating motor, a support frame, a driving motor, a first connecting rod, a second connecting rod, a coating robotic arm, and a scribing arm.

[0029] Further, the coating base is fixed on the operating table, the coating rotating motor is fixed in the groove at 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 arranged at the top of the support frame, and the middle parts of the double-ear support seat and the coating robotic 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 and one end of the second connecting rod are connected by a rotating shaft, and the other end of the second connecting rod and the rear part of the coating robotic arm are connected by a rotating shaft.

[0030] Further, the end face of the front part of the coating robotic arm and the bottom surface of the lower part of the coating robotic arm form a 45° angle, and the end face of the front part of the coating robotic arm and the top surface of the upper part of the coating robotic arm are arc-connected.

[0031] The scribing arm includes a push-pull cylinder, a piston, a hook, a syringe sleeve, a scribing rotating motor, and a counterweight rod-type linear motor.

[0032] Further, an opening is provided at the front end of the syringe sleeve, and the head of the syringe can extend out from the opening.

[0033] Further, a V-shaped baffle is fixedly arranged in the syringe sleeve for clamping the wing of the syringe to fix the syringe when the syringe extracts the microbial sample. A hook is fixed to the top edge of the piston for lifting the syringe handle when the syringe extracts the microbial sample. The V-shaped baffle and the hook cooperate with each other to enable the syringe to extract the microbial sample.

[0034] Further, a notch is provided at the upper part of the syringe sleeve, and the size and shape of the notch match those of the syringe.

[0035] Further, 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 scribing rotating 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 scribing rotating motor relative to the push-pull cylinder is fixedly connected to one end of the secondary of the counterweight rod-type linear motor.

[0036] Further, an ear-type support is fixedly arranged on the side of the scribing rotating motor, and a bearing is arranged at a position near the upper part of the front end of the coating robotic arm. The bearing and the ear-type support are movably connected by a rotating shaft.

[0037] Furthermore, the lifting cylinder is driven by any one of a stepping motor, a servo motor, or an air pump as the power.

[0038] Furthermore, the push-pull cylinder is driven by any one of a stepping motor, a servo motor, or an air pump as the power.

[0039] Furthermore, the jaw is driven by any one of a stepper motor, a servo motor or an air pump.

[0040] Furthermore, the number of turns of the Archimedean spiral drawn by the scribing arm ranges from 2 to 12 turns.

[0041] Furthermore, the head of the disposable syringe has a slope, and the slope ranges from 15 to 45 degrees. When scribing, it contacts the surface of the flat culture medium at a certain angle.

[0042] Furthermore, the number of syringes stored in the syringe storage box ranges from 5 to 20.

[0043] Furthermore, the weight of the syringe ranges from 2 to 4 g.

[0044] Furthermore, the number of flat culture media ranges from 2 to 20.

[0045] A method for spreading and scribing using an automatic spreading and scribing separation platform for microbial samples includes the following steps:

[0046] (1) Place the syringe in the syringe storage box for standby, place the microbial sample in solution state in a beaker, and place the beaker in the groove of the operating table.

[0047] (2) The control unit controls the coating rotation motor to rotate so that the scribing arm moves to the lower opening of the syringe storage box, the driving motor drives the first connecting rod, the second connecting rod and the coating robotic arm so that the notch moves directly below the lower opening of the syringe storage box, the control unit controls the feeding rotation motor to rotate, the feeding rotation motor drives the star rotor to rotate, the syringe falls into the syringe sleeve, the wing of the syringe is stuck on the front side of the V-shaped baffle, and the handle of the syringe falls into the lifting hook.

[0048] (3) The coating device moves the head of the syringe into the beaker, the lifting hook hooks the handle of the syringe, and the control unit controls the push-pull cylinder to drive the lifting hook to lift the handle of the syringe to extract the sample.

[0049] (4) The control unit controls the rotation of the jaw rotation motor and the lifting of the lifting cylinder to move the jaw to the sample rack and controls the jaw to clamp the flat culture medium on the sample rack. The control unit controls the primary of the rod linear motor to move towards the mechanical jaw. The control unit controls the rotation of the jaw rotation motor to move the flat culture medium directly above the suction cup, and the jaw moves downward until the flat culture medium is sucked by the suction cup, and the jaw releases the flat culture medium.

[0050] (5) The control unit controls the primary of the rod linear motor to move towards the coating device. 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 positions of the primary and secondary of the counterweight rod 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 towards the center of the flat culture medium.

[0051] (6) The control unit controls the rotation motor to rotate. The rotation motor controls the rotation speed of the flat culture medium. By controlling the rotation speed of the rotation motor and the moving speed of the rod linear motor, the number of turns of the Archimedean spiral for coating is controlled. The rotation motor controls the syringe to coat the Archimedean spiral at a constant speed or with a uniform deceleration.

[0052] (7) After the scribing is completed, the coating device lifts the syringe and moves the syringe above the syringe recycling box. The control unit controls the scribing rotation motor to rotate, and the notch flips downward, and the syringe falls into the syringe recycling box.

[0053] (8) After the scribing is completed, the control unit controls the primary of the rod linear motor to move. The flat culture medium follows the primary of the rod linear motor and moves towards the mechanical gripper. The control unit controls the gripper rotation motor to rotate and the lifting and lowering of the lifting cylinder so that the gripper moves to the edge of the flat culture medium and controls the gripper to clamp the flat culture medium. The mechanical gripper moves the flat culture medium to the storage flat plate.

[0054] In summary, the beneficial technical effects of the present invention are as follows:

[0055] (1) The method of the present invention scribes and separates microbial samples in the trajectory of an Archimedean spiral, having a sufficient scribing length, which can meet the separation and purification requirements of samples with different concentrations. The disposable syringe is used as the scribing tool, without the need for sterilization or disinfection steps, avoiding cross-contamination between samples and improving the scribing separation efficiency.

[0056] (2) According to the lever principle, the scribing arm uses gravity to regulate the contact force between the syringe and the flat culture medium, preventing the syringe from scratching the flat culture medium due to excessive contact force, and also preventing the syringe from being unable to scribe a line on the surface of the flat culture medium due to too small contact force, affecting the effect of microbial separation and purification.

[0057] (3) The head of the syringe has a slope, and when scribing, it has a large contact area with the surface of the flat culture medium, and the separation effect is better.

[0058] (4) The angle between the syringe and the surface of the flat culture medium can be adjusted through the coating device, ensuring the scribing effect and avoiding scratching the flat culture medium.

[0059] (5) The syringe is automatically grasped and withdrawn by the scribing arm, and the flat plate is automatically grasped and replaced by the robotic arm. It has a high degree of automation, reliable scribing and separation results, can liberate operators from tedious experiments, save labor, and improve the efficiency of coating and scribing.

[0060] (6) The lifting cylinder, the push-pull cylinder and the clamping jaw can be driven by any one of a stepper motor, a servo motor or an air pump. When high precision of coating and scribing is required, a servo motor is selected as the power; when high precision of coating and scribing is not required, a pneumatic pump is selected as the power to meet the requirements of coating and scribing under different conditions. Description of the Drawings

[0061] Figure 1 It is a structural diagram of the automatic coating and scribing separation platform for microbial samples of the present invention;

[0062] Figure 2 It is a structural diagram of the scribing arm of the present invention;

[0063] Figure 3 It is a longitudinal sectional view of the accommodation box of the present invention;

[0064] Figure 4 It is a structural diagram of the syringe of the present invention;

[0065] Figure 5 It is a sectional view of the syringe sleeve in front of the V-shaped baffle.

[0066] The reference numerals in the drawings are respectively: 1. operating table; 2. box body; 3. star rotor; 4. feeding rotary motor; 5. rotating surface; 6. suction cup; 7. rotary motor; 8. rod-type 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 robotic arm; 20. push-pull cylinder; 21. piston; 22. lifting hook; 23. syringe sleeve; 24. scribing rotary motor; 25. counterweight rod-type linear motor; 26. V-shaped baffle; 27. notch; 28. lifting rod; 29. placing flat plate; 30. lifting ring; 31. beaker; 32. groove; 33. opening; 34. syringe accommodation box; 35. syringe recycling box. Specific Embodiments

[0067] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with 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, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0068] Embodiment 1:

[0069] Referring to Figures 1 to 5 , this embodiment provides an automatic coating and streaking separation platform for microbial samples.

[0070] An automatic coating and streaking separation platform for microbial samples includes an operating table 1, a syringe storage box 34, a coating device, a syringe recycling box 35, a rotating table, a mechanical gripper, a sample rack, a beaker 31, and a control unit.

[0071] The syringe storage box 34, the coating device, the syringe recycling box 35, the rotating table, the mechanical gripper, and the sample rack are fixed on the tabletop of the operating table 1.

[0072] The beaker 31 is adjacent to the coating device. The operating table 1 is provided with a circular groove 32, and the beaker 31 is placed in the groove 32.

[0073] The syringe recycling box 35 is adjacent to the coating device.

[0074] The syringe storage box 34 is located in the upper right of the coating device, and the notch 27 can just move to the position directly below the lower opening of the syringe storage box 34.

[0075] The mechanical gripper is adjacent to the rotating table.

[0076] The sample rack is adjacent to the mechanical gripper.

[0077] The syringe storage box 34 includes a box body 2, a star rotor 3, and a feeding rotating motor 4. The box body 2 has an opening at the upper part. The syringe is placed into the syringe storage box 34 through the opening. The syringes are stacked in the syringe storage box 34. The lower part of the box body 2 is cylindrical, and an opening with a size and shape matching the syringe is provided at the cylindrical lower part of the box body 2. The feeding rotating motor 4 is fixedly connected to the outer wall of the cylindrical end face of the box body 2. The shaft of the feeding rotating motor 4 extends into the box body 2 and is fixedly connected to the shaft end of the star rotor 3. The central axis of the star rotor 3 coincides with the central line of the lower cylinder of the box body 2.

[0078] The rotary table includes a rotating surface 5, suction cups 6, a rotary motor 7, a rod-type linear motor 8, and a support plate 9. The two ends of the rod-type linear motor 8 are fixedly connected to the support plate 9, and the support plate 9 is fixed to the operating table 1. The upper part of the primary of the rod-type linear motor 8 is fixedly connected to the rotary motor 7, the shaft end of the rotary motor 7 is fixedly connected to the rotating surface 5, suction cups 6 are evenly arranged on the rotating surface 5, the disk surfaces of the suction cups 6 face upward, the bottoms of the suction cups 6 are fixedly connected to the rotating surface 5, and the number of suction cups 6 is three.

[0079] The mechanical gripper includes a gripper rotary motor 10, a gripper base 11, a lifting cylinder 12, and a gripper 13.

[0080] The gripper rotary motor 10 is fixed in the central groove 32 of the gripper base 11, the shaft end of the gripper rotary motor 10 is fixedly connected to the center of the bottom surface of the lifting cylinder 12, and the gripper 13 is fixedly connected to the end of the piston rod 21 of the lifting cylinder 12.

[0081] The operating table 1 is provided with jacks, the lifting rod 28 of the sample rack is inserted into the jacks, the sample rack is provided with a placing flat plate 29, a flat culture medium is placed on the placing flat plate 29, and a lifting ring 30 is arranged at the top of the sample rack for lifting the sample rack out of the jacks.

[0082] The coating device includes a coating base 13, a coating rotary motor 14, a support frame 15, a driving motor 16, a first connecting rod 17, a second connecting rod 18, a coating robotic arm 19, and a scribing arm.

[0083] The coating base 13 is fixed to the operating table 1, the coating rotary motor 14 is fixed in the groove 32 at the center of the coating base 13, the shaft end of the coating rotary motor 14 is fixedly connected to the center of the bottom of the support frame 15, a double-ear support seat is arranged at the top of the support frame 15, and the double-ear support seat and the middle part of the coating robotic 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, 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 and the rear part of the coating robotic arm 19 are connected by a rotating shaft. The end face of the front part of the coating robotic arm 19 and the bottom surface of the lower part of the coating robotic arm 19 form a 45° angle, and the end face of the front part of the coating robotic arm 19 and the top surface of the upper part of the coating robotic arm 19 are arc-connected.

[0084] The scribing arm includes a push-pull cylinder 20, a piston 21, a lifting hook 22, a syringe sleeve 23, a scribing rotary motor 24, and a counterweight rod-type linear motor 25.

[0085] An opening 33 is arranged at the front end of the syringe sleeve 23, the head of the syringe can extend out from the opening 33, a V-shaped baffle 26 is fixedly arranged in the syringe sleeve 23, and a notch 27 is arranged on the upper part of the syringe sleeve 23. The size and shape of the notch 27 match those of the syringe.

[0086] A hook 22 is fixed to the top edge of the piston 21 for lifting the syringe handle when the syringe is used to extract a microbial sample. The V-shaped baffle 26 and the hook 22 cooperate with each other to enable the syringe to extract the microbial sample.

[0087] The rear end of the syringe sleeve 23 is fixedly connected to the push-pull cylinder 20. The piston rod of the push-pull cylinder 20 is fixedly connected to the piston 21. The shaft end of the scribing rotary motor 24 is fixedly connected to the center of one end of the push-pull cylinder 20 relative to the piston 21. The center of one end of the scribing rotary motor 24 relative to the push-pull cylinder 20 is fixedly connected to one end of the secondary of the counterweight rod-shaped linear motor 25.

[0088] An ear-type support is fixedly arranged on the side of the scribing rotary motor 24. A bearing is arranged at a position near the upper part of the front end of the coating robot arm 19. The bearing and the ear-type support are movably connected through a rotating shaft.

[0089] The push-pull cylinder 20, the clamping jaw 13 and the lifting cylinder 12 are driven by a stepping motor.

[0090] The weight of the syringe is 4 g, the slope of the syringe head is 45°, and the capacity of the syringe for transferring the microbial sample is 10 µL.

[0091] Refer to Figures 1 to 5 , and the method for coating and scribing using the automatic coating and scribing separation platform for microbial samples includes the following steps:

[0092] (1) Place the syringe head away from the coating device and with the groove facing downwards in the syringe storage box 34 for standby. The syringe storage box 34 stores 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 operation table 1.

[0093] (2) The control unit controls the rotation of the coating rotary motor 14 to move the scribing arm horizontally. The control unit controls the rotation of the coating rotary motor 14 to move the scribing arm to the lower opening of the syringe storage box 34. The control unit controls the rotation of the driving motor 16 to drive the first connecting rod 17, the second connecting rod 18 and the coating robot arm 19 to move the scribing arm vertically. The driving motor 16 drives the first connecting rod 17, the second connecting rod 18 and the coating robot arm 19 to move the notch 27 exactly below the lower opening of the syringe storage box 34. The control unit controls the rotation of the feeding rotary motor 4. The feeding rotary motor 4 drives the star rotor 3, and the syringe falls into the syringe sleeve 23. The wing of the syringe is stuck on the front side of the V-shaped baffle 26, and the handle of the syringe falls into the hook 22.

[0094] (3) The coating device moves the syringe head into the beaker 31. The hook 22 hooks the handle of the syringe. The control unit controls the push-pull cylinder 20 to drive the hook 22 to lift the syringe handle to extract the sample.

[0095] (4) The control unit controls the rotation of the gripper rotation motor 10 to move the gripper 13 horizontally, controls the lifting of the lifting cylinder 12 to move the gripper 13 vertically, controls the gripper 13 to move to the sample rack and controls the gripper 13 to pick up the petri dish medium on the sample rack. The control unit controls the primary of the rod linear motor 8 to move towards the mechanical gripper. When the control unit controls the rotation of the gripper rotation motor 10 to move the petri dish medium directly above the rotating surface 5, the gripper 13 moves downward until the petri dish medium is sucked by the suction cup 6, and the gripper 13 releases the petri dish medium;

[0096] (5) The control unit controls the primary of the rod linear motor 8 to move towards the coating device. The coating device moves the head of the syringe to the center of the petri dish medium, and the coating device moves the syringe and the petri dish medium to form a 45° angle. According to the lever principle, the control unit adjusts the relative positions of the primary and secondary of the counterweight rod linear motor to make the contact force between the syringe and the petri dish medium reach an appropriate level. The push-pull cylinder 20 pushes the piston 21 to press the syringe handle, and the syringe releases the microbial sample towards the center of the petri dish medium;

[0097] (6) The control unit controls the rotation of the rotation motor 7, and the rotation motor 7 controls the rotation speed of the petri dish medium. By controlling the rotation speed of the rotation motor 7 and the moving speed of the rod linear motor 8, the coating of 6 spiral lines is controlled;

[0098] (7) After step (6) is completed, the coating device lifts the syringe and moves the syringe above the syringe recycling box 35. The control unit controls the rotation of the scribing rotation motor 24, and the notch 27 flips downward, and the syringe falls into the syringe recycling box 35;

[0099] (8) After step (6) is completed, the control unit controls the driving motor 16 to rotate to separate the syringe and the petri dish medium. The petri dish medium follows the primary of the rod linear motor 8 controlled by the control unit to move towards the mechanical gripper. The control unit controls the rotation of the gripper rotation motor 10 and the lifting of the lifting cylinder 12 to move the gripper 13 to the edge of the petri dish medium and controls the gripper 13 to grip the petri dish medium. The mechanical gripper moves the petri dish medium to the placing plate 29 of the sample rack.

[0100] Example 2:

[0101] Different from Embodiment 1, in this embodiment, the push-pull cylinder 20, the clamping jaw 13 and the lifting cylinder 12 are all driven by a servo motor; the weight of the syringe is 4 g, the slope of the syringe head is 45°, and the capacity of the syringe to pick up microbial samples is 2010 μL; the control unit controls the rotation of the rotary motor 7, the rotary motor 7 controls the rotation speed of the flat culture medium, and the number of turns of the applied 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 apply the Archimedean spiral with a uniform deceleration for 12 turns.

[0102] Implementation: 3:

[0103] Different from Embodiment 1, in this embodiment, the push-pull cylinder 20, the clamping jaw 13 and the lifting cylinder 12 are all driven by an air pump; the weight of the syringe is 2 g, the slope of the syringe head is 15°, and the capacity of the syringe to pick up microbial samples is 1000 μL; the control unit controls the rotation of the rotary motor 7, the rotary motor 7 controls the rotation speed of the flat culture medium, and the number of turns of the applied 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 apply the Archimedean spiral with a uniform deceleration for 2 turns.

Claims

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

2. The automatic coating and streaking separation platform for microbial samples according to claim 1, wherein: A V-shaped baffle is fixedly arranged in the syringe sleeve to clamp the wing of the syringe to fix the syringe when the syringe extracts the microbial sample. A lifting hook is arranged at the top edge of the piston to lift the syringe handle when the syringe extracts the microbial sample.

3. The automatic coating and streaking separation platform for microbial samples according to claim 2, characterized in that: The syringe storage box includes a box body, a star rotor and a feeding rotating motor. The box body is open at the top. The syringe is placed into the syringe storage box through the opening. The syringes are arranged in layers in the syringe storage box. The lower part of the box body is cylindrical. An opening with a size and shape matching those of the syringe is arranged at the cylindrical lower part of the box body. The feeding rotating motor is fixedly connected to the outer wall of the cylindrical end face of the box body. The shaft of the feeding rotating motor extends into the box body and is fixedly connected to the shaft end of the star rotor. The central axis of the star rotor coincides with the central line of the lower cylinder of the box body.

4. The automatic coating and streaking separation platform for microbial samples according to claim 3, characterized in that: The rotating table includes a rotating surface, suction cups, 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 upper part of the primary of the rod-type linear motor is fixedly connected to the rotating motor, the shaft end of the rotating motor is fixedly connected to the rotating surface, and the suction cups are evenly arranged on the rotating surface. The suction cups are used to fix the culture vessels, and there are at least three suction cups.

5. The automatic coating and streaking separation platform for microbial samples according to claim 4, wherein: The mechanical gripper includes a gripper rotating motor, a gripper base, a lifting cylinder, and grippers. The gripper rotating motor is fixed in the central groove of the gripper base, the shaft end of the gripper rotating motor is fixedly connected to the center of the bottom surface of the lifting cylinder, and the grippers are fixedly connected to the end of the piston rod of the lifting cylinder.

6. The automatic coating and streaking separation platform for microbial samples according to claim 5, wherein: The operating table is provided with insertion holes, the lifting rod of the sample rack is inserted into the insertion holes, the sample rack is provided with a placing flat plate, and a lifting ring is arranged at the top of the sample rack.

7. A method for coating and streaking separation using the microbial sample automatic coating and streaking separation platform according to claim 6, characterized in that: (1) Place the syringe in the syringe accommodating box for standby, place the microbial sample in a beaker, and place the beaker in the groove of the operating table; (2) The control unit controls the coating rotating motor to rotate so that the scribing arm moves to the lower opening of the syringe accommodating box, the driving motor drives the first connecting rod, the second connecting rod and the coating robotic arm so that the notch moves directly below the lower opening of the syringe accommodating box, the control unit controls the feeding rotating motor to rotate, the feeding rotating motor drives the star-shaped rotor to rotate, and the syringe falls into the syringe sleeve from the notch; (3) The coating device moves the head of the syringe into the beaker, the hook hooks the syringe handle, and the control unit controls the push-pull cylinder to drive the hook to lift the syringe handle to extract the sample; (4) The control unit controls the rotation of the gripper rotating motor and the lifting of the lifting cylinder to move the gripper to the sample rack and controls the gripper to grasp the flat culture medium on the sample rack. The control unit controls the primary of the rod-type linear motor to move towards the mechanical gripper. The control unit controls the rotation of the gripper rotating motor to move the flat culture medium directly above the rotating surface, and the gripper moves downward until the flat culture medium is sucked by the suction cups, and the gripper releases the flat culture medium; (5) The control unit controls the primary of the rod-type linear motor to move towards the coating device. 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 syringe handle, and the syringe releases the microbial sample to the center of the flat culture medium; The control unit controls the rotation of the rotary motor, and the rotary motor controls the rotation speed of the flat culture medium. The number of turns of the applied Archimedean spiral is controlled by controlling the rotation speed of the rotary motor and the moving speed of the primary of the linear motor in the form of a rod. After step (6) is completed, the coating device lifts the syringe and moves the syringe above the syringe recycling box. The control unit controls the rotation of the scribing rotary motor, the notch is turned downward, and the syringe falls into the syringe recycling box. After step (6) is completed, the control unit controls the driving motor to rotate to separate the syringe from the flat culture medium. The control unit controls the primary of the linear motor in the form of a rod to move towards the mechanical gripper. The control unit controls the rotation of the gripper rotary motor and the lifting of the lifting cylinder to move the gripper to the edge of the flat culture medium and controls the gripper to clamp the flat culture medium. The mechanical gripper moves the flat culture medium to the placement flat 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 as power.

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 as power.

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

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