A robot for culturing Bacillus edilum.

Abstract

This invention discloses a robot for culturing *Bacillus edodes*, relating to the field of robotic arm technology. It includes a base with a robot arm body fixedly mounted on top. The robot achieves three-point clamping of the culture dish via grippers, an arc-shaped plate (I), and an arc-shaped plate (II) with their bottom ends on the same inclined plane. Three clamping points are positioned vertically on the outer wall of the culture dish, effectively dispersing the clamping force and preventing instability or damage caused by excessive force on a single clamping point. This design ensures more even force distribution at each clamping point, improving overall clamping stability. Furthermore, the bottom ends of the arc-shaped plates (I and II, or only the bottom end of arc-shaped plate II) contact the bottom outer wall of the culture dish, supporting the bottom and achieving stable clamping. This prevents wear and tear on the robotic arm from prolonged use, which could lead to a loss of tightness and the culture dish falling during transfer.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a robot for culturing Bacillus edilum. Background Technology

[0002] In the existing technology, in order to avoid contamination of the culture dish during the transfer process of Bacillus edodes, some laboratories use automated culture systems, that is, they use robots to transfer the culture dishes. The existing robot transfer methods are mostly achieved by grasping the culture dish with a mechanical claw. The mechanical claw makes contact with the outer wall of the culture dish through the claw tip.

[0003] Due to the material limitations of the culture dish, excessive gripping force from the robotic gripper may damage the culture dish, while insufficient gripping force may result in an unstable gripping of the culture dish, causing it to fall. In addition, the single-point gripping method of the robotic gripper only applies force to the outer wall of the culture dish. This gripping method results in the gripping force only making single-point contact with the outer wall of the culture dish. After prolonged use, the robot's gripping parts may malfunction due to wear and other reasons, causing the gripper to become unstable or tilt, making it easy for the culture dish to slip and fall during the transfer process.

[0004] To address this issue, we propose a robot for culturing Bacillus edilum to solve the aforementioned problems. Summary of the Invention

[0005] Technical problems to be solved

[0006] Therefore, in view of the above, and in view of the shortcomings of the prior art, the present invention provides a robot for culturing Bacillus edilum to solve the problems mentioned in the background art.

[0007] Technical solution

[0008] To achieve the above objectives, the present invention provides the following technical solution: a robot for culturing Bacillus edilum, comprising a base, a robot arm body fixedly mounted on the top of the base, a rectangular frame fixedly mounted on the end of the robot arm body away from the base, electrically controlled telescopic rods rotatably connected to both sides of one end of the rectangular frame, two electrically controlled telescopic rods symmetrically arranged with reference to the central axis of the rectangular frame, push blocks rotatably connected to the ends of the two electrically controlled telescopic rods away from the rectangular frame, round rods fixedly connected to the ends of the push blocks away from the electrically controlled telescopic rods, grippers fixedly connected to the outer surfaces of both ends of the round rods, a sensing device fixedly mounted on the upper surface of the rectangular frame, and an adaptive mechanism disposed below the rectangular frame;

[0009] The adaptive mechanism includes a columnar positioning rod fixedly connected to the center of the bottom of a rectangular frame. A rectangular limiting plate is fixedly connected to the bottom of the columnar positioning rod. Four sliding grooves are provided on the rectangular limiting plate. A moving block is slidably connected inside each of the four sliding grooves. A first abutment plate is rotatably connected to the bottom of each moving block. A second abutment plate is rotatably connected to the bottom of each moving block. A connecting spring is fixedly connected between the second abutment plate and the first abutment plate on the same side.

[0010] Preferably, the grippers are provided in two sets, with two grippers in each set. The two sets of grippers are symmetrically arranged with reference to the central axis of the rectangular frame, and each gripper is rotatably connected to the bottom of the rectangular frame.

[0011] Preferably, four slides are provided, and the four slides are arranged in a circumferential array with the center of the rectangular limiting plate as a reference. The second contact plate on the same side is hinged to the first contact plate.

[0012] Preferably, the robot for culturing Bacillus edilum also includes a connecting mechanism disposed inside the gripper;

[0013] The connecting mechanism includes a hook-and-loop connection to the inner side of each gripper. The end of the hook-and-loop connection of the gripper away from the gripper is connected to a positioning frame. A connecting rod is fixedly connected inside the positioning frame. An annular slider is fixedly connected to the end of the connecting rod away from the positioning frame. A circular limiting block is fixedly connected to the outer surface of the cylindrical positioning rod. A collar is fixedly connected to the outer surface of the connecting rod. A connecting rod is rotatably connected to the bottom end of the collar. A fixing spring is fixedly connected to the outer surface of one side of the connecting rod. 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 circular limiting block is set below the annular slider, and the end of the connecting rod away from the collar is rotatably connected to the moving block.

[0015] Preferably, four connecting rods are arranged in a circumferential array with reference to the center of the cylindrical positioning rod. Four collars, four connecting rods, and four fixing springs are also arranged in a circumferential array with reference to the center of the cylindrical positioning rod. The end of the fixing spring furthest from the connecting rod is fixedly connected to the outer wall of the cylindrical positioning rod.

[0016] Preferably, the robot for culturing Bacillus edilum also includes an auxiliary gripping mechanism disposed at the bottom of each gripper;

[0017] The auxiliary clamping mechanism includes a positioning block fixedly connected to the outer wall of the bottom end of the gripper. An arc-shaped plate two is rotatably connected inside the positioning block at the end away from the gripper. An arc-shaped plate one is rotatably connected inside the positioning block. A buffer spring is fixedly connected between the arc-shaped plate one and the arc-shaped plate two. The buffer springs are arranged in a plurality of equidistant positions. A cylindrical pressing rod is slidably connected to the bottom end of each gripper. A limit spring is sleeved on the outer surface of the cylindrical pressing rod.

[0018] Preferably, each arc-shaped plate is positioned between the clamping jaws and the arc-shaped plate on the same side. The cylindrical extrusion rod is inclined, with both ends extending beyond the clamping jaws. The end of the cylindrical extrusion rod extending beyond the clamping jaws abuts against the top of the arc-shaped plate on the same side. Beneficial effects

[0019] Compared with the prior art, the present invention provides a robot for culturing Bacillus edilum, which has the following beneficial effects:

[0020] The culture dish is held at three points by clamps, arc-shaped plate one, and arc-shaped plate two with their bottom ends on the same inclined plane. Three clamping points are set on the same vertical position on the outer wall of the culture dish, which can effectively distribute 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 even, thereby improving the overall clamping stability. In addition, during the long-term clamping process, if the object is irregular in shape, the center of gravity shifts, or an unexpected situation occurs, the clamping may become loose, which may lead to instability or even tilting. Setting three clamping points on the same vertical plane can form a more stable support structure and reduce the risk of the culture dish tilting.

[0021] The culture dish is held at three points by using a gripper, an arc-shaped plate (1), and an arc-shaped plate (2). When the bottom ends of all three grippers are located on the outer wall of the culture dish, three-point gripping is achieved. However, due to the vertical dimensions of the culture dish, if the bottom ends of the grippers, arc-shaped plate (1) and arc-shaped plate (2) are not all located on the outer wall (i.e., among the three gripping points arranged vertically from top to bottom, the lowest gripping point or the two lowest gripping points cannot contact the outer wall of the culture dish), the bottom ends of arc-shaped plate (1) and arc-shaped plate (2), or only arc-shaped plate (2), will contact the bottom outer wall of the culture dish, supporting the bottom and thus achieving a stable grip. This prevents wear and tear on the robotic arm from prolonged use, which could lead to a lack of tight contact with the culture dish and cause it to fall during transfer.

[0022] The moving blocks change position as the distance between the grippers changes. When the size of the culture dish is larger than the initial distance between the grippers, the position of the moving blocks cannot be changed. The culture dish is held by the grippers through the contact plates 1 and 2 located at the center of the culture dish. When the size of the culture dish is smaller than the initial distance between the grippers, the moving blocks arranged in a circular array will gradually shorten the distance between them as the grippers move. This will cause the contact plates 1 and 2 to move synchronously and be located in the middle of the sealed culture dish. The positions of the contact plates 1 and 2 can change with the size of the culture dish, so that the contact position is always in the center of the culture dish, thus adapting to the gripping of culture dishes of different sizes.

[0023] The adaptive mechanism, in conjunction with the grippers, helps to fix the position of the culture dish to be transferred, preventing the dish from moving during the transfer process. Simultaneously, the adaptive mechanism, grippers, and auxiliary clamping mechanism work together to adapt to culture dishes of different sizes. The stable clamping method prevents the mechanical grippers from becoming unstable due to unexpected situations during the transfer of the culture dish. When the culture dish is small, it can be completely fixed by side clamping, top contact, and bottom support. This reduces the impact of vibration between mechanical parts during long-term robot operation on the culture dish, preventing the sealing shell above the culture dish from loosening due to vibration of the mechanical structure, which could lead to seal failure and damage to the internal culture environment of the Bacillus edodes culture dish. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall appearance structure of the robot of the present invention;

[0025] Figure 2 This is a schematic diagram showing the positional relationship of the rectangular frame in this invention;

[0026] Figure 3 This is a schematic diagram of the connection relationship at the gripper of the present invention;

[0027] Figure 4 For the present invention Figure 3 Enlarged schematic diagram of the structure at point A in the middle;

[0028] Figure 5 This is a schematic diagram of the connection relationship at the positioning block of the present invention;

[0029] Figure 6 This is a schematic diagram of the connection relationship at the tension spring of the present invention;

[0030] Figure 7 For the present invention Figure 6 Enlarged schematic diagram of the structure at point B;

[0031] Figure 8 This is a schematic diagram of the connection relationship at the connecting rod of the present invention.

[0032] In the diagram: 11. Base; 12. Robot arm body; 13. Rectangular frame; 14. Electrically controlled telescopic rod; 15. Push block; 16. Gripper; 17. Sensing device;

[0033] 21. Columnar positioning rod; 22. Rectangular limiting plate; 23. Slide groove; 24. Moving block; 25. First contact plate; 26. Second contact plate; 27. Connecting spring;

[0034] 31. Tension spring; 32. Positioning frame; 33. Connecting rod; 34. Annular slider; 35. Circular limiting block; 36. Collar; 37. Connecting rod; 39. Returning spring;

[0035] 41. Positioning block; 42. Arc plate one; 43. Arc plate two; 44. Buffer spring; 45. Columnar compression rod; 46. Limiting spring. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Embodiments of the present invention

[0038] Please see Figures 1 to 4 and Figure 6 A robot for culturing Bacillus edodes includes a base 11, a robot arm body 12 fixedly mounted on the top of the base 11, a rectangular frame 13 fixedly mounted on the end of the robot arm body 12 away from the base 11, electrically controlled telescopic rods 14 rotatably connected to both sides of one end of the rectangular frame 13, the electrically controlled telescopic rods 14 being electrically connected to an external controller, two electrically controlled telescopic rods 14 symmetrically arranged with reference to the central axis of the rectangular frame 13, push blocks 15 rotatably connected to the ends of the two electrically controlled telescopic rods 14 away from the rectangular frame 13, round rods fixedly connected to the ends of the push blocks 15 away from the electrically controlled telescopic rods 14, grippers 16 fixedly connected to the outer surfaces of both ends of the round rods, and a sensing device 17 fixedly mounted on the upper surface of the rectangular frame 13.

[0039] The robot used for culturing Bacillus edilum also includes an adaptive mechanism located below the rectangular frame 13;

[0040] The adaptive mechanism includes 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. A moving block 24 is slidably connected inside each of the four sliding grooves 23. A first abutment plate 25 is rotatably connected to the bottom of each moving block 24. A second abutment plate 26 is rotatably connected to the bottom of each moving block 24. A connecting spring 27 is fixedly connected between the second abutment plate 26 and the first abutment plate 25 on the same side.

[0041] The gripper 16 is provided in two sets, with two grippers in each set. The two sets of grippers 16 are symmetrically arranged with reference to the central axis of the rectangular frame 13, and each gripper 16 is rotatably connected to the bottom of the rectangular frame 13.

[0042] The slide 23 has four openings, and the four slide 23 are arranged in a circumferential 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 first contact plate 25 and the second contact plate 26 is located on the moving block 24.

[0043] Further embodiments

[0044] Please see Figure 2 , Figure 3 and Figures 6 to 8 The robot used for culturing Bacillus edilum also includes a connecting mechanism located inside the gripper 16;

[0045] The connecting mechanism includes a pull spring 31 hook-and-loop connected to the inside of each gripper 16. The end of the pull spring 31 away from the gripper 16 is hook-and-loop connected to a positioning frame 32. A connecting rod 33 is fixedly connected inside the positioning frame 32. An annular slider 34 is fixedly connected to the end of the connecting rod 33 away from the positioning frame 32. A circular limiting 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. A connecting rod 37 is rotatably connected to the bottom end of the collar 36. A fixing spring is fixedly connected to the outer surface of one side of the connecting rod 37. A restoring spring 39 is fixedly connected to the top of the annular slider 34.

[0046] 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 limiting block 35 is set 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.

[0047] Among them, four connecting rods 33 are arranged in a circumferential array with reference to the center of the cylindrical positioning rod 21. Four collars 36, connecting rods 37 and fixing springs are also arranged in a circumferential array with reference to the center of the cylindrical positioning rod 21. The end of the fixing spring away from the connecting rod 37 is fixedly connected to the outer wall of the cylindrical positioning rod 21. The restoring spring 39 is sleeved on the outer wall of the cylindrical positioning rod 21, and its two ends are fixedly connected to the cylindrical positioning rod 21 and the annular slider 34 respectively.

[0048] Further embodiments

[0049] Please see Figure 2 , Figure 3 and Figure 5 The robot used for culturing Bacillus edilum also includes an auxiliary gripping mechanism located at the bottom of each gripper 16;

[0050] The auxiliary clamping mechanism includes a positioning block 41 fixedly connected to the outer wall of the bottom end of the gripper 16. An arc-shaped plate 43 is rotatably connected to the end of the positioning block 41 away from the gripper 16. An arc-shaped plate 42 is rotatably connected to the inside of the positioning block 41. A buffer spring 44 is fixedly connected between the arc-shaped plate 42 and the arc-shaped plate 43. The buffer springs 44 are arranged in a plurality of equidistant positions. A cylindrical pressing rod 45 is slidably connected to the bottom end of each gripper 16. A limit spring 46 is sleeved on the outer surface of the cylindrical pressing rod 45.

[0051] Each arc-shaped plate 42 is positioned between the clamping jaw 16 and the arc-shaped plate 43 on the same side. The cylindrical extrusion rod 45 is inclined and extends to the outside of the clamping jaw 16 at both ends. The end of the cylindrical extrusion rod 45 extending out of the clamping jaw 16 abuts against the top of the arc-shaped plate 43 on the same side.

[0052] Rubber pads are provided on the bottom of the gripper 16, the arc plate 42, and the arc plate 43 near the center of the rectangular frame 13. The outer wall of the cylindrical extrusion rod 45 away from the arc plate 43 is wrapped with a rubber layer to avoid contact with the Bacillus edodes culture dish and cause hard extrusion.

[0053] The overall working process and principle of the above embodiments are as follows:

[0054] Clamping size adaptation for Bacillus edodes culture dishes:

[0055] After the staff places the robot base 11 on the Egeriaceae Bacillus culture device and determines the position of the Egeriaceae Bacillus culture dish to be clamped and moved, the staff then manually controls the horizontal and vertical position changes of the robot arm body 12 through the external controller. By moving the robot arm body 12, the four grippers 16 are placed above the Egeriaceae Bacillus culture dish to be transferred.

[0056] It should be noted that the operation of the robot arm body 12 in the above process is achieved through existing technology, so it will not be described in detail here;

[0057] Since the electrically controlled telescopic rod 14 is electrically connected to the external controller, that is, the extension or retraction of the electrically controlled telescopic rod 14 is controlled by the external controller, the operator needs to judge the distance between the four grippers 16 in the initial state and the size difference between the culture dish of Bacillus edodes. Then, the extension or retraction of the electrically controlled telescopic rod 14 is controlled by the push block 15 which is rotatably connected to the output end of the electrically controlled telescopic rod 14, and the round rod fixedly connected to the push block 15 and the two grippers 16 fixed at both ends of the round rod are controlled to cause the two sets of grippers 16 respectively set on the two round rods to move towards each other or away from each other.

[0058] The specific exercise details are as follows:

[0059] When the distance between the four grippers 16 is greater than the size of the culture dish, the staff uses an external controller to extend the output shaft of the electric telescopic rod 14, and uses the push block 15 and the round rod to control the two sets of grippers 16 to rotate around the connection point between the grippers 16 and the rectangular frame 13, so that the two sets of grippers 16 move closer to each other and clamp the outer wall of the culture dish.

[0060] When the distance between the four grippers 16 is less than the size of the culture dish, the operator uses an external controller to cause the output shaft of the electrically controlled telescopic rod 14 to retract, and uses the push block 15 and the round rod to control the two sets of grippers 16 to rotate around the connection point between the grippers 16 and the rectangular frame 13, causing the two sets of grippers 16 to move away from each other, increasing the distance between the two sets of four grippers 16 to be greater than the distance of the culture dish. Then, the operator controls the output shaft of the electrically controlled telescopic rod 14 to extend, clamping the outer wall of the culture dish with the grippers 16.

[0061] Assisted clamping of the petri dish:

[0062] As the four grippers 16 move toward each other to hold the outer wall of the culture dish, the cylindrical extrusion rods 45 that slide through the bottom of each gripper 16 will first contact the outer wall of the culture dish. As the grippers 16 continue to move toward each other, the cylindrical extrusion rods 45 located at the bottom of each of the four grippers 16 will move toward the inside of each gripper 16 and gradually fit against the inner wall of the bottom of the gripper 16 until the inner wall of the gripper 16 fits against the outer wall of the culture dish, thus holding the culture dish.

[0063] During the above process, since the cylindrical extrusion rod 45 is externally fitted with a limiting spring 46, and the two ends of the limiting spring 46 are connected to the cylindrical extrusion rod 45 and the gripper 16 respectively, 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 43, which is in contact with the end of the cylindrical extrusion rod 45 away from the center of the gripper 16, to move.

[0064] More specifically, during the movement of the cylindrical extrusion rod 45, since the vertical height of the second arc plate 43 is higher than that of the first arc plate 42, and both the first arc plate 42 and the second arc plate 43 are rotatably connected to the positioning block 41, the second arc plate 43, pushed by the cylindrical extrusion rod 45, will rotate with its connection point with the positioning block 41 as the fulcrum. The buffer springs 44, which are equidistantly set between the first arc plate 42 and the second arc plate 43, will simultaneously cause the first arc plate 42 to move. Specifically, the movement direction is to swing towards the center of the gripper 16 with the connection point between the first arc plate 42 and the positioning block 41 as the fulcrum. Since the gripper 16, the first arc plate 42, and the second arc plate 43 are all provided with rubber pads on the side of their bottom ends near the center of the rectangular frame 13, when the outer wall of the culture dish is gripped by the gripper 16, the bottom ends of the gripper 16, the first arc plate 42, and the second arc plate 43 can all contact the outer wall of the culture dish, thus achieving three-point gripping of the outer wall of the culture dish.

[0065] The culture dish is held in three-point gripping by the gripper 16, the arc plate 42, and the arc plate 43, all with their bottom ends on the same inclined plane. The three gripping points on the same vertical position on the outer wall of the culture dish can effectively distribute the gripping force and avoid instability or damage caused by excessive force on a single gripping point. This design makes the force borne by each gripping point more uniform, thereby improving the overall gripping stability. During the long-term gripping process by the gripper 16, if the object is irregular in shape, the center of gravity shifts, or an unexpected situation occurs, the gripping may become loose, which may lead to instability or even tilting. Setting three gripping points on the same vertical plane can form a more stable support structure and reduce the risk of the culture dish tilting.

[0066] Furthermore, the culture dish is held at three points using gripper 16, arc-shaped plate 42, and arc-shaped plate 43. This three-point gripping is achieved when the bottom ends of gripper 16, arc-shaped plate 42, and arc-shaped plate 43 are all located on the outer wall of the culture dish. However, due to the limitation of the vertical height of the culture dish, the overall height of the culture dish cannot simultaneously allow gripper 16, arc-shaped plate 42, and arc-shaped plate 43 to be located on the outer surface of the culture dish. When the bottom ends of gripper 16, arc-shaped plate 42, and arc-shaped plate 43 are not all located on the outer wall of the culture dish (i.e., vertically from...), the gripping is achieved... Among the three gripping points of the top-to-bottom set gripper 16, arc plate one 42, and arc plate two 43, there may be a situation where the bottom gripping point or the two gripping points below cannot contact the outer wall of the culture dish. The bottom ends of arc plate one 42 and arc plate two 43, or only the bottom end of arc plate two 43, will contact the bottom outer wall of the culture dish, supporting the bottom of the culture dish, thereby achieving a stable gripping of the culture dish and preventing wear and tear of the robotic arm after long-term use, which may lead to a failure to fit the culture dish tightly and cause it to fall when transferred.

[0067] Contact with the top of the sealed petri dish:

[0068] Before clamping the petri dish that needs to be moved, the top of the petri dish needs to be covered to prevent it from being contaminated by external factors (i.e., by inserting a lid or sealing plug of the same material as the petri dish into the top of the petri dish to seal it). This method can also prevent the nutrient solution and bacteria inside the petri dish from splashing out due to accidental circumstances during the movement of the petri dish.

[0069] First, the staff needs to ensure that the distance between the four grippers 16 is greater than the size of the culture dish, so that the four grippers 16 can retract to fix the culture dish.

[0070] Subsequently, the robot arm body 12 is moved vertically by the external controller until the top of the sealed culture dish contacts the second contact plate 26. Since the first contact plate 25 and the second contact plate 26 are hinged to each other, the bottom end of the second contact plate 26 moves upward due to the resistance force from the top of the sealed culture dish, and compresses the connecting spring 27. The connecting spring 27 then acts in the opposite direction on the first contact plate 25, causing the end of the first contact plate 25 away from the second contact plate 26 to rotate downward with its connection point with the moving block 24 as the fulcrum, until it contacts the top of the sealed culture dish. The first contact plate 25 and the second contact plate 26, which are arranged in a ring at equal intervals, both contact the top of the sealed culture dish, assisting in the sealing and fixing of the culture dish.

[0071] When determining whether the distance between the four grippers 16 is greater than the size of the culture dish, the grippers 16 in the initial state will exhibit two movement trends, namely, expanding outward or contracting directly inward. During the movement of the grippers 16, when the grippers 16 need to expand outward to adjust the distance, the positioning frame 32 connected to the inside of the grippers 16 by the tension spring 31 will move synchronously.

[0072] It should be noted that in the initial state, the tension spring 31 is under tension due to the force of the gripper 16. That is, the tension force of the tension spring 31 restricts the positioning frame 32 above the annular limiting block 35 and is in contact with the surface of the annular limiting block 35. Therefore, in the above process, the outward expansion of the gripper 16 will continue to stretch the tension spring 31, and the tension spring 31 will drive the positioning frame 32 to move downward in the vertical direction. However, the positioning frame 32 is fixedly connected to the annular slider 34 through the connecting rod 33. Due to the restriction of the annular limiting 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 restricts the position of the positioning frame 32 and the connecting rod 33 in the opposite direction. As a result, the position of the collar 36 fixedly connected to the connecting rod 33 will not change. In this state, the moving block 24 connected to the collar 36 through the connecting rod 37 will not move.

[0073] When the gripper 16 moves inward to adjust the clamping distance (i.e., the size of the culture dish to be clamped is smaller than the initial distance between the four grippers 16), the inward movement of the gripper 16 shortens the horizontal distance of the tension spring 31. As the gripper 16 drives the tension spring 31 to change position, the traction force on the tension spring 31 gradually decreases, and the force on the annular slider 34 from the tension spring 31 decreases. Simultaneously, the recovery spring 39 fixedly connected to the top of the annular slider 34 contracts (in the initial state, the recovery spring 39 is in a stretched state due to the force from the annular slider 34 and the tension spring 31). Therefore, the contraction of the recovery 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, which is fixedly connected to the annular slider 34 through the connecting rod 33, will move vertically upward in sync.

[0074] Furthermore, since the connecting rods 33 are fixedly connected to the outer surface of the annular slider 34 in a circumferential array, and the outer surface of the connecting rods 33 is fixedly connected to the collars 36, the upward movement of the annular slider 34 will drive the collars 36 to move upward synchronously, and the position of the connecting rod 37 rotatably connected to the bottom of the collar 36 will change accordingly. Specifically, the connecting rod 37, which is initially inclined towards the moving block 24, will gradually become vertical. The direction of movement is to rotate towards the annular slider 34 with the connection point between the connecting rod 37 and the collar 36 as the fulcrum, and simultaneously compress the fixed spring fixed between the connecting rod 37 and the cylindrical positioning rod 21. The moving block 24 rotatably connected to the bottom of the connecting rod 37 will move synchronously towards the center of the rectangular limiting plate 22 in the groove 23 opened on the rectangular limiting plate 22 under the action of the rotation of the connecting rod 37, and synchronously drive the first contact plate 25 and the second contact plate 26 set at the bottom of the moving block 24 to move synchronously towards the center of the rectangular limiting plate 22.

[0075] The moving blocks 24 change position as the distance between the grippers 16 changes. When the size of the culture dish is larger than the initial distance between the grippers 16, the opening of the grippers 16 cannot cause the moving blocks 24 to change position. The abutment plates 25 and 26, located at the center of the culture dish, work with the grippers 16 to hold the culture dish. When the size of the culture dish is smaller than the initial distance between the grippers 16, the moving blocks 24 arranged in a circular array will gradually shorten the distance between them as the grippers 16 move. Simultaneously, the abutment plates 25 and 26 move towards the center of the rectangular limiting plate 22. At this time, the distance between the four sets of abutment plates 25 and 26 shortens, and... With the four sets of contact plates 25 and 26 positioned around the center of the top of the sealed culture dish, contact plate 25 will contact the top sealing cap of the culture dish when they are close together, while contact plate 26 will rotate downwards to clamp the surface of the culture dish. This avoids the situation where the four sets of contact plates 25 and 26 cannot fully contact the top of the culture dish when clamping a small culture dish, i.e., contact plate 26 cannot partially or entirely contact the culture dish, and cannot apply stable pressure to the top of the culture dish. The positions of contact plates 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, thus adapting to the clamping of culture dishes of different sizes. The adaptive mechanism, in conjunction with the gripper 16, helps to fix the position of the culture dish to be transferred, preventing the culture dish from moving during the transfer process. Simultaneously, the adaptive mechanism, gripper 16, and auxiliary clamping mechanism work together to make the device adaptable to culture dishes of different sizes. The stable clamping method can prevent the mechanical gripper from becoming unstable due to unexpected situations during the movement of the culture dish. When the culture dish is small, it can be completely fixed by side clamping, top contact, and bottom support. This can simultaneously reduce the impact of vibration between mechanical parts of the robot during long-term operation on the culture dish, and prevent the vibration of the mechanical structure from causing the sealing shell on the top of the culture dish to loosen, resulting in the failure of the culture dish seal and damage to the internal culture environment of the Bacillus edodes culture dish.

[0076] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0077] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot for culturing Bacillus edodes, comprising a base (11), a robot arm body (12) fixedly mounted on the top of the base (11), a rectangular frame (13) fixedly mounted on the end of the robot arm body (12) away from the base (11), electrically controlled telescopic rods (14) rotatably connected to both sides of one end of the rectangular frame (13), two electrically controlled telescopic rods (14) symmetrically arranged with reference to the central axis of the rectangular frame (13), push blocks (15) rotatably connected to the ends of the two electrically controlled telescopic rods (14) away from the rectangular frame (13), round rods fixedly connected to the ends of the push blocks (15) away from the electrically controlled telescopic rods (14), grippers (16) fixedly connected to the outer surfaces of both ends of the round rods, and a sensing device (17) fixedly mounted on the upper surface of the rectangular frame (13), characterized in that: It also includes an adaptive mechanism located below the rectangular frame (13); The adaptive mechanism includes 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). A moving block (24) is slidably connected inside each of the four sliding grooves (23). A first abutment plate (25) is rotatably connected to the bottom of each moving block (24). A second abutment plate (26) is rotatably connected to the bottom of each moving block (24). A connecting spring (27) is fixedly connected between the second abutment plate (26) and the first abutment plate (25) on the same side. It also includes a connecting mechanism set inside the gripper (16); the connecting mechanism includes a pull spring (31) hook-and-loop connected to the inside of each gripper (16), the end of the pull spring (31) away from the gripper (16) is hook-and-loop connected to a positioning frame (32), a connecting rod (33) is fixedly connected inside the positioning frame (32), an annular slider (34) is fixedly connected to the end of the connecting rod (33) away from the positioning frame (32), a circular limiting 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), a connecting rod (37) is rotatably connected to the bottom end of the collar (36), a fixing spring is fixedly connected to one side of the outer surface of the connecting rod (37), and a restoring spring (39) is fixedly connected to the top of the annular slider (34); 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 limiting block (35) is set 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).

2. The robot for culturing *Bacillus edodes* according to claim 1, characterized in that: There are two sets of grippers (16), and each set of grippers (16) has two grippers. The two sets of grippers (16) are symmetrically arranged with reference to the central axis of the rectangular frame (13). Each gripper (16) is rotatably connected to the bottom of the rectangular frame (13).

3. The robot for culturing *Bacillus edodes* according to claim 1, characterized in that: Four slides (23) are provided. The four slides (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.

4. The robot for culturing *Bacillus edodes* according to claim 3, characterized in that: The connecting rod (33) is arranged in a circular array with the center of the cylindrical positioning rod (21) as a reference. The collar (36), the connecting rod (37) and the fixing spring are also arranged in a circular array with the center of the cylindrical positioning rod (21) as a reference. The end of the fixing spring away from the connecting rod (37) is fixedly connected to the outer wall of the cylindrical positioning rod (21).

5. The robot for culturing *Bacillus edodes* according to claim 1, characterized in that: It also includes an auxiliary clamping mechanism disposed at the bottom of each gripper (16); the auxiliary clamping mechanism includes a positioning block (41) fixedly connected to the outer wall of the bottom of the gripper (16), an arc plate two (43) is rotatably connected inside the end of the positioning block (41) away from the gripper (16), an arc plate one (42) is rotatably connected inside the positioning block (41), a buffer spring (44) is fixedly connected between the arc plate one (42) and the arc plate two (43), the buffer springs (44) are arranged in multiple equidistantly, and a cylindrical extrusion rod (45) is slidably connected to the bottom of each gripper (16), and a limit spring (46) is sleeved on the outer surface of the cylindrical extrusion rod (45).

6. The robot for culturing *Bacillus edodes* according to claim 5, characterized in that: Each arc plate one (42) is disposed between the clamp (16) and arc plate two (43) on the same side. The cylindrical extrusion rod (45) is inclined and both ends of the cylindrical extrusion rod (45) extend to the outside of the clamp (16). One end of the cylindrical extrusion rod (45) extending out of the clamp (16) abuts against the top of the arc plate two (43) on the same side.

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