Pharmaceutical workshop environmental parameter rapid detection robot and rapid detection method

Abstract

A rapid detection robot for environmental parameters in a pharmaceutical workshop comprises a mobile platform, a detection workbench is arranged on the mobile platform; a mechanical arm is installed on the detection workbench, and the working space of the mechanical arm is provided with: a culture dish rack for storing culture dishes; a silicon wafer rack for storing silicon wafer brackets; a pipette rack for storing pipettes; a tip box for storing pipette tips; a centrifuge tube rack for storing centrifuge tubes; a cover opening device for performing cover opening operations; a reagent compartment for storing probe solutions; a planktonic bacteria sampler for planktonic bacteria sampling; an oscillating incubator for planktonic bacteria culture; a Raman spectrometer for performing SERS testing; a fixture bracket for storing a first fixture, a second fixture and a third fixture; the first fixture is used to clamp culture dishes and silicon wafer brackets, the second fixture is used to clamp pipettes; and the third fixture is used to clamp centrifuge tubes. The present invention also discloses a rapid detection method for environmental parameters in a pharmaceutical workshop.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and specifically relates to a rapid detection robot and a rapid detection method for environmental parameters of a pharmaceutical workshop. Background Art

[0002] In the detection of planktonic bacteria in pharmaceutical workshops, sampling is usually completed manually by carrying a sampler, and the culture dishes are taken to the laboratory for culture. This is time-consuming and requires 3 days of culture to visually inspect the colony counts. The results are slow to feedback, and once quality risks are discovered, timely intervention is impossible, which is not conducive to improving the quality-efficiency ratio.

[0003] Specifically, the Chinese patent with publication number CN113088438B discloses an integrated robot for sampling and detecting floating bacteria, including a mobile platform for placing a plurality of sampling dishes for replacement, a floating bacteria sampler provided on the mobile platform, and a floating bacteria sampling manipulator for replacing the sampling dishes in the floating bacteria sampler; an automatic addressing module, which is electrically connected to the mobile platform and is used for automatically addressing according to ground markings so that the mobile platform moves to each sampling area; a processing module, which is electrically connected to the automatic addressing module, the mobile platform and the floating bacteria sampling manipulator; an operating module, which is electrically connected to the processing module and communicates with the cloud via WiFi or 5G. connection; a first positioning module, which is electrically connected to the processing module and is used to obtain spatial position information of the sampling area, wherein the spatial position information includes spatial size information of the sampling area and current position information of the mobile platform in the sampling area; the processing module generates sampling point position information after obtaining the spatial position information, and drives the mobile platform to move to the sampling point, and then the planktonic bacteria sampling robot puts a sampling dish in the planktonic bacteria sampler, or replaces the sampling dish in the planktonic bacteria sampler with the sampling dish on the mobile platform; an automatic sampling module, which is electrically connected to the processing module and the planktonic bacteria sampler, and enables the planktonic bacteria sampler to start sampling operation after replacing the sampling dish.

[0004] The integrated robot for sampling and detecting planktonic bacteria automatically addresses itself according to ground markings through the automatic addressing module, so that the mobile platform drives the planktonic bacteria sampler to move to the sampling area and conduct sampling. It can achieve the technical purpose of automatically sampling multiple sampling points in sequence according to the set order. However, the samples after sampling still need to be transferred to the laboratory for testing. It only saves the manpower cost of manual sampling, but does not shorten the feedback time of the test results. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a rapid detection robot and rapid detection method for pharmaceutical workshop environmental parameters, which can not only realize automatic sampling, but also directly detect pharmaceutical workshop environmental parameters such as floating bacteria after sampling, which can effectively shorten the feedback time of detection results.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention first proposes a rapid detection robot for environmental parameters of a pharmaceutical workshop, comprising a mobile platform, on which a detection workbench is provided; a mechanical arm is installed on the detection workbench, and within the working space of the mechanical arm are provided:

[0008] Petri dish rack, used to store petri dishes;

[0009] A silicon wafer rack, used to store silicon wafer holders, on which silicon wafers are mounted;

[0010] Pipette rack, used to store pipettes;

[0011] Tip box, used to store pipette tips;

[0012] Centrifuge tube rack, used to store centrifuge tubes;

[0013] A cover opening device, used for opening the cover of the centrifuge tube;

[0014] A reagent compartment, used to store probe solutions;

[0015] Planktonic bacteria sampler, used for sampling planktonic bacteria;

[0016] Oscillating incubator for planktonic bacterial culture;

[0017] Raman spectrometer, used to perform SERS test on cultured planktonic bacteria samples;

[0018] A clamp support, used to store a first clamp, a second clamp and a third clamp; the first clamp is used to clamp the culture dish and the silicon wafer support, the second clamp is used to clamp the pipette, and the pipette head cooperates with the pipette; the third clamp is used to clamp the centrifuge tube;

[0019] A first quick-change joint is installed at the end of the robotic arm, and a second quick-change joint is installed at the upper ends of the first clamp, the second clamp and the third clamp. The second quick-change joint matches the first quick-change joint, and the robotic arm is docked with the first clamp, the second clamp or the third clamp respectively through the first quick-change joint and the second quick-change joint.

[0020] Further, the robot arm is docked with the first clamp through the first quick-change joint and the second quick-change joint, and the culture dish containing the culture solution is clamped from the culture dish rack through the first clamp and the culture dish is transferred to the planktonic bacteria sampler for sampling;

[0021] After the sampling is completed, the robotic arm drives the first clamp to clamp the culture dish from the planktonic bacteria sampler and transfer the culture dish to the oscillating incubator for culturing;

[0022] After the cultivation is completed, the robot arm drives the first clamp to clamp the culture dish from the oscillating incubator and transfer the culture dish to the cache position;

[0023] After the robot arm places the first clamp on the clamp bracket, it docks with the third clamp through the first quick-change joint and the second quick-change joint, clamps the centrifuge tube from the centrifuge tube rack through the third clamp, and transfers the centrifuge tube to the cover opening device, and after opening the centrifuge tube cover, transfers the centrifuge tube to the transfer position of the centrifuge tube rack;

[0024] After the robot arm places the third fixture on the fixture bracket, it docks with the second fixture through the first quick-change joint and the second quick-change joint; the robot arm drives the second fixture to clamp the pipette, and transfers the pipette to the tip box to dock with the pipette tip;

[0025] The mechanical arm drives the pipette and the pipette head to quantitatively absorb the solution from the culture dish at the buffer position and transfer the absorbed solution to the centrifuge tube at the transfer position; after replacing the pipette head, the mechanical arm drives the pipette and the pipette head to quantitatively absorb the probe solution from the reagent compartment and inject the probe solution into the centrifuge tube at the transfer position;

[0026] After the robot arm places the second fixture on the fixture bracket, it docks with the third fixture through the first quick-change joint and the second quick-change joint; the robot arm drives the third fixture to clamp the centrifuge tube at the transfer position and transfer the centrifuge tube to the cover opening device, and after covering the centrifuge tube cover, transfer the centrifuge tube to the shaking incubator for shaking incubation;

[0027] After the incubation is completed, the robotic arm drives the third clamp to clamp the centrifuge tube in the shaking incubator and transfer the centrifuge tube to the pipetting position; after the robotic arm places the third clamp on the clamp bracket, it docks with the first clamp through the first quick-change joint and the second quick-change joint; the robotic arm drives the first clamp to clamp the silicon wafer bracket from the silicon wafer rack and transfer the silicon wafer bracket to the cache position;

[0028] After the robot arm places the first fixture on the fixture bracket, it docks with the second fixture through the first quick-change joint and the second quick-change joint; the robot arm drives the second fixture to clamp the pipette, and transfers the pipette to the tip box to dock with the pipette tip;

[0029] The mechanical arm drives the pipette and the pipette head to quantitatively absorb the incubated solution from the centrifuge tube at the pipetting position, and transfer the solution to the silicon wafer at the buffer position;

[0030] After the robotic arm places the second clamp on the clamp holder, it docks with the first clamp through the first quick-change joint and the second quick-change joint; after the solution on the silicon wafer dries naturally, the robotic arm drives the first clamp to transfer the silicon wafer holder located at the cache position to the Raman spectrometer, and uses the Raman spectrometer to perform SERS testing and obtain detection results.

[0031] Furthermore, the detection workbench is also provided with a waste box, which is used to store discarded culture dishes, silicon wafer racks, centrifuge tubes and pipette tips; the detection workbench is installed with a temperature and humidity sensor for detecting the temperature and humidity of the pharmaceutical workshop; the detection workbench is provided with a dust particle counter for detecting the number and particle size distribution of dust particles per unit volume in the pharmaceutical workshop.

[0032] Furthermore, the first clamp and the third clamp adopt a clamp mechanism with the same structure, and the clamp mechanism includes a first back plate, and a first electric clamp is installed on the front side of the first back plate, and first clamps adapted to the culture dish and the silicon wafer holder are correspondingly installed on the two first clamps of the first electric clamp; the second quick-change connector is installed above the first back plate.

[0033] Further, the second clamp includes a second back plate, an electric slide is installed on the front side of the second back plate, a second electric clamp is installed on the electric slide, and the electric slide is used to drive the second electric clamp to move in a vertical direction; second chucks adapted to the pipette are installed on the two second jaws of the second electric clamp; the second quick-change connector is installed above the second back plate, and a baffle is installed in front of the second back plate and is located above the second chuck for cooperating with the pipette.

[0034] Furthermore, the mobile platform adopts an AGV cart; and a display screen is provided on the detection workbench.

[0035] The present invention also proposes a method for quickly detecting environmental parameters of a pharmaceutical workshop using the above-mentioned robot for quickly detecting environmental parameters of a pharmaceutical workshop, comprising the following steps:

[0036] Step 1: Use the mobile platform to move the detection workbench to the set sampling position;

[0037] Step 2: The robotic arm is docked with the first clamp through the first quick-change joint and the second quick-change joint, the robotic arm drives the first clamp to clamp the culture dish from the culture dish rack and transfer the culture dish to the planktonic bacteria sampler, and then the planktonic bacteria sampler is turned on for automatic sampling; the culture dish contains a nutrient broth culture solution of a first set volume;

[0038] Step 3: After the sampling is completed, the robot arm drives the first fixture to transfer the culture dish to the shaking incubator for culturing in the shaking incubator;

[0039] Step 4: After the culture is completed, the robot arm drives the first clamp to clamp the culture dish from the oscillating incubator and transfer the culture dish to the cache position and then open the cover of the culture dish;

[0040] After the robot arm places the first clamp on the clamp bracket, it docks with the third clamp through the first quick-change joint and the second quick-change joint, clamps the centrifuge tube from the centrifuge tube rack through the third clamp, and transfers the centrifuge tube to the cover opening device. After opening the centrifuge tube cover, the centrifuge tube is transferred to the transfer position of the centrifuge tube rack;

[0041] Step 5: After the robot arm places the third fixture on the fixture bracket, it docks with the second fixture through the first quick-change connector and the second quick-change connector; the robot arm drives the second fixture to clamp the pipette, and transfers the pipette to the tip box and docks with the pipette tip;

[0042] The robotic arm drives the pipette gun and the pipette gun head to quantitatively absorb a second set volume of solution from the culture dish located at the buffer position and transfer the absorbed solution to the centrifuge tube located at the transfer position; after replacing the pipette gun head, the robotic arm drives the pipette gun and the pipette gun head to quantitatively absorb a third set volume of probe solution from the reagent compartment and inject the probe solution into the centrifuge tube located at the transfer position;

[0043] Step 6: After the robot arm places the second fixture on the fixture bracket, it docks with the third fixture through the first quick-change joint and the second quick-change joint; the robot arm drives the third fixture to clamp the centrifuge tube at the transfer position and transfer the centrifuge tube to the cover opening device, and after covering the centrifuge tube cover, transfer the centrifuge tube to the shaking incubator for shaking incubation;

[0044] Step 7: After the incubation is completed, the robot arm drives the third clamp to clamp the centrifuge tube in the shaking incubator and transfer the centrifuge tube to the pipetting position;

[0045] After the robotic arm places the third fixture on the fixture bracket, it docks with the first fixture through the first quick-change joint and the second quick-change joint; the robotic arm drives the first fixture to clamp the silicon wafer bracket from the silicon wafer rack and transfer the silicon wafer bracket to the cache position;

[0046] Step 8: After the robot arm places the first fixture on the fixture bracket, it docks with the second fixture through the first quick-change connector and the second quick-change connector; the robot arm drives the second fixture to clamp the pipette, and transfers the pipette to the tip box and docks with the pipette tip;

[0047] The mechanical arm drives the pipette and the pipette head to quantitatively absorb a fourth set volume of the incubation-completed solution from the centrifuge tube at the pipetting position, and transfers the solution to the silicon chip at the buffer position;

[0048] Step nine: After the robotic arm places the second clamp on the clamp holder, it docks with the first clamp through the first quick-change joint and the second quick-change joint; after the solution on the silicon wafer dries naturally, the robotic arm drives the first clamp to transfer the silicon wafer holder located in the cache position to the Raman spectrometer, and performs SERS testing using the Raman spectrometer to obtain the test results.

[0049] The beneficial effects of the present invention are:

[0050] The rapid detection robot for environmental parameters of a pharmaceutical workshop of the present invention is configured such that a detection workbench is installed on a mobile platform, and the detection workbench can be transferred to a sampling position set in the pharmaceutical workshop by using the mobile platform; a robotic arm is installed on the detection workbench, and a culture dish rack, a silicon wafer rack, a pipette gun rack, a gun tip box, a centrifuge tube rack, a cover opening device, a reagent compartment, a planktonic bacteria sampler, an oscillating incubator, a Raman spectrometer and a clamp bracket are arranged within the working space of the robotic arm. In this way, the first clamp, the second clamp or the third clamp can be switched for docking on the robotic arm by docking a first quick-change connector installed at the end of the robotic arm with a second quick-change connector arranged on the first clamp, the second clamp and the third clamp; when the robotic arm is docked with the first clamp, the culture dish can be clamped from the culture dish rack and the culture dish can be transferred between the planktonic bacteria sampler, the oscillating incubator and the cache position of the detection workbench; the silicon wafer bracket can also be clamped from the silicon wafer rack by the first clamp and the silicon wafer bracket can be transferred between the cache position of the detection workbench and the Raman spectrometer. ; When the robotic arm is docked with the second clamp, the pipette can be clamped by the second clamp, and the pipette can be transferred to the tip box for docking and the pipette tip can be replaced. After the solution and reagent are absorbed by the pipette tip, the solution and reagent are transferred to the centrifuge tube or silicon wafer located in the cache position; when the robotic arm is docked with the third clamp, the centrifuge tube can be clamped by the third clamp, and the centrifuge tube is transferred to the opening device for opening the cover and transferred to the oscillating incubator for oscillating culture; that is, the rapid detection robot for environmental parameters of the pharmaceutical workshop of the present invention can not only automatically move to the sampling position through the mobile platform and sample through the planktonic bacteria sampler, but also through the robotic arm, the first clamp, the second clamp and the third clamp, the culture dish, centrifuge tube, silicon wafer holder, pipette and pipette tip in the process of planktonic bacteria detection can be transferred and replaced, and planktonic bacteria detection can be performed directly on the detection workbench. At the same time, combined with planktonic bacteria culture, oscillation incubation and SERS testing using a Raman spectrometer, the feedback time of the detection results can be effectively shortened. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0052] Figure 1 This is a schematic diagram of the structure of an embodiment of a robot for rapid detection of environmental parameters in a pharmaceutical workshop according to the present invention;

[0053] Figure 2 This is a first-direction axonometric diagram of the robot for rapid detection of environmental parameters in a pharmaceutical workshop of this embodiment;

[0054] Figure 3 This is a second-direction axonometric diagram of the robot for rapid detection of environmental parameters in a pharmaceutical workshop of this embodiment;

[0055] Figure 4 is a schematic diagram of the structure of the fixture bracket;

[0056] Figure 5 is a schematic structural diagram of a first clamp;

[0057] Figure 6 It is a schematic diagram of the structure of the second clamp.

[0058] Description of reference numerals:

[0059] 10-mobile platform; 20-testing workbench; 201-cache position; 21-robot arm; 211-first quick-change joint; 22-culture dish rack; 221-culture dish; 23-silicon wafer rack; 231-silicon wafer support; 24-pipette rack; 241-pipette; 25-tip box; 26-reagent compartment; 27-floating bacteria sampler; 28-oscillating incubator; 29-Raman spectrometer; 30-clamp support; 31-first clamp; 311-second quick-change joint I; 312-first back plate; 313-first An electric clamp; 314-a first clamp; 315-a first chuck; 32-a second clamp; 321-a second quick-change connector II; 322-a second back plate; 323-an electric slide; 324-a second electric clamp; 325-a second clamp; 326-a second chuck; 327-a baffle; 33-a waste box; 34-a temperature and humidity sensor; 35-a dust particle counter; 36-a display screen; 37-a centrifuge tube rack; 371-a centrifuge tube; 38-a cover opening device; 39-a third clamp; 391-a second quick-change connector III. DETAILED DESCRIPTION

[0060] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0061] like Figure 1-3As shown, the pharmaceutical workshop environmental parameter rapid detection robot of this embodiment includes a mobile platform 10, and a detection workbench 20 is provided on the mobile platform 10. A mechanical arm 21 is installed on the detection workbench 20, and a culture dish rack 22, a silicon wafer rack 23, a pipette gun rack 24, a gun tip box 25, a reagent bin 26, a planktonic bacteria sampler 27, an oscillating incubator 28, a Raman spectrometer 29, a fixture bracket 30, a centrifuge tube rack 37 and a cover opening device 38 are provided within the working space of the mechanical arm 21. Specifically, the culture dish rack 22 is used to store the culture dish 221; the silicon wafer rack 23 is used to store the silicon wafer bracket 231, on which the silicon wafer is mounted; the pipette gun rack 24 is used to store the pipette gun 241; the tip box 25 is used to store the pipette gun tip; the reagent compartment 26 is used to store the probe solution; the floating bacteria sampler 27 is used for floating bacteria sampling; the oscillating incubator 28 is used for floating bacteria culture and oscillation incubation; the Raman spectrometer 29 is used to detect the floating bacteria sample after culture; the centrifuge tube rack 37 is used to store the centrifuge tube 371; and the cover opening device 38 is used to open the cover of the centrifuge tube 371. In this embodiment, the mobile platform 10 adopts an AGV trolley, which can move the detection workbench 20 to the set sampling position.

[0062] like Figure 4 As shown, in this embodiment, the clamp bracket 30 is used to store the first clamp 31, the second clamp 32 and the third clamp 39. Specifically, the first clamp 31 is used to clamp the culture dish 221 and the silicon wafer bracket 231, and the second clamp 32 is used to clamp the pipette 241. The pipette head cooperates with the pipette 241. The pipette heads of different specifications and models can be docked on the pipette 241 to absorb solutions of different capacities. The third clamp 39 is used to clamp and transfer the centrifuge tube 371. In this embodiment, the end of the robotic arm 21 is equipped with a first quick-change connector 211, the upper end of the first clamp 31 is equipped with a second quick-change connector I311, the upper end of the second clamp 32 is equipped with a second quick-change connector II321, and the upper end of the third clamp 39 is equipped with a second quick-change connector III391. The second quick-change connector I311, the second quick-change connector II321 and the second quick-change connector III391 are all matched with the first quick-change connector 211. The robot arm 21 can be docked with the first fixture 31 through the first quick-change connector 211 and the second quick-change connector I311. The robot arm 21 can also be docked with the second fixture 32 through the first quick-change connector 211 and the second quick-change connector II321. The robot arm 21 can also be docked with the third fixture 39 through the first quick-change connector 211 and the second quick-change connector III391.

[0063] Specifically, the first clamp 31 and the third clamp 39 use the same clamp mechanism. Figure 5As shown, in this embodiment, the clamp mechanism includes a first back plate 312, a first electric clamp 313 is installed on the front side of the first back plate 312, and the first clamps 315 adapted to the culture dish 221 and the silicon wafer holder 231 are installed on the two first clamps 314 of the first electric clamp 313, and the second quick-change joint is installed on the top of the first back plate 312. Specifically, the second quick-change joint installed on the first clamp 31 is the second quick-change joint I 311, and the second quick-change joint installed on the third clamp 39 is the second quick-change joint III 391. In this way, the first electric clamp 313 can drive the two first clamps 314 to move toward or away from each other, so that the two first clamps 315 can be driven to close to clamp the target object, or the two first clamps 315 can be driven to open to put down the target object. The first clamp 31 is used to clamp the culture dish 221 and the silicon wafer holder 231, and the third clamp 39 is used to clamp the centrifuge tube 371. Since the sizes of the clamped objects are different, in the first clamp 31 and the third clamp 39 , it is only necessary to adapt the shape and size of the first clamp 315 to the corresponding object.

[0064] like Figure 6As shown, in this embodiment, the second clamp 32 includes a second back plate 322, and an electric slide 323 is installed on the front side of the second back plate 322, and a second electric clamp 324 is installed on the electric slide 323. The electric slide 323 is used to drive the second electric clamp 324 to move along the vertical direction. The two second clamps 325 of the second electric clamp 324 of this embodiment are installed with a second chuck 326 adapted to the liquid transfer gun 241. A second quick-change connector II 321 is installed above the second back plate 322, and a baffle 327 located above the second chuck 326 for matching with the liquid transfer gun 241 is installed in front of the second back plate 322. In this way, the second electric clamp 324 can drive the two second clamps 325 to move toward or away from each other, so that the two second chucks 326 can be driven to close to clamp the corresponding liquid transfer gun 241, or the two second chucks 326 can be driven to open to put down the corresponding liquid transfer gun 241. The pipette gun 241 of the present embodiment adopts a mechanical pipette gun. In order to drive the pipette gun 241 to absorb or discharge liquid, a baffle plate 327 located above the second clamp 326 is installed in front of the second back plate 322. In this way: when absorbing liquid, the pipette gun 241 is clamped and fixed by the second clamp 32, and the electric slide 323 is used to drive the pipette gun 241 to move upward. The upper end of the pipette gun 241 cooperates with the baffle plate 327 and makes the spring inside the pipette gun 241 in a compressed state, and the pipette gun head docked on the pipette gun 241 is extended into the solution, and the mechanical arm 21 and the electric slide 323 are used to hold the pipette gun. Under the condition that the pipette 241 and the pipette tip are fixed or move slightly, the baffle 327 is driven to move upward, and the spring inside the pipette 241 is extended to drive the piston inside the pipette 241 to move upward and achieve liquid suction; when discharging, the pipette tip absorbs the solution, and the spring inside the pipette 241 is in a free state at this time, and the pipette 241 and the pipette tip are transferred to the set liquid discharge position, and the mechanical arm 21 and the electric slide 323 are used to drive the baffle 327 to move downward and compress the spring inside the pipette 241 to achieve liquid discharge while keeping the pipette 241 and the pipette tip fixed or move slightly. Of course, in some other embodiments, the pipette 241 can also adopt other structural forms of pipettes, which can cooperate with the suction pump to achieve liquid suction and discharge, which will not be repeated.

[0065] In a preferred implementation manner of this embodiment, a waste box 33 is further provided on the detection workbench 20, and the waste box 33 is used to store discarded culture dishes 221, silicon wafer holders 231, centrifuge tubes 371 and pipette tips.

[0066] In a preferred implementation manner of this embodiment, a temperature and humidity sensor 34 for detecting the temperature and humidity of the pharmaceutical workshop is installed on the detection workbench 20, so that the temperature and humidity in the pharmaceutical workshop can be monitored in real time.

[0067] In a preferred implementation of this embodiment, a dust particle counter 35 for detecting the number of dust particles and the particle size distribution per unit volume in the pharmaceutical workshop is provided on the detection workbench 20, which can monitor the number of dust particles and the particle size distribution per unit volume in the pharmaceutical workshop in real time.

[0068] In a preferred implementation of this embodiment, a display screen 36 is provided on the detection workbench 20, and the display screen 36 can display information such as the temperature, humidity, number of dust particles per unit volume and particle size distribution in the pharmaceutical workshop in real time.

[0069] Specifically, in this embodiment, the robot arm 21 performs the following actions during the process of detecting the environmental parameters of the pharmaceutical workshop:

[0070] The robot arm 21 is docked with the first clamp 31 through the first quick-change joint 211 and the second quick-change joint I 311, and the culture dish 221 containing the culture fluid is clamped from the culture dish rack 22 through the first clamp 31 and transferred to the planktonic bacteria sampler 27 for sampling.

[0071] After the sampling is completed, the robot arm 21 drives the first clamp 31 to clamp the culture dish 221 from the planktonic bacteria sampler 27 and transfer the culture dish 221 to the shaking incubator 28 for cultivation.

[0072] After the culture is completed, the robot arm 21 drives the first clamp 31 to clamp the culture dish 221 from the oscillating incubator 28 and transfer the culture dish 221 to the cache position 201 .

[0073] After the robot arm 21 places the first clamp 31 on the clamp bracket 30, it docks with the third clamp 39 through the first quick-change joint 211 and the second quick-change joint III 391, clamps the centrifuge tube 371 from the centrifuge tube rack 37 through the third clamp 39, and transfers the centrifuge tube 371 to the cover opening device 38. After opening the centrifuge tube cover, the centrifuge tube 371 is transferred to the transfer position of the centrifuge tube rack 37. Specifically, in this embodiment, the transfer position is one of the centrifuge tube positions set on the centrifuge tube rack 37 for placing the centrifuge tube 371.

[0074] After the robot arm 21 places the third clamp 39 on the clamp bracket 30, it docks with the second clamp 32 through the first quick-change connector 211 and the second quick-change connector II 321; the robot arm 21 drives the second clamp 32 to clamp the pipette 241, and transfers the pipette 241 to the tip box 25 to dock with the pipette tip.

[0075] The robot arm 21 drives the pipette gun 241 and the pipette gun tip to quantitatively absorb the solution from the culture dish 221 located at the buffer position 201 and transfer the absorbed solution to the centrifuge tube 371 located at the transfer position, and then transfer the pipette gun tip to the waste box 33. After replacing the pipette gun tip, the robot arm 21 drives the pipette gun 241 and the pipette gun tip to quantitatively absorb the probe solution from the reagent chamber 26, and after injecting the probe solution into the centrifuge tube 371 located at the transfer position, transfer the pipette gun tip to the waste box 33.

[0076] After the robot arm 21 places the second fixture 32 on the fixture bracket 30, it docks with the third fixture 39 through the first quick-change joint 211 and the second quick-change joint III 391. The robot arm 21 drives the third fixture 39 to clamp the centrifuge tube 371 at the transfer position and transfer the centrifuge tube 371 to the shaking incubator 28 for shaking incubation. At the same time, the culture dish 221 at the cache position 201 is transferred to the waste box 33.

[0077] After the incubation is completed, the robot arm 21 drives the third clamp 39 to clamp the centrifuge tube 371 in the shaking incubator 28 and transfer the centrifuge tube 371 to the pipetting position.

[0078] After the robot arm 21 places the third fixture 39 on the fixture support 30, it docks with the first fixture 31 through the first quick-change joint 211 and the second quick-change joint I 311. The robot arm 21 drives the first fixture 31 to clamp the silicon wafer support 231 from the silicon wafer rack 23 and transfer the silicon wafer support 231 to the cache position 201.

[0079] After the robot arm 21 places the first fixture 31 on the fixture bracket 30, it docks with the second fixture 32 through the first quick-change joint 211 and the second quick-change joint II 321. The robot arm 21 drives the second fixture 32 to clamp the pipette 241, and transfers the pipette 241 to the tip box 25 to dock with the pipette tip.

[0080] The robot arm 21 drives the pipette gun 241 and the pipette gun tip to quantitatively absorb the incubated solution from the centrifuge tube 371 at the pipetting position, and after transferring the solution to the silicon wafer at the buffer position 201, the pipette gun tip is transferred to the waste box 33. After the robot arm 21 places the second fixture 32 on the fixture support 30, it docks with the first fixture 31 through the first quick-change joint 211 and the second quick-change joint I 311; after the solution on the silicon wafer is naturally dried, the robot arm 21 drives the first fixture 31 to transfer the silicon wafer support 231 at the second position to the Raman spectrometer 29. The Raman spectrometer 29 is used to perform SERS test on the naturally dried sample on the silicon wafer, and the test results are obtained.

[0081] During the natural drying process of the solution on the silicon wafer, or during the SERS test of the sample by the Raman spectrometer 29, or at a set time after the SERS test of the sample by the Raman spectrometer 29 is completed, the robot arm 21 docks with the third clamp 39 and drives the third clamp 39 to clamp the centrifuge tube 371 at the pipetting position and transfer the centrifuge tube 371 to the waste box 33.

[0082] The specific implementation method of the pharmaceutical workshop environmental parameter rapid detection method is described in detail below in conjunction with the pharmaceutical workshop environmental parameter rapid detection robot of this embodiment.

[0083] The method for rapid detection of pharmaceutical workshop environmental parameters of this embodiment includes the following steps.

[0084] Step 1: Use the mobile platform 10 to move the detection workbench 20 to a set sampling position.

[0085] Step 2: The robot arm 21 is docked with the first clamp 31 through the first quick-change joint 211 and the second quick-change joint I 311. The robot arm 21 drives the first clamp 31 to clamp the culture dish 221 from the culture dish rack 22 and transfer the culture dish 221 to the airborne bacteria sampler 27, and then the airborne bacteria sampler 27 is turned on for automatic sampling. Specifically, the culture dish 221 contains a first set volume of nutrient broth culture fluid. In this embodiment, the first set volume is 20 mL.

[0086] Step 3: After the sampling is completed, the robot arm 21 drives the first fixture 31 to move the culture dish 221 to the shaking incubator 28 for incubation in the shaking incubator 28. In this embodiment, the incubation time in the shaking incubator 28 is 2 hours, and the incubation temperature is 37°C.

[0087] Step 4: After the culture is completed, the robot 21 drives the first clamp 31 to clamp the culture dish 221 from the oscillating incubator 28 and transfer the culture dish 221 to the cache position 201, and then open the lid of the culture dish 221. After the robot 21 places the first clamp 31 on the clamp bracket 30, it docks with the third clamp 39 through the first quick-change connector 211 and the second quick-change connector III 391, clamps the centrifuge tube 371 from the centrifuge tube rack 37 through the third clamp 39, and transfers the centrifuge tube 371 to the lid opening device 38. After opening the centrifuge tube lid, the centrifuge tube 371 is transferred to the transfer position of the centrifuge tube rack 37.

[0088] Step 5: After the robot arm 21 places the third clamp 39 on the clamp bracket 30, it docks with the second clamp 32 through the first quick-change connector 211 and the second quick-change connector II 321; the robot arm 21 drives the second clamp 32 to clamp the pipette 241, and transfers the pipette 241 to the tip box 25 to dock with the pipette tip.

[0089] The mechanical arm 21 drives the pipette gun 241 and the pipette gun head to quantitatively absorb the second set volume of solution from the culture dish 221 located at the cache position 201 and transfer the absorbed solution to the centrifuge tube 371 located at the transfer position, and transfer the pipette gun head to the waste box 33. After replacing the pipette gun head, the mechanical arm 21 drives the pipette gun 241 and the pipette gun head to quantitatively absorb the third set volume of probe solution from the reagent compartment 26, and inject the probe solution into the centrifuge tube 371 located at the transfer position, and then transfer the pipette gun head to the waste box 33. In this embodiment, the probe solution uses AuNSs-DTNB-Apt solution, which is a probe solution for rapid detection of golden wine bacteria. Of course, in some other embodiments, the probe solution can also use a solution for rapid detection of other strains, which will not be repeated. In this embodiment, the second set volume is 50 uL and the third set volume is 250 uL.

[0090] Step six: After the robot arm 21 places the second clamp 32 on the clamp bracket 30, it docks with the third clamp 39 through the first quick-change joint 211 and the second quick-change joint III 391. The robot arm 21 drives the third clamp 39 to clamp the centrifuge tube 371 at the pipetting position and transfer the centrifuge tube 371 to the lid opening device 38. After covering the centrifuge tube cover, the centrifuge tube 371 is transferred to the oscillating incubator 28 for oscillating incubation. In this embodiment, the incubation temperature for oscillating incubation using the oscillating incubator 28 is 37°C, the incubation time is 30 minutes, and the oscillation frequency during the incubation process is 180 rpm. During the incubation process, the robot arm 21 docks with the first clamp 31, and uses the first clamp 31 to transfer the culture dish 221 located at the cache position 201 to the waste box 33; then the robot arm 21 docks with the third clamp 39.

[0091] Step 7: After the incubation is completed, the robot arm 21 drives the third clamp 39 to clamp the centrifuge tube 371 in the shaking incubator 28 and transfer the centrifuge tube 371 to the transfer position.

[0092] After the robot arm 21 places the third clamp 39 on the clamp bracket 30, it docks with the first clamp 31 through the first quick-change joint 211 and the second quick-change joint I311; the robot arm 21 drives the first clamp 31 to clamp the silicon wafer bracket 231 from the silicon wafer rack 23 and transfer the silicon wafer bracket 231 to the cache position 201.

[0093] Step 8: After the robot arm 21 places the first fixture 31 on the fixture bracket 30, it docks with the second fixture 32 through the first quick-change connector 211 and the second quick-change connector II 321. The robot arm 21 drives the second fixture 32 to clamp the pipette 241, and transfers the pipette 241 to the tip box 25 to dock with the pipette tip.

[0094] The mechanical arm 21 drives the pipette 241 and the pipette tip to quantitatively absorb the fourth set volume of the incubated solution from the centrifuge tube 371 at the pipetting position, and after transferring the solution to the silicon wafer at the buffer position 201, transfer the pipette tip to the waste box 33. In this embodiment, the fourth set volume is 10 uL.

[0095] Step 9: After the robot arm 21 places the second fixture 32 on the fixture support 30, it docks with the first fixture 31 through the first quick-change joint 211 and the second quick-change joint I 311. After the solution on the silicon wafer is naturally dried, the robot arm 21 drives the first fixture 31 to transfer the silicon wafer support 231 located at the second position to the Raman spectrometer 29, and the Raman spectrometer 29 is used to perform SERS test on the naturally dried sample on the silicon wafer, and obtain the test results.

[0096] During the natural drying process of the solution on the silicon wafer, or during the SERS test of the sample by the Raman spectrometer 29, or at a set time after the SERS test of the sample by the Raman spectrometer 29 is completed, the robot arm 21 docks with the third clamp 39 and drives the third clamp 39 to clamp the centrifuge tube 371 at the pipetting position and transfer the centrifuge tube 371 to the waste box 33.

[0097] The above-described embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or changes made by those skilled in the art based on the present invention are within the protection scope of the present invention. The protection scope of the present invention shall be subject to the claims.

Claims

1. A robot for rapid detection of environmental parameters in pharmaceutical workshops, characterized in that: It comprises a mobile platform, on which a detection workbench is provided; a mechanical arm is installed on the detection workbench, and within the working space of the mechanical arm there are: Petri dish rack, used to store petri dishes; A silicon wafer rack, used to store silicon wafer holders, on which silicon wafers are mounted; Pipette rack, used to store pipettes; Tip box, used to store pipette tips; Centrifuge tube rack, used to store centrifuge tubes; A cover opening device, used for opening the cover of the centrifuge tube; A reagent compartment, used to store probe solutions; Planktonic bacteria sampler, used for sampling planktonic bacteria; Oscillating incubator for planktonic bacterial culture; Raman spectrometer, used to perform SERS test on cultured planktonic bacteria samples; A clamp support, used to store a first clamp, a second clamp and a third clamp; the first clamp is used to clamp the culture dish and the silicon wafer support, the second clamp is used to clamp the pipette, and the pipette head cooperates with the pipette; the third clamp is used to clamp the centrifuge tube; A first quick-change joint is installed at the end of the robotic arm, and a second quick-change joint is installed at the upper ends of the first clamp, the second clamp and the third clamp. The second quick-change joint matches the first quick-change joint, and the robotic arm is docked with the first clamp, the second clamp or the third clamp respectively through the first quick-change joint and the second quick-change joint.

2. The pharmaceutical workshop environmental parameter rapid detection robot according to claim 1 is characterized in that: The robot arm is docked with the first clamp through the first quick-change joint and the second quick-change joint, and the first clamp is used to clamp the culture dish containing the culture solution from the culture dish rack and transfer the culture dish to the planktonic bacteria sampler for sampling; After the sampling is completed, the robotic arm drives the first clamp to clamp the culture dish from the planktonic bacteria sampler and transfer the culture dish to the oscillating incubator for culturing; After the cultivation is completed, the robot arm drives the first clamp to clamp the culture dish from the oscillating incubator and transfer the culture dish to the cache position; After the robot arm places the first clamp on the clamp bracket, it docks with the third clamp through the first quick-change joint and the second quick-change joint, clamps the centrifuge tube from the centrifuge tube rack through the third clamp, and transfers the centrifuge tube to the cover opening device, and after opening the centrifuge tube cover, transfers the centrifuge tube to the transfer position of the centrifuge tube rack; After the robot arm places the third fixture on the fixture bracket, it docks with the second fixture through the first quick-change joint and the second quick-change joint; the robot arm drives the second fixture to clamp the pipette, and transfers the pipette to the tip box to dock with the pipette tip; The mechanical arm drives the pipette and the pipette head to quantitatively absorb the solution from the culture dish at the buffer position and transfer the absorbed solution to the centrifuge tube at the transfer position; after replacing the pipette head, the mechanical arm drives the pipette and the pipette head to quantitatively absorb the probe solution from the reagent compartment and inject the probe solution into the centrifuge tube at the transfer position; After the robot arm places the second fixture on the fixture bracket, it docks with the third fixture through the first quick-change joint and the second quick-change joint; the robot arm drives the third fixture to clamp the centrifuge tube at the transfer position and transfer the centrifuge tube to the cover opening device, and after covering the centrifuge tube cover, transfer the centrifuge tube to the shaking incubator for shaking incubation; After the incubation is completed, the robotic arm drives the third clamp to clamp the centrifuge tube in the shaking incubator and transfer the centrifuge tube to the pipetting position; after the robotic arm places the third clamp on the clamp bracket, it docks with the first clamp through the first quick-change joint and the second quick-change joint; the robotic arm drives the first clamp to clamp the silicon wafer bracket from the silicon wafer rack and transfer the silicon wafer bracket to the cache position; After the robot arm places the first fixture on the fixture bracket, it docks with the second fixture through the first quick-change joint and the second quick-change joint; the robot arm drives the second fixture to clamp the pipette, and transfers the pipette to the tip box to dock with the pipette tip; The mechanical arm drives the pipette and the pipette head to quantitatively absorb the incubated solution from the centrifuge tube at the pipetting position, and transfer the solution to the silicon wafer at the buffer position; After the robotic arm places the second clamp on the clamp holder, it docks with the first clamp through the first quick-change joint and the second quick-change joint; after the solution on the silicon wafer dries naturally, the robotic arm drives the first clamp to transfer the silicon wafer holder located at the cache position to the Raman spectrometer, and uses the Raman spectrometer to perform SERS testing and obtain detection results.

3. The pharmaceutical workshop environmental parameter rapid detection robot according to claim 1 or 2, characterized in that: The detection workbench is also provided with a waste box, which is used to store discarded culture dishes, silicon wafer racks, centrifuge tubes and pipette tips; the detection workbench is installed with a temperature and humidity sensor for detecting the temperature and humidity of the pharmaceutical workshop; the detection workbench is provided with a dust particle counter for detecting the number and particle size distribution of dust particles per unit volume in the pharmaceutical workshop.

4. The pharmaceutical workshop environmental parameter rapid detection robot according to claim 1 or 2, characterized in that: The first clamp and the third clamp adopt a clamp mechanism with the same structure, and the clamp mechanism includes a first back plate, and a first electric clamp is installed on the front side of the first back plate, and the two first clamps of the first electric clamp are correspondingly installed with first chucks adapted to the culture dish and the silicon wafer holder; the second quick-change connector is installed above the first back plate.

5. The pharmaceutical workshop environmental parameter rapid detection robot according to claim 1 or 2, characterized in that: The second clamp includes a second back plate, an electric slide is installed on the front side of the second back plate, a second electric clamp is installed on the electric slide, and the electric slide is used to drive the second electric clamp to move in a vertical direction; second chucks adapted to the pipette are installed on the two second jaws of the second electric clamp; the second quick-change connector is installed above the second back plate, and a baffle is installed in front of the second back plate and is located above the second chuck for cooperating with the pipette.

6. The pharmaceutical workshop environmental parameter rapid detection robot according to claim 1 or 2, characterized in that: The mobile platform adopts an AGV car; the detection workbench is provided with a display screen.

7. A method for rapid detection of environmental parameters in a pharmaceutical workshop using the rapid detection robot for environmental parameters in a pharmaceutical workshop as claimed in any one of claims 1 to 6, characterized in that: The steps include: Step 1: Use the mobile platform to move the detection workbench to the set sampling position; Step 2: The robotic arm is docked with the first clamp through the first quick-change joint and the second quick-change joint, the robotic arm drives the first clamp to clamp the culture dish from the culture dish rack and transfer the culture dish to the planktonic bacteria sampler, and then the planktonic bacteria sampler is turned on for automatic sampling; the culture dish contains a nutrient broth culture solution of a first set volume; Step 3: After the sampling is completed, the robot arm drives the first fixture to transfer the culture dish to the shaking incubator for culturing in the shaking incubator; Step 4: After the culture is completed, the robot arm drives the first clamp to clamp the culture dish from the oscillating incubator and transfer the culture dish to the cache position and then open the cover of the culture dish; After the robot arm places the first clamp on the clamp bracket, it docks with the third clamp through the first quick-change joint and the second quick-change joint, clamps the centrifuge tube from the centrifuge tube rack through the third clamp, and transfers the centrifuge tube to the cover opening device. After opening the centrifuge tube cover, the centrifuge tube is transferred to the transfer position of the centrifuge tube rack; Step 5: After the robot arm places the third fixture on the fixture bracket, it docks with the second fixture through the first quick-change connector and the second quick-change connector; the robot arm drives the second fixture to clamp the pipette, and transfers the pipette to the tip box and docks with the pipette tip; The robotic arm drives the pipette gun and the pipette gun head to quantitatively absorb a second set volume of solution from the culture dish located at the buffer position and transfer the absorbed solution to the centrifuge tube located at the transfer position; after replacing the pipette gun head, the robotic arm drives the pipette gun and the pipette gun head to quantitatively absorb a third set volume of probe solution from the reagent compartment and inject the probe solution into the centrifuge tube located at the transfer position; Step 6: After the robot arm places the second fixture on the fixture bracket, it docks with the third fixture through the first quick-change joint and the second quick-change joint; the robot arm drives the third fixture to clamp the centrifuge tube at the transfer position and transfer the centrifuge tube to the cover opening device, and after covering the centrifuge tube cover, transfer the centrifuge tube to the shaking incubator for shaking incubation; Step 7: After the incubation is completed, the robot arm drives the third clamp to clamp the centrifuge tube in the shaking incubator and transfer the centrifuge tube to the pipetting position; After the robotic arm places the third fixture on the fixture bracket, it docks with the first fixture through the first quick-change joint and the second quick-change joint; the robotic arm drives the first fixture to clamp the silicon wafer bracket from the silicon wafer rack and transfer the silicon wafer bracket to the cache position; Step 8: After the robot arm places the first fixture on the fixture bracket, it docks with the second fixture through the first quick-change connector and the second quick-change connector; the robot arm drives the second fixture to clamp the pipette, and transfers the pipette to the tip box and docks with the pipette tip; The mechanical arm drives the pipette and the pipette head to quantitatively absorb a fourth set volume of the incubation-completed solution from the centrifuge tube at the pipetting position, and transfers the solution to the silicon chip at the buffer position; Step nine: After the robotic arm places the second clamp on the clamp holder, it docks with the first clamp through the first quick-change joint and the second quick-change joint; after the solution on the silicon wafer dries naturally, the robotic arm drives the first clamp to transfer the silicon wafer holder located in the cache position to the Raman spectrometer, and performs SERS testing using the Raman spectrometer to obtain the test results.

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