Automatic device for culturing and researching mycobacterium tuberculosis

Abstract

The invention relates to an automatic device for culturing and researching mycobacterium tuberculosis, the automatic device comprises a three-dimensional moving track group, a culture area and a sampling area, the culture area comprises a plurality of rotatable culture positions which are arranged in a row and are used for placing culture tubes, and the culture positions rotate to drive the culture tubes to incline; the sampling area comprises a rotary positioning assembly, a stretching positioner and an imaging device, and the lower part of the rotary positioning assembly is connected with a telescopic part of the stretching positioner and is used for driving the rotary positioning assembly to move along the arrangement direction of the culture positions so as to receive culture tubes at different culture positions; the imaging device is used for photographing and imaging the culture tubes on the rotary positioning assembly; the three-dimensional moving track set comprises a moving track in the three-dimensional direction and a filling machine, a sampling device, a rotating machine and a bottle cap storage device which are arranged on the track, the filling machine is used for injecting a culture medium and inoculation liquid into the culture tube, and the sampling device is used for picking bacteria in the culture tube; the rotating machine is used for opening and closing bottle caps for the culture tubes; the bottle cap storer is used for storing the bottle caps.

Description

Technical Field

[0001] The present invention belongs to the technical field of bacterial culture equipment, and particularly relates to an automatic device for culturing and researching Mycobacterium tuberculosis. Background Art

[0002] Mycobacterium tuberculosis, commonly known as tubercle bacillus, is the pathogen that causes tuberculosis. Tubercle bacillus is an aerobic bacterium with slow growth and strong resistance to dryness, cold, acid, alkali, etc. In the medical and biological fields, in order to study the pathogenesis and treatment methods of tuberculosis, solid media are usually used to culture Mycobacterium tuberculosis. However, due to the slow growth of Mycobacterium tuberculosis, long-term cultivation is required. Ordinary culture dishes cannot be effectively sealed, and it is easy to lose the culture substances during the cultivation period, resulting in a reduction in the nutrient source and even drying up, leading to cultivation failure. If a general culture tube that can be sealed is used, the interface between the solid medium and air generally has a small area, severely limiting the cultivation scale.

[0003] Currently, in this field, a sealable centrifuge tube is used as the culture container. In order to expand the culture interface, the centrifuge tube is placed obliquely, so that the surface of the solid medium is enlarged. However, this inclined cultivation brings more troubles to subsequent sampling and measurement, and it is not easy to accurately control the whole process of cultivation and sampling, resulting in large experimental errors. Summary of the Invention

[0004] In view of the above problems, the present invention provides an automatic device for culturing and researching Mycobacterium tuberculosis, which includes a three-dimensional moving track group, a culture area, and a sampling area. The culture area includes a number of rotatable culture positions arranged in a row for placing culture tubes to culture Mycobacterium tuberculosis, and the rotation of the culture positions can drive the culture tubes to be inclined.

[0005] The sampling area includes a rotation positioning component, a stretching positioner, and an imaging device. The lower part of the rotation positioning component is connected to the telescopic component of the stretching positioner for driving the rotation positioning component to move along the arrangement direction of the culture positions so as to receive the culture tubes of different culture positions; the imaging device is used to take pictures of the culture tubes on the rotation positioning component.

[0006] The three-dimensional moving track group includes moving tracks in three dimensions and a filling machine, a sampling device, a rotator, and a bottle cap storage on the tracks. The filling machine is used to inject culture medium and inoculation liquid into the culture tubes, the sampling device is used to pick bacteria in the culture tubes; the rotator is used to open and close the bottle caps of the culture tubes, and the bottle cap storage is used to store bottle caps.

[0007] The present invention develops an automatic device for culturing and researching for the inclined tube culture method of Mycobacterium tuberculosis, realizing the mechanization and automation of each culturing and researching step, making the control of the culturing and researching process more accurate and avoiding the errors of manual operation.

[0008] Specifically, each culture position is used to place a culture tube. The rotation of the culture position causes the culture tube to tilt at a specific angle, and the tilt angle is controllable to achieve an accurately controllable culture angle. The filling machine can inject culture medium into each culture tube, and the sampling device puts strains into each culture tube. Then, the rotator and the bottle cap storage move along the culture area, and the rotator screws the bottle caps released by the bottle cap storage onto the corresponding culture bottles respectively. The culture position then tilts to a predetermined experimental angle for culturing.

[0009] When it is necessary to sample a certain culture bottle, the stretching positioner drives the rotary positioning assembly to move to the position corresponding to this culture position through the telescopic component, and the rotary positioning assembly receives this culture tube. The rotator opens the bottle cap of the culture tube and places it back into the bottle cap storage. The imaging device correspondingly takes an image inside the culture tube and assists in positioning the specific position where sampling is required to guide the sampling device to sample.

[0010] Optionally, the overall shape of the automatic device is square, and a base plate is provided at the bottom for supporting the three-dimensional moving track group, the culture area, and the sampling area; the height of the culture area is greater than the height of the sampling area, which is convenient for the culture tubes in the culture positions to slide down into the rotary positioning assembly; the culture area is parallel to the sampling area, and the telescopic component is parallel to the arrangement direction of the culture positions.

[0011] Optionally, the three-dimensional moving track group includes an X-axis track, a Y-axis track, a secondary Y-axis track, and a Z-axis track. The X-axis track is provided on one side of the base plate and is perpendicular to the telescopic component; the bottom of the Y-axis track is slidably connected to the X-axis track and is perpendicular to the X-axis track; one end of the Z-axis track is slidably connected to the Y-axis track and is parallel to the X-axis track; the filling machine, the sampling device, and the rotator are slidably connected to the Z-axis track and move along the Z-axis track;

[0012] The bottom of the secondary Y-axis track is slidably connected to the X-axis track and is parallel to the Y-axis track. The bottle cap storage is slidably connected to the secondary Y-axis track and can move in cooperation with the rotator.

[0013] Optionally, a number of lifting devices are provided at the bottom of the culture area. The number of lifting devices is arranged in a row, and the lifting devices correspond to the culture positions one by one. The top of the lifting device is connected to the bottom of the culture position through a lifting rod to assist in controlling the lifting of the culture position;

[0014] The culture area is also provided with a rotating support rod. The rotating support rod is parallel to the arrangement direction of the culture positions and is connected to the middle turning point of each culture position. One end of the rotating support rod is connected to a first motor, and the rotation of the rotating support rod drives the rotation of all culture positions, causing the culture positions to form a tilted posture.

[0015] Further optionally, the cultivation position is in the form of a seat, including a backrest one and a seat one that are perpendicular to each other. The backrest one and the seat one are in a hinged form. The top of the lifting rod is hinged to the bottom surface of the seat one, so that the lifting rod can independently control the angle between the seat one and the backrest one; the bottom of the backrest one is connected to a rotating support rod, and the backrest one is driven to rotate by the rotating support rod;

[0016] The upper part of the backrest one is provided with an openable and closable limiting part for clamping the upper part of the culture tube to fix the culture tube.

[0017] Further optionally, the rotation positioning assembly includes a lower base, a turntable, an upper base, an operation position and a gripper one from bottom to top. The bottom of the lower base is slidably connected to the secondary Z-axis track through a slider. The turntable is rotatably connected to the top of the lower base. The turntable is fixedly connected to the bottom of the upper base and can drive the upper base and the operation position to rotate;

[0018] The top of the upper base is rotatably connected to a rotating shaft one. A rotating controller one is provided on the side of the upper base. One end of the rotating shaft one is connected to the rotating controller one. The bottom of the operation position is fixedly connected to the rotating shaft one. The rotating controller one controls the rotation of the operation position by a certain inclination angle through the rotating shaft one; A gripper one that can be opened and closed is provided on the top of the operation position for clamping the culture tube on the operation position.

[0019] Optionally, the bottle cap storage includes a control frame, a rotating controller two, a rotating controller three and a storage headquarters. The middle part of the control frame is slidably connected to the secondary Y-axis track through a telescopic rod, and a rotating controller two is provided in the middle part of the control frame for controlling the relative height of both ends of the control frame;

[0020] The tail of the storage headquarters is fixedly connected to one end of the control frame away from the rotating machine, and the head of the storage headquarters is connected to the other end of the control frame through a rotating controller three; the storage headquarters includes a release part at the head and a storage part at the rear. The release part and the storage part are hinged, and the rotating controller three is used to adjust the angle between the release part and the storage part.

[0021] Further optionally, the control frame includes a main rod, a rotating shaft two and a rotating shaft three. One end of the telescopic rod is connected to its own controller, and this controller is slidably connected to the secondary Y-axis track through a slider. The other end of the telescopic rod is connected to the rotating controller two. The rotating controller two is connected to the middle part of the main rod through the rotating shaft two for adjusting the rotation of the main rod;

[0022] One end of the main rod away from the rotating machine is connected to the tail of the storage part, the other end of the main rod is connected to the rotating controller three, the rotating controller three is connected to the rotating shaft three, and the release part and the storage part are hinged to each other through the rotating shaft three.

[0023] Further optionally, the storage part is a hollow cylinder. A lid that can be opened and closed is provided at one end of the storage part away from the rotating machine, for placing bottle caps into the storage part; the other end of the storage part is open for releasing the bottle caps. At the top of the inner wall of this end, a first protruding part that protrudes downward is provided, and at the bottom of the inner wall of this end, a second protruding part that can be lifted and lowered is provided, for intermittently releasing the bottle caps close to this end.

[0024] Further optionally, the top of the release part is open, and a release port is provided at the bottom; the release port is retractable, that is, it can adjust the diameter of the release port to prevent the bottle caps that fall into the release part from falling out of the release port prematurely. Description of the Drawings

[0025] Figure 1 It is a schematic structural diagram of an automatic device for culturing and researching Mycobacterium tuberculosis;

[0026] Figure 2 is Figure 1 a top view schematic diagram of;

[0027] Figure 3 It is a schematic structural diagram of a rotation positioning assembly;

[0028] Figure 4 is Figure 1 a side view schematic diagram of;

[0029] Figure 5 It is a schematic structural diagram of a bottle cap storage.

[0030] In the drawings, 1 - culture area, 2 - sampling area, 3 - culture position, 4 - moving rod, 5 - stretching locator, 6 - imaging device, 7 - telescopic component, 8 - filling machine, 9 - sampling device, 10 - rotating machine, 11 - bottle cap storage, 12 - substrate, 13 - X-axis track, 14 - Y-axis track, 15 - secondary Y-axis track, 16 - Z-axis track, 17 - secondary Z-axis track, 18 - lifting rod, 19 - rotating support rod, 20 - first motor, 21 - first backrest, 22 - first seat, 23 - second backrest, 24 - second seat, 25 - fixing part, 26 - moving part, 27 - rotation positioning assembly, 28 - lower base, 29 - turntable, 30 - upper base, 31 - operation position, 32 - first gripper, 33 - auxiliary gripping device, 34 - second gripper, 35 - main rod, 36 - second rotation controller, 37 - third rotation controller, 38 - telescopic rod, 39 - release part, 40 - storage part, 41 - third rotating shaft, 42 - first protruding part, 43 - second protruding part, 44 - release port, 45 - third gripper, 46 - sampler, 47 - second rotating shaft. Detailed Embodiments

[0031] This embodiment provides an automatic device for culturing and researching Mycobacterium tuberculosis, as shown in Figures 1-5As shown in the figure, it includes a three-dimensional moving track group, a culture area 1 and a sampling area 2. The culture area 1 includes a number of rotatable culture positions 3. The number of culture positions 3 are arranged in a row for placing culture tubes to culture Mycobacterium tuberculosis. The rotation of the culture position 3 can drive the culture tube to tilt.

[0032] The sampling area 2 includes a rotary positioning assembly 27, a stretching positioner 5 and an imaging device 6. The lower part of the rotary positioning assembly 27 is connected to the telescopic component 7 of the stretching positioner 5, which is used to drive the rotary positioning assembly 27 to move along the arrangement direction of the culture positions 3 so as to receive the culture tubes of different culture positions 3. The imaging device 6 is used to take pictures and image the culture tubes on the rotary positioning assembly 27.

[0033] The three-dimensional moving track group includes moving tracks in three-dimensional directions and a filling machine 8, a sampling device 9, a rotating machine 10 and a bottle cap storage 11 on the tracks. The filling machine 8 is used to inject culture medium and inoculation liquid into the culture tube. The sampling device 9 is used to pick bacteria in the culture tube. The rotating machine 10 is used to open and close the bottle cap of the culture tube, and the bottle cap storage 11 is used to store bottle caps.

[0034] Optionally, the whole automatic device is square, and a base plate 12 is provided at the bottom for supporting the three-dimensional moving track group, the culture area 1 and the sampling area 2. The height of the culture area 1 is greater than the height of the sampling area 2, which is convenient for the culture tubes in the culture positions 3 to slide down into the rotary positioning assembly 27. The culture area 1 is parallel to the sampling area 2, and the telescopic component 7 is parallel to the arrangement direction of the culture positions 3.

[0035] Optionally, the three-dimensional moving track group includes an X-axis track 13, a Y-axis track 14, a secondary Y-axis track 15 and a Z-axis track 16. The X-axis track 13 is provided on one side of the base plate 12 and is perpendicular to the telescopic component 7. The bottom of the Y-axis track 14 is slidably connected to the X-axis track 13 and is perpendicular to the X-axis track 13. One end of the Z-axis track 16 is slidably connected to the Y-axis track 14 and is parallel to the X-axis track 13. The filling machine 8, the sampling device 9 and the rotating machine 10 are slidably connected to the Z-axis track 16 and move along the Z-axis track 16.

[0036] The bottom of the secondary Y-axis track 15 is slidably connected to the X-axis track 13 and is parallel to the Y-axis track 14. The bottle cap storage 11 is slidably connected to the secondary Y-axis track 15 and can move in cooperation with the rotating machine 10.

[0037] Further optionally, the left and right sides of the Z-axis track 16 are respectively provided with sliding grooves, and the sliding grooves on the two sides are connected to each other at the end of the Z-axis track 16 far from the Y-axis track 14, so that the filling machine 8, the sampling device 9 and the rotating machine 10 can move back and forth along the sliding grooves on both sides of the Z-axis track 16 to avoid mutual interference.

[0038] Optionally, a number of lifting devices are provided at the bottom of the cultivation area 1. The number of lifting devices are arranged in a row, and the lifting devices correspond to the cultivation positions 3 one by one. The top of the lifting device is connected to the bottom of the cultivation position 3 through a lifting rod 18 to assist in controlling the lifting of the cultivation position 3.

[0039] The cultivation area 1 is also provided with a rotating support rod 19. The rotating support rod 19 is parallel to the arrangement direction of the cultivation positions 3 and is connected to the middle turning point of each cultivation position 3. One end of the rotating support rod 19 is connected to a first motor 20, and all the cultivation positions 3 are driven to rotate by the rotation of the rotating support rod 19, so that the cultivation positions 3 form an inclined posture.

[0040] Further optionally, the cultivation position 3 is in the form of a seat, including a backrest one 21 and a seat one 22 that are perpendicular to each other. The backrest one 21 and the seat one 22 are in a hinged form. The top of the lifting rod 18 is hinged to the bottom surface of the seat one 22, so that the lifting rod 18 can independently control the angle between the seat one 22 and the backrest one 21; the bottom of the backrest one 21 is connected to the rotating support rod 19, and the backrest one 21 is driven to rotate by the rotating support rod 19.

[0041] The side of the culture tube leans on the backrest one 21, and the bottom of the culture tube is supported by the seat one 22, so that the culture tube inclines with the cultivation position 3; a switchable limiting part is provided on the upper part of the backrest one 21 for clamping the upper part of the culture tube to fix the culture tube.

[0042] Further optionally, the limiting part includes a fixing part 25 and a moving part 26. Both the fixing part 25 and the moving part 26 are semi-circular rings. When the fixing part 25 and the moving part 26 are closed, they form a ring and are fixed on the outside of the culture tube.

[0043] Each backrest one 21 is provided with a fixing part 25, and the opening of the fixing part 25 faces the opposite direction of the backrest one 21; the opening of the moving part 26 faces the backrest one 21, and the sides of all the moving parts 26 away from the backrest one 21 are connected in series by a moving rod 4, and the moving rod is parallel to the rotating support rod 19.

[0044] Electromagnetic controllers are respectively provided on the outer sides of the cultivation positions 3 at both ends of the cultivation area 1. The electromagnetic controllers are connected to one end of the moving rod through a supporting rod to control the moving rod to approach or move away from the backrest one 21 of the cultivation position 3 to fix or relax the culture tube.

[0045] The culture position 3 of the present invention is in the form of a seat, and has good stability during rotation. Before culturing bacteria, the culture position 3 is in the initial state, that is, the backrest - 21 is vertical and the seat - 22 is horizontal. The electromagnetic controller pushes the moving rod away through the support rod, separating all the moving parts 26 from the fixed parts 25. Then, the culture tube is placed inside the corresponding fixed part 25. Since the distance between the moving part 26 and the fixed part 25 is not large at this time, the culture tube will not tip over. The electromagnetic controller retracts the moving rod through the support rod, and the openings of all the moving parts 26 are docked with the fixed parts 25 to form a ring. The moving part 26 and the fixed part 25 are closely attached to the outer wall of the culture tube to fix the culture tube. Then, the first motor 20 drives all the culture positions 3 to rotate towards the direction of the backrest - 21 by rotating the support rod 19. At the same time, all the lifting devices push the corresponding seat - 22 upward through the lifting rod 18, so that the backrest - 21 and the seat - 22 always remain perpendicular. All the culture tubes are tilted at the same angle along with the culture position 3. Under the condition that the culture medium does not overflow, the larger the tilt angle, the larger the culture interface. Set an appropriate tilt angle according to requirements.

[0046] The three moving tracks move to positions such that the feeding pipe - 1 of the filling machine 8 is right above the culture tubes at one end of the culture area 1, and the culture medium is injected into each culture tube in sequence. After the culture medium solidifies (the culture medium solidifies relatively quickly, generally within 20 - 30 minutes), through the rotation of the support rod 19 and the lowering of the lifting rod 18, the culture position 3 returns to the initial state and the culture tubes are vertical. The three moving tracks move to positions such that the feeding pipe - 2 of the filling machine 8 is right above the culture tubes at one end of the culture area 1, and Mycobacterium tuberculosis is inoculated into each culture tube in sequence. After the sampling device 9, the rotating machine 10 and the bottle cap storage 11 screw the bottle caps onto the tops of each culture tube in sequence. Then, according to the above method, all the culture positions 3 are tilted for culturing Mycobacterium tuberculosis.

[0047] If the culture period is relatively long, in order to improve the utilization rate of the culture positions, the inoculated culture tubes can be uniformly placed in the incubator for culture. Then, when sampling is required, all the culture tubes are placed on the culture positions again to make the culture conditions uniform.

[0048] Optionally, the stretching positioner 5 is fixed on the substrate 12 and is close to the X - axis track 13. The telescopic component 7 of the stretching positioner 5 points to the rotary positioning component 27, and is used to push the rotary positioning component 27 to the positions corresponding to each culture position 3. A secondary Z - axis track 17 is fixed on the substrate 12 in the sampling area 2. The secondary Z - axis track 17 is parallel to the Z - axis track 16, and the rotary positioning component 27 is slidably connected to the secondary Z - axis track 17.

[0049] The imaging device 6 is arranged above the stretching positioner 5 and can rotate in all directions, facilitating cooperation with the rotary positioning component 27 at different tilt angles to photograph the culture tubes thereon.

[0050] The camera of the imaging device 6 is oriented towards the rotation positioning assembly 27 at the head. The tail of the imaging device 6 is provided on the bracket. The connection and rotation form between the bracket and the imaging device 6 adopts the existing camera mounting technology, supporting rotation in all directions in front of the imaging device 6.

[0051] Further optionally, the rotation positioning assembly 27 includes, from bottom to top, a lower base 28, a turntable 29, an upper base 30, an operation position 31, and a gripper one 32. The bottom of the lower base 28 is slidably connected to the Z-axis track 17 through a slider. The turntable 29 is rotatably connected to the top of the lower base 28, and the turntable 29 is fixedly connected to the bottom of the upper base 30, capable of driving the upper base 30 and the operation position 31 to rotate;

[0052] The top of the upper base 30 is rotatably connected to a first rotating shaft. A first rotation controller is provided on the side of the upper base 30. One end of the first rotating shaft is connected to the first rotation controller. The bottom of the operation position 31 is fixedly connected to the first rotating shaft. The first rotation controller controls the rotation of the operation position 31 by a certain inclination angle through the first rotating shaft; A gripper one 32 that can be opened and closed is provided on the top of the operation position 31 for gripping the culture tube on the operation position 31.

[0053] Further optionally, the telescopic member 7 is rod-shaped. The head of the telescopic member 7 penetrates through the lower base 28 and is fixedly connected to the lower base 28, strengthening the connection between the telescopic member 7 and the rotation positioning assembly 27, making the movement of the rotation positioning assembly 27 more stable.

[0054] Further optionally, the operation position 31 is in the form of a seat, including a second backrest 23 and a second seat 24 that are perpendicular to each other. The bottom of the second backrest 23 is fixedly connected to the second seat 24. The first rotating shaft penetrates through the bottom of the second seat 24; A gripper one 32 is provided on the top of the second backrest 23, and the gripper one 32 can rotate with the operation position 31.

[0055] The lifting device and the stretching positioner 5 can be conventional hydraulic devices. The gripper one 32 is a conventional gripper with two jaws, and the culture tube is clamped between the two jaws. The turntable 29 is a horizontal disk shape, and can adopt conventional electromagnetic control, as long as it can rotate.

[0056] When it is necessary to take a certain culture tube in the culture area 1 for detection, the stretching positioner 5 pushes the rotation positioning assembly 27 along the sub-Z-axis track 17 to the corresponding culture position 3 through the telescopic member 7. At this time, the culture position 3 is on the top and the operation position 31 is on the bottom, and the culture position 3 is in an inclined state. The lifting device pulls the second seat 22 downward to the horizontal state through the lifting rod 18. Due to the clamping action of the limiting part, the culture tube remains fixed on the first backrest 21 of the culture position 3, only the bottom of the culture tube is separated from the second seat 22.

[0057] The turntable 29 drives the upper base 30 to rotate until the back of the second backrest 23 faces the target culture position 3. The first rotation controller drives the operation position 31 to rotate through the first rotating shaft, so that the second backrest 23 approaches the first seat 22 until the top of the second backrest 23 is exactly pointing to the outer edge of the first seat 22. At this time, the first gripper 32 is in the open state.

[0058] The limiting part is loosened, and the bottom of the target culture tube slides down along the first seat 22 and the second backrest 23, so that the culture tube slides down into the operation position 31 and is finally blocked by the second seat 24 and stops sliding. The first gripper 32 closes and clamps the upper part of the culture tube. Since the first seats 22 of other culture positions 3 are all in the lifted and inclined state, even if the limiting part is loosened, other culture tubes will be supported by the corresponding first seats 22 and will not slide.

[0059] The turntable 29 drives the upper base 30 to rotate and reset until the front of the second backrest 23 faces the stretching positioner 5. The stretching positioner 5 pulls the rotary positioning assembly 27 to reset to a position close to the stretching positioner 5, waiting for the imaging device 6 to observe and the sampling device 9 to sample. The imaging device 6 takes pictures of the culture tubes (tilted and / or vertical) on the operation position 31, which can not only observe the growth of colonies on the culture interface but also facilitate positioning the positions of the colonies to be sampled.

[0060] Further optionally, an auxiliary clamping device 33 can be provided above the stretching positioner 5. The side of the auxiliary clamping device 33 facing the operation position 31 is provided with an openable and closable second gripper 34. The structure of the second gripper 34 is the same as that of the gripper. The jaw openings of the second gripper 34 are arranged opposite to the jaw openings of the gripper. The height of the second gripper 34 is lower than that of the gripper. The second gripper 34 is used to clamp the culture tube on the operation position 31. The auxiliary clamping device 33 is stacked on the stretching positioner 5 or can share a bracket with the imaging device 6.

[0061] Before sampling the culture tube on the operation position 31, the operation position 31 is reset (i.e., the second backrest 23 is in the vertical state) to make the culture tube vertical. The gripper is on the top and the second gripper 34 is on the bottom, both clamping the culture tube. The three moving tracks move to make the rotator 10 face the culture tube, unscrew the bottle cap and put it back into the bottle cap storage 11; then the sampling device 9 samples. After sampling, the culture tube can be manually removed.

[0062] Optionally, the bottle cap storage 11 includes a control frame, a second rotation controller 36, a third rotation controller 37 and a storage headquarters. The middle of the control frame is slidably connected to the secondary Y-axis track 15 through a telescopic rod 38, and the middle of the control frame is provided with a second rotation controller 36 for controlling the relative height of both ends of the control frame;

[0063] One end of the tail fixed connection control frame of the storage headquarters, which is far from the rotating machine 10, is connected to the other end of the control frame through the rotation controller three 37 at the head of the storage headquarters; the storage headquarters includes a release part 39 at the head and a storage part 40 at the rear. The release part 39 is hinged to the storage part 40, and the rotation controller three 37 is used to adjust the angle between the release part 39 and the storage part 40.

[0064] Further optionally, the control frame includes a main rod 35, a rotating shaft two 47 and a rotating shaft three 41. One end of the telescopic rod 38 is connected to its own controller, and this controller is slidably connected to the auxiliary Y-axis track 15 through a slider. The other end of the telescopic rod 38 is connected to the rotation controller two 36, and the rotation controller two 36 is connected to the middle of the main rod 35 through the rotating shaft two, for adjusting the rotation of the main rod 35;

[0065] One end of the main rod 35, which is far from the rotating machine 10, is connected to the tail of the storage part 40, and the other end of the main rod 35 is connected to the rotation controller three 37. The rotation controller three 37 is connected to the rotating shaft three, and the release part 39 and the storage part 40 are hinged to each other through the rotating shaft three.

[0066] Further optionally, the storage part 40 is a hollow cylinder. One end of the storage part 40, which is far from the rotating machine 10, is provided with an openable lid for placing the bottle caps 42 into the storage part 40; the other end of the storage part 40 is open for releasing the bottle caps. At the top of the inner wall of this end, there is a protruding part one 42 protruding downward, and at the bottom of the inner wall of this end, there is a liftable protruding part two 43 for intermittently releasing the bottle caps close to this end.

[0067] Further optionally, the top of the release part 39 is open, and the bottom is provided with a release port 44, allowing the rotating machine 10 to clamp the bottle caps that fall into the release part 39 and pass through the release port 44, or the rotating machine 10 to pass through the release port 44; one end of the release part 39, which is far from the storage part 40, is closed to prevent the bottle caps from falling out from this end;

[0068] The release port 44 is retractable, that is, the diameter of the release port 44 can be adjusted to prevent the bottle caps that fall into the release part 39 from falling out of the release port 44 prematurely.

[0069] The arrangement of the bottle caps in the storage unit 40 is such that the bottle cap release opening 44 faces the tail of the storage unit 40. Compared with the protruding part one 42, the protruding part two 43 is closer to the release part 39. When the bottle cap reaches the head of the storage unit 40 and is stuck by the protruding part one 42 and the protruding part two 43, the bottom of the bottle cap is closer to the release part 39, and the bottle cap release opening 44 is inclined downward. When the protruding part two 43 descends, the bottom of the bottle cap is released first, and then the whole bottle cap slides down to the release part 39 while maintaining the posture of the bottle cap release opening 44 facing downward. The release opening 44 part of the release part 39 is lower than other parts of the release part 39, so that the bottle cap can smoothly slide to the release opening 44 and no longer continue to slide, waiting for the rotary machine 10 to clamp.

[0070] Optionally, the rotary machine 10 includes a second motor and a gripper three 45. The rotating shaft of the second motor is vertically downward, and the gripper three 45 is arranged at the bottom of the rotating shaft. The gripper three 45 is a conventional gripper with three jaws. The second motor drives the gripper three 45 to rotate to tighten or loosen the bottle cap.

[0071] The gripper one 32, the gripper two 34, the gripper three 45, the controller of the telescopic rod 38, the rotation controller one, the rotation controller two 36, and the rotation controller three 37 are all conventional components.

[0072] During use, the rotation controller two 36 rotates the main rod 35 through the rotation shaft two, so that the height of the tail of the storage unit 40 is higher than the height of the release part 39, and the bottle cap can slide naturally due to the gravity of the bottle cap; the rotation controller three 37 rotates the release part 39 through the rotation shaft three so that the release part 39 maintains a horizontal posture. Both the Y-axis track 14 and the secondary Y-axis track 15 are slidably connected to the X-axis track 13. The relative positions of the Y-axis track 14 and the secondary Y-axis track 15 are: the Y-axis track 14 is closer to the culture area 1, and the secondary Y-axis track 15 is closer to the sampling area 2. For example, the Y-axis track 14 is on the left and the secondary Y-axis track 15 is on the right, and the distance between the two is such that the gripper three 45 is directly above the release opening 44.

[0073] Before culturing, the sterilized bottle caps are arranged in a row and placed in the storage unit 40. When it is necessary to cap a certain culture tube, the Y-axis track 14 and the secondary Y-axis track 15 move to the corresponding positions along the X-axis track 13, the rotary machine 10 moves to the corresponding position along the Z-axis track 16, and the telescopic rod 38 expands and contracts to make the storage headquarters move with the rotary machine 10, and finally the gripper three 45, the release opening 44, and the culture tube to be operated are on the same vertical line.

[0074] The second protruding part 43 descends, and the lowermost bottle cap slides to the discharge port 44 of the discharge part 39. Then, the second protruding part 43 ascends and resets to prevent other bottle caps from falling. The Z-axis track 16 descends along the Y-axis track 14, driving the rotating machine 10 to descend until the third gripper 45 clamps the bottle cap at the discharge port 44. The discharge port 44 expands, and the rotating machine 10 leads the bottle cap to pass through the discharge port 44 and continues to descend to the mouth of the culture tube. The rotating machine 10 rotates and descends simultaneously, causing the bottle cap to be tightened on the mouth of the culture tube. Then, the third gripper 45 releases the bottle cap, the rotating machine 10 ascends, returns from the discharge port 44 again, and the discharge port 44 contracts.

[0075] Before sampling, the rotation controller 2 36 rotates the main rod 35 through the second rotating shaft, making the height of the tail of the storage part 40 lower than the height of the discharge part 39, so that the bottle caps recycled to the discharge part 39 can return to the storage part 40; the rotation controller 3 37 rotates the discharge part 39 through the third rotating shaft, making the discharge part 39 maintain a horizontal posture. When opening the lid of the vertical culture tube on the operation position 31, the Y-axis track 14 and the secondary Y-axis track 15 move to the corresponding positions along the X-axis track 13, the rotating machine 10 moves to the corresponding position along the Z-axis track 16, the telescopic rod 38 expands and contracts to make the storage headquarters move with the rotating machine 10, and finally makes the third gripper 45, the discharge port 44 and the culture tube to be operated on the same vertical line.

[0076] The discharge port 44 expands, the Z-axis track 16 descends along the Y-axis track 14, driving the rotating machine 10 to descend. The third gripper 45 passes through the discharge port 44 until the third gripper 45 clamps the bottle cap. The rotating machine 10 rotates and ascends simultaneously, unscrewing the bottle cap and detaching it from the culture tube. The rotating machine 10 ascends, returns from the discharge port 44 again, the discharge port 44 contracts, the third gripper 45 releases the bottle cap, and the bottle cap falls on the discharge port 44. The second protruding part 43 is always in a descending posture, the third gripper 45 rotates, and the bottle cap on the discharge port 44 is dialed towards the storage part 40 and falls to the tail of the storage part 40.

[0077] Optionally, the filling machine clamps the first feeding pipe and the second feeding pipe. The first feeding pipe is sequentially connected to a feeding pump and a storage tank. The culture medium substance is temporarily stored in the storage tank and is transported by the feeding pump; the second feeding pipe is sequentially connected to an infusion pump and a liquid storage tank. The bacterial liquid of Mycobacterium tuberculosis is temporarily stored in the liquid storage tank and is transported by the infusion pump for inoculation.

[0078] Optionally, the sampling device includes a rod-shaped sampler 46. The sampler is vertically downward and can move to the culture tube to be sampled along three moving tracks.

Claims

1. An automatic device for culturing and studying Mycobacterium tuberculosis, characterized in that: It includes a three-dimensional moving track group, a culture area and a sampling area. The culture area includes a plurality of rotatable culture positions, which are arranged in a row for placing culture tubes to culture Mycobacterium tuberculosis. The culture positions can be rotated to drive the culture tubes to tilt. The sampling area includes a rotating positioning component, a stretching positioner and an imaging device. The lower part of the rotating positioning component is connected to the telescopic component of the stretching positioner, which is used to drive the rotating positioning component to move along the arrangement direction of the culture positions so as to receive culture tubes in different culture positions; the imaging device is used to take pictures of the culture tubes on the rotating positioning component; The three-dimensional moving track group includes a moving track in three-dimensional directions and a filling machine, a sampling device, a rotating machine and a bottle cap storage on the track. The filling machine is used to inject culture medium and inoculation liquid into the culture tube, and the sampling device is used to pick bacteria in the culture tube; the rotating machine is used to open and close the bottle caps of the culture tube, and the bottle cap storage is used to store the bottle caps.

2. The automatic device for culturing and studying Mycobacterium tuberculosis according to claim 1, characterized in that: The automatic device is square in shape as a whole, and has a base plate at the bottom for supporting a three-dimensional movable track group, a culture area and a sampling area; the height of the culture area is greater than that of the sampling area, so that the culture tube in the culture position can slide downward into the rotating positioning assembly; the culture area is parallel to the sampling area, and the telescopic component is parallel to the arrangement direction of the culture position.

3. The automatic device for culturing and studying Mycobacterium tuberculosis according to claim 2, characterized in that: The three-dimensional moving track group includes an X-axis track, a Y-axis track, a secondary Y-axis track and a Z-axis track. The X-axis track is arranged on one side of the base plate and is perpendicular to the telescopic component. The bottom of the Y-axis track is slidably connected to the X-axis track and is perpendicular to the X-axis track. One end of the Z-axis track is slidably connected to the Y-axis track and is parallel to the X-axis track; The filling machine, the sampling device and the rotating machine are slidably connected to the Z-axis track and move along the Z-axis track; The bottom of the secondary Y-axis track is slidably connected to the X-axis track and is parallel to the Y-axis track. The bottle cap storage is slidably connected to the secondary Y-axis track and can move in coordination with the rotating machine.

4. The automatic device for culturing and studying Mycobacterium tuberculosis according to claim 2, characterized in that: A plurality of lifting devices are arranged at the bottom of the culture area, and the plurality of lifting devices are arranged in a row. The lifting devices correspond to the culture positions one by one, and the tops of the lifting devices are connected to the bottoms of the culture positions through lifting rods to assist in controlling the lifting of the culture positions. The culture area is also provided with a rotating support rod, which is parallel to the arrangement direction of the culture positions and connects each culture position. One end of the rotating support rod is connected to the first motor, and all the culture positions are driven to rotate by the rotation of the rotating support rod, so that the culture positions form an inclined posture.

5. The automatic device for culturing and studying Mycobacterium tuberculosis according to claim 4, characterized in that: The training position is in the form of a chair, including a chair back 1 and a chair seat 1 which are perpendicular to each other, the chair back 1 and the chair seat 1 are hinged, the top of the lifting rod is hinged to the bottom surface of the chair seat 1, so that the lifting rod can independently control the angle between the chair seat 1 and the chair back 1; the bottom of the chair back 1 is connected to the rotating support rod, and the rotating support rod drives the chair back 1 to rotate; The upper part of the chair back is provided with an openable and closable limiting part, which is used to clamp the upper part of the culture tube to fix the culture tube.

6. The automatic device for culturing and studying Mycobacterium tuberculosis according to claim 1, characterized in that: The rotary positioning assembly includes a lower base, a turntable, an upper base, an operating position and a clamp 1 from bottom to top. The bottom of the lower base is slidably connected to the secondary Z-axis track through a slider, the turntable is rotatably connected to the top of the lower base, and the turntable is fixedly connected to the bottom of the upper base, which can drive the upper base and the operating position to rotate; The top of the upper base is rotatably connected to a rotating shaft, a rotating controller is provided on the side of the upper base, one end of the rotating shaft is connected to the rotating controller, the bottom of the operating position is fixedly connected to the rotating shaft, and the rotating controller controls the rotation of the operating position through the rotating shaft; an openable and closable clamp is provided on the top of the operating position for clamping the culture tube on the operating position.

7. The automatic device for culturing and studying Mycobacterium tuberculosis according to claim 3, characterized in that: The bottle cap storage comprises a control frame, a second rotation controller, a third rotation controller and a storage headquarters, the middle part of the control frame is slidably connected to the secondary Y-axis track through a telescopic rod, and the middle part of the control frame is provided with a second rotation controller for controlling the relative height of the two ends of the control frame; The tail of the storage headquarters is fixedly connected to one end of the control frame away from the rotating machine, and the head of the storage headquarters is connected to the other end of the control frame through a rotation controller three; the storage headquarters includes a release part at the head and a storage part at the rear, the release part is hingedly connected to the storage part, and the rotation controller three is used to adjust the angle between the release part and the storage part.

8. The automatic device for culturing and studying Mycobacterium tuberculosis according to claim 7, characterized in that: The control frame includes a main rod, a second rotating shaft and a third rotating shaft. One end of the telescopic rod is connected to its own controller, which is slidably connected to the secondary Y-axis track through a slider. The other end of the telescopic rod is connected to the second rotation controller, which is connected to the middle part of the main rod through the second rotating shaft for adjusting the rotation of the main rod. One end of the main rod away from the rotating machine is connected to the tail of the storage part, the other end of the main rod is connected to the rotation controller three, the rotation controller three is connected to the rotation shaft three, and the release part and the storage part are hinged to each other through the rotation shaft three.

9. The automatic device for culturing and studying Mycobacterium tuberculosis according to claim 8, characterized in that: The storage part is a hollow cylinder, and an openable and closable cover is provided at one end of the storage part away from the rotating machine for placing bottle caps in the storage part; the other end of the storage part is open for releasing the bottle caps, and a protrusion 1 protruding downward is provided at the top of the inner wall of this end, and a liftable protrusion 2 is provided at the bottom of the inner wall of this end for intermittently releasing the bottle caps near this end.

10. The automatic device for culturing and studying Mycobacterium tuberculosis according to claim 8, characterized in that: The top of the release portion is open, and the bottom is provided with a release port; the release port is retractable.

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