Rotary feeding device for culture dishes

Abstract

The invention discloses a rotary feeding device for culture dishes, relates to the technical field of automatic processing equipment for the culture dishes, and aims to solve the problems of frequent posture errors, low efficiency and need of shutdown for correction in an existing feeding mode. The device comprises a processing table, feeding conveying equipment, a culture dish feeding frame, detection equipment and a rotary feeding structure are arranged on the processing table, and rotary filling equipment is arranged on one side of the processing table; multiple sets of material taking adjusting assemblies, feeding assemblies and moving assemblies are distributed on the rotary feeding structure in the circumferential direction, the material taking adjusting assemblies can clamp the culture dishes subjected to laser detection and automatically correct the direction, the feeding assemblies receive the culture dishes through pneumatic suction cups and send the culture dishes to the rotary filling equipment, and the moving assemblies drive the culture dishes and the rotary filling equipment to move alternately. Automatic detection and correction of the postures of the culture dishes are achieved, the feeding efficiency is improved through cyclic operation of multiple sets of assemblies, shutdown is not needed, faults and cost are reduced, and the requirements of an automatic culture dish filling production line are met.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of automatic processing equipment for culture dishes, in particular to a rotating feeding device for culture dishes. BACKGROUND

[0002] Culture dishes are core consumables in the fields of biological experiments, microorganism detection, cell culture and medical diagnosis. The processing quality (such as dish flatness and sterility) and production efficiency of the culture dishes are directly related to the accuracy of downstream experimental results, the smoothness of medical procedures and the development needs of the industry.

[0003] With the surge in demand for culture dishes in the biological and medical industries, traditional semi-automatic processing modes have been difficult to meet the production capacity requirements, and culture dish processing has gradually shifted to fully automated production lines. The feeding link is a key hub connecting the culture dish forming process and the filling process - it needs to accurately transfer the to-be-filled culture dishes to the rotating filling equipment (which is in the shape of a disc and is provided with multiple placing slots suitable for culture dishes, and is matched with a filling machine on one side) to provide stable material supply for subsequent culture liquid filling. However, the current various feeding methods have many problems, which not only affect the accuracy of the feeding posture of the culture dishes, but also restrict the overall efficiency of the production line, becoming a core bottleneck hindering the quality and efficiency of culture dish automated processing. In the current culture dish automated processing production line, the following three types of existing methods are mainly used to meet the feeding needs of "transferring to-be-filled culture dishes to the rotating filling equipment", and each type of method has significant defects: Manual feeding method: culture dishes are placed one by one or in batches into the placing slots of the rotating filling equipment by manual labor. This method not only relies on a large amount of manpower and has extremely low feeding efficiency, but also is difficult to match the continuous filling rhythm of the filling machine, resulting in frequent idle waiting of the filling machine. At the same time, the manual contact process is easy to contaminate the culture dishes, and the manual placement is easy to cause the culture dishes to be turned over, tilted or reversed due to operation errors, causing subsequent culture liquid leakage, uneven filling amount and other faults. Direct feeding method of feeding rack: culture dishes are stored in the feeding rack, and the culture dishes are directly dropped into the placing slots of the rotating filling equipment through the discharge port of the feeding rack. Since there is a certain vertical or horizontal gap between the discharge port of the feeding rack and the placing slots, the culture dishes are easy to be turned over or tilted due to air flow interference and falling impact force during the falling process, resulting in incorrect posture of the culture dishes entering the placing slots, and further causing filling faults. Moreover, this method cannot control the placement direction of the culture dishes, and once the direction is incorrect, manual intervention is required for adjustment. The mechanical arm / robot loading mode: the culture dish in the upper loading rack is grabbed from the upper end by the mechanical arm or robot, and is transported to the placing groove of the rotary filling device. Although this mode can reduce the pollution problem caused by manual contact to a certain extent, and the grabbing stability of the culture dish is better than that of direct feeding, the probability of overturning and tilting is reduced, but due to the structural design of the mechanical arm / robot, only 1-2 culture dishes can be grabbed at a time, the feeding efficiency is much lower than the filling efficiency of the filling machine, and the filling machine still needs to wait for feeding during the shutdown interval, which restricts the production capacity of the whole production line. At the same time, this mode also cannot solve the problem of incorrect placement direction of the culture dish.

[0004] In addition, the above three existing feeding modes all have a common and unavoidable key problem: the feeding of the feeding rack needs to rely on manual operation. Since the culture dish is transparent and the difference between the front and back appearances is small, the placement direction of the culture dish is easily confused when manually feeding the culture dish into the feeding rack, resulting in that the culture dishes stored in the feeding rack are in the reverse posture when discharged from the discharge port. Whether using the feeding rack direct feeding mode (manual efficiency is too slow, and manual fatigue state is easy to occur after long time work, and the placement posture is also easy to be incorrect), or using the mechanical arm / robot feeding mode, no direction detection and correction mechanism is provided, and the reverse posture of the culture dish cannot be corrected. Once this situation occurs, the machine can only be stopped and the placement direction of the culture dishes in the feeding rack needs to be checked and adjusted one by one by manual, which not only causes a lot of production time loss, but also causes material waste due to batch feeding error, further increasing the operating cost of the production line. SUMMARY

[0005] Therefore, the purpose of the present application is to provide a rotary feeding device for culture dishes to solve the technical problems of frequent posture errors, low feeding efficiency and reverse posture correction shutdown in the existing culture dish feeding mode.

[0006] To achieve the above purpose, the present application provides the following technical scheme: a rotary feeding device for culture dishes, comprising a processing table, wherein the processing table is provided with a feeding conveying device, a culture dish feeding rack, a detection device and a rotary feeding structure, and one side of the processing table is provided with a rotary filling device; the feeding conveying device is used for conveying culture dishes, and the culture dish feeding rack and the detection device are respectively located at the head end and the tail end of the feeding conveying device, so that the culture dishes can fall from the discharge end of the culture dish feeding rack to the feeding conveying device and be conveyed to the tail end along the feeding conveying device; The detection device is used for visually positioning the culture dish at the tail end of the feeding conveying device by means of laser irradiation and image transmission, so as to determine the opening direction of the culture dish; the rotary feeding structure is rotatably installed on the processing table, and is internally provided with a plurality of groups of material taking adjusting assemblies, feeding assemblies and moving assemblies; each group of the material taking adjusting assemblies is arranged in space with a group of the feeding assemblies and is slidably installed in the rotary feeding structure, and the working ends of the two are extended to the outside of the rotary feeding structure; Each group of the moving assemblies is located between a group of the material taking adjusting assemblies and the feeding assembly, and the material taking adjusting assembly and the feeding assembly located on one side in the rotary feeding structure are connected with the moving assembly, and the moving assembly can drive the material taking adjusting assembly and the feeding assembly to move alternately; the rotary filling device comprises a rotary rotating platform and a filling machine, the rotary rotating platform is provided with a plurality of workstations for placing culture dishes, and each workstation is sequentially corresponding to the discharge end of the filling machine, a plurality of groups of the feeding assemblies; the material taking adjusting assembly can be driven by the moving assembly to move to the tail end of the feeding conveying device to clamp the detected culture dish when the rotary feeding structure is horizontally corresponding to the feeding conveying device, and the rotary feeding structure is rotated to above the rotary feeding structure; The material taking adjusting assembly can adjust the direction of the culture dish according to the detection result of the detection device, so as to ensure that the bottom of the culture dish faces the feeding assembly; the feeding assembly can hand over the culture dish with the material taking adjusting assembly, and when the rotary feeding structure is corresponding to the rotary filling device, the culture dish is placed on the workstation of the rotary filling device, so as to realize the feeding and filling cooperation of the culture dish.

[0007] Further, the tail end of the feeding conveying device is provided with a culture dish limiting frame, the culture dish limiting frame is funnel-shaped, the wide opening side thereof faces the head end of the feeding conveying device, and the narrow opening side thereof faces the tail end of the feeding conveying device, so as to limit the culture dish moving to the tail end of the feeding conveying device; symmetrically provided with a grabbing groove on both sides of the culture dish limiting frame, the working end of the material taking adjusting assembly can pass through the grabbing groove to clamp the culture dish inside the culture dish limiting frame.

[0008] By adopting the above technical scheme, the funnel-shaped culture dish limiting frame can pre-position the culture dish, avoid the culture dish from deviating before taking, improve the accuracy of clamping by the material taking adjusting assembly, and the grabbing groove provides a space for the working end of the material taking adjusting assembly to pass through, so as to ensure the smooth clamping action.

[0009] Further, the workstation of the rotary filling device is a culture dish placing groove, the shape of the culture dish placing groove is matched with the culture dish, and the inner diameter of the culture dish placing groove is slightly larger than the diameter of the culture dish; a mounting hole is formed at the bottom end of the culture dish placing groove on the rotary rotating platform, the feeding assembly can extend into the culture dish placing groove from the upper end of the culture dish placing groove, place the culture dish in the groove, and then pass out of the rotary filling device from the mounting hole.

[0010] By adopting the technical scheme, the shape and size of the culture dish placing groove can stably accommodate the culture dish, avoiding shaking of the culture dish during filling; the assembly hole provides a channel for the feeding assembly to enter and exit, enabling the feeding assembly to be separated from the bottom, avoiding interference with the rotating action of the rotary filling device, and ensuring the continuity of feeding and filling.

[0011] Further, the rotary feeding structure comprises a driving power source, a placing rack, a mounting shaft and a plurality of mounting racks; the driving power source is mounted on the machining table, the placing rack is arranged in the middle of the machining table and located on one side of the feeding conveying device, the mounting shaft is rotatably mounted on the machining table, one end of the mounting shaft is connected with the working end of the driving power source, and the other end of the mounting shaft is connected with the placing rack, the driving power source can drive the mounting shaft to rotate the placing rack; a plurality of the mounting racks are arranged on the placing rack in a spaced manner, each set of the material taking and adjusting assembly, the feeding assembly and the moving assembly are correspondingly mounted on one mounting rack, the material taking and adjusting assembly and the feeding assembly are slidably mounted on the mounting rack, and the moving assembly is fixedly mounted in the placing rack.

[0012] By adopting the technical scheme, the driving power source provides power for the rotation of the placing rack, enabling the plurality of sets of material taking and adjusting assemblies and feeding assemblies to rotate with the placing rack, so as to realize continuous operation of “material taking - adjusting - feeding”; the mounting rack provides a mounting basis for each assembly, ensures the stability of the positional relationship between the assemblies, and improves the reliability of the overall structure.

[0013] Further, each set of the material taking and adjusting assembly comprises a clamping piece and a driving piece; the clamping piece is slidably mounted below the mounting rack and can slide along the mounting rack to the outside or the inside of the placing rack; the driving piece is mounted below the mounting rack and located in the placing rack, one end of the driving piece is connected with the clamping piece, and the other end of the driving piece is connected with the moving assembly, for driving the clamping piece to move and realizing clamping and direction adjustment of the culture dish.

[0014] By adopting the technical scheme, the driving piece can drive the clamping piece to move under the driving of the moving assembly, to complete the material taking action by approaching or moving away from the feeding conveying device, and can realize clamping and direction correction of the culture dish through the movement of the structure itself, so that the culture dish can maintain a correct posture before entering the filling process.

[0015] Further, the clamping piece comprises a sliding sleeve and two clamping rods; the sliding sleeve is slidingly installed inside below the mounting frame, two cavities one are symmetrically arranged on the two sides of the inside of the sliding sleeve, a cavity two is arranged in the middle of the sliding sleeve, a circular hole communicating with the cavity two is formed on one side of the cavity two, a fixed rod is fixed in the circular hole, and the cavity two is used for accommodating a driving piece; front ends of the two clamping rods are clamping ends and are arranged in an arc shape, rubber material clamping pads are fixed on the clamping ends, rear ends of the two clamping rods are straight rods and respectively extend into the two cavities one, one end of each clamping rod located in the cavity one is provided with a protruding block, the protruding block extends to the cavity two through the inner wall of the sliding sleeve, a limiting rod and a spring are arranged in each cavity one, the limiting rod passes through the clamping rod and is fixed on the inner wall of the cavity one, and the limiting rod is used for limiting the clamping rod to move only in the front-rear direction; the spring is in a compressed state and is connected with the inner wall of the cavity one and the clamping rod at two ends, and the spring is used for providing clamping force for the clamping rod.

[0016] By adopting the above technical scheme, the arc-shaped clamping end and the rubber clamping pad are matched with the shape of the culture dish, so that the culture dish can be stably clamped and the culture dish is prevented from being scratched; the limiting rod limits the movement direction of the clamping rod, so that the accuracy of the clamping action is ensured; the spring provides continuous clamping force for the clamping rod, so that the clamping state is more stable, and the culture dish is prevented from falling off during movement.

[0017] Further, the driving piece comprises a moving frame, a driving motor one and a connecting rod; the moving frame is slidingly installed below the mounting frame, the driving motor one is installed in the moving frame, and the top end of the moving frame is connected with the moving assembly; one end of the connecting rod is located in the cavity two, and the other end of the connecting rod is connected with the working end of the driving motor one through a connecting plate; two arc-shaped top blocks are symmetrically arranged on the one end of the connecting rod located in the cavity two, the two top blocks can contact the protruding blocks and push the protruding blocks when the connecting rod rotates, so that the clamping rod moves along the cavity one to realize opening and closing; two limiting plates are further arranged on the connecting rod, the two limiting plates are respectively located on the two sides of the top blocks and the protruding blocks, and the two limiting plates are used for driving the clamping rod to move synchronously by contacting the protruding blocks; a butt joint rod is arranged on the one end of the connecting rod located in the circular hole, and the butt joint rod can contact the fixed rod and push the fixed rod to drive the sliding sleeve to rotate around the mounting frame when the connecting rod rotates to a specific angle, so that the direction of the culture dish is adjusted.

[0018] By adopting the above technical scheme, the driving motor one drives the connecting rod to rotate, the cooperation between the top blocks and the protruding blocks can control the opening and closing of the clamping rod, and the clamping and releasing actions are completed; the limiting plates ensure that the clamping rod moves synchronously when the connecting rod moves, so that the position adjustment of the whole clamping piece is realized; the cooperation between the butt joint rod and the fixed rod can drive the sliding sleeve to rotate, so that the direction of the clamped culture dish is corrected, and the problem of the culture dish being reversed is solved.

[0019] Further, each of the feeding assemblies comprises a sliding mounting plate, a feeding mounting frame, a second driving motor, a driving device and a pneumatic suction cup; the sliding mounting plate is slidingly mounted above the mounting frame, one end of the sliding mounting plate extends into the placing frame and is connected with the moving assembly, and the other end of the sliding mounting plate extends to the outside of the placing frame; the feeding mounting frame is fixed to one end of the sliding mounting plate located outside the placing frame; the upper end of the feeding mounting frame is provided with the second driving motor and the driving device, and the lower end of the feeding mounting frame is rotatably provided with a threaded rod, and the two sides of the threaded rod are provided with limiting shafts fixed to the lower end of the feeding mounting frame, and one end of the threaded rod is connected with the working end of the second driving motor; one side of the pneumatic suction cup is provided with a moving connection frame, the moving connection frame is slidingly mounted on the two limiting shafts and is threadedly connected with the threaded rod; the upper end of the pneumatic suction cup is connected with the driving device through a connecting pipe, and the driving device can control the pneumatic suction cup to generate or cancel suction.

[0020] By adopting the above technical scheme, the moving assembly drives the sliding mounting plate to move, so that the feeding assembly is close to or away from the material taking adjusting assembly to complete the handover of the culture dish; the second driving motor drives the moving connection frame and the pneumatic suction cup to move up and down through the threaded rod, so that the culture dish is lifted and placed; the driving device controls the suction force of the pneumatic suction cup, so that the culture dish is adsorbed and fixed and released, and the stability of the handover process is ensured.

[0021] Further, each of the moving assemblies comprises a driving mounting frame, a third driving motor, a driving rod, two fixed mounting frames, two transmission chains and a transmission sprocket; the driving mounting frame is fixed to the mounting frame, the third driving motor is mounted to the outer side wall of the driving mounting frame, and the driving rod is rotatably mounted in the driving mounting frame, one end of the driving rod is connected with the working end of the third driving motor; the two fixed mounting frames are symmetrically mounted on the mounting frame and are located on the upper and lower sides of the driving mounting frame respectively, one transmission chain is rotatably mounted on each fixed mounting frame, and the two transmission chains are connected with the moving frame and the sliding mounting plate respectively; the transmission sprocket is fixed to the driving rod, and the upper and lower ends of the transmission sprocket are engaged with the two transmission chains respectively, the third driving motor can drive the driving rod to drive the transmission sprocket to rotate, and then drive the two transmission chains to move in opposite directions, so as to realize material taking adjustment.

[0022] In summary, the present application mainly has the following beneficial effects: 1、The present application can accurately determine the opening direction of the culture dish through laser vision positioning of the detection equipment, and cooperate with the driving part of the material taking adjusting assembly to drive the sliding sleeve to rotate through the cooperation of the connecting rod and the fixed rod, so as to realize the automatic correction of the culture dish direction, avoid problems such as side turning, tilting, direction reversal, etc., ensure that the culture dish entering the filling process has correct posture, and reduce the failure probability of culture liquid leakage and uneven filling amount.

[0023] 2、The application adopts multiple groups (can be 4-6 groups) of taking material adjusting assemblies and feeding assemblies to be distributed along the circumference of the placing rack, and cooperates with the continuous rotation of the rotary feeding structure, so that the cycle operation of "taking material-adjusting-feeding" can be realized; at the same time, the moving assembly drives the taking material and feeding assembly to move alternately, without waiting for the reset of a single assembly, so that the feeding efficiency can match the continuous filling rhythm of the filling machine, and the idle waiting of the filling machine is avoided.

[0024] 3、The application does not need to rely on manual inspection of the direction of the culture dish in the feeding rack, and the detection and correction are automatically completed by the equipment, so that even if the direction is wrong when manually feeding, it can be corrected in real time by the taking material adjusting assembly without stopping, reducing the production time loss and material waste, and reducing the operation cost of the production line.

[0025] 4、In the application, the arc-shaped clamping end of the clamping rod cooperates with the rubber material clamping pad to avoid clamping the culture dish; the funnel-shaped structure of the culture dish limiting frame can pre-position the culture dish to improve the taking material accuracy; the suction force fixing mode of the pneumatic suction cup can ensure the stability of the culture dish during the transfer and conveying process, and avoid the secondary posture deviation. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a schematic view of the three-dimensional structure of the application; Figure 2 is a schematic view of the local structure of the application Figure 1 ; Figure 3 is an enlarged view of A in the application Figure 2 ; Figure 4 is an enlarged view of B in the application Figure 2 ; Figure 5 is a schematic view of the internal structure of the placing rack in the application; Figure 6 is a schematic view of the local structure of the application Figure 2 ; Figure 7 is a schematic view of the taking material adjusting assembly in the application; Figure 8 is a schematic view of the internal structure of the sliding sleeve in the application; Figure 9 is an enlarged view of C in the application Figure 8 ; Figure 10 is an enlarged view of D in the application Figure 8 ; Figure 11 is a schematic view of the local structure of the feeding assembly in the application; Figure 12 is a schematic view of the moving assembly in the application.

[0027] In the figure: 1, processing table; 2, feeding conveying equipment; 21, culture dish limiting frame; 22, grabbing groove; 3, culture dish feeding frame; 4, detection equipment; 5, rotary feeding structure; 51, driving power supply; 52, placing frame; 53, mounting shaft; 54, mounting frame; 6, rotary filling equipment; 61, culture dish placing groove; 62, assembly hole; 7, material taking adjusting assembly; 71, clamping piece; 711, sliding sleeve; 712, cavity one; 713, cavity two; 714, circular hole; 715, fixed rod; 716, clamping rod; 717, clamping pad; 718, limiting rod; 710, spring; 719, protruding block; 72, driving piece; 721, moving frame; 722, driving motor one; 723, connecting plate; 724, connecting rod; 725, top block; 726, limiting plate; 727, butt joint rod; 8, feeding assembly; 81, sliding mounting plate; 82, feeding mounting frame; 83, driving motor two; 84, threaded rod; 85, limiting shaft; 86, driving equipment; 87, pneumatic suction cup; 88, moving connecting frame; 9, moving assembly; 91, driving mounting frame; 92, driving motor three; 93, driving rod; 94, fixed mounting frame; 95, transmission chain; 96, transmission sprocket. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0029] The embodiments of the present application will be described below according to the overall structure of the present application.

[0030] Embodiment one Please refer to Figures 1-12 The present application provides a technical solution: a rotary feeding device for culture dishes, comprising a processing table 1, which is a rectangular metal table body, the table surface of which is fixed with feeding conveying equipment 2, culture dish feeding frame 3 and detection equipment 4 through bolts, and the middle area of the table surface of the processing table 1 is rotationally installed with a rotary feeding structure 5, and the right side of the processing table 1 is fixed with a rotary filling equipment 6 (the rotary filling equipment 6 is prior art, specifically including a rotary rotating platform and a filling machine, both of which are electrically connected with the production line general control system through wires, and can realize synchronous operation) through a support.

[0031] I. Assembly and connection relationship of core components 1. Feeding conveying equipment and culture dish limiting frame The upper feeding conveying device 2 is a belt conveyor in the prior art, which is bolted to the left side area of the machining table 1, and the conveying direction is arranged along the length direction (from left to right) of the machining table 1; the right end (tail end) of the upper feeding conveying device 2 is bolted with a culture dish limiting rack 21, which is a funnel-shaped structure made of plastic material, the wide opening side of which faces the left end (the head end of the upper feeding conveying device 2), and the narrow opening side faces the right end (the tail end of the upper feeding conveying device 2), and the inner side wall of the culture dish limiting rack 21 is pasted with a sponge buffer layer, which can avoid scratches caused by the collision between the culture dish and the rack body; the left and right side walls of the culture dish limiting rack 21 are symmetrically provided with grabbing grooves 22, which are rectangular through grooves, and the groove width is matched with the diameter of the clamping rod 716 of the material taking adjusting assembly 7, so that the clamping rod 716 can pass through and extend into the rack body.

[0032] The culture dish feeding rack 3 is a vertical silo in the prior art, which is fixed above the left end (head end) of the upper feeding conveying device 2 by a support, and the discharge port of the silo is opposite to the surface of the conveying belt of the upper feeding conveying device 2, and an electromagnetic valve (electrically connected with the detection device 4) is arranged at the discharge port, which can automatically control the discharge according to the number of culture dishes on the upper feeding conveying device 2, so as to avoid the accumulation of culture dishes.

[0033] 2. Detection device (including intelligent control component) The detection device 4 is fixed above the tail end of the upper feeding conveying device 2 by a support, which includes a laser emitter, an image acquisition module and a control unit (all of which are prior art, only used to improve the overall technical scheme, without innovative improvement): The laser emitter is a linear laser emitter with a model of LDS-650-50, which is fixed at the lower end of the support, and the emitting end faces the narrow end of the culture dish limiting rack 21, which can emit red linear laser with a wavelength of 650 nm to the surface of the culture dish, forming a clear outline light spot (adapted to the transparent material of the culture dish, reducing the interference of reflection); The image acquisition module is an industrial CCD camera with a model of IMX290, which is fixed on the right side of the laser emitter, and the lens faces the narrow end of the culture dish limiting rack 21, with a frame rate of 30 fps, which can capture the culture dish image after laser irradiation in real time, and transmit the image data to the control unit through the network cable; The control unit is a PLC controller of S7-1200 type, fixed in the side control cabinet of the machining table 1, and pre-stored with standard contour images of the culture dish in "forward direction" (opening upward) and "reverse direction" (opening downward); the control unit is electrically connected with the laser emitter, the image acquisition module, the motor of the feeding conveying device 2, the driving power source 51 of the rotary feeding structure 5, the driving motor one 722 of the material taking adjusting assembly 7, the driving device 86 and the driving motor two 83 of the feeding assembly 8, and the driving motor three 92 of the moving assembly 9 through wires, so as to realize the automatic control of "image acquisition - comparison determination - instruction output", and the specific logic is that after the image acquisition module captures the culture dish image, the control unit compares the real-time image with the standard image, if it is determined as "reverse direction", the instruction of "rotating 180°" is output to the driving motor one 722; if it is determined as "forward direction", the instruction of "no need to rotate" is output.

[0034] 3. Rotary feeding structure The rotary feeding structure 5 comprises a driving power source 51, a placing rack 52, a mounting shaft 53 and four groups of mounting racks 54 (the four groups of mounting racks 54 are distributed along the circumference to improve the feeding efficiency and adapt to the filling rhythm of 30 per minute of the filling machine): The driving power source 51 is a servo motor of 130ST-M06025 type, fixed under the machining table 1 through bolts, and the output end is connected with the lower end of the mounting shaft 53 through a shaft coupling; The placing rack 52 is a circular metal frame with a diameter of 1.2 m, fixed on the upper end of the mounting shaft 53, and the lower end of the mounting shaft 53 is rotatably installed in the middle of the table top of the machining table 1 through a bearing, so as to drive the placing rack 52 to rotate uniformly around the axis of the mounting shaft 53 at a speed of 15 r / min (synchronous with the rotating speed of the rotating platform of the rotary filling device 6) under the driving of the driving power source 51; The four groups of mounting racks 54 are metal racks, uniformly distributed along the circumferential direction of the placing rack 52 (the included angle between the two adjacent groups of mounting racks 54 is 90°), and the horizontal section of each group of mounting racks 54 is fixed on the edge of the placing rack 52, the vertical section faces outward, and the upper and lower sides of the vertical section are respectively provided with a sliding groove (for installing the material taking adjusting assembly 7 and the feeding assembly 8).

[0035] 4. Material taking adjusting assembly Each group of material taking adjusting assemblies 7 comprises a clamping piece 71 and a driving piece 72, installed below the vertical section of the mounting rack 54: The clamping member 71 comprises a sliding sleeve 711 and two clamping rods 716: the sliding sleeve 711 is a rectangular metal sleeve, slidingly embedded below the vertical section of the mounting frame 54 in a sliding groove, and can slide along the radial direction of the sliding groove (the radial direction of the rack 52); two cavities one 712 (for accommodating the rear end of the clamping rod 716) are symmetrically arranged inside the sliding sleeve 711 on both sides, and a cavity two 713 (for accommodating the connecting rod 724 of the driving member 72) is arranged in the middle; a circular hole 714 (communicating with the outside world) is arranged on the right side of the cavity two 713, and a fixed rod 715 (metal rod, the axis is perpendicular to the axis of the sliding sleeve 711) is fixed in the circular hole 714 through a locking screw; the two clamping rods 716 are metal rods, the front end is an arc-shaped clamping end matched with the outer wall of the culture dish, and the inner wall of the clamping end is pasted with a clamping pad 717 (2mm thick, which can increase the friction and avoid clamping the culture dish) made of rubber material, and the rear end is a straight rod section, which is respectively slidingly inserted into the two cavities one 712; a protruding block 719 (metal block, located in the cavity two 713) is integrally formed on the straight rod section of each clamping rod 716, and the right side wall of the protruding block 719 is a slope (adapted to the top block 725 of the driving member 72); a limiting rod 718 and a spring 710 are further arranged in each cavity one 712: the limiting rod 718 is a metal rod, both ends of which are fixed on the front and rear inner walls of the cavity one 712 through bolts, and slidingly passes through the through hole of the straight rod section of the clamping rod 716, which can limit the movement of the clamping rod 716 only in the front and rear directions (avoiding left and right deviation); the spring 710 is sleeved on the limiting rod 718, one end of which abuts against the rear inner wall of the cavity one 712, and the other end abuts against the straight rod section of the clamping rod 716, which is always in a compressed state (compression amount is 5mm), and can apply a forward spring force to the clamping rod 716, so that the two clamping rods 716 have a closing clamping force.

[0036] The driving member 72 comprises a moving frame 721, a driving motor 722 and a connecting rod 724: the moving frame 721 is a “U” shaped metal frame, slidingly embedded in the sliding groove below the vertical section of the mounting frame 54 (on the inner side of the sliding sleeve 711), and the top end of the moving frame 721 is fixed with a connecting block by bolts, connected with the lower transmission chain 95 of the moving assembly 9; the driving motor 722 is a step motor with a model number of 28HS45, fixed on the inner side of the moving frame 721 by bolts, and the output end faces the right side; the connecting rod 724 is a metal rod, with the left end fixedly connected with the output end of the driving motor 722 through a connecting plate 723 (metal plate), and the right end extends into the cavity two 713 of the sliding sleeve 711; two arc-shaped top blocks 725 (adapted to the inclined surface of the protrusion 719) are symmetrically welded on the right end of the connecting rod 724, which can push the protrusion 719 to move backward (so as to open the clamping rod 716) when the connecting rod 724 rotates; two limiting plates 726 (metal plates, located on the front and back of the top block 725) are welded on the connecting rod 724, and the outer side wall of the limiting plate 726 is in close contact with the inner side wall of the protrusion 719, which can drive the protrusion 719 and the clamping rod 716 to move synchronously when the connecting rod 724 moves; a butt joint rod 727 (metal rod, adapted to the fixed rod 715) is welded on the right end of the connecting rod 724, which can abut against the fixed rod 715 and push the fixed rod 715 to drive the sliding sleeve 711 to rotate around the axis of the connecting rod 724 (to adjust the direction of the culture dish) when the connecting rod 724 rotates to a certain angle.

[0037] 5. Feeding assembly Each group of feeding assembly 8 comprises a sliding installation plate 81, a feeding installation frame 82, a driving motor two 83, a driving device 86 and a pneumatic suction cup 87, installed above the vertical section of the mounting frame 54: The sliding installation plate 81 is a rectangular metal plate, slidingly embedded in the sliding groove above the vertical section of the mounting frame 54, and can slide along the radial direction of the sliding groove; the left end of the sliding installation plate 81 (on the inner side of the placing frame 52) is fixed with a connecting block by bolts, connected with the upper transmission chain 95 of the moving assembly 9; The feeding installation frame 82 is a “door” shaped metal frame, fixed on the right end of the sliding installation plate 81 (on the outer side of the placing frame 52) by bolts; the upper end of the feeding installation frame 82 is fixed with the driving motor two 83 and the driving device 86 by bolts: the driving motor two 83 is a step motor with a model number of 28HS45, and the output end faces downward; the driving device 86 is a vacuum pump (prior art) with a model number of VP100V, connected with the pneumatic suction cup 87 through an air pipe, which can control the pneumatic suction cup 87 to generate or cancel suction force; The lower end of the feeding mounting frame 82 is rotatably mounted with a threaded rod 84 (metal rod, connected with the output end of the driving motor two 83 through a shaft coupling) through a bearing, and the front and rear sides of the threaded rod 84 are symmetrically provided with two limiting shafts 85 (metal rods, both ends are fixed on the lower end of the feeding mounting frame 82 through bolts); The pneumatic suction cup 87 is a vacuum suction cup (silicone material, to avoid scratching the culture dish) with a model of ZPT20BN, and the left side of the pneumatic suction cup 87 is fixed with a moving connecting frame 88 through a bolt; the horizontal section of the moving connecting frame 88 is provided with a threaded hole (adapted to the threaded rod 84) and two through holes (adapted to the limiting shafts 85), which are respectively sleeved on the threaded rod 84 and the limiting shafts 85, and can slide up and down along the limiting shafts 85 when the threaded rod 84 rotates (to realize the height adjustment of the pneumatic suction cup 87).

[0038] 6. Moving assembly Each group of moving assemblies 9 includes a driving mounting frame 91, a driving motor three 92, a driving rod 93, two fixed mounting frames 94, two transmission chains 95, and a transmission sprocket 96, which are fixed to the inner side of the placing frame 52: The driving mounting frame 91 is a rectangular metal frame, which is fixed on the inner side of the vertical section of the mounting frame 54 through bolts; the driving motor three 92 is a stepping motor with a model of 28HS45, which is fixed on the outer side wall of the driving mounting frame 91 through bolts, and the output end faces the inner side; The driving rod 93 is a metal rod, which is rotatably mounted on the inner side of the driving mounting frame 91 through a bearing, and the left end is fixedly connected with the output end of the driving motor three 92, and the right end is sleeved with the transmission sprocket 96 (metal sprocket); The two fixed mounting frames 94 are metal frames, which are symmetrically fixed on the upper and lower sides of the driving mounting frame 91 through bolts, and each fixed mounting frame 94 is rotatably mounted with two driven sprockets (with the same number of teeth as the transmission sprocket 96) on the inner side through a bearing; The two transmission chains 95 are closed-loop metal chains, which are respectively sleeved on the driven sprockets of the upper and lower fixed mounting frames 94, and the upper transmission chain 95 is fixed with the connecting block of the sliding mounting plate 81, and the lower transmission chain 95 is fixed with the connecting block of the moving frame 721; the upper and lower sides of the transmission sprocket 96 are respectively engaged with the two transmission chains 95, which can drive the two transmission chains 95 to move in opposite directions when the driving rod 93 rotates (when the upper chain moves outward, the lower chain moves inward, and vice versa), to realize the alternating action of the material taking adjusting assembly 7 and the feeding assembly 8.

[0039] 7. Rotary filling equipment The rotating filling device 6 is a prior art, and a rotating rotating platform is fixed to the right side of the processing table 1 through a support. The platform has a diameter of 1.5 m and is uniformly provided with 12 culture dish placing grooves 61 in the circumferential direction (adapted to the culture dish, and the groove depth is slightly smaller than the height of the culture dish). A mounting hole 62 (a circular hole with a diameter larger than that of the pneumatic suction cup 87) is formed in the groove bottom of each culture dish placing groove 61, so that the pneumatic suction cup 87 can pass through. The filling machine is fixed to the right side of the rotating rotating platform, and the discharge end corresponds to the position of the culture dish placing groove 61, so that the culture dish in the groove can be filled with culture solution (the filling amount is controlled by the production line total control system).

[0040] II. Overall working process and principle 1. Feeding and detection stage The worker replenishes the culture dishes into the culture dish feeding rack 3 (directional errors are allowed), and the electromagnetic valve of the culture dish feeding rack 3 is opened, so that the single culture dish naturally falls onto the conveying belt of the feeding conveying device 2; The feeding conveying device 2 is started to convey the culture dishes from the left end to the culture dish limiting rack 21 at the right end. The funnel-shaped structure of the culture dish limiting rack 21 positions the culture dishes; The laser emitter of the detection device 4 is started to emit linear laser to the surface of the culture dish. The image acquisition module captures the laser profile image and transmits it to the control unit; The control unit compares the images to determine the opening direction of the culture dish, and stores the determination result (“forward” or “reverse”) to wait for outputting the instruction to the material taking adjusting assembly 7.

[0041] 2. Material taking and direction correction stage The control unit outputs the instruction to the driving power supply 51 of the rotating feeding structure 5, the driving power supply 51 drives the placing rack 52 to rotate, so that one group of the material taking adjusting assembly 7 is aligned with the culture dish limiting rack 21; The control unit outputs the instruction to the driving motor three 92 of the moving assembly 9, the driving motor three 92 drives the driving rod 93 and the transmission sprocket 96 to rotate, the lower transmission chain 95 pulls the moving rack 721 to move outward, so that the clamping rod 716 penetrates through the grabbing groove 22 and extends into the culture dish limiting rack 21 and is located at the two sides of the culture dish; The control unit outputs the instruction to the driving motor one 722, the driving motor one 722 drives the connecting rod 724 to rotate, the top block 725 pushes the convex block 719 to move backward, and the clamping rod 716 is opened against the elastic force of the spring 710 (the opening width is greater than the diameter of the culture dish); The control unit outputs the instruction to the driving motor three 92, the driving motor three 92 reversely rotates to drive the clamping rod 716 to approach the culture dish. Then the driving motor one 722 reversely rotates, the top block 725 is separated from the convex block 719, the spring 710 is reset to pull the clamping rod 716 to close, and the culture dish is clamped (the clamping pad 717 is attached to the outer wall of the culture dish to avoid sliding off); If the control unit determines that the culture dish is "reversed", it continues to output instructions to the drive motor 1 722, which drives the connecting rod 724 to rotate, and the abutting rod 727 abuts against the fixed rod 715 and pushes it to rotate, and the sliding sleeve 711 drives the culture dish to rotate 180° around the axis of the connecting rod 724 (to complete the direction correction, so that the opening faces upward); if it is determined to be "forward", it directly enters the next step.

[0042] 3. Handover and feeding stage The control unit outputs instructions to the drive power supply 51, and the placing rack 52 continues to rotate 90°, so that the material taking adjusting assembly 7 that clamps the culture dish moves to the upper side of the placing rack 52. The control unit outputs instructions to the drive motor 3 92 of the moving assembly 9, and the drive motor 3 92 drives the transmission sprocket 96 to rotate, the lower transmission chain 95 pulls the material taking adjusting assembly 7 to move inward, and the upper transmission chain 95 pushes the feeding assembly 8 to move outward, until the pneumatic suction cup 87 moves to the directly below the culture dish. The control unit outputs instructions to the drive motor 2 83, and the drive motor 2 83 drives the threaded rod 84 to rotate, and the connecting rack 88 slides upward along the limiting shaft 85, and the pneumatic suction cup 87 rises and contacts the bottom of the culture dish. The control unit outputs instructions to the drive device 86 (vacuum pump), and the vacuum pump is started, and the pneumatic suction cup 87 generates suction force to tightly clamp the culture dish; then the control unit outputs instructions to the drive motor 1 722, and the clamping rod 716 is opened, and the handover of the culture dish is completed. The control unit outputs instructions to the drive power supply 51, and the placing rack 52 continues to rotate 90°, so that the feeding assembly 8 is aligned with the culture dish placing groove 61 of the rotary filling device 6. The control unit outputs instructions to the drive motor 2 83, and the drive motor 2 83 reversely rotates, and the pneumatic suction cup 87 drives the culture dish to descend and place the culture dish into the culture dish placing groove 61; the control unit outputs instructions to the vacuum pump, and the vacuum pump stops working, and the pneumatic suction cup 87 cancels the suction force. The control unit outputs instructions to the drive motor 2 83, and the pneumatic suction cup 87 continues to descend and passes out from the assembly hole 62 of the culture dish placing groove 61, and is separated from the rotary filling device 6; at the same time, the moving assembly 9 drives the feeding assembly 8 to move inward, and waits for the next handover.

[0043] 4. Circulating operation and filling stage The four groups of mounting racks 54 of the rotary feeding structure 5 repeat the above-mentioned "material taking - correction - handover - feeding" process in sequence, so as to realize continuous feeding; the rotary rotating platform of the rotary filling device 6 synchronously rotates, moves the culture dish placing groove 61 loaded with the culture dish to the below of the filling machine, and the filling machine fills the culture liquid into the culture dish, and after the filling is completed, continues to rotate to enter the subsequent sealing process.

[0044] III. Key Effect Description Position error solution: 100% recognition and correction of the reverse problem of the culture dish through laser vision positioning of the device 4 and direction correction of the material taking adjustment assembly 7, avoiding the leakage of culture solution during filling (the failure rate is reduced from 30% of the prior art to below 0.1%); Efficiency improvement: 4 sets of assembly cycle operation, the feeding efficiency can reach 30 per minute, which is completely matched with the filling machine rhythm, avoiding the idle waiting of the filling machine (the production line capacity is improved by 50%); No need to stop: detection and correction automation, even if the direction error occurs when manually supplementing the material, there is no need to stop adjustment (about 200 hours of downtime is reduced per year); Protect the culture dish: the silicone material of the material clamping pad 717 and the pneumatic suction cup 87 cooperates with the sponge buffer layer to avoid scratching the culture dish (the damage rate is reduced from 5% of the prior art to below 0.5%).

[0045] Although the embodiments of the present application have been shown and described, the specific embodiments are only an explanation of the present application, and are not a limitation of the application, and the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner, and those skilled in the art can make modifications, replacements and variations of the embodiments without creative contribution after reading the specification, but as long as it is within the scope of the claims of the present application, it is protected by the patent law.

Claims

1. A rotary feeding device for petri dishes, characterized in that, It includes a processing table (1), on which a feeding conveyor (2), a petri dish feeding rack (3), a testing device (4) and a rotary feeding structure (5) are provided, and a rotary filling device (6) is provided on one side of the processing table (1). The feeding conveying device (2) is used to convey petri dishes. The petri dish feeding rack (3) and the detection device (4) are located at the beginning and end of the feeding conveying device (2) respectively. The discharge end of the petri dish feeding rack (3) corresponds to the beginning end of the feeding conveying device (2). The petri dishes can fall from the discharge end of the petri dish feeding rack (3) onto the feeding conveying device (2) and be conveyed to the end with the feeding conveying device (2). The detection device (4) is used to perform visual positioning of the petri dishes located at the end of the feeding conveying device (2) by means of laser irradiation and image transmission, so as to determine the opening orientation of the petri dishes. The rotary feeding structure (5) is rotatably mounted on the processing table (1). It is equipped with multiple sets of material picking adjustment components (7), feeding components (8) and moving components (9). Each set of material picking adjustment components (7) and a set of feeding components (8) are spaced apart and slidably mounted in the rotary feeding structure (5). The working ends of both extend to the outside of the rotary feeding structure (5). Each set of moving components (9) is located between a set of material picking adjustment components (7) and feeding components (8). The side of the material picking adjustment components (7) and the feeding components (8) located in the rotary feeding structure (5) is connected to the moving components (9). The moving components (9) can drive the material picking adjustment components (7) and the feeding components (8) to move alternately (when the material picking adjustment components (7) move into the rotary feeding structure (5), the feeding components (8) move out of the rotary feeding structure (5). The rotary filling equipment (6) includes a rotary platform and a filling machine. The rotary platform is provided with multiple stations for placing petri dishes. Each station corresponds to the discharge end of the filling machine and multiple sets of feeding components (8) in sequence. The material handling adjustment component (7) can be driven by the moving component (9) to move to the tail end of the feeding conveyor (2) to pick up the tested culture dish when the rotating feeding structure (5) rotates to correspond horizontally with the feeding conveyor (2), and rotates with the rotating feeding structure (5) to the top of the rotating feeding structure (5). The material handling adjustment component (7) can adjust the direction of the culture dish according to the detection result of the detection device (4) to ensure that the bottom of the culture dish faces the feeding component (8). The feeding component (8) can transfer the culture dish to the material handling adjustment component (7), and when the rotating feeding structure (5) rotates to correspond with the rotating filling device (6), the culture dish is placed on the station of the rotating filling device (6) to realize the feeding and filling of the culture dish.

2. The rotary feeding device for a petri dish according to claim 1, characterized in that, The tail end of the feeding conveyor (2) is provided with a petri dish limiting frame (21). The petri dish limiting frame (21) is funnel-shaped, with the wider side of its opening facing the head end of the feeding conveyor (2) and the narrower side facing the tail end of the feeding conveyor (2). It is used to limit the petri dish that moves to the tail end of the feeding conveyor (2). The petri dish limiting frame (21) is provided with symmetrical gripping grooves (22) on both sides. The gripping grooves (22) allow the working end of the material handling adjustment component (7) to pass through in order to grip the petri dish inside the petri dish limiting frame (21).

3. The rotary feeding device for a petri dish according to claim 1, characterized in that, The station of the rotary filling equipment (6) is a petri dish placement tank (61). The shape of the petri dish placement tank (61) is adapted to the petri dish and the inner diameter is slightly larger than the diameter of the petri dish. The rotating platform is provided with an assembly hole (62) at the bottom of the petri dish placement tank (61). The feeding component (8) can extend into the petri dish placement tank (61) from the top and place the petri dish in the tank, and then pass out through the assembly hole (62) and leave the rotary filling equipment (6).

4. A rotary feeding device for a petri dish according to any one of claims 1, characterized in that, The rotary feeding structure (5) includes a drive power supply (51), a placement frame (52), a mounting shaft (53), and multiple mounting frames (54). The drive power supply (51) is mounted on the processing table (1). The placement frame (52) is located in the middle of the processing table (1) and on one side of the feeding conveyor (2). The mounting shaft (53) is rotatably mounted on the processing table (1). One end of the shaft is connected to the working end of the drive power supply (51), and the other end is connected to the placement frame (52). The drive power supply (51) can drive the mounting shaft (53) to rotate the placement frame (52). Multiple mounting frames (54) are spaced apart on the placement frame (52). Each set of material picking adjustment component (7), feeding component (8), and moving component (9) is correspondingly mounted on one mounting frame (54). The material picking adjustment component (7) and feeding component (8) are slidably mounted on the mounting frame (54), and the moving component (9) is fixedly mounted inside the placement frame (52).

5. The rotary feeding device for a petri dish according to claim 4, characterized in that, Each of the material handling adjustment components (7) includes a gripper (71) and a drive component (72). The gripper (71) is slidably mounted below the mounting frame (54) and can slide along the mounting frame (54) to the outside or inside of the placement frame (52). The drive component (72) is mounted below the mounting frame (54) and located inside the placement frame (52). One end of the drive component (72) is connected to the gripper (71), and the other end is connected to the moving component (9) for driving the gripper (71) to move and realize the gripping and orientation adjustment of the culture dish.

6. The rotary feeding device for a petri dish according to claim 5, characterized in that, The clamping component (71) includes a sliding sleeve (711) and two clamping rods (716). The sliding sleeve (711) is slidably installed inside the mounting bracket (54) below. It has two symmetrical cavities (712) on both sides and a cavity (713) in the middle. A circular hole (714) communicating with the cavity (713) is opened on one side. A fixing rod (715) is fixed in the circular hole (714). The cavity (713) is used to accommodate the driving component (72). The front ends of the two clamping rods (716) are clamping ends and are arc-shaped. A rubber clamping pad (717) is fixed on the clamping end. The rear ends are straight rods and extend into the two cavities (712) respectively. Each clamping rod (716) has a protrusion (719) at one end in the cavity (712). The protrusion (719) extends through the inner wall of the sliding sleeve (711) into the cavity (713). Each cavity (712) is provided with a limiting rod (718) and a spring (710). The limiting rod (718) passes through the clamping rod (716) and is fixed to the inner wall of the cavity (712) to restrict the clamping rod (716) to move only in the front-back direction. The spring (710) is in a compressed state and its two ends are connected to the inner wall of the cavity (712) and the clamping rod (716) respectively to provide clamping force for the clamping rod (716).

7. The rotary feeding device for a petri dish according to claim 6, characterized in that, The driving component (72) includes a movable frame (721), a first drive motor (722), and a connecting rod (724). The movable frame (721) is slidably mounted below the mounting frame (54). The first drive motor (722) is mounted inside the movable frame (721). The top end of the movable frame (721) is connected to the movable component (9). One end of the connecting rod (724) is located inside the second cavity (713), and the other end is connected to the working end of the first drive motor (722) through a connecting plate (723). The connecting rod (724) is located in the cavity 2 (713) and has two arc-shaped top blocks (725) symmetrically arranged on both sides of one end. The two top blocks (725) can contact the protrusion (719) and push the protrusion (719) when the connecting rod (724) rotates, so that the clamping rod (716) moves along the cavity 1 (712) to realize opening and closing. The connecting rod (724) is also provided with two limiting plates (726). The two limiting plates (726) are located on both sides of the top block (725) and the protrusion (719) respectively, and are used to drive the clamping rod (716) to move synchronously by contacting the protrusion (719). The connecting rod (724) has a docking rod (727) at one end inside the circular hole (714). The docking rod (727) can contact the fixing rod (715) when the connecting rod (724) rotates to a specific angle, and push the fixing rod (715) to drive the sliding sleeve (711) to rotate around the mounting frame (54) to realize the direction adjustment of the culture dish.

8. The rotary feeding device for a petri dish according to claim 4, characterized in that, Each feeding assembly (8) includes a sliding mounting plate (81), a feeding mounting frame (82), a second drive motor (83), a drive device (86), and a pneumatic suction cup (87). The sliding mounting plate (81) is slidably mounted above the mounting frame (54), with one end extending into the placement frame (52) and connected to the moving assembly (9), and the other end extending to the outside of the placement frame (52). The feeding mounting frame (82) is fixed on the end of the sliding mounting plate (81) located on the outside of the placement frame (52). The upper end of the feeding mounting frame (82) is equipped with a second drive motor (83) and a drive device (86), and the lower end is rotatably equipped with a threaded rod (84). The threaded rod (84) has limit shafts (85) fixed on both sides of the lower end of the feeding mounting frame (82). One end of the threaded rod (84) is connected to the working end of the second drive motor (83). The pneumatic suction cup (87) has a movable connecting frame (88) on one side. The movable connecting frame (88) is slidably installed on the two limit shafts (85) and threadedly connected to the threaded rod (84). The upper end of the pneumatic suction cup (87) is connected to the drive device (86) through a connecting pipe. The drive device (86) can control the pneumatic suction cup (87) to generate or cancel suction.

9. A rotary feeding device for a petri dish according to claim 8, characterized in that, Each set of the moving components (9) includes a drive mounting frame (91), a drive motor (92), a drive rod (93), two fixed mounting frames (94), two transmission chains (95) and a transmission sprocket (96). The drive mounting frame (91) is fixed on the mounting frame (54). The drive motor (92) is mounted on the outer wall of the drive mounting frame (91). The drive rod (93) is rotatably mounted inside the drive mounting frame (91), and one end of it is connected to the working end of the drive motor (92). Two fixed mounting brackets (94) are symmetrically mounted on mounting bracket (54) and located on the upper and lower sides of drive mounting bracket (91) respectively. Each fixed mounting bracket (94) has a transmission chain (95) rotatably mounted on it. The two transmission chains (95) are connected to the movable bracket (721) and the sliding mounting plate (81) respectively. The transmission sprocket (96) is fixed on the drive rod (93), and the upper and lower ends of the transmission sprocket (96) are respectively engaged with the two transmission chains (95). The drive motor (92) can drive the drive rod (93) to drive the transmission sprocket (96) to rotate, thereby driving the two transmission chains (95) to move in opposite directions, realizing the alternating movement of the material handling adjustment component (7) and the feeding component (8).

10. A rotary feeding device for a petri dish according to claim 1, characterized in that, The detection device (4) includes a laser emitter, an image acquisition module and a control unit. The laser emitter is used to emit laser light onto the surface of the petri dish to form a feature contour. The image acquisition module is used to capture the image of the petri dish after laser irradiation and transmit it to the control unit. The control unit is used to compare the acquired image with the preset standard images of the front and back of the petri dish, determine the opening orientation of the petri dish, and transmit the determination result to the material handling adjustment component (7) to provide a basis for adjusting the orientation of the petri dish.

Images