Automatic equipment for microbial limit test

Abstract

The utility model discloses automation equipment for microbial limit test, and relates to the technical field of automation equipment. The device comprises a base and a multi-axis robot arranged on the base, a filtering device and a culture dish mechanism are arranged on the base, the filtering device can generate a filter membrane containing microorganisms, an electric claw is arranged on the multi-axis robot, and a thin film clamping claw capable of grabbing the filter membrane is arranged on the electric claw; the film clamping jaw can be controlled by the electric claw to clamp the filter film, and the multi-axis robot can drive the electric claw and the film clamping jaw to reciprocate between the filter device and the culture dish mechanism; the specific operation is as follows: a filter membrane containing microorganisms in the filter device is attached to a culture dish in the culture dish mechanism through the multi-axis robot, so that the automatic operation of microbial limit inspection is realized, that is, manual operation is replaced by mechanical operation to reduce man-made influence and improve the test precision.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, and more specifically, to an automation equipment for microbial limit testing. Background Art

[0002] Pharmaceutical water is one of the largest and most widely used raw materials in the pharmaceutical production process. It is mainly used in the production process and the preparation of pharmaceutical preparations. Its microbial level is a very important quality control indicator and is directly related to the quality of the drug.

[0003] Human factors. Because the human body is a carrier of bacteria, its skin, hair, and exhaled air contain a large number of bacterial microorganisms. Unreasonable behaviors such as not following job operating procedures can directly or indirectly contaminate the drug product. Therefore, personnel are the primary factor in microbial contamination during drug production.

[0004] Microorganisms are widely present in nature, and pharmaceutical water is easily contaminated by them during purification, storage, and distribution systems. Under suitable conditions, contaminated microorganisms can grow and multiply, causing pure water to deteriorate and affecting water quality. Microbial limit testing can determine whether pharmaceutical water is contaminated and the extent of contamination. Microbial limit testing of non-terminally sterilized preparations is one of the important measures to ensure their quality and safe and effective use. Designing a microbial limit testing instrument with an automated operation process to replace manual operation is necessary. Utility Model Content

[0005] In order to overcome the above technical deficiencies, the utility model provides an automated device for microbial limit testing, which provides an automated solution for microbial limit testing, is convenient and efficient, and improves detection accuracy.

[0006] In order to solve the above technical problems, the utility model adopts the following technical solutions: an automated microbial limit test equipment, including a base and a multi-axis robot arranged on the base, the base is provided with a filtering device and a culture dish mechanism, the filtering device can produce a filter membrane containing microorganisms, the multi-axis robot is provided with an electric claw, the electric claw is provided with a film clamp that can grab the filter membrane, and the multi-axis robot can drive the film clamp to move back and forth between the filtering device and the culture dish mechanism.

[0007] The utility model provides an automated device for microbial limit testing, in which a film clamp can be controlled by an electric claw to clamp a filter membrane, and a multi-axis robot can drive the electric claw and the film clamp to move back and forth between a filter device and a culture dish mechanism. The specific operation is as follows: the filter membrane containing microorganisms in the filter device is attached to a culture dish in the culture dish mechanism by the multi-axis robot, thereby realizing the automated operation of the microbial limit test, that is, mechanical operation is replaced by manual operation to reduce human influence and improve test accuracy.

[0008] Preferably, the filtration device includes a first linear module and a servo motor mounted on the first linear module. A separation holder is provided at the end of the first linear module, and a membrane filtration device is mounted on the first linear module. The separation holder is connectable to the microbial detection filter, with the bottom of the microbial detection filter affixed to the top of the membrane filtration device. The separation holder secures the microbial detection filter to the filtration device, and the filter membrane in the microbial detection filter then filters the reagent. The final filter membrane rests on the top of the membrane filtration device, facilitating its removal by a robotic film attachment mechanism.

[0009] Preferably, the microbial detection filter comprises a liquid storage bottle and a filter cup, wherein a switch is provided at the connection between the liquid storage bottle and the filter cup, a bottle cap is provided on the top of the liquid storage bottle, the filter cup is provided with a cup holder, a filter membrane is provided on the cup holder, and scale lines are provided on the side wall of the filter cup. The switch is used to flow the reagent in the liquid storage bottle into the filter cup for filtration, thereby obtaining a filter membrane that contains all microorganisms in the reagent in the filter cup.

[0010] Preferably, the system further includes a sample loading mechanism, which is divided into a filter loading mechanism and a test sample loading mechanism. The filter loading mechanism includes a filter storage mechanism and a filter transport mechanism. The filter storage mechanism includes a first hollow rotating platform connected to a first servo motor, and a sampling container placement tray is provided on top of the first hollow rotating platform. The filter transport mechanism includes a first XYZ three-axis linear module, and a first rotary gripping module is provided at the bottom of the Z-axis linear module of the first XYZ three-axis linear module. The first rotary gripping module is provided with a first rotary motor, and a first gripper is provided at the output end of the first rotary motor. The first XYZ three-axis linear module moves the microbial detection filter to the corresponding position through the movement of the three axes.

[0011] Preferably, the sample loading mechanism includes a sample storage mechanism and a sample transport mechanism. The sample storage mechanism includes a second hollow rotating platform connected to a second servo motor. A sample bottle assembly box circumferential platform is located on top of the second hollow rotating platform. Several sample bottle assembly boxes are located on the circumferential platform. The sample transport mechanism includes a second XYZ three-axis linear module, the Z-axis of which has an external knurled gripper at its bottom. The sample bottle assembly box is provided with several second quick-release pin holes. The second XYZ three-axis linear module transports the sample to its corresponding location.

[0012] Preferably, a tip loading mechanism and a buffer loading mechanism are provided parallel to each other between the filter loading mechanism and the sample loading mechanism. The tip loading mechanism includes a second linear module, on which a tip assembly box is mounted. A position sensor is provided at the connection between the tip assembly box and the second linear module. The tip loading mechanism is connected to the sample pipetting mechanism. After the entire box of tips is used, it is moved to a manual box replacement station, enabling the tip assembly box to be replaced without stopping the machine.

[0013] Preferably, the buffer loading mechanism includes a plurality of buffer storage bottles connected to a pump, which is connected to a buffer output tube mounted on a hose bracket, with the output end of the buffer output tube located within the moving area of ​​the membrane filtration device. When the sample requires buffer injection, the pump draws buffer from the storage tank and pours it into the filter cup through the hose.

[0014] Preferably, the sample pipetting mechanism includes an XZ linear module, the Z-axis of which is equipped with a pipetting module and a second rotary gripper module. The pipetting module is provided with a pipette gun at the bottom, and the second rotary gripper module is provided with an electric rotary gripper at the bottom. The pipetting module is moved by the XZ linear module to the top of the tip assembly box, automatically pressing the tip to extract the liquid.

[0015] Preferably, the culture dish mechanism includes a culture dish storage mechanism and a culture dish transport device. The culture dish storage mechanism includes a third hollow rotating platform connected to a third servo motor, a circumferential platform provided on top of the third hollow rotating platform, and a plurality of culture dish racks provided on the circumferential platform. The culture dish transport device includes a second XZ two-axis linear module, the Z-axis linear module of the second XZ two-axis linear module having a gripping module at the bottom. The culture dish transport mechanism is provided with a rotatable film-applying station, the culture dish transport mechanism is provided with an intelligent camera facing the film-applying station, and the film-applying station is within the movement range of the robot film-applying mechanism. The culture dish racks on top of the circumferential platform are arranged in a circular ring, and a dividing line passing through the center of the circle divides all the culture dish racks into two parts: one for storing empty culture dishes and the other for storing culture dishes with filter paper.

[0016] Preferably, the culture dish transport mechanism is connected to the culture dish scanning station. A first scanner is provided next to the culture dish scanning station, and the first scanner is equipped with a first scanning gun that can rotate on a bracket. A first scanning station is provided next to the filter feeding mechanism, and the first scanning station is within the grasping range of the first clamping jaw. A second scanning station is provided next to the sample transport mechanism, and the second scanning station is within the moving range of the outer knurled clamping jaw. The culture dish scanning station, the first scanning station, and the second scanning station can all rotate freely to ensure that the corresponding labels can be scanned.

[0017] Compared with the existing technology, the beneficial effects of the present invention are as follows: (1) The integrated sterilized packaging liquid extraction membrane filter is convenient and efficient, with low process contamination risk and high detection accuracy. (2) The equipment is easy to operate, does not require excessive personnel training, and has low technical requirements for operators. (3) The entire detection process has high sterility protection and strong traceability. (4) The sterile disposable filter base replaces flame burning disinfection and has little effect on the experimental results. (5) The equipment supports non-stop sample loading, with short sample waiting time and low contamination risk. (6) The equipment is equipped with a laminar flow hood, and there is no risk of artificial contamination during the operation. (7) The robot replaces manual film application to improve operation efficiency, and the intelligent camera monitors whether bubbles are generated during the film application process in real time to ensure process quality and good batch operation consistency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a top view of the purified water detection device of the present utility model.

[0019] Figure 2 This is a top view of the water for injection detection device of the present invention.

[0020] Figure 3 It is a schematic diagram of the tip head feeding mechanism of the present utility model.

[0021] Figure 4 This is a schematic diagram of the storage mechanism for samples to be tested of the present invention.

[0022] Figure 5 This is a schematic diagram of the sample transport mechanism for the present invention.

[0023] Figure 6 This is a schematic diagram of the second barcode scanner of the present invention.

[0024] Figure 7 This is a schematic diagram of the storage mechanism of the microbial detection filter of the present invention.

[0025] Figure 8 This is a schematic diagram of the microbial detection filter transport mechanism of the present invention.

[0026] Figure 9 This is a schematic diagram of the sample pipetting mechanism of the present utility model.

[0027] Figure 10 This is a schematic diagram of the microbial detection filter of the present invention.

[0028] Figure 11 This is a schematic diagram of a filter cup of the present invention.

[0029] Figure 12 This is a schematic diagram of the first cover opening mechanism of the present invention.

[0030] Figure 13This is a schematic diagram of the buffer solution feeding mechanism of the present invention.

[0031] Figure 14 This is a schematic diagram of the filtering device of the present invention.

[0032] Figure 15 This is a schematic diagram of the robot film-sticking mechanism of the present invention.

[0033] Figure 16 This is a schematic diagram of the first barcode scanner of the present invention.

[0034] Figure 17 This is a schematic diagram of the culture dish storage mechanism of the present invention.

[0035] Figure 18 This is a schematic diagram of the culture dish transporting mechanism of the present invention.

[0036] In the picture:

[0037] 1. Base, 100. Filter loading mechanism, 101. First servo motor, 102. First hollow rotating platform, 103. Sampling container placement tray, 104. First XYZ three-axis linear module, 105. First rotary gripping module, 106. First rotary motor, 107. First gripper;

[0038] 200, test sample loading mechanism, 201, second servo motor, 202, second hollow rotating platform, 203, sample bottle device box circumferential platform, 204, sample bottle device box, 205, sample bottle, 206, second XYZ three-axis linear module, 207, external knurled clamping jaw;

[0039] 300, filtering device, 301, first linear module, 302, separation card seat, 303, membrane filtering device;

[0040] 400, microbial detection filter, 401, liquid storage bottle, 402, filter cup, 403, switch, 405, cup holder, 406, filter membrane, 407, scale line;

[0041] 500, tip head feeding mechanism, 501, second linear module, 502, tip head device box, 503, position sensor;

[0042] 600, buffer solution feeding mechanism, 601, buffer solution storage bottle, 602, pump, 603, hose bracket, 604, buffer solution output pipe, 605, buffer solution input pipe;

[0043] 700, sample pipetting mechanism, 701, first XZ two-axis linear module, 702, pipetting module, 703, second rotary gripping module, 704, pipetting gun, 705, electric rotary gripper;

[0044] 800, culture dish storage mechanism, 801, third servo motor, 802, third hollow rotating platform, 803, circular platform, 804, culture dish placement rack, 805, partition, 806, culture dish quantity detection sensor;

[0045] 900, culture dish transport mechanism, 901, second XZ two-axis linear module, 902, grabbing module, 903, film laminating station;

[0046] 1000. Robotic film laminating mechanism, 1001. Multi-axis robot, 1002. Electric gripper, 1003. Film gripper, 11. Petri dish scanning station, 12. First scanning station, 13. First lid opening mechanism. 1301. Fixing frame, 1302. First electric gripper head, 14. Second scanning station, 15. Second lid opening mechanism, 16. First barcode scanner, 17. Second barcode scanner. DETAILED DESCRIPTION

[0047] The following is a further detailed description of the technical solution of the utility model through specific embodiments and in conjunction with the accompanying drawings:

[0048] Example 1:

[0049] An automated device for microbial limit testing, such as Figure 1 and Figure 2 As shown, the device is divided into two types, one for purified water microbial limit detection and the other for injection water microbial limit detection. Among them, all the structures of the device for injection water microbial limit detection are included in the device for purified water microbial limit detection. The device for injection water microbial limit detection includes a filter loading mechanism 100, a filter device 300, a robot film-sticking mechanism 1000, a culture dish mechanism and other structures. The device for purified water microbial limit detection adds a sample loading mechanism 200, a tip head loading mechanism 500, a buffer loading mechanism 600, and a sample pipetting mechanism 700 on this basis. A laminar flow hood is provided above the overall detection equipment to ensure that the operation process is in a sterile environment. At the same time, an ultraviolet lamp is provided inside the equipment to sterilize the equipment.

[0050] All components of the inspection device are fixed on a square base 1. It can be divided into two roughly identical upper and lower areas along the horizontal middle line. The upper part is used to install the culture dish mechanism and the robot film-sticking mechanism 1000, and the lower part is used to install other parts. The filter loading mechanism 100 and the test sample loading mechanism 200 for microbial detection are located on both sides of the same area. In this area, the microbial detection filter conveying mechanism and the test sample conveying mechanism are distributed along two opposite sides. A microbial detection filter storage mechanism is provided on the inner side of the microbial detection filter conveying mechanism, and the microbial detection filter storage mechanism is located within the processing range of the microbial detection filter conveying mechanism. A test sample storage mechanism is provided on the inner side of the test sample conveying mechanism, and the test sample storage mechanism is located within the processing range of the test sample conveying mechanism. At the same time, there are corresponding code scanning stations within the processing ranges of the test sample conveying mechanism and the microbial detection filter conveying mechanism for code scanning. Between the microbial detection filter storage mechanism and the test sample storage mechanism are parallel tip loading mechanisms 500 and buffer loading mechanisms 600. Near the midline, a connected sample pipetting mechanism 700 and filter device 300 are located. The microbial detection filter transport mechanism, tip loading mechanism 500, and sample pipetting mechanism 700 form a square area with the edge of the base. Similarly, the test sample transport mechanism, buffer loading mechanism 600, and filter device 300 form a square area with the edge of the base.

[0051] A robot film pasting mechanism 1000 and a culture dish mechanism are provided in the right part of the base 1. The culture dish conveying mechanism 900 is arranged along the upper edge of the base 1, and a culture dish storage mechanism 800 is provided on the lower side of the culture dish conveying mechanism 900. A culture dish code scanning station 1100 and a film pasting station 903 are provided on the culture dish conveying mechanism 900. A first code scanner 16 is provided on the lower left side of the culture dish code scanning station 1100 for scanning the barcode on the culture dish. An intelligent camera is provided at the end of the culture dish conveying mechanism 900 facing the film pasting station 903 for observing the film pasting process on the film pasting station 903 in real time. The working range of the robot film pasting mechanism 1000 includes the film pasting station 903 and the filtering device 300, and realizes the operation of conveying the filter membrane 406 on the filtering device 300 to the culture dish on the film pasting station 903.

[0052] This example 2:

[0053] This embodiment takes the device for detecting the microbial limit of purified water as an example. Figure 3As shown, a tip head loading mechanism 500 extending from the lower edge to the center is provided between the two modules of the sample loading mechanism 200 and the filter loading mechanism 100. The tip head loading mechanism 500 includes a second linear module 501, a servo motor, a tip head device box 502, and a position sensor 503. The tip head device box 502 is provided on a slider, and the slider performs linear reciprocating motion with the second linear module 501 to transport the tip head to the tip removal position of the pipette 704. A position sensor is provided at the bottom of the slider to sense the current position of the tip head device box 502. A third quick-release pin hole is provided at the bottom of the tip head device box 502 to facilitate the replacement of the tip head. After the entire box of tips is used up, it is moved to the manual box replacement station, and the tip head device box 502 is manually removed for replacement, so that the tip head device box 502 can be replaced without stopping the machine.

[0054] like Figure 4 As shown, the sample loading mechanism 2 includes a sample storage mechanism and a sample transport mechanism. The sample storage mechanism includes a second servo motor 201, a second hollow rotating platform 202, a sample bottle assembly box 204, a circumferential platform 203, and sample bottles 205. Multiple sample bottle assembly boxes 204 are arranged around the mechanism, each capable of holding multiple sample bottles 205. Upon activation of the second servo motor 201, the second hollow rotating platform 202 performs a circular motion, moving the sample bottles 205 to a designated position, where the sample transport mechanism grabs the bottles and moves them to the next station. A second quick-release pin hole is located at the bottom of the sample bottle assembly box 204. After each sample bottle is loaded, it is moved to a manual exchange station for manual integration of the root canals, enabling continuous sample replacement.

[0055] like Figure 5 As shown, the sample handling mechanism includes a second XYZ linear module 206, a servo motor, and a rotary gripper module. This mechanism grabs the sample bottle and moves it to the barcode scanning and sample pipetting station. The mechanism moves the sample bottle and twists the cap to open. The rotary gripper for the sample is knurled with an outer knurled jaw 207, which increases gripping friction, prevents the sample bottle from falling, and reduces the chance of uncapping errors. The mechanism is movable in all three axes, XYZ, to accommodate the movement of each station.

[0056] like Figure 6As shown, the sample bottle 205 will move to the second code scanning station 14 arranged on the upper side of the sample loading mechanism 2 to be tested. The second code scanning station 14 is arranged on the side of the sample transport mechanism to be tested. The sample transport mechanism to be tested will move the sample bottle with the barcode to the second code scanning station 14 and then perform the code scanning and identification action. The second code scanning station 14 is composed of a code scanner mounting bracket and a code scanner. The code scanner mounting bracket is fixed on the base. The code scanner is slidably fixed on the code scanner mounting bracket and can slide up and down to facilitate the scanning of barcodes in different positions. A second code scanner 17 is arranged next to the second code scanning station 14. The second code scanner 17 reads the barcode information of the sample bottle 205 on the second code scanning station 14. A second cover opening mechanism 15 is arranged next to the second code scanning station 14. After the sample bottle 205 moves to the second code scanning station 17, the second cover opening mechanism 15 cooperates with the sample transport mechanism to open the cover of the sample bottle 205.

[0057] like Figure 7 As shown, the filter loading mechanism 100 includes a microbial detection filter storage mechanism and a microbial detection filter conveying mechanism. The microbial detection filter storage mechanism includes a first motor 101, a first hollow rotating platform 102, a circular platform, a position sensor, and a sampling container placement tray 103. The storage mechanism can hold multiple samples to be tested. The first servo motor 101 cooperates with the first hollow rotating platform 102 to perform a circular motion to move the microbial detection filter 400 to a specified position. The microbial detection filter 400 conveying mechanism grabs the sample container to the first code scanning station 12. A first quick-release pin hole is provided at the bottom of the sampling container placement tray 103, which can be used to remove or insert sample containers without stopping the machine.

[0058] like Figure 8 As shown, the microbial detection filter transport mechanism includes a first XYZ three-axis linear module 104 and a servo motor, which are used to clamp the sampling container to the code scanning position and the cover opening position. A first rotary grasping module 105 is provided at the bottom of the Z-axis linear module in the first XYZ three-axis linear module 104, and a first rotary motor 106 is provided on the first rotary grasping module 105. A first clamping claw 107 is provided at the bottom of the first rotary grasping module 105. The first clamping claw 107 is knurled to prevent the risk of the sampling container falling. The first XYZ linear module 104 can be used to grab the microbial detection filter from the microbial detection filter storage mechanism to the code scanning station and the cover opening and clamping station, and can also grab the filter membrane and place it in the waste bin. A first cover opening mechanism 13 is provided on the side of the filter loading mechanism 100 to cooperate with the first rotary grasping module 105 to open the cover.

[0059] like Figure 10As shown, the sample pipetting mechanism 700 and the sample handling mechanism are perpendicular to each other. The sample pipetting mechanism 700 comprises a first XZ linear module 701, a servo motor, a pipetting module 702, and a second rotary gripper module 703. The second rotary gripper module 703 is equipped with an electric rotary gripper 705 at its base, and a pipette gun is located at the base of the pipetting module. The X-axis and Z-axis linear modules move the pipetting module above the tip assembly box, automatically pressing the tip and pipetting the buffer.

[0060] like Figure 10 As shown, the microbial detection filter placed on the microbial detection filter storage mechanism includes a liquid storage bottle 401 and a filter cup 402. The liquid storage bottle is composed of a bottle cap 404, a bottle body, and a switch 403. The switch is located at the connection between the filter cup and the liquid storage bottle. The filter cup 402 is composed of a cup body, a cup holder 405, a filter membrane 406, and a disposable filter screen, and the filter membrane is located on the cup holder. The outer surface of the filter cup 402 is provided with scale lines 407. When sampling, open the bottle cap, take the pharmaceutical water corresponding to the scale line according to the model and specifications of the sampling bottle, close the bottle cap and place it in the storage tray. When filtering is required, turn on the switch, the water inside the bottle body will flow onto the filter membrane, and the microorganisms in the water will stay on the filter membrane. The filter cup and the cup holder are detachable. The device shown in this figure is suitable for microbial limit detection of water for injection.

[0061] like Figure 11 As shown, the filter cup consists of a lid, cup body, filter membrane, cup base, cap, and disposable filter screen, with the filter membrane positioned on the base. Scale lines are provided on the side of the filter cup. To sample, open the bottle cap, take pharmaceutical water corresponding to the scale line according to the sample bottle model, close the bottle cap, and place it in the storage tray. When filtering is required, turn on the switch, and the water in the bottle will flow onto the filter membrane, where microorganisms will be retained. The device shown in this figure is suitable for microbial limit testing of purified water.

[0062] like Figure 12 As shown, the first opening mechanism consists of a fixing frame 1301 and a first electric claw head 1302. When the microbial detection filter moves to the clamping station, the first electric claw clamp changes from an open state to a clamping state. The bottle cap is opened by the rotating motor of the first rotating grasping module 105 on the microbial detection filter conveying mechanism, and then the bottle body is re-clamped and placed on the membrane filtration device 303.

[0063] like Figure 13As shown, the buffer loading mechanism 600 is arranged side by side and parallel to the tip loading mechanism 500. The buffer loading mechanism 600 comprises a buffer storage bottle 601, a buffer inlet tube 605, a pump 602, a buffer outlet tube 604, and a hose support 603. Multiple buffer storage bottles 601 are provided, and the buffer inlet and outlet tubes of each buffer storage bottle 601 are identical and connected to the same main flow channel. When buffer is required for the sample, the pump draws buffer from the storage tank and pours it into the filter cup through the hose.

[0064] like Figure 14 As shown, the filtration device 300 comprises a first linear module 301, a servo motor, a pump, a filter cup holder, a separation holder 302, and a membrane filter. When inspecting purified water, the membrane filter mechanism moves to the left end to place the filter cup. When inspecting water for injection, a transport mechanism grabs the filter cup and places it on the filtration device. After the pump extracts the sample from the bottle, the membrane filter mechanism moves to the bottle return plate. A motorized rotating gripper grabs the bottle and moves it to a waste bin, exposing the membrane for the robot to grip and apply the membrane.

[0065] like Figure 15 As shown, the robot film-sticking mechanism 1000 is composed of a multi-axis robot 1001, an electric claw 1002, and a film clamp 1003. When sticking the film, the multi-axis robot clamps the filter membrane from the membrane filtration device 303 to the film-sticking tooling, sticks it to the culture dish, and completes the film-sticking operation.

[0066] like Figure 16 As shown, the culture dish scanning mechanism is installed on one side of the culture dish transport mechanism. The culture dish transport mechanism moves the culture dish to the culture dish scanning station for scanning. The first barcode scanner consists of a barcode scanner and a mounting bracket. The mounting holes on the mounting bracket are curved waist-shaped holes, which can adjust the angle of the barcode scanner to realize the recognition of barcodes in multiple positions.

[0067] like Figure 17 As shown, the culture dish storage mechanism includes a second servo motor 801, a third hollow rotating platform 802, a circular platform 803, a partition 805, a culture dish rack 804 and a distance sensor. The mechanism is provided with a plurality of culture dish racks, each of which can hold a plurality of culture dishes. The partition divides the culture dish rack into two parts, one side for uninoculated culture dishes and the other side for collecting inoculated culture dishes. The second servo motor cooperates with the third hollow rotating platform to perform a circular motion to move the culture dish to a designated position, and the culture dish transport mechanism grabs the culture dish to a designated station. The culture dish quantity detection sensor 806 detects the number of culture dishes on the rack through distance detection. A fourth quick pin hole is provided at the bottom of the culture dish rack, which can achieve non-stop operation when the culture dish needs to be taken out or put in.

[0068] like Figure 18As shown, the culture dish transport mechanism 900 includes a second XZ linear module 901, a servo motor, and a gripper module 902, which is used to clamp culture dishes to the code scanning and film application stations 903. The gripper module is equipped with a knurled gripper jaw to reduce the risk of dropping the placed culture dishes. The second XZ linear module can grasp culture dishes in the culture dish storage mechanism and move them to the code scanning and film application stations. It can also grasp and place culture dishes that have been filmed into the culture dish storage structure.

[0069] The film application station consists of a culture dish positioning fixture, a second electric gripper, a rotation mechanism, and a motor. When the robot applies film, the culture dish is placed on the positioning fixture and then clamped by the second electric gripper. The rotation mechanism rotates the dish to a fixed angle to facilitate the robot's film application. Once film application is complete, the dish is rotated to a horizontal position, making it easier for the second electric gripper to pick up the dish.

[0070] The Petri dish scanning station consists of a motor, a rotating platform, a servo motor, a fixed barcode scanner, and a mounting bracket for the barcode scanner. The petri dish transport mechanism moves the petri dish onto the rotating platform, where the motor rotates to move the barcode labeling area of ​​the dish to the barcode scanner for successful scanning.

[0071] When conducting microbial limit testing for purified water, a sample of at least 1 ml is taken, processed by membrane filtration, and cultured on R2A agar medium at 30-35°C for at least 5 days. According to regulations, the total aerobic bacterial count per 1 ml of test sample must not exceed 100 CFU. The specific steps are as follows: The microbial detection filter containing the sample is manually placed into the sample loading rack of the sample loading mechanism. Simultaneously, a petri dish containing R2A agar medium is placed into the petri dish loading rack of the petri dish mechanism. The buffer storage bottle is filled with sodium chloride peptone buffer, and the tip tray is filled with tips. The sample to be tested is placed into the sample loading mechanism 2. The microbial detection filter transport mechanism grasps the microbial detection filter, and the code scanning module scans the code to identify the sample information. The bottle is then placed into the first gripper fixing mechanism, and the rotary motor unscrews the sample bottle cap. The pipetting module drives the pipette to the tip tray to automatically clamp the tip. The pipette then moves to aspirate the sample from the sample bottle, and the sample bottle and excess sample are placed in a waste bin. The filter cup transfer mechanism grabs the microbial detection filter and places it on the pump head. Peptone buffer is injected into the microbial detection filter via the filling pump to moisten the membrane. The internal pump of the filter unit draws the buffer from the filter cup to achieve this membrane moistening effect. The sample in the pipette is discharged into the filter cup, where the internal pump of the filter unit extracts the sample liquid, leaving the microorganisms on the filter membrane. The filter cup is removed by an electric rotating gripper and placed in a waste bin, where the tip is automatically removed and placed in the waste bin. The transport mechanism scans the petri dish containing the QR code, which is then placed in the petri dish film application station. The robot then grabs the petri dish lid and sets it aside for standby. A robot grabs the filter membrane from the filter cup base, applies it to the petri dish containing the culture medium, and grabs the disposable filter base and places it in the waste bin. The transport mechanism replaces the dish lid on the petri dish and transports the petri dish to the finished product rack.

[0072] When conducting microbial limit testing for water for injection, a sample of at least 100 ml is collected, filtered through membrane filtration, and incubated on R2A agar medium at 30-35°C for at least 5 days. According to regulations, the total aerobic bacterial count per 100 ml of sample must not exceed 100 CFU. The specific operation process is as follows: A microbial test filter is manually placed in the loading rack, and a petri dish containing R2A agar medium is placed in the petri dish storage rack. The microbial test filter transport mechanism grabs the microbial test filter containing the sample to be tested. The code scanning module identifies the sample information. The bottle is then placed in the first gripper fixture. A rotary motor unscrews the sample bottle cap and places it on the pump head of the filtration unit. The filtration unit is activated and the liquid sample is extracted from the bottle. The sample liquid is completely extracted, leaving microorganisms on the filter membrane. The robot's membrane application mechanism's electric rotary gripper removes the sample bottle and places it in a waste bin. The transport mechanism scans the petri dish with the QR code through the scanner, places it in the petri dish application station, and then removes the petri dish cap and sets it aside for standby. The robot picks up the filter membrane from the base of the filter cup and attaches it to the culture dish. The transport mechanism replaces the dish cover on the culture dish and transports the dish to the finished product rack.

[0073] The present invention improves the efficiency of the film-sticking operation by replacing manual operation with a robot, and an intelligent camera monitors in real time whether bubbles are generated during the film-sticking process, thereby ensuring process quality and good batch operation consistency. The equipment is simple to operate, does not require excessive personnel training, and has low technical requirements for operators. The entire detection process has high sterility protection and strong traceability. The sterile disposable filter base replaces flame burning disinfection and has little effect on the experimental results. The equipment supports non-stop sampling, with short sample waiting time and low contamination risk. The equipment is equipped with a laminar flow hood, and there is no risk of artificial contamination during the operation. The integrated sterilization packaging liquid extraction membrane filter is convenient and efficient, with a low risk of process contamination.

Claims

1. An automated microbial limit test device, comprising a base (1) and a multi-axis robot (1001) arranged on the base (1), characterized in that: A filter device (300) and a culture dish mechanism are provided on the base (1); the filter device (300) can transfer reagent microorganisms onto a filter membrane (406); an electric claw (1002) is provided on the multi-axis robot (1001); and a film clamp (1003) is provided on the electric claw (1002) for grabbing the filter membrane (406); and the film clamp (1003) can be driven by the multi-axis robot (1001) to move back and forth between the filter device (300) and the culture dish mechanism.

2. The automated microbial limit testing equipment according to claim 1, wherein: The filtering device (300) comprises a first linear module (301) and a servo motor arranged on the first linear module (301); a separation card seat (302) is provided at the end of the first linear module (301); a membrane filtering device (303) is provided on the first linear module (301); the separation card seat (302) can be connected to the microorganism detection filter (400); and the bottom of the microorganism detection filter (400) is in contact with the top of the membrane filtering device (303).

3. The automated microbial limit test equipment according to claim 2, wherein: The microorganism detection filter (400) comprises a liquid storage bottle (401) and a filter cup (402); a switch (403) is provided at the connection between the liquid storage bottle (401) and the filter cup (402); a bottle cap (404) is provided on the top of the liquid storage bottle (401); the filter cup (402) is provided with a cup seat (405); a filter membrane (406) is arranged on the cup seat (405); and a scale mark (407) is provided on the side wall of the filter cup (402).

4. An automated microbial limit test device according to claim 1, 2 or 3, characterized in that: The invention also includes a sample loading mechanism, which is divided into a filter loading mechanism (100) and a sample loading mechanism (200). The filter loading mechanism (100) includes a filter storage mechanism and a filter conveying mechanism. The filter storage mechanism includes a first hollow rotating platform (102) connected to a first servo motor (101) and its output shaft. A sampling container placement plate (103) is provided on the top of the first hollow rotating platform (102). The filter conveying mechanism includes a first XYZ three-axis linear module (104). A first rotating grasping module (105) is provided at the bottom of the Z-axis linear module in the first XYZ three-axis linear module (104). The first rotating grasping module (105) is provided with a first rotating motor (106). A first clamping claw (107) is provided on the output end of the first rotating motor (106).

5. The automated microbial limit testing equipment according to claim 4, wherein: The test sample loading mechanism (200) comprises a test sample storage mechanism and a test sample conveying mechanism. The test sample storage mechanism comprises a second hollow rotating platform (202) connected to a second servo motor (201) and an output shaft thereof. A sample bottle device box circumferential platform (203) is provided on the second hollow rotating platform (202). A plurality of sample bottle device boxes (204) are provided on the sample bottle device box circumferential platform (203). The test sample conveying mechanism comprises a second XYZ three-axis linear module (206). An outer knurled clamping claw (207) is provided at the bottom of the Z-axis linear module in the second XYZ three-axis linear module (206).

6. The automated microbial limit testing equipment according to claim 5, wherein: A tip head loading mechanism (500) and a buffer loading mechanism (600) are provided between the filter loading mechanism (100) and the sample loading mechanism (200) and are parallel to each other. The tip head loading mechanism (500) comprises a second linear module (501), a tip head device box (502) is provided on the second linear module (501), a position sensor (503) is provided at the connection between the tip head device box (502) and the second linear module (501), and the tip head loading mechanism (500) is connected to the sample pipetting mechanism (700).

7. The automated microbial limit test equipment according to claim 6, characterized in that: The buffer solution feeding mechanism (600) is provided with a plurality of groups of buffer solution storage bottles (601), the buffer solution storage bottles (601) are connected to a pump (602), the pump (602) is connected to a buffer solution output pipe (604) provided on a hose bracket (603), and the outlet end of the buffer solution output pipe (604) is located within the moving area of ​​the membrane filtration device (303).

8. An automated microbial limit test device according to claim 6 or 7, characterized in that: The sample pipetting mechanism (700) includes an XZ two-axis linear module (701), wherein the Z-axis linear module in the XZ two-axis linear module (701) is provided with a pipetting module (702) and a second rotating grasping module (703), a pipetting gun (704) is provided at the bottom of the pipetting module (702), and an electric rotating clamp (705) is provided at the bottom of the second rotating grasping module (703).

9. The automated microbial limit testing equipment according to claim 1, wherein: The culture dish mechanism comprises a culture dish storage mechanism (800) and a culture dish transport mechanism (900). The culture dish storage mechanism (800) comprises a third hollow rotating platform (802) connected to a third servo motor (801). A circumferential platform (803) is provided on the top of the third hollow rotating platform (802). A plurality of culture dish placement racks (804) are provided on the circumferential platform (803). The culture dish transport mechanism (900) comprises a second XZ two-axis linear module (901). A gripping module (902) is provided at the bottom of the Z-axis linear module in the second XZ two-axis linear module (901). A rotatable film-sticking station (903) is provided on the culture dish transport mechanism (900). The culture dish transport mechanism (900) is provided with an intelligent camera facing the film-sticking station (903). The film-sticking station (903) is located within the moving range of the multi-axis robot (1001).

10. The automated microbial limit testing equipment according to claim 9, wherein: The culture dish transport mechanism (900) is connected to the culture dish scanning station (1100), and the culture dish scanning station (1100) is provided with a first code scanner (16) on the lower left side of the culture dish scanning station (1100), and the first code scanner (16) is provided with a first code scanning gun that can be rotated on the bracket; a first code scanning station (12) is provided next to the filter feeding mechanism (100), and the first code scanning station (12) is within the grasping range of the first clamping claw (107); a second code scanning station (14) is provided next to the sample transport mechanism, and the second code scanning station (14) is located within the moving range of the outer knurled clamping claw (207).

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