Coating device

Abstract

The utility model relates to the technical field of experimental instruments, and discloses a coating device which comprises a main bracket, the mechanical arm is connected to the main support and comprises a connecting rod, a lifting driving mechanism, a rotating driving mechanism and a coating assembly, the lifting driving mechanism is used for driving the connecting rod to ascend and descend relative to the main support, the rotating driving mechanism is used for driving the connecting rod to rotate, and the coating assembly is arranged at the bottom end of the connecting rod and comprises a coating head; the detection structure can detect whether the coating head is in contact with the culture medium; the control structure is in communication connection with the detection structure and the lifting driving mechanism, and when the connecting rod is driven by the lifting driving mechanism to move downwards, the control structure can control the lifting driving mechanism to stop working when the detection structure detects that the coating head makes contact with the culture medium. And the device is suitable for coating culture media with different thicknesses.

Description

Technical Field

[0001] This utility model relates to the field of experimental instrument technology, specifically to a coating device. Background Technology

[0002] In the field of molecular cloning, obtaining bacterial monoclonal cells often requires spreading bacterial culture onto a culture medium. Traditionally, this is done manually. For example, when obtaining a monoclonal cell of a certain cell type (such as E. coli), the cell culture medium is dropped onto a solid culture medium (such as agarose gel). Then, researchers or production personnel use a spreading stick to spread the culture medium on the surface of the solid medium. After spreading, it is easy to achieve the effect of having only one cell within a certain area of ​​the solid medium. When this cell divides and expands (such as growing into a colony), it can be considered that the colony is a clone of a single cell. The cells within the colony all have the same properties, and at this point, monoclonal cells can be easily obtained using visual selection. However, manual spreading is time-consuming, labor-intensive, and inefficient.

[0003] The related technology discloses an automatic sterilization, coating, and drying device, including a culture mechanism, a coating mechanism, a sterilization mechanism, and a drive mechanism. The culture mechanism, sterilization mechanism, and drive mechanism are arranged sequentially from bottom to top and fixedly connected by a connecting plate. The sterilization mechanism includes a heating chamber and a cooling chamber arranged sequentially from top to bottom. A temperature monitoring device is installed on the sterilization mechanism to monitor the temperatures of the heating and cooling chambers. The temperature monitoring device is electrically connected to the drive mechanism. The coating mechanism includes a vertically arranged lifting rod and a coating rod detachably mounted at the lower end of the lifting rod. The upper end of the lifting rod is movably connected to the drive mechanism, and the lifting rod passes through the heating chamber and the cooling chamber. The drive mechanism drives the coating rod to reciprocate between the heating chamber and the culture mechanism and to rotate on the culture mechanism via the lifting rod.

[0004] The aforementioned technologies cannot effectively control the lifting height of the lifting rod, which can easily cause the coating rod to puncture the surface of the solid culture medium in the culture mechanism. Utility Model Content

[0005] In view of this, the present invention provides a coating device to solve the problem in the related art that the coating rod easily punctures the surface of the solid culture medium.

[0006] This utility model provides a coating device, comprising:

[0007] Main support;

[0008] A robotic arm is connected to the main support. The robotic arm includes a connecting rod, a lifting drive mechanism, a rotating drive mechanism, and a coating assembly. The lifting drive mechanism is used to drive the connecting rod to lift relative to the main support. The rotating drive mechanism is used to drive the connecting rod to rotate. The coating assembly is located at the bottom end of the connecting rod and includes a coating head.

[0009] The detection structure can detect whether the coating head is in contact with the culture medium;

[0010] The control structure is communicatively connected to the detection structure and the lifting drive mechanism. When the connecting rod moves downward under the drive of the lifting drive mechanism, the control structure can control the lifting drive mechanism to stop working when the detection structure detects that the coating head is in contact with the culture medium.

[0011] Beneficial effects: When coating a solid culture medium with culture medium, the lifting drive mechanism first drives the connecting rod downwards, which in turn moves the coating assembly downwards. Once the detection structure detects contact between the coating head and the culture medium, the control structure stops the lifting drive mechanism, preventing the connecting rod from continuing to move downwards and thus avoiding the coating head puncturing the surface of the solid culture medium. Then, the rotation drive mechanism rotates the connecting rod, which in turn rotates the coating assembly, spreading the culture medium onto the upper surface of the solid culture medium, thereby completing the surface coating of the solid culture medium. Therefore, this coating device can automatically coat the surface of a solid culture medium without puncturing it, and is suitable for coating culture media of varying thicknesses.

[0012] In one optional embodiment, the coating assembly further includes:

[0013] A first connector is slidably connected to the connecting rod, and the first connector can slide relative to the connecting rod along the length direction of the connecting rod. The coating head is fixed to the bottom end of the first connector.

[0014] Beneficial effects: Because the first connector can slide relative to the connecting rod along its length, when the coating head is not in contact with the culture medium, the first connector and the connecting rod are relatively fixed under the action of gravity. When the lifting drive mechanism drives the connecting rod downward, it will also drive the first connector and the coating head downward together. When the coating head contacts the culture medium, if the lifting drive mechanism continues to work and continue to drive downward, the connecting rod moves downward relative to the first connector, while the first connector and the coating head remain stationary, which can prevent the coating head from puncturing the surface of the culture medium if it continues to move downward. In addition, when the surface of the culture medium is uneven, the coating head can maintain contact with the surface of the culture medium under the compensation of gravity, ensuring that the surface of the culture medium is evenly coated with the culture solution.

[0015] In one optional embodiment, a limiting structure is provided between the first connector and the connecting rod, the limiting structure being used to limit the sliding stroke of the first connector relative to the connecting rod.

[0016] Beneficial effects: By setting a limiting structure, the sliding stroke of the first connector can be limited, and the first connector can be prevented from falling off the connecting rod.

[0017] In one optional implementation, the limiting structure includes:

[0018] A limiting groove is provided in one of the first connector and the connecting rod, and the limiting groove extends along the length direction of the connecting rod;

[0019] A limiting pin is provided in one of the first connecting member and the connecting rod, and at least a portion of the limiting pin is provided in the limiting groove.

[0020] Beneficial effects: The limiting pin is at least partially located in the limiting groove, and the limiting pin can slide along the limiting groove. The upper and lower ends of the limiting groove can limit the sliding stroke of the limiting pin in the limiting groove, thereby limiting the sliding stroke of the first connecting member relative to the connecting rod.

[0021] In one optional embodiment, the first connector is sleeved on the outside of the connecting rod, the coating assembly further includes a fixing plate fixed to the outside of the first connector, the robotic arm includes a mounting platform fixedly connected to the main support, and the detection structure includes a distance sensor fixed to the mounting platform, the distance sensor being capable of detecting the distance between itself and the fixing plate.

[0022] When the connecting rod moves downward under the drive of the lifting drive mechanism, the control structure can control the lifting drive mechanism to stop working when the distance detected by the distance sensor no longer changes.

[0023] Beneficial effects: The mounting platform is fixedly connected to the main support, thus remaining stationary together with the main support. When the lifting drive mechanism drives the connecting rod downwards, before the coating head contacts the culture medium, the first connecting piece and the connecting rod are relatively fixed under the action of gravity. When the lifting drive mechanism drives the connecting rod downwards, it will cause the first connecting piece and the coating head to move downwards together. At this time, the distance sensor detects that the distance between the coating head and the fixed plate gradually increases. When the coating head contacts the culture medium, if the lifting drive mechanism continues to work and drive downwards, the connecting rod moves downwards relative to the first connecting piece, while the first connecting piece and the coating head remain stationary. At this time, the distance sensor detects that the distance between the coating head and the fixed plate remains unchanged. Therefore, it can be determined that the coating head is in contact with the culture medium. The control structure can control the lifting drive mechanism to stop working when the distance detected by the distance sensor no longer changes, preventing the coating head from puncturing the surface of the solid culture medium.

[0024] In one optional embodiment, the robotic arm includes a fixed frame fixedly connected to the main support, and the lifting drive mechanism includes:

[0025] The first motor is fixed to the mounting bracket;

[0026] A timing belt extends along the height of the fixed frame and is adapted to move under the drive of the first motor. The connecting rod is connected to the timing belt via a second connector.

[0027] Beneficial effects: The first motor can drive the synchronous belt to move. Since the synchronous belt extends along the height direction of the fixed frame, and the connecting rod is connected to the synchronous belt through the second connector, the synchronous belt can drive the connecting rod to move up and down through the second connector when it moves.

[0028] In one alternative embodiment, the mounting bracket is fixed with a slide rail that extends along the height direction of the mounting bracket, and the second connector slides in engagement with the slide rail.

[0029] Beneficial effects: By setting a slide rail, the second connector slides smoothly with the slide rail, which can ensure that the second connector slides smoothly in the vertical direction, thereby driving the connecting rod to move smoothly up and down, and the connecting rod will not deviate in the horizontal direction.

[0030] In one optional embodiment, the rotary drive mechanism includes:

[0031] The second motor is fixed to the mounting bracket;

[0032] A rotating wheel is located on the outside of the connecting rod, and the connecting rod is slidably connected to the rotating wheel and can rotate with the rotating wheel;

[0033] The speed bump is fitted over the rotating wheel and connected to the output end of the second motor.

[0034] Beneficial effects: By setting a speed reduction belt, the rotation speed of the rotating wheel is less than that of the second motor, which can make the connecting rod rotate slowly and thus drive the coating head to rotate slowly, which can better simulate the process of manually spreading the culture medium on the upper surface of the solid culture medium using the coating head.

[0035] In one optional embodiment, the center of the rotating wheel is provided with a sliding hole that matches the shape of the connecting rod, the connecting rod is provided with one of a plurality of keyways and a convex key, the sliding hole is provided with another of a plurality of keyways and a convex key, and the convex key is embedded in the keyway.

[0036] Beneficial effects: The center of the rotating wheel has a sliding hole that matches the shape of the connecting rod. Therefore, the lifting drive mechanism can drive the connecting rod to slide downward relative to the rotating wheel in the sliding hole. The connecting rod has one of several keyways and a convex key, and the sliding hole has another of several keyways and a convex key. The convex key is embedded in the keyway, which can drive the connecting rod to rotate when the rotating wheel rotates, thereby driving the coating head to rotate.

[0037] In one optional embodiment, the main support includes a column and a top support, and the robotic arms are provided in at least two sets along the direction surrounding the column, with each set of robotic arms connected to the top support.

[0038] The column can be rotatably mounted on the base via a rotation mechanism, or the top support can be rotatably mounted on the column via a rotation mechanism.

[0039] Beneficial effects: Since there are at least two sets of robotic arms along the direction surrounding the column, and the column can be rotatably mounted on the base via a rotary positioning mechanism, or the top support can be rotatably mounted on the column via a rotary positioning mechanism, the rotary positioning mechanism can drive the robotic arms to rotate via the top support. When the coating head of one set of robotic arms completes coating, the rotary positioning mechanism can drive the other set of robotic arms to rotate above the culture medium, thus improving coating efficiency.

[0040] In one alternative embodiment, the coating apparatus further includes a displacement device having at least two slots for fixing the culture dish, the displacement device being rotatable so that each of the slots can be rotated to a preset position.

[0041] Beneficial effects: By incorporating a displacement device, the user is no longer required to manually place the culture dish under the coating head, further improving coating efficiency and automation. The slots on the displacement device can fix the culture dish in place, preventing it from shaking during coating.

[0042] In one optional embodiment, the coating apparatus further includes a cleaning tank and a high-temperature sterilization device. The high-temperature sterilization device is positioned such that when the coating head of a set of robotic arms is directly above a tank, the coating head of the set of robotic arms is directly above the high-temperature sterilization device, and the cleaning tank is located on the rotation path of the robotic arms from directly above the tank to directly above the high-temperature sterilization device.

[0043] Beneficial effects: The cleaning tank cleans the coating heads, and the high-temperature sterilization device dries and sterilizes them. After one set of robotic arms completes coating a culture medium, the rotation and repositioning mechanism rotates the coating heads above the cleaning tank for cleaning, then they rotate again above the high-temperature sterilization device for sterilization, allowing them to continue coating the next culture medium. Furthermore, when one set of robotic arms' coating heads is directly above a tank, or directly above the high-temperature sterilization device, sterilization and coating can be performed simultaneously. This multi-station operation improves overall efficiency and eliminates the need to disassemble the coating heads for cleaning and sterilization. Attached Figure Description

[0044] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the structure of a coating device according to an embodiment of the present utility model;

[0046] Figure 2 for Figure 1 A partial enlarged view of the coating apparatus shown;

[0047] Figure 3 for Figure 1 One of the schematic diagrams of the coating apparatus shown, in which the connecting rod of the robotic arm is not connected to the coating assembly;

[0048] Figure 4 for Figure 1 The second schematic diagram of the coating device is shown when the connecting rod of the robotic arm is not connected to the coating assembly.

[0049] Explanation of reference numerals in the attached figures:

[0050] 1. Lifting drive mechanism; 11. Second connecting piece; 12. Synchronous belt; 13. First motor; 14. Slide rail; 2. Rotary drive mechanism; 21. Speed ​​reduction belt; 22. Second motor; 23. Rotating wheel; 3. Connecting rod; 41. First connecting piece; 42. Coating head; 43. Fixing plate; 31. Limiting pin; 411. Limiting groove; 5. Fixing frame; 6. Mounting platform; 7. Distance sensor; 10. Column; 20. Top support; 30. Rotary switching mechanism; 40. High temperature sterilization device; 50. Displacement device; 501. Tank; 60. Cleaning tank. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0052] The related technology discloses an automatic sterilization, coating, and drying device, including a culture mechanism, a coating mechanism, a sterilization mechanism, and a drive mechanism. The culture mechanism, sterilization mechanism, and drive mechanism are arranged sequentially from bottom to top and fixedly connected by a connecting plate. The sterilization mechanism includes a heating chamber and a cooling chamber arranged sequentially from top to bottom. A temperature monitoring device is installed on the sterilization mechanism to monitor the temperatures of the heating and cooling chambers. The temperature monitoring device is electrically connected to the drive mechanism. The coating mechanism includes a vertically arranged lifting rod and a coating rod detachably mounted at the lower end of the lifting rod. The upper end of the lifting rod is movably connected to the drive mechanism, and the lifting rod passes through the heating chamber and the cooling chamber. The drive mechanism drives the coating rod to reciprocate between the heating chamber and the culture mechanism and to rotate on the culture mechanism via the lifting rod.

[0053] The aforementioned technologies cannot effectively control the lifting height of the lifting rod, which can easily cause the coating rod to puncture the surface of the solid culture medium in the culture mechanism.

[0054] In addition, the coating sticks in the aforementioned technologies can only be used once. After coating is completed, the coating sticks must either be discarded or disassembled for cleaning and sterilization before they can be reused. This results in complicated operation steps and low coating efficiency.

[0055] The following is combined Figures 1 to 4 The following describes embodiments of the present invention.

[0056] According to an embodiment of the present invention, a coating device is provided, including a main support, a robotic arm, a detection structure, and a control structure.

[0057] The robotic arm is connected to the main support and includes a connecting rod 3, a lifting drive mechanism 1, a rotation drive mechanism 2, and a coating assembly. The lifting drive mechanism 1 drives the connecting rod 3 to move up and down relative to the main support, and the rotation drive mechanism 2 drives the connecting rod 3 to rotate. The coating assembly is located at the bottom of the connecting rod 3 and includes a coating head 42. A detection structure can detect whether the coating head 42 is in contact with the culture medium. The control structure is communicatively connected to the detection structure and the lifting drive mechanism 1. When the connecting rod 3 moves downward under the drive of the lifting drive mechanism 1, the control structure can control the lifting drive mechanism 1 to stop working when the detection structure detects that the coating head 42 is in contact with the culture medium.

[0058] In this embodiment, when it is necessary to coat the culture medium onto a solid culture medium, the lifting drive mechanism 1 first drives the connecting rod 3 downward, which in turn drives the coating assembly downward. When the detection structure detects that the coating head 42 is in contact with the culture medium, the control structure controls the lifting drive mechanism 1 to stop working, and the connecting rod 3 no longer continues to move downward, thus preventing the coating head 42 from puncturing the surface of the solid culture medium. Then, the rotation drive mechanism 2 drives the connecting rod 3 to rotate, which in turn drives the coating assembly to rotate, spreading the culture medium on the upper surface of the solid culture medium, thereby completing the surface coating of the solid culture medium. Therefore, this coating device can automatically coat the surface of a solid culture medium and can prevent the coating head 42 from puncturing the surface of the solid culture medium, making it suitable for coating culture media of different thicknesses.

[0059] In one embodiment, the coating assembly further includes a first connector 41. The first connector 41 is slidably connected to the connecting rod 3, and the first connector 41 is slidable relative to the connecting rod 3 along the length direction of the connecting rod 3. The coating head 42 is fixed to the bottom end of the first connector 41.

[0060] In this embodiment, since the first connector 41 can slide relative to the connecting rod 3 along the length direction of the connecting rod 3, when the coating head 42 is not in contact with the culture medium, the first connector 41 and the connecting rod 3 are relatively fixed under the action of gravity. When the lifting drive mechanism 1 drives the connecting rod 3 to move downward, it will drive the first connector 41 and the coating head 42 to move downward together. When the coating head 42 comes into contact with the culture medium, if the lifting drive mechanism 1 is still working and continues to drive downward, the connecting rod 3 moves downward relative to the first connector 41, while the first connector 41 and the coating head 42 remain stationary, which can prevent the coating head 42 from continuing to move downward and puncturing the surface of the culture medium. In addition, when the surface of the culture medium is uneven, under the compensation of gravity, the coating head 42 can maintain contact with the surface of the culture medium, ensuring that the surface of the culture medium can be coated with the culture solution.

[0061] In one embodiment, a limiting structure is provided between the first connector 41 and the connecting rod 3, the limiting structure being used to limit the sliding stroke of the first connector 41 relative to the connecting rod 3.

[0062] In this embodiment, by setting a limiting structure, the sliding stroke of the first connector 41 can be limited, and the first connector 41 can be prevented from falling off the connecting rod 3.

[0063] In one embodiment, the limiting structure includes a limiting groove 411 and a limiting pin 31. The limiting groove 411 is provided in one of the first connecting member 41 and the connecting rod 3, and the limiting groove 411 extends along the length direction of the connecting rod 3; the limiting pin 31 is provided in the other of the first connecting member 41 and the connecting rod 3, and at least a portion of the limiting pin 31 is provided in the limiting groove 411.

[0064] In this embodiment, the limiting pin 31 is at least partially disposed in the limiting groove 411. The limiting pin 31 can slide along the limiting groove 411. The upper and lower ends of the limiting groove 411 can limit the sliding stroke of the limiting pin 31 in the limiting groove 411, thereby limiting the sliding stroke of the first connecting member 41 relative to the connecting rod 3.

[0065] Specifically in one embodiment, such as Figure 2 As shown, the first connector 41 is sleeved on the outside of the connecting rod 3, the limiting groove 411 is provided on the first connector 41, and the limiting pin 31 is provided on the connecting rod 3. In this embodiment, when the coating head 42 is not in contact with the culture medium, the limiting pin 31 is located at the top of the limiting groove 411 under the action of gravity.

[0066] In one embodiment not shown in the figure, the first connector 41 is located on the outside of the connecting rod 3, the limiting groove 411 is located on the outer wall of the connecting rod 3, and the limiting pin 31 is located on the inner wall of the first connector 41. In this embodiment, when the coating head 42 is not in contact with the culture medium, the limiting pin 31 is located at the bottom end of the limiting groove 411 under the action of gravity.

[0067] In another embodiment not shown in the figure, the first connector 41 is located on the inner side of the connecting rod 3, the limiting groove 411 is located on the outer wall of the first connector 41, and the limiting pin 31 is located on the inner wall of the connecting rod 3. In this embodiment, when the coating head 42 is not in contact with the culture medium, the limiting pin 31 is located at the top of the limiting groove 411 under the action of gravity.

[0068] In another embodiment (not shown in the figure), the first connector 41 is located inside the connecting rod 3, the limiting groove 411 is located on the connecting rod 3, and the limiting pin 31 is located on the first connector 41. In this embodiment, when the coating head 42 is not in contact with the culture medium, the limiting pin 31 is located at the bottom end of the limiting groove 411 under the action of gravity.

[0069] In an embodiment not shown in the figure, the limiting groove 411 may not be provided. The limiting structure may include an upper limiting protrusion and a lower limiting protrusion protruding from the outer surface of the connecting rod 3. The upper limiting protrusion and the lower limiting protrusion are spaced apart in the vertical direction. The first connecting member 41 is sleeved on the connecting rod 3 and can slide between the upper limiting protrusion and the lower limiting protrusion. When the coating head 42 is not in contact with the culture medium, the first connecting member 41 abuts against the lower limiting protrusion under the action of gravity. When the lifting drive mechanism 1 drives the connecting rod 3 to move downward, it will drive the first connecting member 41 and the coating head 42 to move downward together. When the coating head 42 comes into contact with the culture medium, if the lifting drive mechanism 1 is still working and continues to drive downward, the connecting rod 3 moves downward relative to the first connecting member 41, while the first connecting member 41 and the coating head 42 remain stationary. When the first connecting member 41 abuts against the upper limiting protrusion, the connecting rod 3 can no longer move downward relative to the first connecting member 41.

[0070] In one embodiment, the first connector 41 is sleeved on the outside of the connecting rod 3, and the coating assembly also includes a fixing plate 43 fixed to the outside of the first connector 41. The robotic arm includes a mounting platform 6 fixedly connected to the main support, and the detection structure includes a distance sensor 7 fixed on the mounting platform 6. The distance sensor 7 can detect the distance between itself and the fixing plate 43. When the connecting rod 3 moves downward under the drive of the lifting drive mechanism 1, the control structure can control the lifting drive mechanism 1 to stop working when the distance detected by the distance sensor 7 no longer changes.

[0071] In this embodiment, the mounting platform 6 is fixedly connected to the main support, and therefore remains stationary together with the main support. When the lifting drive mechanism 1 drives the connecting rod 3 downward, when the coating head 42 is not in contact with the culture medium, the first connecting member 41 and the connecting rod 3 are relatively fixed under the action of gravity. When the lifting drive mechanism 1 drives the connecting rod 3 downward, it will drive the first connecting member 41 and the coating head 42 downward together. At this time, the distance sensor 7 detects that the distance between the coating head 42 and the fixed plate 43 gradually increases. When the coating head 42 comes into contact with the culture medium, if the lifting drive mechanism 1 continues to work and drive downward, the connecting rod 3 moves downward relative to the first connecting member 41, and the first connecting member 41 and the coating head 42 remain stationary. At this time, the distance sensor 7 detects that the distance between the coating head 42 and the fixed plate 43 remains unchanged. Therefore, it can be determined that the coating head 42 is in contact with the culture medium. The control structure can control the lifting drive mechanism 1 to stop working when the distance detected by the distance sensor 7 no longer changes, so as to prevent the coating head 42 from puncturing the surface of the solid culture medium.

[0072] Specifically in one embodiment, such as Figure 2 As shown, the mounting platform 6 is parallel to the fixing plate 43.

[0073] Specifically in one embodiment, such as Figure 2As shown, the fixed plate 43 is a circular plate. The distance sensor 7 emits an infrared signal. The signal is reflected back after encountering the fixed plate 43. The distance sensor 7 receives the reflected signal and determines the distance by calculating the round-trip time of the signal.

[0074] It should be noted that the fixing of the mounting platform 6 to the main support can specifically refer to the mounting platform 6 being directly fixed to the main support, or it can refer to the mounting platform 6 being indirectly fixed to the main support. Specifically, the robotic arm includes a mounting frame 5, which is fixedly connected to the main support, and the mounting platform 6 is fixed to the mounting frame 5.

[0075] In the first embodiment, which is not shown in the figure, the detection structure may include a pressure sensor disposed between the coating head 42 and the connecting rod 3, and the pressure change detected by the pressure sensor is used to determine whether the coating head 42 is in contact with the culture medium.

[0076] In a second embodiment (not shown in the figure), the coating head 42 can be directly connected to the connecting rod 3, and the detection structure is used to detect the driving current of the lifting drive mechanism 1 to determine whether the coating head 42 is in contact with the culture medium.

[0077] In the third embodiment (not shown in the figure), the coating head 42 is made of conductive material and is connected to a capacitance sensor. When the coating head 42 comes into contact with the culture medium, the capacitance sensor detects a change in capacitance. Therefore, the capacitance change detected by the capacitance sensor can be used to determine whether the coating head 42 is in contact with the culture medium.

[0078] In a fourth embodiment, not shown in the figure, the detection structure may include a camera to determine whether the coating head 42 is in contact with the culture medium based on the captured images.

[0079] In one embodiment, such as Figure 3 and Figure 4 The robotic arm includes a fixed frame 5 fixedly connected to the main support, and a lifting drive mechanism 1 including a first motor 13 and a synchronous belt 12. The first motor 13 is fixed to the fixed frame 5; the synchronous belt 12 extends along the height direction of the fixed frame 5 and is adapted to move under the drive of the first motor 13. The connecting rod 3 is connected to the synchronous belt 12 through a second connecting member 11.

[0080] In this embodiment, the first motor 13 can drive the synchronous belt 12 to move. Since the synchronous belt 12 extends along the height direction of the fixed frame 5, and the connecting rod 3 is connected to the synchronous belt 12 through the second connecting member 11, the synchronous belt 12 can drive the connecting rod 3 to move up and down through the second connecting member 11 when it moves.

[0081] Specifically, when the first motor 13 rotates in the forward direction, it drives the synchronous belt 12 to rotate in the forward direction, which in turn drives the connecting rod 3 to descend through the second connecting member 11; when the first motor 13 rotates in the reverse direction, it drives the synchronous belt 12 to rotate in the reverse direction, which in turn drives the connecting rod 3 to rise through the second connecting member 11.

[0082] In one embodiment not shown in the figure, the lifting drive mechanism 1 may include a cylinder, the cylinder push rod is connected to the connecting rod 3, and the cylinder directly drives the connecting rod 3 to lift.

[0083] In another embodiment not shown in the figure, the lifting drive mechanism 1 may include a first motor 13 and a gear. The connecting rod 3 is provided with a rack. The output shaft of the first motor 13 is connected to the gear. The gear meshes with the rack. The first motor 13 drives the gear to rotate. The gear drives the rack to move up and down, thereby driving the connecting rod 3 to move up and down.

[0084] In another embodiment not shown in the figure, the lifting drive mechanism 1 may include a first motor 13, a transmission structure and a nut. The nut has an internal thread on its inner side and the connecting rod 3 has an external thread. The connecting rod 3 and the nut are connected by a threaded engagement. The first motor 13 drives the nut to rotate through the transmission structure, thereby driving the connecting rod 3 to move up and down.

[0085] There are many other specific structures for the lifting drive mechanism 1, which will not be listed in this embodiment. As long as it can drive the connecting rod 3 to lift, it is acceptable.

[0086] In one specific embodiment, the mounting bracket 5 is attached to the top support member 20.

[0087] In one embodiment, the mounting bracket 5 is fixed with a slide rail 14, which extends along the height direction of the mounting bracket 5, and the second connector 11 slides in cooperation with the slide rail 14.

[0088] In this embodiment, by setting the slide rail 14, the second connecting member 11 slides in cooperation with the slide rail 14, which can ensure that the second connecting member 11 slides smoothly in the vertical direction, thereby driving the connecting rod 3 to move smoothly up and down, and the connecting rod 3 will not deviate in the horizontal direction.

[0089] Specifically, the second connector 11 is a slider.

[0090] In one embodiment, the rotary drive mechanism 2 includes a second motor 22, a rotating wheel 23, and a speed reduction belt 21. The second motor 22 is fixed to the fixed frame 5; the rotating wheel 23 is located outside the connecting rod 3, the connecting rod 3 is slidably connected to the rotating wheel 23 and can rotate with the rotating wheel 23; the speed reduction belt 21 is sleeved outside the rotating wheel 23 and connected to the output end of the second motor 22.

[0091] In this embodiment, by setting a speed reduction belt 21, the rotation speed of the rotating wheel 23 is less than the rotation speed of the second motor 22, which can make the connecting rod 3 rotate slowly and thus drive the coating head 42 to rotate slowly, which can better simulate the process of manually spreading the culture medium on the upper surface of the solid culture medium using the coating head 42.

[0092] Specifically, the outer diameter of the rotating wheel 23 is larger than the outer diameter of the output end of the second motor 22, thereby achieving deceleration.

[0093] In an alternative embodiment, the rotary drive mechanism 2 may include a second motor 22 and a transmission gear set. The connecting rod 3 is provided with a driven gear, which meshes with the last stage gear of the transmission gear set. When the second motor 22 is working, it drives the connecting rod 3 to rotate through the transmission gear set, and the transmission gear set can achieve deceleration.

[0094] In one embodiment, the center of the rotating wheel 23 is provided with a sliding hole that matches the shape of the connecting rod 3. The connecting rod 3 is provided with one of several keyways and a convex key, and the sliding hole is provided with another of several keyways and a convex key. The convex key is embedded in the keyway.

[0095] In this embodiment, the center of the rotating wheel 23 is provided with a sliding hole that matches the shape of the connecting rod 3. Therefore, the lifting drive mechanism 1 can drive the connecting rod 3 to slide downward relative to the rotating wheel 23 in the sliding hole. The connecting rod 3 is provided with one of several keyways and a convex key, and the sliding hole is provided with another of several keyways and a convex key. The convex key is embedded in the keyway, which can realize that when the rotating wheel 23 rotates, it drives the connecting rod 3 to rotate, thereby driving the coating head 42 to rotate.

[0096] In one specific embodiment, the sliding hole is provided with several keyways, and the connecting rod 3 is provided with several keyways, with the protruding keys being embedded in the keyways one by one.

[0097] In one embodiment not shown in the figure, the cross-section of the connecting rod 3 is rectangular or other non-circular, and the center of the rotating wheel 23 is provided with a sliding hole that matches the shape of the connecting rod 3. Therefore, the lifting drive mechanism 1 can drive the connecting rod 3 to slide downward relative to the rotating wheel 23 in the sliding hole, and when the rotating wheel 23 rotates, it can drive the connecting rod 3 to rotate.

[0098] In one embodiment, the main support includes a column 10 and a top support 20. At least two sets of robotic arms are provided along the direction surrounding the column 10, and each set of robotic arms is connected to the top support 20. The column 10 is rotatably mounted on the base via a rotation mechanism 30, or the top support 20 is rotatably mounted on the column 10 via the rotation mechanism 30.

[0099] In this embodiment, since at least two sets of robotic arms are provided along the direction surrounding the column 10, the column 10 is rotatably mounted on the base via the rotation mechanism 30, or the top support 20 is rotatably mounted on the column 10 via the rotation mechanism 30. The operation of the rotation mechanism 30 can drive the robotic arms to rotate via the top support 20. When the coating head 42 of one set of robotic arms completes coating, the rotation mechanism 30 operates and can drive the other set of robotic arms to rotate above the culture medium, thus improving coating efficiency.

[0100] Specifically in one embodiment, such as Figure 1 As shown, the column 10 is rotatably mounted on the base via the rotation mechanism 30, the top support 20 is a crossbeam, and there are two sets of robotic arms, which are distributed at 180° intervals.

[0101] In one embodiment not shown in the figure, three sets of robotic arms can be provided, and the three sets of robotic arms can be distributed at 120° intervals along the direction surrounding the column 10.

[0102] In one embodiment, the coating apparatus further includes a displacement device 50, which has at least two slots 501 for fixing the culture dish. The displacement device 50 is rotatable so that each slot 501 can be rotated to a preset position.

[0103] In this embodiment, by providing the displacement device 50, the user is no longer required to manually place the culture dish under the coating head 42, which further improves coating efficiency and automation. The slot 501 on the displacement device 50 can fix the culture dish and prevent the culture dish from shaking during coating by the coating head 42.

[0104] Specifically in one embodiment, such as Figure 1 As shown, the displacement device 50 has two slots 501, and the line connecting the centers of the two slots 501 passes through the center of the displacement device 50.

[0105] In one embodiment not shown in the figure, the displacement device 50 may be provided with three or more slots 501.

[0106] In one embodiment, the coating apparatus further includes a cleaning tank 60 and a high-temperature sterilization device 40. The high-temperature sterilization device 40 is positioned such that when the coating head 42 of a set of robotic arms is directly above a slot 501, the coating head 42 of a set of robotic arms is directly above the high-temperature sterilization device 40, and the cleaning tank 60 is located on the rotation path of the robotic arms from directly above the slot 501 to directly above the high-temperature sterilization device 40.

[0107] In this embodiment, the cleaning tank 60 can clean the coating head 42, and the high-temperature sterilization device 40 can dry and sterilize the cleaned coating head 42. After a set of robotic arms' coating heads 42 completes the coating of a culture medium, the rotation and repositioning mechanism 30 operates, causing the coating heads 42 of the set of robotic arms to first rotate to the top of the cleaning tank 60 for cleaning, and then continue to rotate to the top of the high-temperature sterilization device 40 for high-temperature sterilization. After high-temperature sterilization, the coating of the next culture medium can be applied. Furthermore, when a set of robotic arms' coating heads 42 is directly above a tank 501, and also directly above the high-temperature sterilization device 40, sterilization and coating can be performed simultaneously. This multi-station simultaneous operation improves overall work efficiency and eliminates the need to disassemble the coating heads 42 for cleaning and sterilization.

[0108] In one specific embodiment, two sets of robotic arms are provided, and the displacement device 50 has two slots 501. The coating device provided in this embodiment operates as follows:

[0109] The lifting drive mechanism 1 first drives the coating assembly to move downward until the coating head 42 of the coating assembly contacts the surface of the solid culture medium. At this time, the coating head 42 stops moving downward. After the distance sensor 7 detects that the distance between the coating head and the fixed plate 43 no longer changes, it feeds back to the control structure. The control structure controls the lifting drive mechanism 1 to stop working. The coating head 42 stays on the surface of the solid culture medium according to its own gravity. The rotation drive mechanism 2 drives the connecting rod 3 to rotate. When the connecting rod 3 rotates, it drives the coating head 42 to rotate, thereby completing the surface coating of the solid culture medium in the tank 501 with culture medium.

[0110] After coating is completed, the displacement device 50 rotates 180° to change the position of the two tank positions 501. Then, or simultaneously, the rotation mechanism 30 rotates 90°, causing the coating head 42 to move above the cleaning tank 60, and then descend into the cleaning tank 60 to complete the cleaning by rotating within the tank. At this time, the coating head 42 of the other set of robotic arms is in a suspended cooling position, which avoids affecting the activity of the culture medium after cooling. Next, the rotation mechanism 30 rotates another 90°, at which point the coating head 42 of one set of robotic arms moves above the high-temperature sterilization device 40, and then descends and rotates to sterilize the coating head 42. The coating head 42 of the other set of robotic arms is positioned above the tank position 501 and can perform the coating operation. This cycle allows cleaning (including washing, sterilization, and cooling) and coating to be performed simultaneously, thereby significantly improving the overall working efficiency of the coating device.

[0111] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by this application.

Claims

1. A coating apparatus, characterized in that, include: Main support; A robotic arm is connected to the main support. The robotic arm includes a connecting rod (3), a lifting drive mechanism (1), a rotation drive mechanism (2), and a coating assembly. The lifting drive mechanism (1) is used to drive the connecting rod (3) to lift relative to the main support. The rotation drive mechanism (2) is used to drive the connecting rod (3) to rotate. The coating assembly is located at the bottom end of the connecting rod (3). The coating assembly includes a coating head (42). The detection structure can detect whether the coating head (42) is in contact with the culture medium; The control structure is communicatively connected to the detection structure and the lifting drive mechanism (1). When the connecting rod (3) moves downward under the drive of the lifting drive mechanism (1), the control structure can control the lifting drive mechanism (1) to stop working when the detection structure detects that the coating head (42) is in contact with the culture medium.

2. The coating apparatus according to claim 1, characterized in that, The coating assembly further includes: The first connector (41) is slidably connected to the connecting rod (3). The first connector (41) can slide relative to the connecting rod (3) along the length direction of the connecting rod (3). The coating head (42) is fixed to the bottom end of the first connector (41).

3. The coating apparatus according to claim 2, characterized in that, A limiting structure is provided between the first connector (41) and the connecting rod (3), and the limiting structure is used to limit the sliding stroke of the first connector (41) relative to the connecting rod (3).

4. The coating apparatus according to claim 3, characterized in that, The limiting structure includes: A limiting groove (411) is provided in one of the first connector (41) and the connecting rod (3), and the limiting groove (411) extends along the length direction of the connecting rod (3); A limiting pin (31) is provided on one of the first connecting member (41) and the connecting rod (3), and at least a portion of the limiting pin (31) is provided in the limiting groove (411).

5. The coating apparatus according to any one of claims 2 to 4, characterized in that, The first connector (41) is sleeved on the outside of the connecting rod (3), the coating assembly also includes a fixing plate (43) fixed to the outside of the first connector (41), the robotic arm includes a mounting platform (6) fixedly connected to the main support, and the detection structure includes a distance sensor (7) fixed on the mounting platform (6), the distance sensor (7) being able to detect the distance between itself and the fixing plate (43); When the connecting rod (3) moves downward under the drive of the lifting drive mechanism (1), the control structure can control the lifting drive mechanism (1) to stop working when the distance detected by the distance sensor (7) no longer changes.

6. The coating apparatus according to any one of claims 1 to 4, characterized in that, The robotic arm includes a fixed frame (5) fixedly connected to the main support, and the lifting drive mechanism (1) includes: The first motor (13) is fixed to the fixing frame (5); A timing belt (12) extends along the height direction of the fixed frame (5), the timing belt (12) is adapted to move under the drive of the first motor (13), and the connecting rod (3) is connected to the timing belt (12) by a second connector (11).

7. The coating apparatus according to claim 6, characterized in that, The fixing frame (5) is fixed with a slide rail (14), the slide rail (14) extends along the height direction of the fixing frame (5), and the second connecting member (11) slides in cooperation with the slide rail (14).

8. The coating apparatus according to claim 6, characterized in that, The rotary drive mechanism (2) includes: The second motor (22) is fixed to the fixing frame (5); A rotating wheel (23) is located on the outside of the connecting rod (3). The connecting rod (3) is slidably connected to the rotating wheel (23) and can rotate with the rotating wheel (23). The speed bump (21) is fitted outside the rotating wheel (23) and connected to the output end of the second motor (22).

9. The coating apparatus according to claim 8, characterized in that, The center of the rotating wheel (23) is provided with a sliding hole that matches the shape of the connecting rod (3). The connecting rod (3) is provided with one of several keyways and a convex key. The sliding hole is provided with another of several keyways and a convex key. The convex key is embedded in the keyway.

10. The coating apparatus according to any one of claims 1 to 4, 7 to 9, characterized in that, The main support includes a column (10) and a top support (20). The robotic arms are provided in at least two sets along the direction surrounding the column (10), and each set of robotic arms is connected to the top support (20). The column (10) is rotatably mounted on the base via a rotation mechanism (30), or the top support (20) is rotatably mounted on the column (10) via a rotation mechanism (30).

11. The coating apparatus according to claim 10, characterized in that, The coating device also includes a displacement device (50), which has at least two slots (501) for fixing the culture dish. The displacement device (50) is rotatable so that each slot (501) can be rotated to a preset position.

12. The coating apparatus according to claim 11, characterized in that, The coating device also includes a cleaning tank (60) and a high-temperature sterilization device (40). The high-temperature sterilization device (40) is positioned such that when the coating head (42) of a set of robotic arms is directly above a slot (501), the coating head (42) of a set of robotic arms is directly above the high-temperature sterilization device (40). The cleaning tank (60) is located on the rotation path of the robotic arm from directly above the slot (501) to directly above the high-temperature sterilization device (40).

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