CN114146743A

CN114146743A - Batch processing equipment for biomass culture container

Info

Publication number: CN114146743A
Application number: CN202111312400.2A
Authority: CN
Inventors: 何加铭; 杨茗予; 王硕; 李思; 徐文利
Original assignee: Ningbo Lida Pilot Biotechnology Co ltd
Current assignee: Ningbo Lida Pilot Biotechnology Co ltd
Priority date: 2021-11-08
Filing date: 2021-11-08
Publication date: 2022-03-08

Abstract

The invention belongs to the technical field of biomass culture, and provides batch processing equipment for a biomass culture container, which comprises: a fixed mount; the clamping mechanisms are used for placing and clamping a plurality of culture containers; the cover taking mechanisms are used for grabbing the cover from the culture container of the clamping mechanism and covering the taken-down cover on the corresponding container bottle; the liquid adding mechanisms are used for adding liquid to the biomass culture container; the liquid transfer mechanisms are used for transferring liquid to the biomass culture container; the scraping mechanism is provided with a plurality of scrapers, and the scrapers are used for scraping the working surface of the culture container; and the centrifugal mechanism is used for carrying out centrifugal treatment on the biomass in the biomass culture container. Compared with the prior art, the invention has the advantages that: can accomplish the uncapping, closing the lid, the liquid feeding of biomass culture container in batches, move liquid, scrape the ware, centrifugal operation handles, reduced the cost of labor, improved the operation uniformity of the different containers of same type.

Description

Batch processing equipment for biomass culture container

Technical Field

The invention belongs to the technical field of biomass culture, and particularly relates to batch processing equipment for a biomass culture container.

Background

In biological experiments, operators often use biomass culture vessels to culture biomass, including vessel flasks and vessel caps. After the culture container completes the culture of biomass in the incubator, the incubator is taken out, and the incubator is required to be frequently opened, closed, filled, pipetted, shaken, centrifuged and the like.

The scheme that is more on the current market is to carry on intelligent liquid moving module on the portal mobile frame, and this kind of intelligent liquid moving module can be accurate for liquid filling or abandoning liquid in the centrifuge tube. However, the container consumables used by the equipment are mainly centrifuge tubes or multi-hole plates, the culture dish and the culture bottle are not suitable for the equipment, the culture dish and the culture bottle need to be opened before use and need to be shaken in use, and the requirements are functions which are not possessed by the existing equipment.

Disclosure of Invention

The invention aims to provide batch processing equipment for biomass culture containers, which realizes batch and automation of opening and closing container covers, shaking the containers, adding liquid, discarding liquid and carrying out centrifugal processing on the culture containers in a biological experiment, and effectively improves the processing efficiency.

The technical scheme adopted by the invention for solving the technical problems is as follows: a batch processing apparatus for biomass cultivation vessels is presented, comprising: a fixed mount;

the clamping mechanisms are arranged on the fixed frame through a first transverse moving assembly, can transversely slide along the first transverse moving assembly and are used for placing and clamping a plurality of culture containers;

the cover taking mechanisms are arranged above the movable space of the clamping mechanisms through a plurality of first vertical moving assemblies and can slide vertically along the first vertical moving assemblies, and the cover taking mechanisms are used for grabbing culture container covers from culture containers of the clamping mechanisms and covering the taken culture container covers on corresponding culture container bottles;

the liquid adding mechanisms are arranged above the moving space of the clamping mechanism through a plurality of second vertical moving assemblies, can vertically slide along the second vertical moving assemblies, and are used for adding liquid to the biomass culture container;

the liquid transfer mechanisms are arranged on the fixed frame and are used for transferring liquid to the biomass culture container;

the scraping mechanism is arranged above the movable space of the clamping mechanism through a third vertical moving assembly, the scraping mechanism can vertically slide along the third vertical moving assembly, and a plurality of scrapers are arranged on the scraping mechanism and used for scraping the working surface of the culture container;

and the centrifugal mechanism is arranged on the fixing frame and is used for carrying out centrifugal treatment on the biomass in the biomass culture container.

Compared with the prior art, the invention has the advantages that: during the use, the clamping mechanism on the mount is placed to the culture container who will follow the incubator and take out, utilize clamping mechanism to press from both sides tight culture container, later through first lateral shifting subassembly and first vertical removal subassembly relative movement clamping mechanism and get lid mechanism, make and remove clamping mechanism and be located and get under the lid mechanism, utilize and get lid mechanism and accomplish the processing of uncapping to the culture container on the clamping mechanism, will cultivate the container lid on the container and take off, later will get lid mechanism through first vertical removal subassembly and remove to keeping away from clamping mechanism one side. Then through first lateral shifting subassembly and the vertical removal subassembly of second for the last container bottle after uncapping of clamping mechanism is located the liquid feeding mechanism under, utilizes liquid feeding mechanism to accomplish the liquid feeding of the interior biomass of blake bottle and handles, like PBS solution, culture solution, digestive enzyme solution etc. later through the vertical removal subassembly of second with liquid feeding mechanism to keeping away from clamping mechanism one side and remove. Then, the operations of adding liquid, adding medicine, discarding liquid and the like for the container bottle are completed through the liquid transferring mechanism. When the dish operation is scraped to needs, utilize and scrape material mechanism and scrape the material operation to container bottle work surface, make the living beings in the container bottle collect container bottle bottom one side, conveniently collect. And finally, if the biomass in the container bottle needs to be centrifugally treated, the biomass in the container bottle is moved to a centrifugal mechanism by using a liquid-transferring mechanism, and the centrifugal treatment of the biomass is completed by using the centrifugal mechanism. When the liquid with the biomass added into the container bottle is firstly centrifuged in the using process if needed, the liquid can also be firstly centrifuged by the centrifuging mechanism, and then the centrifuged liquid is added into the biomass in the container bottle by the liquid transferring mechanism. Therefore, the batch processing equipment for biomass culture can complete opening, closing, liquid adding, liquid transferring, dish scraping and centrifuging of biomass culture containers in batches, reduce labor cost, avoid wrong operation, improve the operation consistency of different containers of the same type, improve the consistency of experimental results of different batches, and avoid pollution caused by contact of biomass and human bodies due to opening of container covers by operators. The first transverse moving assembly, the first vertical moving assembly, the second vertical moving assembly and the third vertical moving assembly all adopt the form of a linear module: the first transverse moving assembly is a transversely arranged linear module, the first vertical moving assembly, the second vertical moving assembly and the third vertical moving assembly are vertically arranged linear modules respectively, the linear modules are mature products with controllable positions and speeds, and the first transverse moving assembly, the first vertical moving assembly, the second vertical moving assembly and the third vertical moving assembly are all in communication connection with the control center.

In the batch processing equipment for the biomass culture container, the clamping mechanism comprises a culture dish clamping component and a culture bottle clamping component, the culture dish clamping component is used for clamping a culture dish, and the culture bottle clamping component is used for clamping a culture bottle. The clamping mechanism is also used for clamping culture dishes and culture bottles, and besides, the culture bottle clamping assembly can also be used for clamping biomass culture containers such as triangular shake flasks, fermentation tanks and the like, so that the clamping mechanism is wide in application range.

In foretell batch processing equipment for living beings culture vessel, culture dish clamping component includes sliding connection at the bottom of the dish on first lateral shifting subassembly fixing base, the fixing base is equipped with the bottom of the dish fixed plate at the bottom of the dish, be equipped with the tight clamping jaw of a plurality of dishes on the fixed plate at the bottom of the dish, be equipped with on the tight clamping jaw at the bottom of the dish and press from both sides tight the control unit, press from both sides tight clamping jaw at the bottom of the dish and be used for placing the culture dish, press from both sides tight the control unit and be used for control the tight culture dish of the tight clamping jaw of the dish bottom of the dish. The dish bottom clamping jaw comprises a central dish bottom clamping jaw disc and dish bottom clamping jaws which are uniformly distributed at intervals and hinged around the dish bottom clamping jaw disc, wherein the height of one side, away from the dish bottom clamping jaw disc, of the dish bottom clamping jaw is higher than the height of one side, close to the dish bottom clamping jaw disc, of the dish bottom clamping jaw and the height of the dish bottom clamping jaw disc, and the height of the dish bottom clamping jaw is lower than the lower end of a dish cover after a culture dish is closed. During the use, place the culture dish on the tight clamping jaw at the bottom of the ware, because the height that the tight clamping jaw dish one side was kept away from at the bottom of the ware to the clamping jaw at the bottom of the ware is higher than the height that the clamping jaw dish one side was close to at the bottom of the ware to the clamping jaw dish at the bottom of the ware and the height of the tight clamping jaw dish at the bottom of the ware, so when the culture dish was placed on the tight clamping jaw at the bottom of the ware, the bottom of culture dish only kept away from at the bottom of the ware clamping jaw dish one side part with the clamping jaw at the bottom of the ware and contacts, utilizes the tight clamping jaw at the bottom of the ware to press from both sides the culture dish, prevents that the culture dish from dropping in operation process. According to the invention, the avoidance groove is arranged at the hinged part of the dish bottom clamping jaw and the dish bottom clamping jaw disc, so that the height of one side, away from the dish bottom clamping jaw disc, of the dish bottom clamping jaw is higher than the height of one side, close to the dish bottom clamping jaw disc, of the dish bottom clamping jaw and the height of the dish bottom clamping jaw disc. The clamping control unit comprises a plurality of dish bottom rotating blocks, a dish bottom linkage synchronous belt and a fifth motor which are connected to the lower sides of a plurality of dish bottom clamping jaws respectively, one end of the dish bottom linkage synchronous belt is connected between the dish bottom rotating blocks, the other end of the dish bottom linkage synchronous belt is connected with the fifth motor, the fifth motor drives all the dish bottom rotating blocks to rotate through the dish bottom linkage synchronous belt, the clamping control unit further comprises a dish bottom rotating column which is arranged on the lower side of the middle portion of the dish bottom clamping jaw disc, a first through hole is formed in the center of the dish bottom rotating block, the dish bottom rotating column penetrates through two ends of the first through hole and is connected with the dish bottom clamping jaw disc and a dish bottom fixing plate respectively, and a dish bottom damper is arranged between the dish bottom rotating column and the dish bottom fixing plate. When the culture dish is used, the culture dish is placed on the dish bottom clamping jaw of the dish bottom clamping jaw, the fifth motor is started to rotate, the fifth motor drives the dish bottom linkage synchronous belt to rotate, the dish bottom linkage synchronous belt drives the dish bottom rotating block to rotate, the dish bottom rotating block drives the dish bottom clamping jaw to rotate, the dish bottom clamping jaw can drive the dish bottom clamping jaw to rotate, the dish bottom clamping jaw disc drives the dish bottom rotating column to rotate, the dish bottom damping device is arranged between the dish bottom rotating column and the dish bottom fixing plate, so that the rotating speed of the dish bottom rotating column and the dish bottom clamping jaw is slower than that of the dish bottom clamping jaw, the rotating speed of the dish bottom clamping jaw at the hinged position of the dish bottom clamping jaw is slower than that of the dish bottom clamping jaw at the bottom of the dish, the one end of the dish bottom clamping jaw far away from the dish bottom clamping jaw is opposite to the dish bottom and rotates towards the center close to the dish bottom, and the dish bottom clamping jaw is clamped. When the cover needs to be closed, the fifth motor stops rotating, the clamping jaw at the bottom of the dish leans against the periphery of the bottom of the dish, and no speed difference exists, so that the trend of relative movement does not exist, and no clamping force exists at the moment. In the operation process, the bottom of the dish is clamped by controlling the positive rotation of the fifth motor, the fifth motor rotates reversely to loosen the bottom of the dish, so that the bottom of the dish on the clamping jaw at the bottom of the dish is driven to rotate, and the batch rotation operation of the culture dish is realized. The fifth motor is in communication connection with the control center. According to the culture dish swinging device, the dish bottom fixing plate is hinged to the dish bottom fixing seat, the sixth motor is arranged on the dish bottom fixing seat and drives the dish bottom fixing plate to swing relative to the dish bottom fixing seat, the sixth motor rotates to drive the dish bottom fixing plate to swing, so that a culture dish placed on the dish bottom fixing plate is driven to swing, and batch swinging operation of the culture dish is realized. The sixth motor is in communication connection with the control center. According to the invention, the rotating holes are formed in two ends of the dish bottom fixing plate, the rotating shafts are arranged on the dish bottom fixing seat corresponding to the rotating holes, the two ends of the dish bottom fixing plate are rotatably connected to the rotating shafts through the rotating holes, one rotating shaft is connected with the sixth motor, the sixth motor is arranged on the dish bottom fixing seat, and the rotating shafts are driven to rotate through the sixth motor so as to drive the dish bottom fixing plate to swing.

In foretell batch processing equipment for living beings culture vessel, the blake bottle presss from both sides tight subassembly and includes the blake bottle fixing base of sliding connection on first lateral shifting subassembly, it has the blake bottle fixed plate to articulate on the blake bottle fixing base, be equipped with a plurality of blake bottles on the blake bottle fixed plate, one side of blake bottle all is equipped with tight piece of clamp, it is used for pressing from both sides tight blake bottle to press from both sides tight piece, be equipped with first motor on the blake bottle fixing base, first motor drive the blake bottle fixed plate is relative the blake bottle fixing base is rotatory. During the use, place the blake bottle on the blake bottle fixed plate to press from both sides tight piece with pressing from both sides and press from both sides the blake bottle tightly, avoid at operation in-process blake bottle to remove at will. After fixing, usable first motor drives the blake bottle fixed plate in the use and swings and rotate back and forth to the blake bottle of fixing on the blake bottle fixed plate swings, thereby with the liquid and the living beings misce bene of its inside interpolation, and rotatable blake bottle makes the direction of its bottle lid satisfy the needs of uncapping, closing the lid. The first motor is in communication connection with the control center.

In foretell batch processing equipment for living beings culture vessel, get lid mechanism and get the lid subassembly including the culture dish and get lid subassembly and blake bottle, the dish gets the lid subassembly and is used for following the dish of the tight culture dish of culture dish clamping unit clamp is held and is snatched the dish lid and will take off the dish lid and cover at the bottom of the dish that corresponds, the blake bottle gets the lid subassembly and is used for following snatch the bottle lid on the bottle of the tight culture bottle of blake bottle clamping unit clamp and cover the bottle lid that will take off on the bottle that corresponds. The cover taking mechanism is provided with the culture dish cover taking assembly and the culture bottle cover taking assembly corresponding to the clamping mechanism respectively, so that the cover taking operation of the culture dish and the cover taking operation of the culture bottle are realized, the application range of the cover taking mechanism is expanded, and the application range is wide.

In foretell batch processing equipment for living beings culture vessel, the culture dish is got the lid subassembly and is included through first connecting plate sliding connection the dish lid fixed plate on the first vertical removal subassembly, it snatchs the clamping jaw to be equipped with a plurality of dish lids on the dish lid fixed plate, the dish lid is equipped with on snatchs the clamping jaw and snatchs the control unit, it is used for control to snatch the clamping jaw and follow to snatch the dish lid on the dish bottom of culture dish clamping component and the dish lid that will take off is on the dish bottom that corresponds. The dish cover grabbing clamping jaw comprises a central dish cover clamping jaw disc and dish cover clamping jaws which are hinged to the periphery of the dish cover clamping jaw disc and are uniformly distributed at intervals, the height of the dish cover clamping jaw is higher than that of a dish cover, a clamping block is arranged at one end of the dish cover clamping jaw, and the clamping block is used for clamping and limiting the dish cover. During the use, place the ware lid of culture dish in the ware lid snatchs the clamping jaw, the end of ware lid clamping jaw surpasss outside the ware lid, and the fixture block of ware lid clamping jaw one end is located the outside all around of ware lid, later utilizes the ware lid clamping jaw to snatch the operation to the ware lid. The grabbing control unit comprises a dish cover rotating block connected to the lower side of a plurality of dish cover clamping jaws, a dish cover linkage synchronous belt and a seventh motor, one end of the dish cover linkage synchronous belt is connected between the dish cover rotating blocks, the other end of the dish cover linkage synchronous belt is connected with the seventh motor, the seventh motor drives all the dish cover rotating blocks to rotate through the dish cover linkage synchronous belt, the grabbing control unit further comprises a dish cover fixing column connected to the lower side of the middle part of the dish cover clamping jaw plate, a second through hole is formed in the center of the dish cover rotating block, and the dish cover fixing column penetrates through the two ends of the second through hole to be connected with the dish cover clamping jaw plate and a dish cover fixing plate respectively. After a dish cover is accommodated in a dish cover clamping jaw disc of a dish cover grabbing clamping jaw, a seventh motor is started to rotate, the seventh motor drives a dish cover linkage synchronous belt to rotate, the dish cover linkage synchronous belt drives a dish cover rotating block to rotate, the dish cover rotating block drives a dish cover clamping jaw to rotate, the dish cover clamping jaw disc is connected with a dish cover fixing plate through a dish cover fixing column, so that the dish cover clamping jaw rotates relative to the dish cover clamping jaw disc, further, the dish cover clamping jaw is relatively placed on the dish cover clamping jaw disc to rotate at a certain angle, a clamping block at one end of the dish cover clamping jaw is clamped around the dish cover, the seventh motor stops rotating, then, a vertical moving assembly is moved to drive the dish cover grabbing clamping jaw to move upwards, the opening operation of a culture dish is realized, when the dish is required to be closed, the vertical moving assembly drives the dish cover clamping jaw to grab and move downwards, so that the dish cover grabbing clamping jaw is positioned right above the bottom of the dish, and the seventh motor rotates reversely, so that the dish cover clamped in the dish cover clamping jaw plate can be loosened and placed on the dish bottom, and the cover closing operation is realized. The seventh motor is in communication connection with the control center.

In foretell batch processing equipment for living beings culture container, the subassembly is got to the blake bottle includes bottle lid fixed plate, bottle lid linkage hold-in range, second motor, the bottle lid fixed plate passes through second connecting plate sliding connection and is in on the first vertical migration subassembly, it is connected with a plurality of bottle lids to snatch the clamping jaw to rotate on the bottle lid fixed plate, the one end of bottle lid linkage hold-in range is connected the bottle lid snatchs between the clamping jaw, the other end with the second motor links to each other, the second motor passes through the bottle lid linkage hold-in range drives the bottle lid snatchs the clamping jaw rotatory. When needing to uncap for the blake bottle, get the lid subassembly through first vertical removal subassembly and remove to the blake bottle clamping component directly over, get the blake bottle and get the bottle lid of the blake bottle on the lid subassembly as for the bottle lid snatch in the clamping jaw, then start the second motor, the second motor drives bottle lid linkage hold-in range and rotates, bottle lid linkage hold-in range drives the bottle lid and snatchs the clamping jaw and rotate, the bottle lid snatchs the clamping jaw and rotates, unscrew the bottle lid from the blake bottle, later drive the bottle lid at the effect of first vertical removal subassembly and snatch the clamping jaw and remove to keeping away from blake bottle one side, realize the operation of uncapping of blake bottle. The second motor is in communication connection with the control center.

In foretell batch processing equipment for biomass cultivation container, liquid feeding mechanism includes through third connecting plate sliding connection be in the liquid feeding fixed plate on the vertical removal subassembly of second, be equipped with a plurality of liquid feeding pipes on the liquid feeding fixed plate, every the liquid feeding pipe all links to each other with the pump body through the pipeline, the pump body is used for in the liquid feeding pipe is gone into to the liquid pump that treats the interpolation, the liquid feeding pipe is used for adding liquid to the cultivation container in. When needing the liquid feeding, utilize the vertical moving assembly of second to drive liquid feeding mechanism to remove to the blake bottle one side after being close to uncapping, later utilize the pump body will treat that the liquid that adds from depositing the container pump of this liquid go into in the liquid feeding pipe, utilize the liquid feeding pipe to add liquid in the culture container. The second vertical moving assembly is a vertically arranged linear module which is a mature product with controllable position and speed, and is in communication connection with the control center.

In the batch processing equipment for biomass culture containers, the pipetting mechanism comprises an intelligent pipetting module, a funnel and a pipette head storage position module, the intelligent pipetting module is connected to a fourth vertical moving assembly through a fourth connecting plate in a sliding mode, the funnel is arranged on a fixing frame, the pipette head storage position module is arranged at the lower end of the intelligent pipetting module, the intelligent pipetting module is used for pipetting the culture containers, the funnel is used for collecting waste liquid in the intelligent pipetting module, the fixing frame corresponds to the intelligent pipetting module and is provided with a pipette head replacing port, the pipette head storage position module comprises a second transverse moving assembly arranged below the pipette head replacing port, a pipette head storage position frame is connected to the second transverse moving assembly in a sliding mode, a plurality of pipette heads are arranged on the pipette head storage position frame, and the pipette heads are used for replacing the pipette heads on the intelligent pipetting module. The liquid transfer mechanism of the present invention is used for transferring the biomass in the culture vessel into the centrifuge tube to perform the centrifugation treatment, and may also be used for adding the liquid centrifuged in the centrifuge tube into the biomass in the culture vessel. The intelligent liquid-transfering module in the invention is an adjustable automatic liquid-transfering module, belonging to mature products capable of automatically sucking liquid, dropping liquid, discarding liquid and replacing gun head. The gun head storage rack is correspondingly arranged at the lower end of the intelligent pipetting module through the second transverse moving assembly, when the gun head needs to be replaced after the intelligent pipetting module is used for adding another liquid, the fourth vertical moving assembly drives the pipetting mechanism to move downwards, so that the gun head on the intelligent pipetting module penetrates through the gun head replacement port on the fixing rack, then the gun head on the intelligent pipetting module is dropped to the vacant position on the gun head storage rack under the cooperation of the second transverse moving assembly, and replacement of the gun head is completed. Two funnels are arranged below each intelligent pipetting module and used for storing biological reagents and chemical reagents respectively, when liquid in a gun head on each intelligent pipetting module needs to be discarded, the residual liquid in the gun head is dripped into the funnels to be stored, and then the gun head is replaced. The fourth vertical moving assembly and the second horizontal moving assembly are respectively vertically arranged and horizontally arranged linear modules and are in communication connection with the control center.

In foretell batch processing equipment for living beings culture container, scrape material mechanism and include the base plate, the base plate passes through seventh connecting plate and third vertical removal subassembly sliding connection, be equipped with the scraper fixing base of a plurality of interval equipartitions on the base plate, be equipped with the installation piece on the scraper fixing base, be equipped with the mounting groove on the installation piece, be provided with in the mounting groove the scraper, the upside of mounting groove is equipped with quick clamping mechanism, quick clamping mechanism installs on the installation piece, quick clamping mechanism is used for pressing from both sides tight scraper. The scraper is installed in the mounting groove and is pressed from both sides tightly through quick clamping mechanism, avoids droing in the use, utilizes the vertical removal subassembly of third to drive the relative clamping mechanism of base plate through the seventh connecting plate and carries out the upper and lower slip that is close to or keeps away from, drives the scraper promptly and carries out the upper and lower slip that is close to or keeps away from at the bottom of the relative dish, utilizes the scraper to realize the operation of scraping at the bottom of the dish. The quick clamping mechanism in the invention is a universal quick clamping tool and is not described in the invention. The scraper fixing seat is provided with a sliding groove, a sliding block is connected in the sliding groove in a sliding mode, the mounting blocks are arranged on the sliding block, first fixing columns are arranged on two sides of the scraper fixing seat and correspond to the mounting blocks, second fixing columns are arranged on the mounting blocks and correspond to the first fixing columns, a telescopic spring is connected between the first fixing columns and the second fixing columns, and the telescopic direction of the telescopic spring is parallel to the sliding groove. But the installation piece is installed and is slided the relatively sliding tray on the sliding block, is equipped with the expanding spring who is parallel to mutually with the sliding tray simultaneously between installation piece and the scraper fixing base, and the scraper is installed on the installation piece, when the contact at the bottom of scraper and the ware, the scraper can be adjusted along the small range motion of sliding tray direction, guarantees at the bottom of every scraper and the ware fully contact. According to the invention, the fixed frame is provided with a plurality of cleaning openings corresponding to the scrapers, and the lower side of the fixed frame is provided with the cleaning and drying mechanisms corresponding to the cleaning openings, wherein the cleaning and drying mechanisms are used for cleaning and drying the scrapers. After the scraper finishes once scraping the dish action, the third vertical movement subassembly drives scraper relative mount downstream, and the correspondence is equipped with a plurality of washing mouths under lieing in the scraper on the mount, and scraper relative mount downstream makes the cutting edge stretch into the downside that the washing mouth lies in the mount, later utilizes washing stoving mechanism to accomplish the washing and the stoving to the scraper cutting edge, makes things convenient for the use repeatedly of scraper, does not need often to change. The cleaning and drying mechanism comprises a spraying and washing nozzle and a hot air blow-drying opening which are arranged on a fixed frame, wherein the spraying and washing nozzle is connected with a water pipe, and the hot air blow-drying opening is connected with a dryer. A control valve is arranged between a water pipe and a spraying and washing nozzle, and the control valve and the dryer are in communication connection with a control center and are uniformly controlled by the control center.

In the above batch processing apparatus for a biomass cultivation container, the centrifugal mechanism includes: the centrifugal tube feeding frame, the centrifugal tube discharging frame and the centrifugal machine are all arranged on the fixing frame, the centrifugal tube feeding frame is used for placing a centrifugal tube to be centrifugally processed, the centrifugal tube discharging frame is used for placing a centrifugal tube after centrifugal processing, and the centrifugal machine is used for centrifugally processing the centrifugal tube;

the mechanical arm assembly comprises a mechanical clamping jaw arranged on a mounting plate, the mounting plate is connected to the fixing frame in a sliding mode through a third transverse moving unit, the mounting plate is further provided with a fifth vertical moving unit, the mechanical clamping jaw is connected to the fifth vertical moving unit in a sliding mode through a fifth connecting plate, one side of the mechanical clamping jaw is connected with a third motor, and the third motor is used for driving the mechanical clamping jaw to rotate;

the centrifugal tube placing frame is connected to the fixing frame in a sliding mode through a fourth transverse moving unit, a plurality of centrifugal tube placing positions are arranged on the centrifugal tube placing frame, and the centrifugal tube placing positions are used for placing centrifugal tubes to be moved into a culture container after centrifugation;

centrifuging tube subassembly of uncapping, it sets up the upside at the centrifuging tube rack through sixth vertical mobile unit, sliding connection has the sixth connecting plate on the sixth vertical mobile unit, it is connected with the centrifuging tube clamping jaw of uncapping to rotate on the sixth connecting plate, still be equipped with the fourth motor on the sixth connecting plate, the fourth motor drives the centrifuging tube clamping jaw of uncapping is rotatory.

During the use, will treat centrifugal centrifuging tube and place on the centrifuging tube work or material rest, later the manipulator subassembly slides to work or material rest department on the centrifuging tube through third lateral shifting unit, drives mechanical clamping jaw through fifth vertical mobile unit and reciprocates, utilizes mechanical clamping jaw to jack-up the centrifuging tube, later third lateral shifting unit drives mechanical clamping jaw and removes to centrifuge department, then utilizes the third motor to drive mechanical clamping jaw rotatory, places the centrifuging tube correspondence on centrifuge, utilizes centrifuge to accomplish the centrifugal processing to the centrifuging tube. After the centrifugal processing of completion centrifuging tube, under the control of third lateral shifting unit and fifth vertical mobile unit, the centrifuging tube after mechanical clamping jaw will centrifugate takes off from centrifuge and places on the centrifuging tube rack, later utilizes the centrifuging tube subassembly of uncapping to carry out the processing of uncapping to the centrifuging tube. Under the control of the sixth vertical moving unit, the centrifuge tube uncapping clamping jaw is driven to move towards the centrifuge tube placing rack, so that the centrifuge tube is placed in the centrifuge tube uncapping clamping jaw, then the fourth motor drives the centrifuge tube uncapping clamping jaw to rotate to unscrew the centrifuge tube cover from the centrifuge tube and clamp the centrifuge tube uncapping clamping jaw, then the centrifuge tube uncapping clamping jaw is driven to move towards one side of the centrifuge tube away from through the sixth vertical moving unit, and the centrifuge tube uncapping is completed. And finally, moving the centrifuge tube placed on the centrifuge tube placing frame after the cover is opened to the lower part of the liquid transferring mechanism through a fourth transverse moving unit, and adding the liquid subjected to centrifugal treatment in the centrifuge tube into the biomass of the culture container by using the liquid transferring mechanism. The centrifuge of the present invention can also be used for centrifuging biomass in a culture vessel. At first uncap the centrifuging tube on the centrifuging tube rack through centrifuging tube subassembly of uncapping earlier, then move liquid mechanism and move the place with the interior biomass of culture vessel and add to the centrifuging tube on the centrifuging tube rack in, later recycle the third motor reverse rotation completion of centrifuging tube subassembly of uncapping and close the lid to the centrifuging tube, then place this centrifuging tube through the manipulator subassembly on the centrifuge, after centrifuge centrifugal treatment, place centrifuging tube unloading frame again through the manipulator subassembly on, wait for wrong operating personnel unloading and handle. The third transverse moving unit, the fourth transverse moving unit, the fifth vertical moving unit and the sixth vertical moving unit are all linear modules which are correspondingly arranged transversely or vertically and are in communication connection with the control center.

Drawings

FIG. 1 is a schematic overall structure diagram of one embodiment of the present invention;

FIG. 2 is a schematic structural view of a clamping mechanism according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of the structure of a culture dish clamping assembly according to one embodiment of the invention;

FIG. 4 is a first schematic diagram of a portion of a first embodiment of a culture dish clamping assembly in accordance with the present invention;

FIG. 5 is a second schematic view of a portion of the clamping assembly of the present invention;

FIG. 6 is a schematic structural view of a cap removing mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of the structure of a cover assembly for a culture dish according to one embodiment of the present invention;

FIG. 8 is a partial schematic view of a first embodiment of a cover assembly for a culture dish according to the present invention;

FIG. 9 is a second partial schematic structural view of a cover assembly for a culture dish according to an embodiment of the present invention;

FIG. 10 is a schematic structural view of a liquid adding mechanism according to an embodiment of the present invention;

FIG. 11 is a schematic structural view of a pipetting mechanism according to one embodiment of the invention;

FIG. 12 is a schematic structural view of a scraping mechanism according to an embodiment of the present invention;

FIG. 13 is a first partial schematic structural view of a scraping mechanism according to an embodiment of the present invention;

FIG. 14 is a second partial schematic structural view of a scraping mechanism according to an embodiment of the present invention;

FIG. 15 is a third schematic view of a portion of a scraping mechanism according to an embodiment of the invention;

FIG. 16 is a first schematic structural view of a centrifugal mechanism according to an embodiment of the present invention;

FIG. 17 is a second schematic structural view of a centrifugal mechanism according to an embodiment of the present invention.

In the figure, 100, a fixed frame; 110. replacing the gun head; 120. cleaning the opening; 130. spraying and washing the spray head; 140. drying the mouth with hot air; 200. a clamping mechanism; 210. a first lateral movement assembly; 220. a culture dish clamping assembly; 221. a dish bottom fixing seat; 222. a dish bottom fixing plate; 223. clamping jaws are clamped at the bottom of the dish; 2231. a dish bottom clamping jaw disc; 2232. a dish bottom clamping jaw; 224. a clamping control unit; 2241. a dish bottom rotating block; 2242. the dish bottom is linked with a synchronous belt; 2243. a fifth motor; 2244. a dish bottom rotating column; 2245. a dish bottom damper; 2246. a first through hole; 225. a sixth motor; 230. a culture flask clamping assembly; 231. a culture bottle fixing seat; 232. a culture bottle fixing plate; 233. a culture bottle; 234. a clamping block; 235. a first motor; 300. a cap removing mechanism; 310. a first vertical movement assembly; 320. taking a cover assembly from the culture dish; 321. a first connecting plate; 322. a dish cover fixing plate; 323. the dish cover grabs the clamping jaw; 3231. a dish cover jaw plate; 3232. a dish cover jaw; 3233. a clamping block; 324. a grab control unit; 325. a dish cover rotating block; 326. the dish cover is linked with the synchronous belt; 327. a seventh motor; 328. a dish cover fixing column; 329. a second through hole; 330. taking the cover component of the culture bottle; 331. a bottle cap fixing plate; 332. a second connecting plate; 333. the bottle cap is grabbed by the clamping jaw; 334. the bottle cap is linked with the synchronous belt; 335. a second motor; 400. a liquid adding mechanism; 410. a third connecting plate; 420. a second vertical movement assembly; 430. a liquid feeding fixing plate; 440. a liquid feeding pipe; 450. a pump body; 500. a pipetting mechanism; 510. a fourth connecting plate; 520. a fourth vertical movement assembly; 530. an intelligent pipetting module; 540. a funnel; 550. a gun head storage module; 551. a second lateral movement assembly; 552. a gun head storage rack; 553. a gun head; 600. a scraping mechanism; 610. a third vertical movement assembly; 620. a scraper; 630. a substrate; 640. a seventh connecting plate; 650. a scraper fixing seat; 651. mounting blocks; 652. a first fixed column; 653. a rapid clamping mechanism; 654. a sliding groove; 655. a slider; 656. a second fixed column; 657. a tension spring; 700. a centrifugal mechanism; 710. a centrifugal tube feeding frame; 720. a centrifuge tube blanking frame; 730. a centrifuge; 740. a manipulator assembly; 741. mounting a plate; 742. a mechanical jaw; 743. a third traverse unit; 744. a fifth vertical moving unit; 745. a fifth connecting plate; 746. a third motor; 750. placing a centrifugal tube rack; 751. a fourth traverse unit; 752. placing a centrifugal tube; 760. a centrifuge tube cover opening assembly; 761. a sixth vertical moving unit; 762. a sixth connecting plate; 763. opening a cover of the centrifuge tube to clamp the jaw; 764. and a fourth motor.

Detailed Description

The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.

As shown in fig. 1, a batch processing apparatus for a biomass cultivation vessel of the present invention includes: a fixing frame 100; the clamping mechanisms 200 are arranged on the fixing frame 100 through the first transverse moving assembly 210, the clamping mechanisms 200 can transversely slide along the first transverse moving assembly 210, and the clamping mechanisms 200 are used for placing and clamping a plurality of culture containers; a plurality of cap removing mechanisms 300 disposed above the clamping mechanism 200 through a plurality of first vertical moving assemblies 310, wherein the cap removing mechanisms 300 can slide vertically along the first vertical moving assemblies 310, and the cap removing mechanisms 300 are used for grabbing cap covers from the culture containers of the clamping mechanism 200 and covering the taken cap covers on corresponding container bottles; the plurality of liquid adding mechanisms 400 are arranged above the clamping mechanism 200 through the plurality of second vertical moving assemblies 420, the liquid adding mechanisms 400 can vertically slide along the second vertical moving assemblies 420, and the liquid adding mechanisms 400 are used for adding liquid to the biomass culture container; a plurality of pipetting mechanisms 500 arranged on the fixing frame 100, the pipetting mechanisms 500 being used for pipetting the biomass culture vessel; the scraping mechanism 600 is arranged above the clamping mechanism 200 through a third vertical moving assembly 610, the scraping mechanism 600 can vertically slide along the third vertical moving assembly 610, a plurality of scrapers 620 are arranged on the scraping mechanism 600, and the scrapers 620 are used for scraping the working surface of the culture container; and a centrifugal mechanism 700 disposed on the fixing frame 100, wherein the centrifugal mechanism 700 is used for centrifuging the biomass in the biomass culture container. The first transverse moving assembly 210, the first vertical moving assembly 310, the second vertical moving assembly 420 and the third vertical moving assembly 610 in the invention all adopt the form of a linear module: the first transverse moving assembly 210 is a transversely arranged linear module, the first vertical moving assembly 310, the second vertical moving assembly 420 and the third vertical moving assembly 610 are vertically arranged linear modules respectively, the linear modules are mature products with controllable positions and speeds, and the first transverse moving assembly 210, the first vertical moving assembly 310, the second vertical moving assembly 420 and the third vertical moving assembly 610 are all in communication connection with a control center. During the use, will follow the culture container that takes out in the incubator and place clamping mechanism 200 on mount 100, utilize clamping mechanism 200 to press from both sides tight culture container, later through first lateral shifting subassembly 210 and first vertical migration subassembly 310 relative movement clamping mechanism 200 and get and cover mechanism 300, make clamping mechanism 200 be located and get under cover mechanism 300, utilize getting cover mechanism 300 to accomplish the processing of uncapping to the culture container on clamping mechanism 200, take off the container lid on the culture container, later will get cover mechanism 300 through first vertical migration subassembly 310 and move to keeping away from clamping mechanism 200 one side. Then through first lateral shifting subassembly 210 and second vertical shifting subassembly 420 for the container bottle after uncapping on clamping mechanism 200 is located liquid feeding mechanism 400 under, utilizes liquid feeding mechanism 400 to accomplish the liquid feeding processing to the interior biomass of blake bottle 233, like PBS solution, culture solution, digestion enzyme solution etc. afterwards moves liquid feeding mechanism 400 to keeping away from clamping mechanism 200 one side through second vertical shifting subassembly 420. Then, the operations of adding liquid, adding medicine, discarding liquid and the like to the container bottle are completed through the liquid transfer mechanism 500. When the dish operation is scraped to needs, utilize scraping mechanism 600 to scrape the material operation to container bottle work surface, make the living beings in the container bottle collect container bottle bottom one side, conveniently collect. Finally, if the biomass in the container bottle needs to be centrifugally treated, the liquid-transferring mechanism 500 is utilized to move the biomass in the container bottle to the centrifugal mechanism 700, and the centrifugal treatment of the biomass is completed through the centrifugal mechanism 700. When the liquid to be added to the biomass in the container bottle is centrifuged first in use, the liquid may be centrifuged by the centrifugation mechanism 700 and then added to the biomass in the container bottle by the liquid transfer mechanism 500.

As shown in fig. 2, the clamping mechanism 200 includes a dish clamping assembly 220 and a flask clamping assembly 230, the dish clamping assembly 220 being for clamping a dish and the flask clamping assembly 230 being for clamping a flask 233. The clamping mechanism 200 of the present invention comprises a culture dish clamping assembly 220 and a culture bottle clamping assembly 230, wherein the culture dish clamping assembly 220 is used for clamping a culture dish, the culture bottle clamping assembly 230 is used for clamping a culture bottle 233, and in addition, the culture bottle clamping assembly 230 can be used for clamping a triangular shake flask, a fermentation tank and other biomass culture containers, so the clamping mechanism 200 of the present invention has a wide application range.

As shown in fig. 3, 4, and 5, the culture dish clamping assembly 220 includes a fixed base 221 at the bottom of the dish on the first traverse assembly 210, the fixed base 221 at the bottom of the dish is provided with a dish bottom fixing plate 222, the fixed plate 222 at the bottom of the dish is provided with a plurality of dish bottoms clamping jaws 223, the dish bottom clamping jaws 223 are provided with clamping control units 224, the dish bottom clamping jaws 223 are used for placing the culture dish, and the clamping control units 224 are used for controlling the dish bottom clamping jaws 223 to clamp the culture dish. The dish bottom clamping jaw 223 comprises a central dish bottom clamping jaw disc 2231 and dish bottom clamping jaws 2232 which are uniformly distributed at intervals and hinged around the dish bottom clamping jaw disc 2231, wherein the height of one side, away from the dish bottom clamping jaw disc 2231, of the dish bottom clamping jaw 2232 is higher than the height of one side, close to the dish bottom clamping jaw disc 2231, of the dish bottom clamping jaw 2232 and the height of the dish bottom clamping jaw disc 2231, and the height of the dish bottom clamping jaw 2232 is lower than the lower end of a dish cover after a culture dish is closed. During the use, place the culture dish on the tight clamping jaw 223 in the bottom of the dish, because the height that the tight clamping jaw 2231 one side was kept away from at the bottom of the dish to the clamping jaw 2232 at the bottom of the dish is higher than the height that the tight clamping jaw 2231 one side was close to at the bottom of the dish to the clamping jaw 2232 at the bottom of the dish and the height of the tight clamping jaw 2231 at the bottom of the dish, so when the culture dish was placed at the bottom of the dish on the tight clamping jaw 223, the bottom of culture dish only contacted with the tight clamping jaw 2231 one side part that keeps away from at the bottom of the dish with the tight clamping jaw 2232 at the bottom of the dish, utilize the tight clamping jaw 2232 at the bottom of the dish to press from both sides the culture dish, prevent that the culture dish from dropping in the operation process. In the invention, the avoiding groove is arranged at the hinged part of the dish bottom clamping jaw 2232 and the dish bottom clamping jaw disc 2231, so that the height of one side of the dish bottom clamping jaw 2232, which is far away from the dish bottom clamping jaw disc 2231, is higher than the height of one side of the dish bottom clamping jaw 2232, which is close to the dish bottom clamping jaw disc 2231, and the height of the dish bottom clamping jaw disc 2231. The clamping control unit 224 comprises a plurality of dish bottom rotating blocks 2241, a dish bottom linkage synchronous belt 2242 and a fifth motor 2243 which are connected to the lower sides of a plurality of dish bottom clamping jaws 2232 respectively, one end of the dish bottom linkage synchronous belt 2242 is connected between the dish bottom rotating blocks 2241, the other end of the dish bottom linkage synchronous belt 2242 is connected with the fifth motor 2243, the fifth motor 2243 drives all the dish bottom rotating blocks 2241 to rotate through the dish bottom linkage synchronous belt 2242, the clamping control unit 224 further comprises a dish bottom rotating column 2244 which is arranged on the lower side of the middle portion of the dish bottom clamping jaw disc 2231, a first through hole 2246 is formed in the center of the dish bottom rotating block 2241, the dish bottom rotating column 2244 penetrates through the first through hole 2246, two ends of the first through hole 2246 are connected with the dish bottom clamping jaw disc 2231 and the dish bottom fixing plate 222 respectively, and a dish bottom damping device 2245 is arranged between the dish bottom rotating column 2244 and the dish bottom fixing plate 222. When in use, after a culture dish is placed on the dish bottom clamping jaw 2232 of the dish bottom clamping jaw 223, the fifth motor 2243 is started to rotate, the fifth motor 2243 drives the dish bottom linkage synchronous belt 2242 to rotate, the dish bottom linkage synchronous belt 2242 drives the dish bottom rotating block 2241 to rotate, the dish bottom rotating block 2241 drives the dish bottom clamping jaw 2232 to rotate, the dish bottom clamping jaw 2232 drives the dish bottom clamping jaw 2231 to rotate, the dish bottom clamping jaw 2231 drives the dish bottom rotating column 2244 to rotate, because the dish bottom damping device 2245 is arranged between the dish bottom rotating column 2244 and the dish bottom fixing plate 222, the rotating speed of the dish bottom rotating column 2244 and the dish bottom clamping jaw 2231 is slower than that of the dish bottom clamping jaw 2232, so that the rotating speed of the part hinged with the dish bottom clamping jaw 2232 on the dish bottom clamping jaw 2231 is slower than that the one end of the dish bottom clamping jaw 2232 is far away from the side of the dish bottom clamping jaw 2231 and is close to the center of the dish, thereby realizing clamping the dish bottom. When the cover needs to be closed, the fifth motor 2243 stops rotating, the clamping jaw 2232 at the bottom of the dish leans against the periphery of the bottom of the dish, and no relative movement trend exists due to no speed difference, and no clamping force exists at the moment. In the operation process, the dish bottom is clamped through controlling the forward rotation of the fifth motor 2243, the fifth motor 2243 rotates reversely, and the dish bottom is loosened, so that the dish bottom on the clamping jaw 2232 at the bottom of the dish is driven to rotate, and the batch rotating operation of the culture dish is realized. The fifth motor 2243 is in communication connection with the control center. According to the culture dish shaking device, the dish bottom fixing plate 222 is hinged to the dish bottom fixing seat 221, the sixth motor 225 is arranged on the dish bottom fixing seat 221, the sixth motor 225 drives the dish bottom fixing plate 222 to swing relative to the dish bottom fixing seat 221, the sixth motor 225 rotates to drive the dish bottom fixing plate 222 to swing, a culture dish placed on the dish bottom fixing plate 222 is driven to swing, and batch shaking operation of the culture dish is achieved. The sixth motor 225 is in communication with the control center in the present invention. According to the invention, the two ends of the dish bottom fixing plate 222 are provided with the rotating holes, the rotating shafts are arranged on the dish bottom fixing seat 221 corresponding to the rotating holes, the two ends of the dish bottom fixing plate 222 are rotatably connected to the rotating shafts through the rotating holes, one rotating shaft is connected with the sixth motor 225, the sixth motor 225 is arranged on the dish bottom fixing seat 221, and the rotating shafts are driven by the sixth motor 225 to rotate so as to drive the dish bottom fixing plate 222 to swing.

As shown in fig. 2, the culture bottle clamping assembly 230 includes a culture bottle fixing seat 231 slidably connected to the first traverse assembly 210, a culture bottle fixing plate 232 is hinged to the culture bottle fixing seat 231, a plurality of culture bottles 233 are disposed on the culture bottle fixing plate 232, clamping blocks 234 are disposed on one sides of the culture bottles 233, the clamping blocks 234 are used for clamping the culture bottles 233, a first motor 235 is disposed on the culture bottle fixing seat 231, and the first motor 235 drives the culture bottle fixing plate 232 to rotate relative to the culture bottle fixing seat 231. During the use, place blake bottle 233 on blake bottle fixed plate 232 to press from both sides tight piece 234 with blake bottle 233 and press from both sides tight, avoid blake bottle 233 to remove at will in the operation process. After fixing, usable first motor 235 drives blake bottle fixed plate 232 swing back and forth and rotates in the use to fix blake bottle 233 on blake bottle fixed plate 232 and swing, thereby with the liquid and the living beings misce bene of its inside interpolation, and rotatable blake bottle 233 makes the direction of its bottle lid satisfy the needs of uncapping, closing the lid. The first motor 235 of the present invention is communicatively coupled to the control center.

As shown in fig. 6, the cap taking mechanism 300 includes a culture dish cap taking assembly 320 and a culture bottle cap taking assembly 330, the culture dish cap taking assembly 320 is used for grabbing a dish cap from the bottom of a dish of a culture dish clamped by the culture dish clamping assembly 220 and covering the taken-down dish cap on the corresponding dish bottom, and the culture bottle cap taking assembly 330 is used for grabbing a bottle cap from the bottle body of a culture bottle 233 clamped by the culture bottle clamping assembly 230 and covering the taken-down bottle cap on the corresponding bottle body. The cover taking mechanism 300 is provided with the culture dish cover taking assembly 320 and the culture bottle cover taking assembly 330 corresponding to the clamping mechanism 200 respectively, so that the cover taking operation of the culture dish and the cover taking operation of the culture bottle 233 are realized, the application range of the invention is expanded, and the application range is wide.

As shown in fig. 7, 8 and 9, the culture dish cover taking assembly 320 includes a dish cover fixing plate 322 slidably connected to the first vertical moving assembly 310 through a first connecting plate 321, a plurality of dish covers grabbing clamping jaws 323 are arranged on the dish cover fixing plate 322, a grabbing control unit 324 is arranged on the dish cover grabbing clamping jaws 323, and the grabbing control unit 324 is used for controlling the dish covers grabbing clamping jaws 323 to grab the dish cover from the bottom of the culture dish clamping assembly 220 and cover the taken-down dish cover on the corresponding bottom of the dish. The dish cover grabbing clamping jaw 323 comprises a central dish cover clamping jaw plate 3231 and dish cover clamping jaws 3232 which are hinged to the periphery of the dish cover clamping jaw plate 3231 and are uniformly distributed at intervals, the height of the dish cover clamping jaw 3232 is higher than that of a dish cover, one end of the dish cover clamping jaw 3232 is provided with a clamping block 3233, and the clamping block 3233 is used for clamping a limiting dish cover. During the use, place the ware lid of culture dish in ware lid snatchs clamping jaw 323, the end of ware lid clamping jaw 3232 surpasss outside the ware lid, and the fixture block 3233 of ware lid clamping jaw 3232 one end is located the outside all around of ware lid, later utilizes ware lid clamping jaw 3232 to snatch the operation to the ware lid. The grabbing control unit 324 comprises a dish cover rotating block 325, a dish cover linkage synchronous belt 326 and a seventh motor 327, the dish cover linkage synchronous belt 326 is connected between the dish cover rotating blocks 325, the other end of the dish cover linkage synchronous belt 326 is connected with the seventh motor 327, the seventh motor 327 drives all the dish cover rotating blocks 325 to rotate through the dish cover linkage synchronous belt 326, the grabbing control unit 324 further comprises a dish cover fixing column 328 which is arranged on the lower side of the middle of a dish cover clamping jaw disc 3231, a second through hole 329 is formed in the center of the dish cover rotating block 325, and the dish cover fixing column 328 penetrates through two ends of the second through hole 329 to be connected with the dish cover clamping jaw disc 3231 and a dish cover fixing plate 322 respectively. After a dish cover is accommodated in a dish cover clamping jaw disc 3231 of a dish cover grabbing clamping jaw 323, a seventh motor 327 is started to rotate, the seventh motor 327 drives a dish cover linkage synchronous belt 326 to rotate, the dish cover linkage synchronous belt 326 drives a dish cover rotating block 325 to rotate, the dish cover rotating block 325 drives a dish cover clamping jaw 3232 to rotate, the dish cover clamping jaw disc 3231 is connected with a dish cover fixing plate 322 through a dish cover fixing column 328, so that a dish cover clamping jaw 3232 rotates relative to the dish cover clamping jaw disc 3231, further the dish cover clamping jaw 3232 rotates relative to a dish cover placed on the dish cover clamping jaw disc 3231 at a certain angle, a clamping block 3233 at one end of the dish cover clamping jaw 3232 is clamped around the dish cover, the dish cover is clamped, the seventh motor 327 stops rotating, then a first vertical moving assembly 310 is moved to drive the dish cover grabbing clamping jaw 323 to move upwards, the cover opening operation of a culture dish is realized, and when the dish cover needs to be grabbed, the first vertical moving assembly 310 drives the dish cover clamping jaw 323 to move downwards, so that the dish cover grabbing clamping jaw 323 is positioned right above the dish bottom, and the seventh motor 327 rotates reversely, so that the dish cover clamped in the dish cover clamping jaw plate 3231 can be loosened and placed on the dish bottom, and the cover closing operation is realized. The seventh motor 327 of the present invention is in communication with the control center.

As shown in fig. 6, the cover assembly 330 for the culture bottle comprises a bottle cap fixing plate 331, a bottle cap linkage synchronous belt 334 and a second motor 335, wherein the bottle cap fixing plate 331 is slidably connected to the first vertical moving assembly 310 through a second connecting plate 332, the bottle cap fixing plate 331 is rotatably connected to a plurality of bottle cap grabbing clamping jaws 333, one end of the bottle cap linkage synchronous belt 334 is connected between the bottle cap grabbing clamping jaws 333, the other end of the bottle cap linkage synchronous belt 334 is connected to the second motor 335, and the second motor 335 drives the bottle cap grabbing clamping jaws 333 to rotate through the bottle cap linkage synchronous belt 334. The second motor 335 of the present invention is in communication with the control center. When needing to uncap for blake bottle 233, it gets the lid subassembly through first vertical removal subassembly 310 and removes to blake bottle clamping component 230 directly over to drive blake bottle 233, the bottle lid of blake bottle 233 on the blake bottle clamping component 230 is snatched in the clamping jaw 333 as for the bottle lid, then start second motor 335, second motor 335 drives bottle lid linkage hold-in range 334 and rotates, bottle lid linkage hold-in range 334 drives the bottle lid and snatchs clamping jaw 333 and rotate, the bottle lid snatchs clamping jaw 333 and drives the bottle lid and rotate, unscrew the bottle lid from blake bottle 233, later drive the bottle lid at the effect of first vertical removal subassembly 310 and snatch clamping jaw 333 and remove to keeping away from blake bottle 233 one side, realize the operation of uncapping of blake bottle 233.

As shown in fig. 10, the liquid feeding mechanism 400 includes a liquid feeding fixing plate 430 slidably connected to the second vertical moving assembly 420 through a third connecting plate 410, a plurality of liquid feeding pipes 440 are disposed on the liquid feeding fixing plate 430, each liquid feeding pipe 440 is connected to a pump body 450 through a pipe, the pump body 450 is used for pumping a liquid to be added into the liquid feeding pipe 440, and the liquid feeding pipe 440 is used for adding the liquid into the culture container. The second vertical moving assembly 420 is a vertically arranged linear module which is a mature product with controllable position and speed, and the second vertical moving assembly 420 is in communication connection with a control center. When liquid needs to be added, the second vertical moving component 420 drives the liquid adding mechanism 400 to move towards the side close to the uncapped culture bottle 233 or culture dish, then the pump body 450 is used for pumping the liquid to be added into the liquid adding pipe 440 from the container pump for storing the liquid, and the liquid adding pipe 440 is used for adding the liquid into the culture container.

As shown in fig. 11, the pipetting mechanism 500 includes an intelligent pipetting module 530 slidably connected to the fourth vertical moving assembly 520 through a fourth connecting plate 510, a funnel 540 disposed on the fixing frame 100, and a tip storage module 550 disposed at a lower end of the intelligent pipetting module 530, the intelligent pipetting module 530 is used for pipetting culture containers, the funnel 540 is used for collecting waste liquid in the intelligent pipetting module 530, a tip replacing port 110 is disposed on the fixing frame 100 corresponding to the intelligent pipetting module 530, the tip storage module 550 includes a second transverse moving assembly 551 disposed below the tip replacing port 110, a tip storage rack 552 is slidably connected to the second transverse moving assembly 551, a plurality of tips 553 are disposed on the tip storage rack 552, and the tips 553 are used for replacing the tips 553 on the intelligent pipetting module 530. The liquid transfer mechanism 500 of the present invention is used for transferring the biomass in the culture vessel into the centrifuge tube to perform the centrifugation process, and may be used for adding the liquid centrifuged in the centrifuge tube into the biomass in the culture vessel. The intelligent pipetting module 530 is an adjustable automatic pipetting module, belongs to mature products capable of automatically sucking liquid, dropping liquid, discarding liquid and replacing the gun head 553, and is in communication connection with a control center. The tip storage rack 552 in the invention is correspondingly arranged at the lower end of the intelligent pipetting module 530 through the second transverse moving assembly 551, when the tip 553 needs to be replaced after the intelligent pipetting module 530 is used for adding another liquid, the fourth vertical moving assembly 520 drives the pipetting mechanism 500 to move downwards, so that the tip 553 on the intelligent pipetting module 530 passes through the tip replacing port 110 on the fixing rack 100, and then the tip 553 on the intelligent pipetting module 530 is dropped to the vacant position on the tip storage rack 552 under the cooperation of the second transverse moving assembly 551, and the replacement of the tip 553 is completed. In the invention, two funnels 540 are arranged below each intelligent pipetting module 530 and are respectively used for storing biological reagents and chemical reagents, when liquid in a tip 553 of the intelligent pipetting module 530 needs to be discarded, the residual liquid in the tip 553 is dripped into the funnels 540 for storage, and then the tip 553 is replaced. The fourth vertical moving assembly 520 and the second horizontal moving assembly 551 are vertically and horizontally arranged linear modules, respectively, and are in communication connection with the control center.

As shown in fig. 12, 13, 14, and 15, the scraping mechanism 600 includes a base plate 630, the base plate 630 is slidably connected to a third vertical moving assembly 610 through a seventh connecting plate 640, a plurality of scraper fixing seats 650 are uniformly spaced on the base plate 630, a mounting block 651 is disposed on the scraper fixing seat 650, a mounting groove is disposed on the mounting block 651, a scraper 620 is disposed in the mounting groove, a quick clamping mechanism 653 is disposed on an upper side of the mounting groove, the quick clamping mechanism 653 is mounted on the mounting block 651, and the quick clamping mechanism 653 is used for clamping the scraper 620. The quick clamping mechanism 653 in the present invention is a general quick clamping tool and will not be described further herein. A sliding groove 654 is arranged on the scraper fixing seat 650, a sliding block 655 is connected in the sliding groove 654 in a sliding mode, a mounting block 651 is arranged on the sliding block 655, first fixing columns 652 are arranged on two sides of the scraper fixing seat 650 corresponding to the mounting block 651, second fixing columns 656 are arranged on the mounting block 651 corresponding to the first fixing columns 652, a telescopic spring 657 is connected between the first fixing columns 652 and the second fixing columns 656, and the telescopic direction of the telescopic spring 657 is parallel to the sliding groove 654. The mounting block 651 is mounted on the sliding block 655 and can slide relative to the sliding groove 654, meanwhile, an expansion spring 657 parallel to the sliding groove 654 is arranged between the mounting block 651 and the scraper fixing seat 650, the scraper 620 is mounted on the mounting block 651, and when the scraper 620 is in contact with the dish bottom, the scraper 620 can move in a small range along the direction of the sliding groove 654 to be adjusted, so that each scraper 620 is ensured to be in full contact with the dish bottom. In the invention, the fixed frame 100 is provided with a plurality of cleaning ports 120 corresponding to the scrapers 620, and the lower side of the fixed frame 100 is provided with a cleaning and drying mechanism corresponding to the cleaning ports 120, wherein the cleaning and drying mechanism is used for cleaning and drying the scrapers 620. After scraper 620 accomplishes once and scrapes the dish action, third vertical removal subassembly 610 drives scraper 620 and moves down relatively mount 100, it is equipped with a plurality of cleaning mouths 120 to lie in scraper 620 on mount 100 and correspond under, scraper 620 makes the cutting edge stretch into the downside that cleaning mouth 120 is located mount 100 relatively mount 100 downstream, later utilize to wash the washing and drying mechanism and accomplish the washing and the stoving to the scraper 620 cutting edge, make things convenient for using repeatedly of scraper 620, do not need often to change. The cleaning and drying mechanism comprises a spray washing nozzle 130 and a hot air drying port 140 which are arranged on a fixed frame 100, wherein the spray washing nozzle 130 is connected with a water pipe, and the hot air drying port 140 is connected with a dryer. In the invention, a control valve is arranged between the water pipe and the spray rinsing nozzle 130, and the control valve and the dryer are both in communication connection with a control center and are uniformly controlled by the control center.

As shown in fig. 16 and 17, the centrifugal mechanism 700 includes: a centrifuge tube loading frame 710, a centrifuge tube discharging frame 720 and a centrifuge 730, wherein the centrifuge tube loading frame 710, the centrifuge tube discharging frame 720 and the centrifuge 730 are all arranged on the fixing frame 100, the centrifuge tube loading frame 710 is used for placing centrifuge tubes to be centrifuged, the centrifuge tube discharging frame 720 is used for placing centrifuged centrifuge tubes, and the centrifuge 730 is used for centrifuging the centrifuge tubes; the manipulator assembly 740 comprises a mechanical clamping jaw 742 arranged on a mounting plate 741, the mounting plate 741 is slidably connected to the fixing frame 100 through a third transverse moving unit 743, the mounting plate 741 is further provided with a fifth vertical moving unit 744, the mechanical clamping jaw 742 is slidably connected to the fifth vertical moving unit 744 through a fifth connecting plate 745, one side of the mechanical clamping jaw 742 is connected with a third motor 746, and the third motor 746 is used for driving the mechanical clamping jaw 742 to rotate; a centrifuge tube placing rack 750 slidably connected to the fixing frame 100 through a fourth transverse moving unit 751, wherein a plurality of centrifuge tube placing positions 752 are arranged on the centrifuge tube placing rack 750, and the centrifuge tube placing positions 752 are used for placing centrifuge tubes to be moved into the culture container after centrifugation; centrifuging tube subassembly 760 that uncaps, it sets up the upside at centrifuging tube rack 750 through sixth vertical mobile unit 761, and sliding connection has a sixth connecting plate 762 on the sixth vertical mobile unit 761, and it is connected with centrifuging tube clamping jaw 763 that uncaps to rotate on the sixth connecting plate 762, still is equipped with fourth motor 764 on the sixth connecting plate 762, and fourth motor 764 drives the centrifuging tube clamping jaw 763 that uncaps rotatoryly. During the use, place the centrifuging tube that treats centrifugation on centrifuging tube loading frame 710, later manipulator subassembly 740 slides to centrifuging tube loading frame 710 department through third lateral shifting unit 743, drive mechanical clamping jaw 742 through fifth vertical mobile unit 744 and reciprocate, utilize mechanical clamping jaw 742 to jack up the centrifuging tube, later third lateral shifting unit 743 drives mechanical clamping jaw 742 and removes to centrifuge 730 department, then utilize third motor 746 to drive mechanical clamping jaw 742 rotatory, place the centrifuging tube correspondence on centrifuge 730, utilize centrifuge 730 to accomplish the centrifugal processing to the centrifuging tube. After the centrifugal processing of the centrifugal tube is completed, under the control of the third transverse moving unit 743 and the fifth vertical moving unit 744, the mechanical clamping jaws 742 take the centrifuged centrifugal tube off the centrifugal tube 730 and place the tube on the centrifugal tube placing frame 750, and then the centrifugal tube is uncapped by the centrifugal tube uncapping assembly 760. Under the control of sixth vertical mobile unit 761, drive centrifuging tube uncap clamping jaw 763 and remove to centrifuge tube rack 750 for the centrifuging tube holding is in centrifuging tube uncap clamping jaw 763, later fourth motor 764 drives centrifuging tube uncap clamping jaw 763 and rotates and unscrew the centrifuging tube lid from the centrifuging tube and press from both sides tightly in centrifuging tube uncap clamping jaw 763, then drive centrifuging tube uncap clamping jaw 763 through sixth vertical mobile unit and remove to keeping away from centrifuging tube one side, accomplish the centrifuging tube uncap. Finally, the centrifuge tube placed on the centrifuge tube placement rack 750 with the lid opened is moved to the lower side of the liquid transfer mechanism 500 by the fourth traverse unit 751, and the liquid centrifuged in the centrifuge tube is added to the biomass in the culture vessel by the liquid transfer mechanism 500. The centrifuge 730 of the present invention may also be used to centrifuge biomass in culture vessels. Firstly uncapping the centrifuging tube on the centrifuging tube rack 750 through centrifuging tube uncapping subassembly 760 earlier, then move liquid mechanism 500 and move the place with the interior biomass of culture container and add to the centrifuging tube on the centrifuging tube rack 750 in, later utilize the third motor 746 counter rotation of centrifuging tube uncapping subassembly 760 to accomplish the lid that closes to the centrifuging tube, then place this centrifuging tube on centrifuge 730 through manipulator subassembly 740, centrifuge 730 centrifugal treatment back, place the centrifuging tube on centrifuging tube unloading frame 720 through manipulator subassembly 740, wait for the processing of operating personnel unloading. The third transverse moving unit 743, the fourth transverse moving unit 751, the fifth vertical moving unit 744 and the sixth vertical moving unit 761 in the invention are all straight line modules which are correspondingly arranged transversely or vertically and are in communication connection with the control center.

The batch processing equipment for biomass culture can be used for batch processing of opening and closing the cover of a biomass culture container, adding liquid, transferring liquid, scraping a dish and centrifuging the biomass culture container, so that the labor cost is reduced, wrong operation is avoided, the operation consistency of different containers of the same type is improved, the consistency of experiment results of different batches is improved, and pollution caused by contact of biomass and a human body due to opening of a container cover by an operator is avoided.

The specific embodiments described herein are merely illustrative of the invention. Various modifications, additions and substitutions for the described embodiments may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.

Claims

1. A batch processing apparatus for biomass cultivation vessels, comprising:

a holder (100);

the clamping mechanisms (200) are arranged on the fixed frame (100) through a first transverse moving assembly (210), the clamping mechanisms (200) can slide transversely along the first transverse moving assembly (210), and the clamping mechanisms (200) are used for placing and clamping a plurality of culture containers;

the cover taking mechanisms (300) are arranged above the moving space of the clamping mechanism (200) through a plurality of first vertical moving assemblies (310), the cover taking mechanisms (300) can slide vertically along the first vertical moving assemblies (310), and the cover taking mechanisms (300) are used for grabbing culture container covers from culture containers of the clamping mechanism (200) and covering the taken culture container covers on corresponding culture container bottles;

the liquid adding mechanisms (400) are arranged above the moving space of the clamping mechanism (200) through a plurality of second vertical moving assemblies (420), the liquid adding mechanisms (400) can vertically slide along the second vertical moving assemblies (420), and the liquid adding mechanisms (400) are used for adding liquid to the biomass culture container;

a plurality of liquid-transfering mechanisms (500) arranged on the fixed frame (100), wherein the liquid-transfering mechanisms (500) are used for transferring liquid to the biomass culture container;

the scraping mechanism (600) is arranged above the moving space of the clamping mechanism (200) through a third vertical moving assembly (610), the scraping mechanism (600) can vertically slide along the third vertical moving assembly (610), a plurality of scrapers (620) are arranged on the scraping mechanism (600), and the scrapers (620) are used for scraping the working surface of the culture container;

a centrifugal mechanism (700) arranged on the fixed frame (100), wherein the centrifugal mechanism (700) is used for carrying out centrifugal treatment on the biomass in the biomass culture container.

2. The batch processing apparatus for biomass cultivation vessels according to claim 1, wherein the clamping mechanism (200) comprises a dish clamping assembly (220) and a flask clamping assembly (230), the dish clamping assembly (220) being used for clamping a culture dish and the flask clamping assembly (230) being used for clamping a flask.

3. The batch processing device for the biomass culture containers according to claim 2, wherein the culture dish clamping assembly (220) comprises an upper dish bottom fixing seat (221) which is slidably connected to the first transverse moving assembly (210), the dish bottom fixing seat (221) is provided with a dish bottom fixing plate (222), the dish bottom fixing plate (222) is provided with a plurality of dish bottom clamping jaws (223), the dish bottom clamping jaws (223) are provided with clamping control units (224), the dish bottom clamping jaws (223) are used for placing the culture dish, and the clamping control units (224) are used for controlling the dish bottom clamping jaws (223) to clamp the culture dish.

4. The batch processing device for the biomass cultivation container according to claim 2, wherein the cultivation bottle clamping assembly (230) comprises a cultivation bottle fixing seat (231) slidably connected to the first transverse moving assembly (210), a cultivation bottle fixing plate (232) is hinged to the cultivation bottle fixing seat (231), a plurality of cultivation bottles (233) are arranged on the cultivation bottle fixing plate (232), clamping blocks (234) are arranged on one sides of the cultivation bottles (233), the clamping blocks (234) are used for clamping the cultivation bottles (233), a first motor (235) is arranged on the cultivation bottle fixing seat (231), and the cultivation bottle fixing plate (232) is driven by the first motor (235) to rotate relative to the cultivation bottle fixing seat (231).

5. The batch processing device for the biomass culture containers according to claim 2, wherein the cover taking mechanism (300) comprises a culture dish cover taking assembly (320) and a culture bottle cover taking assembly (330), the culture dish cover taking assembly (320) is used for grabbing dish covers from the bottoms of the culture dishes clamped by the culture dish clamping assembly (220) and covering the taken-down dish covers on the corresponding dish bottoms, and the culture bottle cover taking assembly (330) is used for grabbing bottle covers from the bottles of the culture bottles (233) clamped by the culture bottle clamping assembly (230) and covering the taken-down bottle covers on the corresponding bottles.

6. The batch processing equipment for the biomass culture containers according to claim 5, wherein the culture dish cover taking assembly (320) comprises a dish cover fixing plate (322) connected to the first vertical moving assembly (310) in a sliding mode through a first connecting plate (321), a plurality of dish cover grabbing clamping jaws (323) are arranged on the dish cover fixing plate (322), a grabbing control unit (324) is arranged on each dish cover grabbing clamping jaw (323), and the grabbing control unit (324) is used for controlling the dish cover grabbing clamping jaws (323) to grab the dish cover from the bottom of the culture dish clamping assembly (220) and cover the taken-down dish cover on the corresponding dish bottom.

7. The batch processing device for the biomass cultivation container according to claim 5, wherein the cover assembly (330) is composed of a bottle cap fixing plate (331), a bottle cap linkage synchronous belt (334) and a second motor (335), the bottle cap fixing plate (331) is slidably connected to the first vertical moving assembly (310) through a second connecting plate (332), the bottle cap fixing plate (331) is rotatably connected to a plurality of bottle cap grabbing clamping jaws (333), one end of the bottle cap linkage synchronous belt (334) is connected to the bottle cap grabbing clamping jaws (333), the other end of the bottle cap linkage synchronous belt (334) is connected to the second motor (335), and the second motor (335) drives the bottle cap grabbing clamping jaws (333) to rotate through the bottle cap linkage synchronous belt (334).

8. The batch processing device for the biomass cultivation container according to claim 1, wherein the feeding mechanism (400) comprises a feeding fixing plate (430) which is slidably connected to the second vertical moving assembly (420) through a third connecting plate (410), a plurality of feeding pipes (440) are arranged on the feeding fixing plate (430), each feeding pipe (440) is connected with a pump body (450) through a pipeline, the pump body (450) is used for pumping the liquid to be fed into the feeding pipe (440), and the feeding pipe (440) is used for feeding the liquid into the cultivation container.

9. The batch processing apparatus for biomass cultivation vessels according to claim 1, wherein the pipetting mechanism (500) comprises an intelligent pipetting module (530) slidably connected to the fourth vertical moving assembly (520) through a fourth connecting plate (510), a funnel (540) arranged on the fixing frame (100), and a pipette tip storage module (550) arranged at the lower end of the intelligent pipetting module (530), the intelligent pipetting module (530) is used for pipetting the cultivation vessels, the funnel (540) is used for collecting the waste liquid in the intelligent pipetting module (530), the fixing frame (100) is provided with a pipette tip replacing port (110) corresponding to the intelligent pipetting module (530), the pipette tip storage module (550) comprises a second transverse moving assembly (551) arranged below the replacing port of the pipette tip (553), the second transverse moving assembly (551) is connected with a lance tip storage rack (552) in a sliding mode, a plurality of lance tips (553) are arranged on the lance tip storage rack (552), and the lance tips (553) are used for replacing the lance tips (553) on the intelligent pipetting module (530).

10. The batch processing apparatus for biomass cultivation vessels according to claim 1, characterized in that the centrifugation mechanism (700) comprises:

the centrifugal tube centrifuge device comprises a centrifugal tube loading frame (710), a centrifugal tube discharging frame (720) and a centrifuge (730), wherein the centrifugal tube loading frame (710), the centrifugal tube discharging frame (720) and the centrifuge (730) are all arranged on the fixing frame (100), the centrifugal tube loading frame (710) is used for placing centrifugal tubes to be centrifuged, the centrifugal tube discharging frame (720) is used for placing centrifuged centrifugal tubes, and the centrifuge (730) is used for centrifuging the centrifugal tubes;

the manipulator assembly (740) comprises a mechanical clamping jaw (742) arranged on a mounting plate (741), the mounting plate (741) is connected to the fixing frame (100) in a sliding mode through a third transverse moving unit (743), the mounting plate (741) is further provided with a fifth vertical moving unit (744), the mechanical clamping jaw (742) is connected to the fifth vertical moving unit (744) in a sliding mode through a fifth connecting plate (745), a third motor (746) is connected to one side of the mechanical clamping jaw (742), and the third motor (746) is used for driving the mechanical clamping jaw (742) to rotate;

the centrifugal tube placing frame (750) is connected to the fixing frame (100) in a sliding mode through a fourth transverse moving unit (751), a plurality of centrifugal tube placing positions (752) are arranged on the centrifugal tube placing frame (750), and the centrifugal tube placing positions (752) are used for placing centrifugal tubes to be moved into a culture container after centrifugation;

centrifuge tube subassembly (760) of uncapping, it sets up the upside at centrifuge tube rack (750) through sixth vertical mobile unit (761), sliding connection has sixth connecting plate (762) on sixth vertical mobile unit (761), it is connected with centrifuge tube clamping jaw (763) of uncapping to rotate on sixth connecting plate (762), still be equipped with fourth motor (764) on sixth connecting plate (762), fourth motor (764) drive centrifuge tube clamping jaw (763) of uncapping are rotatory.