A batch processing apparatus for a biomass culture vessel

Abstract

The present application belongs to the technical field of biomass culture, and provides a batch processing equipment for biomass culture containers, comprising: a fixing frame; a plurality of clamping mechanisms for placing and clamping a plurality of culture containers; a plurality of cap taking mechanisms for taking off the container caps from the culture containers of the clamping mechanisms and covering the taken-off container caps on the corresponding container bottles; a plurality of liquid adding mechanisms for adding liquid to the biomass culture containers; a plurality of pipetting mechanisms for pipetting the biomass culture containers; a scraping mechanism, the scraping mechanism being provided with a plurality of scrapers, the scrapers being used for scraping the working surface of the culture containers; and a centrifugal mechanism for centrifugal processing of the biomass in the biomass culture containers. Compared with the prior art, the present application has the advantages that the opening and closing of the caps, the adding of liquid, the pipetting, the scraping of the culture containers and the centrifugal operation of the biomass culture containers can be completed in batches, the labor cost is reduced, and the operation consistency of different containers of the same model is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of biomass culture, and particularly relates to a batch processing equipment for biomass culture containers. BACKGROUND

[0002] In biological experiments, an operator often uses a biomass culture container to culture biomass, and the culture container includes a container bottle and a container cover. After the culture container completes the culture of the biomass in a culture box, it still needs to be frequently opened, closed, liquid added, liquid transferred, shaken, centrifuged, and the like outside the culture box. Since some culture containers are large in size, such as culture bottles and culture dishes, only one can be operated at a time, and it is difficult to operate in batches.

[0003] A more common scheme in the current market is to mount an intelligent liquid transfer module on a gantry moving frame. The intelligent liquid transfer module can accurately add or discard liquid in a centrifuge tube. However, the container consumables used by such equipment are mainly centrifuge tubes or multi-well plates, and culture dishes and culture bottles are not suitable for such equipment. The culture dishes and culture bottles need to be opened before use and shaken during use, and these requirements are not functions possessed by the existing equipment. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a batch processing equipment for biomass culture containers, which realizes the batch and automation of opening and closing the container cover of the culture container, shaking the culture container, adding liquid, discarding liquid, and centrifugal processing in biological experiments, and effectively improves the processing efficiency.

[0005] The technical scheme adopted by the present application to solve the above technical problem is that a batch processing equipment for biomass culture containers is provided, which comprises a fixing frame.

[0006] A plurality of clamping mechanisms are arranged on the fixing frame through a first transverse moving assembly. The clamping mechanisms can slide transversely along the first transverse moving assembly. The clamping mechanisms are used to place and clamp a plurality of culture containers.

[0007] A plurality of cover taking mechanisms are arranged above the activity space of the clamping mechanisms through a plurality of first vertical moving assemblies. The cover taking mechanisms can slide vertically along the first vertical moving assemblies. The cover taking mechanisms are used to grab the culture container covers from the culture containers of the clamping mechanisms and cover the removed culture container covers on the corresponding culture container bottles.

[0008] A plurality of liquid adding mechanisms are arranged above the activity space of the clamping mechanisms through a plurality of second vertical moving assemblies. The liquid adding mechanisms can slide vertically along the second vertical moving assemblies. The liquid adding mechanisms are used to add liquid to the biomass culture containers.

[0009] a plurality of pipetting mechanisms arranged on the fixed frame, the pipetting mechanisms being used for pipetting the biomass culture container;

[0010] a scraping mechanism arranged above the movable space of the clamping mechanism through a third vertical moving assembly, the scraping mechanism being vertically slidable along the third vertical moving assembly, a plurality of scrapers being arranged on the scraping mechanism, the scrapers being used for scraping the working surface of the culture container;

[0011] a centrifuging mechanism arranged on the fixed frame, the centrifuging mechanism being used for centrifuging the biomass in the biomass culture container.

[0012] Compared with the prior art, the advantages of the present application are that: when in use, the culture container taken out from the incubator is placed on the clamping mechanism of the fixing frame, the culture container is clamped by the clamping mechanism, then the clamping mechanism and the cover taking mechanism are relatively moved by the first horizontal moving assembly and the first vertical moving assembly, so that the clamping mechanism is located directly below the cover taking mechanism, the cover taking mechanism is used to complete the cover opening process of the culture container on the clamping mechanism, the container cover on the culture container is removed, then the cover taking mechanism is moved away from the clamping mechanism by the first vertical moving assembly. Then the clamping mechanism after the cover opening is located directly below the liquid adding mechanism by the first horizontal moving assembly and the second vertical moving assembly, the liquid adding mechanism is used to complete the liquid adding process of the biomass in the culture bottle, such as PBS solution, culture solution, digestive enzyme solution, etc., then the liquid adding mechanism is moved away from the clamping mechanism by the second vertical moving assembly. Then the liquid adding, liquid adding, liquid discarding and other operations are completed on the container bottle by the pipetting mechanism. If scraping operation is needed, the scraping mechanism is used to scrape the working surface of the container bottle, so that the biomass in the container bottle is collected to one side of the bottom of the container bottle, which is convenient for collection. Finally, if the biomass in the container bottle needs to be centrifuged, the biomass in the container bottle is moved to the centrifugal mechanism by the pipetting mechanism, and the centrifugal process of the biomass is completed by the centrifugal mechanism. If the liquid added to the biomass in the container bottle needs to be centrifuged first during use, the liquid can also be centrifuged first by the centrifugal mechanism, and then added to the biomass in the container bottle by the pipetting mechanism. Therefore, the batch processing equipment for biomass culture of the present application can batchly complete the cover opening, cover closing, liquid adding, liquid moving, scraping, and centrifugation of the biomass culture container, which reduces the labor cost, avoids the error operation, improves the operation consistency of different containers of the same model, improves the consistency of experimental results of different batches, and avoids the pollution caused by the contact between the biomass and the human body due to the opening of the container cover by the operator. The first horizontal moving assembly, the first vertical moving assembly, the second vertical moving assembly, and the third vertical moving assembly in the present application are in the form of a linear module: the first horizontal moving assembly is a horizontally arranged linear module, the first vertical moving assembly, the second vertical moving assembly, and the third vertical moving assembly are vertically arranged linear modules, and the linear module is a mature product with controllable position and speed. Moreover, the first horizontal moving assembly, the first vertical moving assembly, the second vertical moving assembly, and the third vertical moving assembly in the present application are in communication connection with the control center.

[0013] In the batch processing equipment for biomass culture containers described above, the clamping mechanism comprises a culture dish clamping assembly and a culture bottle clamping assembly, the culture dish clamping assembly is used for clamping a culture dish, and the culture bottle clamping assembly is used for clamping a culture bottle. The clamping mechanism of the present application is also used for clamping culture dishes and culture bottles. In addition to this, the culture bottle clamping assembly can also be used for clamping triangular shake flasks, fermentation tanks and other biomass culture containers, so the clamping mechanism of the present application has a wide range of applications.

[0014] In the batch processing equipment for biomass culture container, the culture dish clamping assembly comprises a dish bottom fixing seat connected to the first transverse moving assembly through sliding connection, the dish bottom fixing seat is provided with a dish bottom fixing plate, a plurality of dish bottom clamping claws are arranged on the dish bottom fixing plate, a clamping control unit is arranged on the dish bottom clamping claws, the dish bottom clamping claws are used for placing culture dishes, and the clamping control unit is used for controlling the dish bottom clamping claws to clamp the culture dishes. The dish bottom clamping claws in the application comprise a central dish bottom clamping claw disc and a plurality of evenly distributed dish bottom clamping claws hinged around the dish bottom clamping claw disc, the height of the dish bottom clamping claws away from the side of the dish bottom clamping claw disc is higher than the height of the dish bottom clamping claws close to the side of the dish bottom clamping claw disc and the height of the dish bottom clamping claw disc, and the height of the dish bottom clamping claws is lower than the lower end of the dish cover after the culture dish is covered. When the culture dish is placed on the dish bottom clamping claws, the height of the dish bottom clamping claws away from the side of the dish bottom clamping claw disc is higher than the height of the dish bottom clamping claws close to the side of the dish bottom clamping claw disc and the height of the dish bottom clamping claw disc, so that the bottom of the culture dish is only in contact with the part of the dish bottom clamping claws away from the side of the dish bottom clamping claw disc when the culture dish is placed on the dish bottom clamping claws, the culture dish is clamped by the dish bottom clamping claws, and the culture dish is prevented from falling during operation. In the application, the height of the dish bottom clamping claws away from the side of the dish bottom clamping claw disc is higher than the height of the dish bottom clamping claws close to the side of the dish bottom clamping claw disc and the height of the dish bottom clamping claw disc by arranging an avoiding groove at the hinge between the dish bottom clamping claws and the dish bottom clamping claw disc. The clamping control unit in the application comprises a plurality of dish bottom rotating blocks connected to the lower side of the dish bottom clamping claws respectively, a dish bottom linkage synchronous belt and a fifth motor, one end of the dish bottom linkage synchronous belt is connected between the dish bottom rotating blocks, the other end is connected to 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 arranged on the lower side of the middle part of the dish bottom clamping claw disc, the center of the dish bottom rotating block is provided with a first through hole, the two ends of the dish bottom rotating column pass through the first through hole and are connected to the dish bottom clamping claw disc and the 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 placed on the dish bottom clamping claws, 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 claws to rotate, the dish bottom clamping claws drive the dish bottom clamping claw disc to rotate, and the dish bottom clamping claw disc drives the dish bottom rotating column to rotate. Since the dish bottom damper is arranged between the dish bottom rotating column and the dish bottom fixing plate, the rotating speed of the dish bottom rotating column and the dish bottom clamping claw disc is relatively slow compared with the dish bottom clamping claws, so that the rotating speed of the part of the dish bottom clamping claws hinged to the dish bottom clamping claw disc is slower than the speed of the part of the dish bottom clamping claws away from the side of the dish bottom clamping claw disc, the end of the dish bottom clamping claws away from the side of the dish bottom clamping claw disc rotates relatively to the dish bottom and approaches the center of the dish bottom, and the dish bottom is clamped. When the dish cover needs to be closed, the fifth motor is stopped to rotate, at this time, the dish bottom clamping claws abut against the four sides of the dish bottom, there is no relative movement trend due to the absence of speed difference, and there is no clamping force at this time.In the operation process, the petri dish is clamped by controlling the forward rotation of the fifth motor, the petri dish is loosened by reversing the fifth motor, so that the petri dish on the petri dish clamping jaw is rotated, and the batch rotation operation of the petri dish is realized. The fifth motor in the application is in communication connection with the control center. The petri dish fixing plate in the application is hinged to the petri dish fixing seat, the petri dish fixing seat is provided with a sixth motor, the sixth motor drives the petri dish fixing plate to swing relative to the petri dish fixing seat, the sixth motor rotates to drive the petri dish fixing plate to swing, the petri dish placed on the petri dish fixing plate is driven to swing, and the batch shaking operation of the petri dish is realized. The sixth motor in the application is in communication connection with the control center. The both ends of the petri dish fixing plate are provided with rotating holes, the petri dish fixing seat is provided with rotating shafts corresponding to the rotating holes, the both ends of the petri dish fixing plate are rotatably connected to the rotating shafts through the rotating holes, one of the rotating shafts is connected with the sixth motor, and the sixth motor is arranged on the petri dish fixing seat. The rotating shaft is driven to rotate by the sixth motor, and then the petri dish fixing plate is driven to swing.

[0015] In the above-mentioned batch processing equipment for biomass culture containers, the culture bottle clamping assembly comprises a culture bottle fixing seat slidably connected to the first transverse moving assembly, the culture bottle fixing seat is hinged with a culture bottle fixing plate, the culture bottle fixing plate is provided with a plurality of culture bottles, one side of each of the culture bottles is provided with a clamping block for clamping the culture bottle, the culture bottle fixing seat is provided with a first motor, and the first motor drives the culture bottle fixing plate to rotate relative to the culture bottle fixing seat. In use, the culture bottles are placed on the culture bottle fixing plate and clamped by the clamping blocks to avoid moving randomly during operation. After being fixed, the culture bottles on the culture bottle fixing plate can be swung and rotated by the first motor during use, so that the culture bottles on the culture bottle fixing plate are swung, the liquid and the biomass in the culture bottles are uniformly mixed, and the culture bottles can be rotated to meet the needs of opening and closing the bottle cap. The first motor in the application is in communication connection with the control center.

[0016] In the above-mentioned batch processing equipment for biomass culture containers, the cap taking mechanism comprises a culture dish cap taking assembly and a culture bottle cap taking assembly, the culture dish cap taking assembly is used for taking the dish cap from the dish bottom of the culture dish clamped by the culture dish clamping assembly and covering the taken dish cap on the corresponding dish bottom, and the culture bottle cap taking assembly is used for taking the bottle cap from the bottle body of the culture bottle clamped by the culture bottle clamping assembly and covering the taken bottle cap on the corresponding bottle body. The cap taking mechanism of the application is provided with the culture dish cap taking assembly and the culture bottle cap taking assembly corresponding to the clamping mechanism, the cap taking operation of the culture dish and the cap taking operation of the culture bottle are realized, the application range of the application is expanded, and the application range is wide.

[0017] In the batch processing equipment for biomass culture container, the culture dish cover taking assembly comprises a dish cover fixing plate connected to the first vertical moving assembly through the first connecting plate, and a plurality of dish cover grabbing clamps are arranged on the dish cover fixing plate, a grabbing control unit is arranged on the dish cover grabbing clamps, and the grabbing control unit is used for controlling the dish cover grabbing clamps to grab the dish cover from the dish bottom of the culture dish of the culture dish clamping assembly and cover the removed dish cover on the corresponding dish bottom. The dish cover grabbing clamps in the present application comprise a central dish cover clamp disc and a plurality of dish cover clamps which are hingedly arranged around the dish cover clamp disc, the height of the dish cover clamps is higher than that of the dish cover, and a clamping block is arranged at one end of the dish cover clamps and used for clamping and limiting the dish cover. In use, the dish cover of the culture dish is placed in the dish cover grabbing clamps, the end of the dish cover clamps is located outside the dish cover, and the clamping block at one end of the dish cover clamps is located outside the dish cover, and then the dish cover is grabbed by the dish cover clamps. The grabbing control unit comprises dish cover rotating blocks connected to the lower sides of the dish cover clamps, 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 is connected to 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 arranged at the lower side of the middle part of the dish cover clamp disc, the center of the dish cover rotating block is provided with a second through hole, and the dish cover fixing column passes through the second through hole and is connected to the dish cover clamp disc and the dish cover fixing plate at both ends. After the dish cover is contained in the dish cover clamp disc of the dish cover grabbing clamps, the seventh motor is started to rotate, the seventh motor drives the dish cover linkage synchronous belt to rotate, the dish cover linkage synchronous belt drives the dish cover rotating block to rotate, and the dish cover rotating block drives the dish cover clamps to rotate. Since the dish cover clamp disc is connected to the dish cover fixing plate through the dish cover fixing column, the dish cover clamps rotate relative to the dish cover clamp disc, and then the dish cover clamps rotate relative to the dish cover placed on the dish cover clamp disc by a certain angle, so that the clamping block at one end of the dish cover clamps is clamped on the dish cover, the seventh motor stops rotating, then the vertical moving assembly drives the dish cover grabbing clamps to move upwards, and the opening operation of the culture dish is realized. When the cover needs to be closed, the vertical moving assembly drives the dish cover grabbing clamps to move downwards, so that the dish cover grabbing clamps are located directly above the dish bottom, the seventh motor is reversed, the dish cover clamped in the dish cover clamp disc is loosened and placed on the dish bottom, and the closing operation is realized. The seventh motor is in communication connection with the control center.

[0018] In the batch processing equipment for biomass culture containers, the culture bottle cap taking assembly comprises a bottle cap fixing plate, a bottle cap linkage synchronous belt and a second motor, the bottle cap fixing plate is slidably connected to the first vertical moving assembly through a second connecting plate, a plurality of bottle cap grabbing clamps are rotatably connected to the bottle cap fixing plate, one end of the bottle cap linkage synchronous belt is connected between the bottle cap grabbing clamps, and the other end is connected to the second motor, and the second motor drives the bottle cap grabbing clamps to rotate through the bottle cap linkage synchronous belt. When the culture bottle needs to be uncapped, the culture bottle cap taking assembly is moved to the culture bottle clamping assembly through the first vertical moving assembly, the bottle cap of the culture bottle on the culture bottle cap taking assembly is placed in the bottle cap grabbing clamps, then the second motor is started, the second motor drives the bottle cap linkage synchronous belt to rotate, the bottle cap linkage synchronous belt drives the bottle cap grabbing clamps to rotate, and the bottle cap grabbing clamps drive the bottle cap to rotate, so that the bottle cap is rotated and opened from the culture bottle, and then the bottle cap grabbing clamps are moved away from the culture bottle under the action of the first vertical moving assembly, so that the uncapping operation of the culture bottle is realized. The second motor in the application is in communication connection with the control center.

[0019] In the batch processing equipment for biomass culture containers, the liquid adding mechanism comprises a liquid adding fixing plate slidably connected to the second vertical moving assembly through a third connecting plate, a plurality of liquid adding pipes are arranged on the liquid adding fixing plate, each liquid adding pipe is connected to a pump body through a pipeline, the pump body is used for pumping the liquid to be added into the liquid adding pipe, and the liquid adding pipe is used for adding the liquid into the culture container. When the liquid needs to be added, the liquid adding mechanism is moved to the side close to the uncapped culture bottle through the second vertical moving assembly, then the pump body is used for pumping the liquid to be added from the container storing the liquid into the liquid adding pipe, and the liquid adding pipe is used for adding the liquid into the culture container. The second vertical moving assembly in the application is a vertically arranged linear module, the linear module is a mature product with controllable position and speed, and the second vertical moving assembly in the application is in communication connection with the control center.

[0020] In the batch processing equipment for biomass culture containers, the pipetting mechanism comprises an intelligent pipetting module connected to the fourth vertical moving assembly through the fourth connecting plate, a funnel arranged on the fixed frame, and a tip storage module 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 the waste liquid in the intelligent pipetting module, the fixed frame is provided with a tip replacement opening corresponding to the intelligent pipetting module, the tip storage module comprises a second transverse moving assembly arranged below the tip replacement opening, and a tip storage rack is slidably connected to the second transverse moving assembly, and a plurality of tips are arranged on the tip storage rack, and the tips are used for replacing the tips on the intelligent pipetting module. The pipetting mechanism in the application is used for pipetting the biomass in the culture containers into the centrifugal tubes for centrifugal processing, and can also be used for adding the liquid in the centrifugal tubes to the biomass in the culture containers. The intelligent pipetting module in the application is an adjustable automatic pipetting module, which is a mature product capable of automatically sucking, dripping, discarding and replacing tips, and the intelligent pipetting module in the application is in communication connection with the control center. The tip storage rack is arranged at the lower end of the intelligent pipetting module through the second transverse moving assembly, when the intelligent pipetting module needs to be replaced with a tip for adding another liquid, the fourth vertical moving assembly drives the pipetting mechanism to move downward, so that the tip on the intelligent pipetting module passes through the tip replacement opening on the fixed frame, then the tip on the intelligent pipetting module is detached from the tip storage rack under the cooperation of the second transverse moving assembly, and the replacement of the tip is completed. Two funnels are arranged below each intelligent pipetting module in the application, which are used for storing biological reagents and chemical reagents respectively, when the liquid in the tip on the intelligent pipetting module needs to be discarded, the remaining liquid in the tip is dripped into the funnel for storage, and then the tip is replaced. The fourth vertical moving assembly and the second transverse moving assembly in the application are vertical and transverse linear modules respectively, and are in communication connection with the control center.

[0021] In the batch processing equipment for biomass culture container, the scraping mechanism comprises a base plate, the base plate is slidably connected with the third vertical moving assembly through the seventh connecting plate, a plurality of scraping knife fixing seats are arranged on the base plate at equal intervals, an installation block is arranged on the scraping knife fixing seat, an installation groove is arranged on the installation block, the scraping knife is arranged in the installation groove, a quick clamping mechanism is arranged on the upper side of the installation groove and the installation block, and the quick clamping mechanism is used for clamping the scraping knife. The scraping knife is installed in the installation groove and clamped by the quick clamping mechanism, so that the scraping knife is prevented from falling off during use, the third vertical moving assembly drives the base plate to slide up and down relative to the clamping mechanism through the seventh connecting plate, that is, the scraping knife is driven to slide up and down relative to the bottom of the dish, and the scraping knife is used for scraping the dish. The quick clamping mechanism in the application is a general quick clamping tool, which is not described in detail in the application. The scraping knife fixing seat in the application is provided with a sliding groove, a sliding block is slidably connected in the sliding groove, the installation block is arranged on the sliding block, first fixing columns are arranged on the two sides of the scraping knife fixing seat and correspond to the installation block, second fixing columns are arranged on the installation block and correspond to the first fixing columns, a telescopic spring is connected between the first fixing column and the second fixing column, and the telescopic direction of the telescopic spring is parallel to the sliding groove. The installation block is installed on the sliding block and can slide relative to the sliding groove, the telescopic spring parallel to the sliding groove is arranged between the installation block and the scraping knife fixing seat, the scraping knife is installed on the installation block, and when the scraping knife contacts the bottom of the dish, the scraping knife can move in the direction of the sliding groove to be adjusted, so that each scraping knife can fully contact the bottom of the dish. A plurality of cleaning openings are arranged on the fixed frame and correspond to the scraping knives in the application, cleaning and drying mechanisms are arranged on the lower side of the fixed frame and correspond to the cleaning openings, and the cleaning and drying mechanisms are used for cleaning and drying the scraping knives. After the scraping knife completes a scraping operation, the third vertical moving assembly drives the scraping knife to move downwards relative to the fixed frame, a plurality of cleaning openings are arranged below the scraping knife on the fixed frame, the scraping knife moves downwards relative to the fixed frame, so that the blade extends into the cleaning opening on the lower side of the fixed frame, and then the cleaning and drying mechanisms are used for cleaning and drying the blade of the scraping knife, so that the scraping knife can be repeatedly used without being frequently replaced. The cleaning and drying mechanism in the application comprises a spraying and flushing nozzle arranged on the fixed frame and a hot air drying port, the spraying and flushing nozzle is connected with a water pipe, and the hot air drying port is connected with a drying machine. A control valve is arranged between the water pipe and the spraying and flushing nozzle, and the control valve and the drying machine are both in communication connection with a control center and are uniformly controlled by the control center.

[0022] In the batch processing equipment for the biomass culture container, the centrifugal mechanism comprises a centrifuge tube feeding rack, a centrifuge tube discharging rack and a centrifuge, the centrifuge tube feeding rack, the centrifuge tube discharging rack and the centrifuge are arranged on the fixing frame, the centrifuge tube feeding rack is used for placing the centrifuge tubes to be centrifuged, the centrifuge tube discharging rack is used for placing the centrifuged centrifuge tubes, and the centrifuge is used for centrifuging the centrifuge tubes;

[0023] The mechanical hand assembly comprises a mechanical clamp jaw arranged on a mounting plate, the mounting plate is slidably connected to the fixing frame through a third transverse moving unit, the mounting plate is further provided with a fifth vertical moving unit, the mechanical clamp jaw is slidably connected to the fifth vertical moving unit through a fifth connecting plate, one side of the mechanical clamp jaw is connected with a third motor, and the third motor is used to drive the mechanical clamp jaw to rotate;

[0024] The centrifuge tube placing rack is slidably connected to the fixing frame through a fourth transverse moving unit, a plurality of centrifuge tube placing positions are arranged on the centrifuge tube placing rack, and the centrifuge tube placing positions are used for placing the centrifuged centrifuge tubes to be transferred to the culture containers;

[0025] The centrifuge tube cover opening assembly is arranged on the upper side of the centrifuge tube placing rack through a sixth vertical moving unit, a sixth connecting plate is slidably connected to the sixth vertical moving unit, a centrifuge tube cover opening clamp jaw is rotatably connected to the sixth connecting plate, and a fourth motor is further arranged on the sixth connecting plate, the fourth motor drives the centrifuge tube cover opening clamp jaw to rotate.

[0026] In use, the centrifuge tube to be centrifuged is placed on the centrifuge tube loading rack, then the mechanical hand assembly slides to the centrifuge tube loading rack through the third transverse moving unit, the mechanical clamp jaw is driven to move up and down by the fifth vertical moving unit, the centrifuge tube is clamped by the mechanical clamp jaw, then the third transverse moving unit drives the mechanical clamp jaw to move to the centrifuge, then the mechanical clamp jaw is rotated by the third motor to place the centrifuge tube on the centrifuge, and the centrifuge is used to complete the centrifugal treatment of the centrifuge tube. After the centrifugal treatment of the centrifuge tube is completed, the centrifuged centrifuge tube is taken off from the centrifuge and placed on the centrifuge tube placing rack under the control of the third transverse moving unit and the fifth vertical moving unit, then the centrifuge tube is opened by the centrifuge tube opening assembly. Under the control of the sixth vertical moving unit, the centrifuge tube opening clamp jaw is driven to move to the centrifuge tube placing rack, so that the centrifuge tube is contained in the centrifuge tube opening clamp jaw, then the fourth motor drives the centrifuge tube opening clamp jaw to rotate to rotate the centrifuge tube cover off the centrifuge tube and clamp it in the centrifuge tube opening clamp jaw, then the centrifuge tube opening clamp jaw is driven to move away from the centrifuge tube by the sixth vertical moving unit, and the centrifuge tube opening is completed. Finally, the centrifuge tube placed on the centrifuge tube placing rack after opening is moved to below the pipetting mechanism by the fourth transverse moving unit, and the liquid in the centrifuge tube after centrifugal treatment is added to the biomass in the culture container by the pipetting mechanism. The centrifuge mechanism of the present application can also be used for centrifugal treatment of the biomass in the culture container. First, the centrifuge tube on the centrifuge tube placing rack is opened by the centrifuge tube opening assembly, then the biomass in the culture container is moved and added to the centrifuge tube on the centrifuge tube placing rack by the pipetting mechanism, then the third motor of the centrifuge tube opening assembly is reversed to complete the closing of the centrifuge tube, then the centrifuge tube is placed on the centrifuge by the mechanical hand assembly, and after centrifugal treatment by the centrifuge, the centrifuge tube is placed on the centrifuge tube unloading rack by the mechanical hand assembly, waiting for the operator to unload. The third transverse moving unit, the fourth transverse moving unit, the fifth vertical moving unit and the sixth vertical moving unit in the present application are linear modules arranged correspondingly in the transverse or vertical direction, and are in communication connection with the control center. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0028] Figure 2 It is a schematic diagram of the structure of the clamping mechanism of an embodiment of the present application;

[0029] Figure 3 It is a schematic diagram of the structure of the culture dish clamping assembly of an embodiment of the present application;

[0030] Figure 4 It is a schematic diagram of part of the structure of the culture dish clamping assembly of an embodiment of the present application Figure 1 ;

[0031] Figure 5 Partial structure diagram of a petri dish clamping assembly according to an embodiment of the present application Figure 2 ;

[0032] Figure 6 Structure diagram of a cap taking mechanism according to an embodiment of the present application

[0033] Figure 7 Structure diagram of a petri dish cap taking assembly according to an embodiment of the present application

[0034] Figure 8 Partial structure diagram of a petri dish cap taking assembly according to an embodiment of the present application Figure 1 ;

[0035] Figure 9 Partial structure diagram of a petri dish cap taking assembly according to an embodiment of the present application Figure 2 ;

[0036] Figure 10 Structure diagram of a liquid adding mechanism according to an embodiment of the present application

[0037] Figure 11 Structure diagram of a pipetting mechanism according to an embodiment of the present application

[0038] Figure 12 Structure diagram of a scraping mechanism according to an embodiment of the present application

[0039] Figure 13 Partial structure diagram of a scraping mechanism according to an embodiment of the present application Figure 1 ;

[0040] Figure 14 Partial structure diagram of a scraping mechanism according to an embodiment of the present application Figure 2 ;

[0041] Figure 15 Partial structure diagram of a scraping mechanism according to an embodiment of the present application Figure 3 ;

[0042] Figure 16 Structure diagram of a centrifuging mechanism according to an embodiment of the present application Figure 1 ;

[0043] Figure 17 Structure diagram of a centrifuging mechanism according to an embodiment of the present application Figure 2 .

[0044] In the figure, 100, fixed frame; 110, gun head replacement port; 120, cleaning port; 130, spray flushing nozzle; 140, hot air drying port; 200, clamping mechanism; 210, first horizontal movement assembly; 220, culture dish clamping assembly; 221, dish bottom fixing seat; 222, dish bottom fixing plate; 223, dish bottom clamping jaw; 2231, dish bottom clamping jaw disc; 2232, dish bottom clamping jaw; 224, clamping control unit; 2241, dish bottom rotating block; 2242, dish bottom linkage synchronous belt; 2243, fifth motor; 2244, dish bottom rotating column; 2245, dish bottom damper; 2246, first through hole; 225, sixth motor; 230, culture bottle clamping assembly; 231, culture bottle fixing seat; 232, culture bottle fixing plate; 233, culture bottle; 234, clamping block; 235, first motor; 300, cover taking mechanism; 310, first vertical movement assembly; 320, culture dish cover taking assembly; 321, first connecting plate; 322, dish cover fixing plate; 323, dish cover grabbing jaw; 3231, dish cover jaw disc; 3232, dish cover jaw; 3233, clamping block; 324, grabbing control unit; 325, dish cover rotating block; 326, dish cover linkage synchronous belt; 327, seventh motor; 328, dish cover fixing column; 329, second through hole; 330, culture bottle cover taking assembly; 331, bottle cover fixing plate; 332, second connecting plate; 333, bottle cover grabbing jaw; 334, bottle cover linkage synchronous belt; 335, second motor; 400, liquid adding mechanism; 410, third connecting plate; 420, second vertical movement assembly; 430, liquid adding fixing plate; 440, liquid adding pipe; 450, pump body; 500, pipetting mechanism; 510, fourth connecting plate; 520, fourth vertical movement assembly; 530, intelligent pipetting module; 540, funnel; 550, gun head storage module; 551, second horizontal movement assembly; 552, gun head storage rack; 553, gun head; 600, material scraping mechanism; 610, third vertical movement assembly; 620, scraper; 630, base plate; 640, seventh connecting plate; 650, scraper fixing seat; 651, mounting block; 652, first fixing column; 653, quick clamping mechanism; 654, sliding groove; 655, sliding block; 656, second fixing column; 657, extension spring; 700, centrifugation mechanism; 710, centrifuge tube feeding rack; 720, centrifuge tube discharging rack; 730, centrifuge; 740, mechanical hand assembly; 741, mounting plate; 742, mechanical jaw; 743, third horizontal movement unit; 744, fifth vertical movement unit; 745, fifth connecting plate; 746, third motor; 750, centrifuge tube placement rack; 751, fourth horizontal movement unit; 752, centrifuge tube placement site; 760, centrifuge tube cover opening assembly; 761, sixth vertical movement unit; 762, sixth connecting plate; 763, centrifuge tube cover opening jaw; 764, fourth motor. DETAILED DESCRIPTION

[0045] The technical solutions of the present application are further described below in conjunction with the drawings, but the present application is not limited to these embodiments.

[0046] As Figure 1As shown, the batch processing equipment for biomass culture containers of the present application comprises: a fixing frame 100; a plurality of clamping mechanisms 200 arranged on the fixing frame 100 through a first transverse moving assembly 210, each of 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; a plurality of cap removing mechanisms 300 arranged above the clamping mechanisms 200 through a plurality of first vertical moving assemblies 310, 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 the container caps from the culture containers of the clamping mechanisms 200 and covering the removed container caps on the corresponding container bottles; a plurality of liquid adding mechanisms 400 arranged above the clamping mechanisms 200 through a plurality of second vertical moving assemblies 420, the liquid adding mechanisms 400 can slide vertically along the second vertical moving assemblies 420, and the liquid adding mechanisms 400 are used for adding liquid to the biomass culture containers; a plurality of pipetting mechanisms 500 arranged on the fixing frame 100, the pipetting mechanisms 500 are used for pipetting the biomass culture containers; a scraping mechanism 600 arranged above the clamping mechanisms 200 through a third vertical moving assembly 610, the scraping mechanism 600 can slide vertically along the third vertical moving assembly 610, and the scraping mechanism 600 is provided with a plurality of scrapers 620, and the scrapers 620 are used for scraping the working surface of the culture containers; and a centrifugal mechanism 700 arranged on the fixing frame 100, the centrifugal mechanism 700 is used for centrifugal processing of the biomass in the biomass culture containers. 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 present application all adopt the form of linear modules: the first transverse moving assembly 210 is a linear module arranged transversely, the first vertical moving assembly 310, the second vertical moving assembly 420 and the third vertical moving assembly 610 are linear modules arranged vertically respectively, the linear module is a mature product with controllable position and speed, 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 in the present application are all in communication connection with the control center. In use, the culture containers taken out from the incubator are placed on the clamping mechanisms 200 on the fixing frame 100, the culture containers are clamped by the clamping mechanisms 200, then the clamping mechanisms 200 and the cap removing mechanisms 300 are relatively moved through the first transverse moving assembly 210 and the first vertical moving assembly 310, so that the clamping mechanisms 200 are located directly below the cap removing mechanisms 300, the cap removing mechanisms 300 complete the uncapping processing of the culture containers on the clamping mechanisms 200, the container caps on the culture containers are removed, and then the cap removing mechanisms 300 are moved away from the clamping mechanisms 200 through the first vertical moving assembly 310.Then through the first transverse moving assembly 210 and the second vertical moving assembly 420, the uncapped container bottle on the clamping mechanism 200 is located directly below the liquid adding mechanism 400, and the liquid adding treatment of the biomass in the culture bottle 233 is completed by using the liquid adding mechanism 400, such as PBS solution, culture solution, digestive enzyme solution, etc., and then the liquid adding mechanism 400 is moved away from the clamping mechanism 200 by the second vertical moving assembly 420. Then through the pipetting mechanism 500, the liquid adding, medicine adding, liquid discarding and other operations on the container bottle are completed. If scraping operation is needed, the scraping mechanism 600 is used to scrape the working surface of the container bottle, so that the biomass in the container bottle is collected to one side of the bottom of the container bottle, which is convenient for collection. Finally, if the biomass in the container bottle needs to be centrifuged, the pipetting mechanism 500 is used to move the biomass in the container bottle to the centrifugal mechanism 700, and the centrifugal treatment of the biomass is completed by the centrifugal mechanism 700. If the liquid to be added to the biomass in the container bottle needs to be centrifuged first during use, the centrifugal mechanism 700 can be used for centrifugal treatment first, and then the pipetting mechanism 500 is used to add the centrifuged liquid to the biomass in the container bottle.

[0047] As shown in Figure 2 The clamping mechanism 200 includes a culture dish clamping assembly 220 and a culture bottle clamping assembly 230, the culture dish clamping assembly 220 is used for clamping a culture dish, and the culture bottle clamping assembly 230 is used for clamping a culture bottle 233. The clamping mechanism 200 of the present application includes the culture dish clamping assembly 220 and the culture bottle clamping assembly 230, the culture dish clamping assembly 220 is used for clamping a culture dish, and the culture bottle clamping assembly 230 is used for clamping a culture bottle 233. In addition to this, the culture bottle clamping assembly 230 can also be used for clamping a triangular shake flask, a fermentation tank and other biomass culture containers, so the clamping mechanism 200 of the present application has a wide range of applications.

[0048] As shown in Figure 3 , Figure 4 , Figure 5As shown, the culture dish clamping assembly 220 comprises a dish bottom fixing seat 221 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 a clamping control unit 224, the dish bottom clamping jaws 223 are used for placing the culture dish, and the clamping control unit 224 is used for controlling the clamping of the culture dish by the dish bottom clamping jaws 223. The dish bottom clamping jaws 223 in the application comprise a central dish bottom jaw disc 2231 and a plurality of dish bottom clamping jaws 2232 evenly distributed and hinged around the dish bottom jaw disc 2231, the height of the dish bottom clamping jaws 2232 away from one side of the dish bottom jaw disc 2231 is higher than the height of the dish bottom clamping jaws 2232 close to the other side of the dish bottom jaw disc 2231 and the height of the dish bottom jaw disc 2231, and the height of the dish bottom clamping jaws 2232 is lower than the lower end of the dish cover after the culture dish is covered. In use, the culture dish is placed on the dish bottom clamping jaws 223, because the height of the dish bottom clamping jaws 2232 away from one side of the dish bottom jaw disc 2231 is higher than the height of the dish bottom clamping jaws 2232 close to the other side of the dish bottom jaw disc 2231 and the height of the dish bottom jaw disc 2231, when the culture dish is placed on the dish bottom clamping jaws 223, only the bottom of the culture dish is in contact with the part of the dish bottom clamping jaws 2232 away from one side of the dish bottom jaw disc 2231, the culture dish is clamped by the dish bottom clamping jaws 2232, and the culture dish is prevented from falling during operation. In the application, the height of the dish bottom clamping jaws 2232 away from one side of the dish bottom jaw disc 2231 is higher than the height of the dish bottom clamping jaws 2232 close to the other side of the dish bottom jaw disc 2231 and the height of the dish bottom jaw disc 2231 by setting an avoiding groove at the hinge between the dish bottom clamping jaws 2232 and the dish bottom jaw disc 2231. The clamping control unit 224 in the application comprises a plurality of dish bottom rotating blocks 2241 connected to the lower side of the plurality of dish bottom clamping jaws 2232 respectively, a dish bottom linkage synchronous belt 2242 and a fifth motor 2243, one end of the dish bottom linkage synchronous belt 2242 is connected between the dish bottom rotating blocks 2241, the other end 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 arranged at the middle lower side of the dish bottom jaw disc 2231, the center of the dish bottom rotating block 2241 is provided with a first through hole 2246, the dish bottom rotating column 2244 passes through the first through hole 2246 and is connected with the dish bottom jaw disc 2231 and the dish bottom fixing plate 222 at both ends respectively, and a dish bottom damper 2245 is arranged between the dish bottom rotating column 2244 and the dish bottom fixing plate 222.When the 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 disc 2231 to rotate, and the dish bottom clamping jaw disc 2231 drives the dish bottom rotating column 2244 to rotate. Since the dish bottom rotating column 2244 and the dish bottom fixed plate 222 are provided with the dish bottom damper 2245, the rotating speed of the dish bottom rotating column 2244 and the dish bottom clamping jaw disc 2231 is relatively slow compared with the dish bottom clamping jaw 2232. In this way, the rotating speed of the dish bottom clamping jaw 2232 at the hinged position of the dish bottom clamping jaw disc 2231 is slower than the speed of the dish bottom clamping jaw 2232 away from the dish bottom clamping jaw disc 2231, the end of the dish bottom clamping jaw 2232 away from the dish bottom clamping jaw disc 2231 rotates relative to the dish bottom and approaches the center of the dish bottom, and the dish bottom is clamped. When the cover needs to be closed, the fifth motor 2243 is stopped, and at this time, the dish bottom clamping jaw 2232 abuts against the dish bottom. Since there is no speed difference, there is no relative movement trend, and there is no clamping force at this time. During the operation, the dish bottom is clamped by controlling the forward rotation of the fifth motor 2243, the dish bottom is released by reversing the fifth motor 2243, the dish bottom on the dish bottom clamping jaw 2232 is rotated, the batch rotation operation of the culture dish is realized, the fifth motor 2243 in the application is in communication connection with the control center. The dish bottom fixed plate 222 in the application is hinged on the dish bottom fixed seat 221, the sixth motor 225 is arranged on the dish bottom fixed seat 221, the sixth motor 225 drives the dish bottom fixed plate 222 to swing relative to the dish bottom fixed seat 221, the sixth motor 225 rotates to drive the dish bottom fixed plate 222 to swing, the culture dish placed on the dish bottom fixed plate 222 is swung, and the batch swing operation of the culture dish is realized. The sixth motor 225 in the application is in communication connection with the control center. The both ends of the dish bottom fixed plate 222 are provided with rotating holes, rotating shafts corresponding to the rotating holes are arranged on the dish bottom fixed seat 221, the both ends of the dish bottom fixed plate 222 are rotatably connected to the rotating shafts, one of the rotating shafts is connected to the sixth motor 225, and the sixth motor 225 is arranged on the dish bottom fixed seat 221. The rotating shaft is driven to rotate by the sixth motor 225, and the dish bottom fixed plate 222 is swung.

[0049] As Figure 2As shown, the culture bottle clamping assembly 230 comprises a culture bottle fixing seat 231 slidably connected to the first transverse moving assembly 210, a culture bottle fixing plate 232 hingedly connected to the culture bottle fixing seat 231, and a plurality of culture bottles 233 provided on the culture bottle fixing plate 232, wherein each of the culture bottles 233 is provided with a clamping block 234 for clamping the culture bottle 233, and the culture bottle fixing seat 231 is provided with a first motor 235 for driving the culture bottle fixing plate 232 to rotate relative to the culture bottle fixing seat 231. In use, the culture bottles 233 are placed on the culture bottle fixing plate 232 and clamped by the clamping blocks 234 to avoid moving randomly during operation. After being fixed, the culture bottles 233 can be swung and rotated by using the first motor 235 to drive the culture bottle fixing plate 232 during use, so as to swing the culture bottles 233 fixed on the culture bottle fixing plate 232, thereby mixing the liquid and the biomass added in the culture bottles 233 uniformly, and the culture bottles 233 can be rotated to make the direction of the bottle cap meet the needs of opening and closing. The first motor 235 in the present application is in communication connection with the control center.

[0050] As shown in Figure 6 , the cap taking mechanism 300 comprises 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 the dish cap from the dish bottom of the culture dish clamped by the culture dish clamping assembly 220 and covering the removed dish cap on the corresponding dish bottom, and the culture bottle cap taking assembly 330 is used for grabbing the bottle cap from the bottle body of the culture bottle 233 clamped by the culture bottle clamping assembly 230 and covering the removed bottle cap on the corresponding bottle body. The culture dish cap taking assembly 320 and the culture bottle cap taking assembly 330 are respectively provided on the cap taking mechanism 300 corresponding to the clamping mechanism 200, so as to realize the cap taking operation of the culture dish and the cap taking operation of the culture bottle 233, expand the application range of the present application, and have wide application range.

[0051] As shown in Figure 7 , Figure 8 , Figure 9As shown, the petri dish cover taking assembly 320 comprises a dish cover fixing plate 322 connected to the first vertical moving assembly 310 through a first connecting plate 321, and a plurality of dish cover grabbing clamps 323 are arranged on the dish cover fixing plate 322. A grabbing control unit 324 is arranged on the dish cover grabbing clamps 323, and the grabbing control unit 324 is used for controlling the dish cover grabbing clamps 323 to grab the dish cover from the dish bottom of the petri dish of the petri dish clamping assembly 220 and cover the removed dish cover on the corresponding dish bottom. The dish cover grabbing clamps 323 in the present application comprise a central dish cover clamp disc 3231 and a plurality of dish cover clamps 3232 which are hingedly arranged around the dish cover clamp disc 3231. The height of the dish cover clamps 3232 is higher than that of the dish cover, and a clamping block 3233 is arranged at one end of the dish cover clamps 3232, which is used for clamping and limiting the dish cover. In use, the dish cover of the petri dish is placed in the dish cover grabbing clamps 323, the end of the dish cover clamps 3232 is beyond the dish cover, and the clamping block 3233 at one end of the dish cover clamps 3232 is located outside the four sides of the dish cover, and then the dish cover is grabbed by the dish cover clamps 3232. The grabbing control unit 324 comprises dish cover rotating blocks 325 connected to the lower side of the dish cover clamps 3232, a dish cover linkage synchronous belt 326 and a seventh motor 327. One end of the dish cover linkage synchronous belt 326 is connected between the dish cover rotating blocks 325, and the other end is connected to 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 arranged on the lower side of the middle part of the dish cover clamp disc 3231. The center of the dish cover rotating block 325 is provided with a second through hole 329, and the dish cover fixing column 328 passes through the second through hole 329 and is connected to the dish cover clamp disc 3231 and the dish cover fixing plate 322 at both ends respectively. After the dish cover is contained in the dish cover clamp disc 3231 of the dish cover grabbing clamps 323, the seventh motor 327 is started to rotate, the seventh motor 327 drives the dish cover linkage synchronous belt 326 to rotate, the dish cover linkage synchronous belt 326 drives the dish cover rotating block 325 to rotate, and the dish cover rotating block 325 drives the dish cover clamps 3232 to rotate. Since the dish cover clamp disc 3231 is connected to the dish cover fixing plate 322 through the dish cover fixing column 328, the dish cover clamps 3232 rotate relative to the dish cover clamp disc 3231, and then the dish cover clamps 3232 rotate relative to the dish cover placed on the dish cover clamp disc 3231 by a certain angle, so that the clamping block 3233 at one end of the dish cover clamps 3232 is clamped on the four sides of the dish cover, thereby clamping the dish cover. The seventh motor 327 stops rotating, then the first vertical moving assembly 310 drives the dish cover grabbing clamps 323 to move upwards, and the opening operation of the petri dish is realized. When the dish cover needs to be closed, the first vertical moving assembly 310 drives the dish cover grabbing clamps 323 to move downwards, so that the dish cover grabbing clamps 323 are located directly above the dish bottom, the seventh motor 327 is reversed, and the dish cover clamped in the dish cover clamp disc 3231 can be released and placed on the dish bottom, thereby realizing the closing operation.The seventh motor 327 in the application is in communication connection with the control center.

[0052] As shown in the drawings, Figure 6 The bottle cap fixing plate 331 is slidably connected to the first vertical moving assembly 310 through the second connecting plate 332, and a plurality of bottle cap grabbing clamps 333 are rotatably connected to the bottle cap fixing plate 331. One end of the bottle cap linkage synchronous belt 334 is connected between the bottle cap grabbing clamps 333, and the other end is connected with the second motor 335. The second motor 335 drives the bottle cap grabbing clamps 333 to rotate through the bottle cap linkage synchronous belt 334. The second motor 335 in the application is in communication connection with the control center. When it is needed to open the cap of the culture bottle 233, the culture bottle 233 cap taking assembly is moved to the culture bottle clamping assembly 230 by the first vertical moving assembly 310, the cap of the culture bottle 233 on the culture bottle clamping assembly 230 is placed in the bottle cap grabbing clamps 333, and then the second motor 335 is started. The second motor 335 drives the bottle cap linkage synchronous belt 334 to rotate, the bottle cap linkage synchronous belt 334 drives the bottle cap grabbing clamps 333 to rotate, and the bottle cap grabbing clamps 333 drive the cap to rotate, thereby rotating the cap from the culture bottle 233. After that, the bottle cap grabbing clamps 333 are moved away from the culture bottle 233 under the action of the first vertical moving assembly 310, thereby realizing the opening operation of the culture bottle 233.

[0053] As shown in the drawings, Figure 10 The liquid adding mechanism 400 includes a liquid adding fixing plate 430 slidably connected to the second vertical moving assembly 420 through a third connecting plate 410. A plurality of liquid adding pipes 440 are arranged on the liquid adding fixing plate 430, and each liquid adding pipe 440 is connected with a pump body 450 through a pipeline. The pump body 450 is used for pumping the liquid to be added into the liquid adding pipe 440, and the liquid adding pipe 440 is used for adding the liquid into the culture container. The second vertical moving assembly 420 in the application is a vertical linear module. The linear module is a mature product with controllable position and speed, and the second vertical moving assembly 420 in the application is in communication connection with the control center. When it is needed to add liquid, the liquid adding mechanism 400 is moved to the side of the culture bottle 233 or the culture dish after the cap is opened by the second vertical moving assembly 420. Then, the pump body 450 is used for pumping the liquid to be added from the container storing the liquid into the liquid adding pipe 440, and the liquid adding pipe 440 is used for adding the liquid into the culture container.

[0054] As shown in the drawings, Figure 11As shown, the pipetting mechanism 500 includes a smart pipetting module 530 connected to the fourth vertical movement assembly 520 through the fourth connecting plate 510, a funnel 540 arranged on the fixed frame 100, and a tip storage module 550 arranged at the lower end of the smart pipetting module 530, the smart pipetting module 530 is used for pipetting the culture container, the funnel 540 is used for collecting the waste liquid in the smart pipetting module 530, the fixed frame 100 is provided with a tip replacement opening 110 corresponding to the smart pipetting module 530, the tip storage module 550 includes a second horizontal movement assembly 551 arranged below the tip replacement opening 110, and the second horizontal movement assembly 551 is slidably connected with a tip storage rack 552, and the tip storage rack 552 is provided with a plurality of tips 553, and the tips 553 are used for replacing the tips 553 on the smart pipetting module 530. The pipetting mechanism 500 in the application is used for pipetting the biomass in the culture container into the centrifugal tube for centrifugal treatment, and can also be used for adding the liquid in the centrifugal tube to the biomass in the culture container. The smart pipetting module 530 in the application is an adjustable automatic pipetting module, which is a mature product capable of automatically sucking, dripping, discarding liquid and replacing the tips 553, and the smart pipetting module 530 in the application is in communication connection with the control center. The tip storage rack 552 in the application is arranged at the lower end of the smart pipetting module 530 through the second horizontal movement assembly 551, when the smart pipetting module 530 needs to be replaced with the tips 553 to add another liquid, the fourth vertical movement assembly 520 drives the pipetting mechanism 500 to move downward, so that the tips 553 on the smart pipetting module 530 pass through the tip replacement opening 110 on the fixed frame 100, then the tips 553 on the smart pipetting module 530 are detached from the tip storage rack 552 under the cooperation of the second horizontal movement assembly 551, and the replacement of the tips 553 is completed. Two funnels 540 are arranged below each smart pipetting module 530 in the application, which are respectively used for storing biological reagents and chemical reagents, when the liquid in the tips 553 on the smart pipetting module 530 needs to be discarded, the remaining liquid in the tips 553 is dripped into the funnel 540 for storage, and then the tips 553 are replaced. The fourth vertical movement assembly 520 and the second horizontal movement assembly 551 in the application are respectively vertically arranged and horizontally arranged linear modules, and are in communication connection with the control center.

[0055] As Figure 12 , Figure 13 , Figure 14 , Figure 15As shown, the scraping mechanism 600 comprises a base plate 630, which is slidingly connected with the third vertical moving assembly 610 through a seventh connecting plate 640, and a plurality of scraping knife fixing seats 650 are arranged on the base plate 630 in a uniform distribution, and an installation block 651 is arranged on each scraping knife fixing seat 650, and an installation groove is arranged on the installation block 651, and a scraping knife 620 is arranged in the installation groove, and a quick clamping mechanism 653 is arranged on the upper side of the installation groove and is installed on the installation block 651, and the quick clamping mechanism 653 is used for clamping the scraping knife 620. The quick clamping mechanism 653 in the application is a general quick clamping tool, which will not be described in detail in the application. A sliding groove 654 is arranged on the scraping knife fixing seat 650 in the application, and a sliding block 655 is slidingly connected in the sliding groove 654, and the installation block 651 is arranged on the sliding block 655, and a first fixing column 652 is arranged on the two sides of the scraping knife fixing seat 650 corresponding to the installation block 651, and a second fixing column 656 is arranged on the installation block 651 corresponding to the first fixing column 652, and a telescopic spring 657 is connected between the first fixing column 652 and the second fixing column 656, and the telescopic direction of the telescopic spring 657 is parallel to the sliding groove 654. The installation block 651 is installed on the sliding block 655 and can slide relative to the sliding groove 654, and the telescopic spring 657 parallel to the sliding groove 654 is arranged between the installation block 651 and the scraping knife fixing seat 650, and the scraping knife 620 is installed on the installation block 651, and when the scraping knife 620 contacts the bottom of the dish, the scraping knife 620 can move in the direction of the sliding groove 654 to adjust the contact between the scraping knife 620 and the bottom of the dish. A plurality of cleaning and drying mechanisms are arranged on the lower side of the fixing frame 100 corresponding to the cleaning ports 120, and the cleaning and drying mechanisms are used for cleaning and drying the scraping knives 620. After the scraping knives 620 complete a scraping action, the third vertical moving assembly 610 drives the scraping knives 620 to move downward relative to the fixing frame 100, a plurality of cleaning ports 120 are arranged on the fixing frame 100 corresponding to the positions directly below the scraping knives 620, the scraping knives 620 move downward relative to the fixing frame 100 so that the cutting edges of the scraping knives 620 extend into the cleaning ports 120 on the lower side of the fixing frame 100, and then the cleaning and drying mechanisms are used to clean and dry the cutting edges of the scraping knives 620, so that the scraping knives 620 can be repeatedly used without being replaced frequently. The cleaning and drying mechanisms in the application comprise spray flushing nozzles 130 arranged on the fixing frame 100 and hot air drying ports 140, the spray flushing nozzles 130 are connected with water pipes, and the hot air drying ports 140 are connected with drying machines. A control valve is arranged between the water pipes and the spray flushing nozzles 130 in the application, and the control valve and the drying machines are both in communication connection with a control center and are controlled by the control center.

[0056] As Figure 16 、 Figure 17As shown, the centrifugal mechanism 700 comprises: a centrifugal tube feeding rack 710, a centrifugal tube discharging rack 720, and a centrifugal machine 730, all of which are arranged on the fixed frame 100, the centrifugal tube feeding rack 710 is used for placing centrifugal tubes to be centrifuged, the centrifugal tube discharging rack 720 is used for placing centrifugal tubes after centrifugation, and the centrifugal machine 730 is used for centrifugation of the centrifugal tubes; a mechanical hand assembly 740 comprising a mechanical gripper 742 arranged on a mounting plate 741, the mounting plate 741 being slidably connected to the fixed frame 100 through a third transverse moving unit 743, the mounting plate 741 further being provided with a fifth vertical moving unit 744, the mechanical gripper 742 being slidably connected to the fifth vertical moving unit 744 through a fifth connecting plate 745, one side of the mechanical gripper 742 being connected to a third motor 746, the third motor 746 being used to drive the mechanical gripper 742 to rotate; a centrifugal tube placing rack 750 being slidably connected to the fixed frame 100 through a fourth transverse moving unit 751, the centrifugal tube placing rack 750 being provided with a plurality of centrifugal tube placing positions 752, the centrifugal tube placing positions 752 being used for placing centrifugal tubes after centrifugation to be transferred to culture containers; a centrifugal tube cover opening assembly 760 being arranged on the upper side of the centrifugal tube placing rack 750 through a sixth vertical moving unit 761, a sixth connecting plate 762 being slidably connected to the sixth vertical moving unit 761, a centrifugal tube cover opening gripper 763 being rotatably connected to the sixth connecting plate 762, and a fourth motor 764 being further arranged on the sixth connecting plate 762, the fourth motor 764 driving the centrifugal tube cover opening gripper 763 to rotate. In use, centrifugal tubes to be centrifuged are placed on the centrifugal tube feeding rack 710, then the mechanical hand assembly 740 is slid to the centrifugal tube feeding rack 710 through the third transverse moving unit 743, the fifth vertical moving unit 744 drives the mechanical gripper 742 to move up and down, the mechanical gripper 742 clamps the centrifugal tubes, then the third transverse moving unit 743 drives the mechanical gripper 742 to move to the centrifugal machine 730, the third motor 746 drives the mechanical gripper 742 to rotate, the centrifugal tubes are placed on the centrifugal machine 730, and the centrifugal machine 730 completes centrifugation of the centrifugal tubes. After centrifugation of the centrifugal tubes is completed, the mechanical gripper 742 takes the centrifuged centrifugal tubes from the centrifugal machine 730 and places them on the centrifugal tube placing rack 750 under the control of the third transverse moving unit 743 and the fifth vertical moving unit 744, then the centrifugal tube cover opening assembly 760 is used to open the covers of the centrifugal tubes. Under the control of the sixth vertical moving unit 761, the centrifugal tube cover opening gripper 763 moves to the centrifugal tube placing rack 750, the centrifugal tubes are contained in the centrifugal tube cover opening gripper 763, then the fourth motor 764 drives the centrifugal tube cover opening gripper 763 to rotate, the cover of the centrifugal tube is rotated off the centrifugal tube and clamped in the centrifugal tube cover opening gripper 763, then the sixth vertical moving unit drives the centrifugal tube cover opening gripper 763 to move away from the centrifugal tube, and the centrifugal tube cover opening is completed.Finally, the centrifuge tube placed on the centrifuge tube placing rack 750 after being uncapped by the fourth transverse moving unit 751 is moved below the pipetting mechanism 500, and the liquid in the centrifuge tube after centrifugal treatment is added into the biomass in the culture container by the pipetting mechanism 500. The centrifuge 730 of the present application can also be used for centrifugal treatment of the biomass in the culture container. First, the centrifuge tube on the centrifuge tube placing rack 750 is uncapped by the centrifuge tube uncapping assembly 760, and then the biomass in the culture container is moved and added into the centrifuge tube on the centrifuge tube placing rack 750 by the pipetting mechanism 500, and then the third motor 746 of the centrifuge tube uncapping assembly 760 is reversely rotated to complete the capping of the centrifuge tube, and then the centrifuge tube is placed on the centrifuge 730 by the mechanical hand assembly 740. After centrifugal treatment of the centrifuge 730, the centrifuge tube is placed on the centrifuge tube discharging rack 720 by the mechanical hand assembly 740, and waits for the operator to discharge and process. 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 present application are linear modules arranged correspondingly in the transverse or vertical direction, and are in communication connection with the control center.

[0057] The batch processing equipment for biomass culture of the present application can batchly complete uncapping, capping, liquid adding, pipetting, scraping, centrifugal treatment of the biomass culture container, reduces the labor cost, avoids the error operation, improves the operation consistency of different containers of the same model, improves the consistency of experimental results of different batches, and avoids the pollution caused by the contact between the biomass and the human body due to the uncapping of the container by the operator.

[0058] The specific embodiments described herein are merely illustrative of the present application. Those skilled in the art can make various modifications or supplements to the described specific embodiments or use similar ways to replace, but will not deviate from the scope defined by the present application.

Claims

1. A batch processing device for biomass culture containers, characterized in that: include: Fixed frame (100); A plurality of clamping mechanisms (200) are arranged on the fixing frame (100) via a first transverse moving assembly (210), and the clamping mechanisms (200) can slide transversely along the first transverse moving assembly (210). The clamping mechanisms (200) are used to place and clamp a plurality of culture containers; the clamping mechanisms (200) include a culture dish clamping assembly (220) for clamping a culture dish, and the culture dish clamping assembly (220) includes a sliding connection on the first transverse moving assembly (210). A dish bottom fixing seat (221) is mounted on the moving assembly (210), wherein the dish bottom fixing seat (221) is provided with a dish bottom fixing plate (222), wherein the dish bottom fixing plate (222) is provided with a plurality of dish bottom clamping claws (223), wherein the dish bottom clamping claws (223) are provided with a clamping control unit (224), wherein the dish bottom clamping claws (223) are used for placing a culture dish, and wherein the clamping control unit (224) is used for controlling the dish bottom clamping claws (223) to clamp the culture dish; A plurality of cover-removing mechanisms (300) are arranged above the active space of the clamping mechanism (200) through a plurality of first vertically movable components (310). The cover-removing mechanisms (300) can slide vertically along the first vertically movable components (310). The cover-removing mechanisms (300) are used to grab the culture container cover from the culture container of the clamping mechanism (200) and cover the removed culture container cover on the corresponding culture container bottle; the cover-removing mechanism (300) includes a culture dish cover-removing component (320), and the culture dish cover-removing component (320) 0) comprises a dish cover fixing plate (322) slidably connected to the first vertical moving assembly (310) via a first connecting plate (321), the dish cover fixing plate (322) being provided with a plurality of dish cover grabbing claws (323), the dish cover grabbing claws (323) being provided with a grabbing control unit (324), the grabbing control unit (324) being used to control the dish cover grabbing claws (323) to grab the dish cover from the bottom of the culture dish of the culture dish clamping assembly (220) and to cover the removed dish cover on the corresponding dish bottom; a plurality of liquid adding mechanisms (400) arranged above the active space of the clamping mechanism (200) via a plurality of second vertically movable components (420); the liquid adding mechanisms (400) can slide vertically along the second vertically movable components (420); and the liquid adding mechanisms (400) are used to add liquid to the biomass culture container; a plurality of pipetting mechanisms (500) arranged on the fixing frame (100), the pipetting mechanisms (500) being used to pipette the biomass culture container; A scraping mechanism (600) is arranged above the active space of the clamping mechanism (200) via a third vertically movable assembly (610), the scraping mechanism (600) being vertically slidable along the third vertically movable assembly (610), and the scraping mechanism (600) being provided with a plurality of scrapers (620) for scraping the working surface of the culture container; A centrifugal mechanism (700) is provided on a fixed frame (100), and the centrifugal mechanism (700) is used for centrifuging the biomass in the biomass culture container.

2. The batch processing equipment for biomass culture containers according to claim 1, characterized in that: The clamping mechanism (200) further comprises a culture bottle clamping assembly (230), wherein the culture bottle clamping assembly (230) is used for clamping the culture bottle.

3. The batch processing equipment for biomass culture containers according to claim 2, characterized in that: The culture bottle clamping assembly (230) includes a culture bottle fixing seat (231) slidably connected to the first transverse moving assembly (210); a culture bottle fixing plate (232) is hingedly connected to the culture bottle fixing seat (231); a plurality of culture bottles (233) are arranged on the culture bottle fixing plate (232); a clamping block (234) is provided on one side of each culture bottle (233); the clamping block (234) is used to clamp the culture bottle (233); a first motor (235) is provided on the culture bottle fixing seat (231); the first motor (235) drives the culture bottle fixing plate (232) to rotate relative to the culture bottle fixing seat (231).

4. The batch processing equipment for biomass culture containers according to claim 2, characterized in that: The cap removal mechanism (300) further comprises a culture bottle cap removal assembly (330), which is used to grab the bottle cap from the bottle body of the culture bottle (233) clamped by the culture bottle clamping assembly (230) and to cover the removed bottle cap on the corresponding bottle body.

5. The batch processing equipment for biomass culture containers according to claim 4, characterized in that: The culture bottle cap removal assembly (330) includes 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). A plurality of bottle cap grabbing claws (333) are rotatably connected to the bottle cap fixing plate (331). One end of the bottle cap linkage synchronous belt (334) is connected between the bottle cap grabbing claws (333), and the other end is connected to the second motor (335). The second motor (335) drives the bottle cap grabbing claws (333) to rotate through the bottle cap linkage synchronous belt (334).

6. The batch processing equipment for biomass culture containers according to claim 1, characterized in that: The liquid adding mechanism (400) includes a liquid adding fixed plate (430) slidably connected to the second vertical moving assembly (420) via a third connecting plate (410), and a plurality of liquid adding tubes (440) are provided on the liquid adding fixed plate (430). Each of the liquid adding tubes (440) is connected to a pump body (450) via a pipeline. The pump body (450) is used to pump the liquid to be added into the liquid adding tube (440), and the liquid adding tube (440) is used to add liquid to the culture container.

7. The batch processing equipment for biomass culture containers according to claim 1, characterized in that: The pipetting mechanism (500) comprises an intelligent pipetting module (530) slidably connected to a fourth vertical moving assembly (520) via a fourth connecting plate (510), a funnel (540) arranged on a fixed frame (100), and a gun tip storage module (550) arranged at the lower end of the intelligent pipetting module (530), wherein the intelligent pipetting module (530) is used to pipette the culture container, the funnel (540) is used to collect waste liquid in the intelligent pipetting module (530), and the fixed frame (100) is used to store the gun tip storage module (550). A gun tip replacement port (110) is provided on the rack (100) corresponding to the intelligent pipetting module (530), and the gun tip storage module (550) includes a second transverse moving component (551) arranged below the gun tip (553) replacement port, and a gun tip storage rack (552) is slidably connected to the second transverse moving component (551), and a plurality of gun tips (553) are provided on the gun tip storage rack (552), and the gun tips (553) are used for replacing the gun tips (553) on the intelligent pipetting module (530).

8. The batch processing equipment for biomass culture containers according to claim 1, characterized in that: The centrifugal mechanism (700) comprises: a centrifuge tube loading rack (710), a centrifuge tube unloading rack (720), and a centrifuge (730); the centrifuge tube loading rack (710), the centrifuge tube unloading rack (720), and the centrifuge (730) are all arranged on the fixed frame (100); the centrifuge tube loading rack (710) is used to place centrifuge tubes to be centrifuged; the centrifuge tube unloading rack (720) is used to place centrifuge tubes after centrifugation; and the centrifuge (730) is used for centrifugation of the centrifuge tubes; A manipulator assembly (740) includes a mechanical gripper (742) disposed on a mounting plate (741), wherein the mounting plate (741) is slidably connected to the fixing frame (100) via a third transverse moving unit (743), the mounting plate (741) is further provided with a fifth vertical moving unit (744), the mechanical gripper (742) is slidably connected to the fifth vertical moving unit (744) via a fifth connecting plate (745), and a third motor (746) is connected to one side of the mechanical gripper (742), and the third motor (746) is used to drive the mechanical gripper (742) to rotate; a centrifuge tube placement rack (750) which is slidably connected to the fixed rack (100) via a fourth transverse moving unit (751); the centrifuge tube placement rack (750) is provided with a plurality of centrifuge tube placement positions (752); the centrifuge tube placement positions (752) are used to place centrifuge tubes to be pipetted into a culture container after centrifugation; A centrifuge tube cover opening assembly (760) is arranged on the upper side of a centrifuge tube placement rack (750) via a sixth vertical movable unit (761); a sixth connecting plate (762) is slidably connected to the sixth vertical movable unit (761); a centrifuge tube cover opening clamp (763) is rotatably connected to the sixth connecting plate (762); a fourth motor (764) is further provided on the sixth connecting plate (762); and the fourth motor (764) drives the centrifuge tube cover opening clamp (763) to rotate.

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