Automatic inoculation device and control method thereof

Abstract

The present invention relates to the field of biological fermentation technology, and discloses an automatic inoculation device and a control method thereof. The device includes a first fixed surface, an inoculation main pipeline, and a second fixed surface, disposed between a seed tank and a fermentation tank. The seed tank has multiple seed transfer pipeline openings, and the fermentation tank has multiple seed transfer pipeline openings. A first support unit moves to drive a first transmission pipeline opening on one side of the inoculation main pipeline to dock with the seed transfer pipeline opening. Simultaneously, a second support unit moves to drive a second transmission pipeline opening on the other side of the inoculation main pipeline to dock with the inoculation pipeline opening. The control method controls the docking by controlling the movement of a motor, the movement of a positioning column, and the magnetic attraction of a contact surface. The device of the present invention has good sealing performance, a high degree of automation, can be used with large-diameter pipelines, and is suitable for industrial production.

Description

Technical Field

[0001] The present invention relates to the technical field of biological fermentation, and in particular to an automatic inoculation device and a control method thereof. Background Art

[0002] Microbial fermentation is the process of using microorganisms to convert raw materials into products needed by humans through specific metabolic pathways under suitable conditions. Each batch of fermentation must go through the process of inoculation, growth and reproduction, bacterial aging, and then the end of fermentation, and finally the extraction of the product. In the biological fermentation industry, inoculation operations generally use valves or detachable flexible joints to connect the microbial seed liquid to the culture medium in the fermentation tank through a connecting pipe. The microorganisms then grow and reproduce in the culture medium. The use of detachable flexible joints can meet the requirements of small-volume inoculation. However, for L-lactic acid fermentation with large production capacity, equipment upgrades, or large inoculation volumes, it increases the labor intensity of operators, increases the difficulty of on-site pollution control and personnel operation safety, restricts the release of product production capacity, reduces labor efficiency, and has poor practicality.

[0003] The commonly used inoculation methods at present are mainly flame inoculation and differential pressure inoculation. Both methods are designed to prevent the seed liquid from being contaminated by the bacterial environment in the air during the transfer process. Among them, the flame inoculation method mainly uses the flame generated by the combustion of combustible materials to sterilize the area around the inoculation port. Its disadvantage is that the sterilization is not thorough, and it is easy to cause injuries to operators and there are safety risks to the environment around the operation. The differential pressure method mainly controls the internal pressure of the seed tank to be greater than the internal pressure of the fermentation tank, and uses the pressure difference to inoculate the seed liquid into the fermentation tank. Its disadvantage is that if the pressure is not adjusted properly, the pressure in the fermentation tank will be too low, causing the fermentation tank to be contaminated by bacteria.

[0004] In order to solve the above problems, the existing technology has made various improvements:

[0005] Patent CN204385199U discloses a fermenter inoculation device, including an inoculation bottle, a fermenter, and connecting components. Repeated disinfection reduces the risk of contamination during the inoculation process, effectively ensuring the aseptic inoculation of the fermenter. However, this patent requires multiple disinfection processes, making the operation process complex.

[0006] Patent CN211255925U discloses a simplified inoculation device for microbial fermentation tanks. It features a steam valve and an exhaust valve to sterilize the interior of the fermentation tank and the pipes that transport the microorganisms. A UV irradiator optimizes the disinfection effect. However, the patented inoculation device incorporates multiple sterilization units, increasing equipment costs.

[0007] In the fermenter inoculation device structure of patent CN208250314U, an inoculation tube is connected to the fermenter body, a stop valve is set on the inoculation tube, the stop valve is opened only during inoculation, a silicone tube connected to the inner cavity of the inoculation bottle is connected to the inoculation nozzle of the inoculation tube, and the feed liquid is connected to the inner cavity of the fermenter through the inoculation tube by a peristaltic pump. This solution does not require pressure relief of the fermenter body and does not require opening the tank cover, so that the feed liquid will not be exposed to the air during the inoculation process, reducing the risk of bacterial contamination of the feed liquid during the inoculation process. Although this patent avoids contact between the feed liquid and the air during the inoculation process, it requires the use of a peristaltic pump to transport the feed liquid. Its transportation capacity is limited, and its application is greatly restricted. It is difficult to meet the demand for rapid delivery of feed liquid in industrial production, and it is difficult to improve production efficiency.

[0008] Through the search and investigation of existing patents, it was found that most of the devices and methods for fermentation inoculation are improvements and innovations on the existing flame method or pressure difference method. However, such patents are all aimed at inoculation methods used in laboratories or small-scale production, and are difficult to apply to industrial production with large production capacity and a certain scale. Summary of the Invention

[0009] In order to solve one of the above problems in the prior art, a first object of the present invention is to provide a device that can realize automatic inoculation.

[0010] A second object of the present invention is to provide a method for controlling a device that can achieve automatic inoculation.

[0011] The technical solution of the present invention is achieved through the following technical means:

[0012] An automatic inoculation device for connecting a seed tank and a fermentation tank, characterized in that it includes:

[0013] A first fixing surface is used to fix a transplanting pipe port connected to a transplanting pipe of a seed tank, wherein a first supporting unit is movably provided on the first fixing surface, and a first inoculation connection port is provided on the first supporting unit;

[0014] A second fixing surface is used to fix the inoculation pipe port connected to the inoculation pipe of the fermentation tank, and a second supporting unit is movably provided on the second fixing surface, and a second inoculation connection port is provided on the second supporting unit;

[0015] The inoculation main pipeline is respectively connected to the first rotary short-circuit unit and the second rotary short-circuit unit at both ends. The first support unit controls the first rotary short-circuit unit to pass through the first inoculation connection port and dock with the transplanting pipeline port, and the second support unit controls the second rotary short-circuit unit to pass through the second inoculation connection port and dock with the inoculation pipeline port.

[0016] Furthermore, the first rotary short-circuit unit includes a first transmission pipeline port, a first transmission pipeline connected to the first transmission pipeline port, and a first hose connected to the first transmission pipeline, and the first hose is connected to the inoculation main pipeline through a rotary connection mechanism;

[0017] Preferably, the second rotary short-circuit unit includes a second transmission pipeline port, a second transmission pipeline connected to the second transmission pipeline port, and a second hose connected to the second transmission pipeline, and the second hose is connected to the inoculation main pipeline through a rotary connection mechanism;

[0018] Preferably, the rotary connection mechanism is a rotary connection joint.

[0019] Furthermore, a first outer guide rail and a first inner guide rail are provided on the first fixing surface, the seed transfer pipe opening is provided between the first outer guide rail and the first inner guide rail, a first support unit is provided on the first outer guide rail and the first inner guide rail, and the first support unit slides along the first outer guide rail and the first inner guide rail under the control of the control system;

[0020] Preferably, a second outer guide rail and a second inner guide rail are provided on the second fixing surface, the inoculation pipe port is provided between the second outer guide rail and the second inner guide rail, a second supporting unit is provided on the second outer guide rail and the second inner guide rail, and the second supporting unit slides along the second outer guide rail and the second inner guide rail under the control of the control system;

[0021] Preferably, the transplanting pipe opening is provided with a plurality of openings, the first outer guide rail and the first inner guide rail are concentric annular guide rails centered on the inoculation main pipe, and the transplanting pipe opening is provided in the annular area between the first outer guide rail and the first inner guide rail;

[0022] And / or, the inoculation pipe opening is provided with a plurality of openings, the second outer guide rail and the second inner guide rail are concentric annular guide rails centered on the inoculation main pipe, and the inoculation pipe opening is provided in the annular area between the second outer guide rail and the second inner guide rail;

[0023] Preferably, the multiple transplanting pipe openings are evenly distributed in the annular area between the first outer guide rail and the first inner guide rail, and the inoculation pipe openings are evenly distributed in the annular area between the second outer guide rail and the second inner guide rail.

[0024] Furthermore, the first supporting unit includes a first outer slider sliding on a first outer guide rail, a first inner slider sliding on a first inner guide rail, and a first connecting structure connecting the first outer slider and the first inner slider, the first inoculation connection port is provided on the first connecting structure, the first outer guide rail and the first inner guide rail are both electromagnetic guide rails, and the first outer slider and the first inner slider are both electromagnetic sliders;

[0025] Preferably, the second supporting unit includes a second outer slider sliding on the second outer guide rail, a second inner slider sliding on the second inner guide rail, and a second connecting structure connecting the second outer slider and the second inner slider, the second inoculation connection port is provided on the second connecting structure, the second outer guide rail and the second inner guide rail are both electromagnetic guide rails, and the second outer slider and the second inner slider are both electromagnetic sliders;

[0026] Preferably, the magnetism of the first outer guide rail, the first inner guide rail, the first outer slider, the first inner slider, the second outer guide rail, the second inner guide rail, the second outer slider, and the second inner slider is controlled by the control system;

[0027] Preferably, the first connecting structure and the second connecting structure are connecting plates.

[0028] Furthermore, the first support unit further includes a first driving mechanism, a first driving rod connected to the output end of the first driving mechanism, and a first driving block provided at the front end of the first driving rod, the first driving block being fixed to the first transmission pipe, the first driving mechanism being fixed to the first connecting structure, and the first transmission pipe port being located inside the first driving block after passing through the first inoculation connection port;

[0029] Preferably, the first driving mechanism is a motor, and the first driving block is a ring-shaped driving block;

[0030] Preferably, the second supporting unit further comprises a second driving mechanism, a second driving rod connected to the output end of the second driving mechanism, and a second driving block provided at the front end of the second driving rod, the second driving block being fixed to the second transmission pipe, and the second transmission pipe port passing through the second inoculation connection port and being located on the inner side of the second driving block;

[0031] Preferably, the second driving mechanism is a motor, and the second driving block is an annular driving block.

[0032] Furthermore, a first positioning post is provided on the opening of the first transmission pipeline, and a first positioning hole is provided on the opening of the transplanting pipeline; or a first positioning hole is provided on the opening of the first transmission pipeline, and a first positioning post is provided on the opening of the transplanting pipeline;

[0033] Preferably, a second positioning column is provided on the opening of the second transmission pipe, and a second positioning hole is provided on the opening of the inoculation pipe; or a second positioning hole is provided on the opening of the second transmission pipe, and a second positioning column is provided on the opening of the inoculation pipe.

[0034] Furthermore, a first butterfly valve is provided on the seed transfer pipeline, and the opening and closing of the first butterfly valve stem of the first butterfly valve is controlled by a control system. A second butterfly valve is provided on the first transmission pipeline, and the opening and closing of the second butterfly valve stem of the second butterfly valve is controlled by the control system.

[0035] Preferably, a third butterfly valve is provided on the inoculation pipeline, and a fourth butterfly valve is provided on the second transmission pipeline. The opening and closing of the third and fourth butterfly valve stems of the third and fourth butterfly valves are controlled by a control system.

[0036] Furthermore, the end faces of the transplanting pipe port and the first transmission pipe port are both electromagnetic end faces, the end faces of the inoculation pipe port and the second transmission pipe port are both electromagnetic end faces, and the magnetism of the electromagnetic end faces is controlled by a control system;

[0037] Preferably, sealing rings are provided on the electromagnetic end faces.

[0038] Furthermore, the electromagnetic end face is made of iron-silicon alloy, iron-aluminum alloy or nickel-iron alloy, and the sealing ring is made of polytetrafluoroethylene;

[0039] Preferably, the control system is a DCS control system, which includes a transplant control unit and an inoculation control unit, wherein the transplant control unit controls the docking of the transplant pipe port with the first transmission pipe port, and the inoculation control unit controls the docking of the second transmission pipe port with the inoculation pipe port;

[0040] Preferably, the control system is provided with a control panel, and the control panel is a touch screen.

[0041] A control method for an automatic inoculation device, characterized in that it comprises the following steps:

[0042] 1) When the seed liquid transfer begins, select the transfer pipe port corresponding to the seed tank to which the seed liquid needs to be transferred on the control panel, and select the inoculation pipe port corresponding to the fermentation tank to which the seed liquid needs to be received;

[0043] 2) Click Start, and the system will automatically control the first transmission pipe port to move to the No. 1 transplant pipe port, and the second transmission pipe port to move to the No. 1 inoculation pipe port;

[0044] 3) After moving into position, click on alignment, and the system controls the positioning column to move into the positioning hole;

[0045] 4) After the system determines that the alignment is completed, the system automatically controls the electromagnetic end face to be energized, so that the end face generates magnetism and generates magnetic adsorption with the corresponding end face;

[0046] 5) After the end face magnetic adsorption is completed, the system prompts that the docking is complete. Click to start the liquid transfer. The system automatically controls the butterfly valve to open and the seed liquid begins to transfer;

[0047] 6) After the seed liquid transfer is completed, the system prompts that the seed liquid transfer is completed. Click "Pipette Complete". The system closes the butterfly valve, cuts off the power to the end face to release the magnetic adsorption, and separates the positioning column from the positioning hole. At this point, the seed liquid transfer of the seed tank is completed;

[0048] 7) Click Continue Pipetting, and the system controls the support unit to move to the next designated transfer pipe port and the next corresponding inoculation pipe port. Repeat steps 2) to 6) to complete the seed liquid transfer of the next seed tank. Repeat this process to complete the seed liquid transfer of other seed tanks.

[0049] 8) Click on "End of Pipetting" to end the transfer of all seed solutions.

[0050] Preferably, an alignment judgment step is included between step 3) and step 4), and the control system automatically determines whether the positioning post and the positioning hole are aligned. If not, it returns to step 3) to fine-tune the position to ensure accurate alignment between the positioning post and the positioning hole, and then continues to step 4).

[0051] The beneficial effects of the present invention are:

[0052] 1. The automatic inoculation device of the present invention has a high degree of automation and good sealing. It can use large-diameter pipes and high-power pump bodies. Compared with the peristaltic pumps and small-diameter hoses used in existing patents, it can achieve rapid delivery of feed liquids and is suitable for industrial production.

[0053] 2. By designing the mounting surface, the seed tank's transfer pipe openings are arranged on the same circumference of the mounting surface. The movement of the support unit drives the transfer pipe openings to connect with the transfer and inoculation pipe openings one by one. The electromagnetic contact surface design, combined with magnetic adsorption and a positioning device, automatically seals the transfer and inoculation pipe openings. The connection, sealing, and disconnection of the device are all completed by an automatic control system, allowing for the simultaneous inoculation of multiple seed tanks and fermentation tanks.

[0054] 3. Compared with the traditional transplanting hose control method, the automated control operation greatly reduces labor intensity. Operators do not need to move the hose back and forth, which reduces workload, reduces safety risks, and improves production efficiency.

[0055] 4. The automatic inoculation device of the present invention realizes pollution-free control of the seed liquid transfer process, there is no sterilization dead corner of the seed transfer device, the seed liquid flows smoothly, and the quality of the seed liquid is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A front view of a first fixing surface connected to a seed tank;

[0057] Figure 2 It is a side view of the transplanting pipe opening;

[0058] Figure 3 is a side view of the first transmission pipe opening and the first hose;

[0059] Figure 4A top view showing the relative positions of the support unit, the drive mechanism, and the inoculation connection port;

[0060] Figure 5 This is a schematic diagram of the driving mechanism controlling the first transmission pipe opening to move away from the seeding pipe opening;

[0061] Figure 6 This is a schematic diagram of the driving mechanism controlling the first transmission pipe opening to move closer to the seeding pipe opening;

[0062] Figure 7 This is a schematic diagram of the connection position between the rotary short-circuit unit and the inoculation main pipeline;

[0063] Figure 8 It is a schematic diagram of the connection between the seed tank and the first fixing surface;

[0064] Figure 9 is a schematic diagram of the connection between the fermentation tank and the second fixed surface;

[0065] Figure 10 is a side view of the second transmission pipe opening and the second hose;

[0066] Figure 11 A diagram illustrating the control content of the control system;

[0067] Figure 12 Flowchart of the steps for implementing the automatic inoculation device control method.

[0068] In the figure, 11, first fixing surface; 12, first outer guide rail; 13, first inner guide rail; 14, first outer slider; 15, first inner slider; 16, first connecting structure; 17, transplanting pipe opening; 18, inoculation main pipe; 19, first rotary short-circuit unit; 191, first inoculation connection port; 21, first contact surface; 22, first sealing ring; 23, first positioning hole; 24, first butterfly valve stem; 25, first butterfly valve; 26 Transplant pipeline; 31. first transmission pipeline opening; 32. second contact surface; 33. second sealing ring; 34. first positioning column; 35. second butterfly valve stem; 36. second butterfly valve; 37. first transmission pipeline; 38. first hose; 41. first driving mechanism; 42. first driving rod; 43. first driving block; 51. second outer guide rail; 52. second inner guide rail; 53. second outer slider; 54. second inner slider; 55. inoculation pipeline opening; 56. second connecting structure; 57. second rotary short-circuit unit; 571. second inoculation connection port; 71. rotary connecting mechanism; 72. second positioning column; 73. second transmission pipeline opening; 74. second transmission pipeline; 75. second hose; 76. third butterfly valve stem; 77. third butterfly valve; 78. third contact surface; 79. third sealing ring; 81. seed tank; 91. second fixing surface; 92. fermentation tank; 93. inoculation pipeline. DETAILED DESCRIPTION

[0069] In order to fully understand the beneficial effects of the automatic inoculation device and the control method thereof in the present technical solution, a specific and detailed description is given through the following embodiments.

[0070] Example 1

[0071] See also Figure 1 and Figure 8 The fixed surface connected to the seed tank 81 is the first fixed surface 11. The outlet for discharging the seed liquid from the seed tank 81 is called the transplanting pipe opening 17. All the transplanting pipe openings 17 are evenly distributed on the first fixed surface 11 and are arranged in a circular shape and located on the same circumference. The center of the above-mentioned circle is the center position of the inoculation main pipe 18, and all the transplanting pipe openings 17 are equidistant from each other.

[0072] The first fixing surface 11 is an independent structure and can be directly fixed on the ground at a suitable position in the factory without being attached to other equipment and devices. It is convenient to connect with the inoculation main pipeline 18. The first fixing surface 11 is connected to the seed tank 81 through a pipeline (such as Figure 8 ).

[0073] See also Figure 1 and Figure 8 All the transplanting pipe openings 17 correspond one to one according to the order of the seed tanks 81 and are numbered as No. 1, No. 2, No. 3...etc. in a clockwise or counterclockwise direction on the first fixing surface 11.

[0074] On the first fixed surface 11, a first inner guide rail 13 and a first outer guide rail 12 are arranged on both sides of the inner and outer sides of the circumference where the above-mentioned transplanting pipe openings 17 are distributed. The multiple transplanting pipe openings 17 are arranged on the connecting plane between the first outer guide rail 12 and the first inner guide rail 13 (part of the first fixed surface 11).

[0075] See also Figure 2 The end face of the transplant pipe opening 17 is an electromagnetic end face, comprising a first contact surface 21 whose magnetism can be controlled by switching the power on and off. A first sealing ring 22 is provided on the first contact surface 21. A first butterfly valve 25 is provided on the transplant pipe 26. The control system controls the opening and closing of the first butterfly valve stem 24 to control the opening and closing of the first butterfly valve 25. The magnetism of the first contact surface 21 is also controlled by the control system. Preferably, the control system is a DCS.

[0076] See also Figure 2 、 Figure 3A first positioning post 34 is provided on the end surface of the first transmission pipe opening 31, and a first positioning hole 23 is provided on the end surface of the transplanting pipe opening 17; or a first positioning hole 23 is provided on the end surface of the first transmission pipe opening 31, and a first positioning post 34 is provided on the end surface of the transplanting pipe opening 17, with the positions of the positioning posts and the positioning holes corresponding one to one. The number of positioning posts and positioning holes is 3 to 6, preferably 4. The arrangement of the positioning posts and positioning holes facilitates the movement and alignment of the first transmission pipe 37 with the transplanting pipe opening 17. The arrangement of the positioning posts and positioning holes on the first transmission pipe opening 31 and the transplanting pipe opening 17 can be swapped, as long as they are compatible.

[0077] Preferably, see Figure 3 The end face of the first transmission pipe opening 31 is an electromagnetic end face. It includes a second contact surface 32 whose magnetism can be controlled by switching the power on and off. A second sealing ring 33 is mounted on the second contact surface 32. A second butterfly valve 36 is mounted on the first transmission pipe 37. The control system controls the opening and closing of the second butterfly valve stem 35 of the second butterfly valve 36. The magnetism of the second contact surface 32 is also controlled by the control system.

[0078] The contact surface is made of a material independent of the material used in other areas of the pipe opening and is connected to the control unit via a separate cable, enabling magnetic attraction and de-magnetization by controlling the power on and off of the contact surface. Preferably, the first and second contact surfaces 21 and 32 are made of an iron-silicon alloy, an iron-aluminum alloy, or a nickel-iron alloy, and the first and second sealing rings 22 and 33 are made of polytetrafluoroethylene.

[0079] The above-mentioned sealing ring can be set in the middle area of the contact surface, or on the inner or outer side of the contact surface. Its main function is to seal the connection port during magnetic adsorption of the contact surface, and the specific setting position is not limited.

[0080] See also Figure 1 and Figure 7A first support unit is slidingly provided on the first outer guide rail 12 and the first inner guide rail 13. The first support unit includes a first outer slider 14, a first inner slider 15 and a first connecting structure 16 connecting the first outer slider 14 and the first inner slider 15. The first connecting structure 16 is preferably a connecting plate. The three components included in the first support unit constitute a whole and can move freely on the inner and outer guide rails. A first inoculation connection port 191 is provided on the connecting plate on the first support unit corresponding to the position of the transplanting pipe port 17. The first support unit and the inoculation main pipe 18 are connected by a first rotational short-circuit unit 19. One end of the first rotational short-circuit unit 19 is connected to the inoculation main pipe 18 by a rotational connection mechanism 71, realizing 360° rotation around the inoculation main pipe 18, and the other end thereof passes through the first inoculation connection port 191. The rotational connection mechanism 71 is preferably a 360° rotational connection joint. The first transmission pipe opening 31 is connected to the first transmission pipe 37 at the rear, which is then connected to the first hose 38 to form the first rotational shorting unit 19. The first rotational shorting unit 19 is connected to the inoculation main pipe 18 via a rotational connection mechanism 71, enabling 360-degree rotation. The first transmission pipe opening 31 of the first rotational shorting unit 19 passes through the first inoculation connection port 191.

[0081] See also Figure 1 The first support unit includes a first inner slider 15 and a first outer slider 14. The first outer guide rail 12 and the first inner guide rail 13 are both electromagnetic guide rails. The first outer slider 14 and the first inner slider 15 are both electromagnetic sliders. The support unit is freely movable on the inner and outer guide rails via the inner and outer sliders under the control of a control system. The aforementioned method of driving the movement of the inner and outer sliders can adopt the known principle of magnetic levitation drive, and can be designed in conjunction with the guide rails to form a magnetic drive method. That is, the inner and outer guide rails are designed as magnetic guide rails, and the control system continuously changes the magnetic properties of the inner and outer sliders to achieve movement of the sliders on the guide rails.

[0082] The diameter of the first inoculation connection port 191 of the first support unit is slightly larger than the diameter of the first transmission pipe port 31 , so that the first transmission pipe port 31 can be connected to the transplanting pipe port 17 after passing through the first inoculation connection port 191 .

[0083] See also Figure 4-6 The first supporting unit also includes a first driving mechanism 41, a first driving rod 42 connected to the output end of the first driving mechanism 41, and a first driving block 43 arranged at the front end of the first driving rod 42. The first transmission pipe port 31 is fixedly connected to the first driving block 43 and is located on the inner side of the first driving block 43. The first driving mechanism 41 is preferably a motor. The first driving mechanism 41 is fixed on the connecting plate. The first driving block 43 is preferably an annular driving block, so that the annular driving block can surround the entire first transmission pipe 37, thereby fixing the first transmission pipe 37 and controlling its movement.

[0084] As the first support unit moves along the first inner and outer guide rails via the first inner and outer sliders, it drives the first transfer pipe opening 31 and the first rotary short-circuit unit 19 to synchronously rotate 360° around the inoculation main pipe 18. As the first support unit moves along the first inner and outer guide rails, the first transfer pipe opening 31 is connected one by one to the multiple seed transfer pipe openings 17 fixed to the first fixing surface 11.

[0085] The automatic inoculation device of the present invention also includes an automatic docking transmission section between the fermentation tank 92 and the inoculation main pipeline 18, and the docking design concept between the inoculation pipeline 93 of the fermentation tank 92 and the inoculation main pipeline 18 is consistent with the automatic docking design concept of the seed tank 81 and the inoculation main pipeline 18 described above, and the structure is similar thereto. However, because the size and quantity of the fermentation tank 92 are not necessarily consistent with the size design of the seed tank 81, the corresponding inoculation pipeline 93 should be different from the transplanting pipeline 26. Figure 2-6 The details are explained as follows.

[0086] See also Figure 9 The fixed surface connected to the fermentation tank 92 inoculation pipe 93 is the second fixed surface 91. The inlet of the fermentation tank 92 for receiving the seed liquid is called the inoculation pipe 93. The inoculation pipe openings 55 of all inoculation pipes 93 are evenly distributed on the second fixed surface 91 and are arranged in a circular shape and located on the same circumference. The center of the above-mentioned circle is the center position of the inoculation main pipe 18. The second fixed surface 91 is an independent structure and can be directly fixed on the ground at a suitable position in the factory building. It does not depend on other equipment and devices, and is convenient for docking with the inoculation main pipe 18. The second fixed surface 91 is connected to the fermentation tank 92 through the inoculation pipe 93 (such as Figure 9 ).

[0087] See also Figure 9 All the inoculation pipe openings 55 correspond to each other in the order of the fermentation tanks 92 and are numbered as No. 1, No. 2, No. 3, etc. in a clockwise or counterclockwise direction on the second fixing surface 91.

[0088] On the above-mentioned second fixed surface 91, a second inner guide rail 52 and a second outer guide rail 51 are arranged on the inner and outer sides of the circumference where the above-mentioned inoculation pipe openings 55 are distributed. The multiple inoculation pipe openings 55 are arranged on the connecting plane between the second outer guide rail 51 and the second inner guide rail 52 (that is, the second fixed surface 91).

[0089] A second support unit is provided between the second inner guide rail 52 and the second outer guide rail 51. The second support unit includes a second outer slider 53, a second inner slider 54, and a second connecting mechanism 56 connecting the second outer slider 53 and the second inner slider 54. The second connecting mechanism 56 is preferably a connecting plate. The three components of the second support unit form a whole and can move freely on the inner and outer guide rails. A second inoculation connection port 571 is provided on the connecting plate on the second support unit at the position corresponding to the inoculation pipe port 55. The second support unit and the inoculation main pipe 18 are connected by a second rotational short-circuit unit 57. One end of the second rotational short-circuit unit 57 is connected to the inoculation main pipe 18 by a rotational connection mechanism 71, achieving 360° rotation around the inoculation main pipe 18, and the other end thereof passes through the second inoculation connection port 571. The diameter of the second inoculation connection port 571 of the second support unit is slightly larger than the diameter of the second transmission pipe port 73, which facilitates the second transmission pipe port 73 to connect with the inoculation pipe port 55 after passing through the second inoculation connection port 571.

[0090] See also Figure 10 The second transmission pipe port 73 is connected to the second transmission pipe 74 at the back, and the second transmission pipe 74 is connected to the second hose 75 to form a second rotation short-circuit unit 57. The second rotation short-circuit unit 57 is connected to the inoculation main pipe 18 through the rotation connection mechanism 71 to achieve 360° rotation.

[0091] The motion mode of the second supporting unit on the second inner guide rail 52 and the second outer guide rail 51 is the same as that of the first supporting unit, and both adopt the motion mode based on the principle of magnetic suspension.

[0092] The second support unit also includes a second drive mechanism, a second drive rod connected to the output end of the second drive mechanism, and a second drive block arranged at the front end of the second drive rod (since the structural setting principle of the second support unit is the same as that of the first support unit, the figure is not provided). The second transmission pipe opening 73 is fixedly connected to the second drive block and is located on the inner side of the second drive block; preferably, the second drive mechanism is a motor, and the second drive block is an annular drive block. A second positioning column 72 is provided on the second transmission pipe opening 73, and a second positioning hole is provided on the inoculation pipe opening 55 (not shown in the figure); or a second positioning hole is provided on the second transmission pipe opening 73, and a second positioning column 72 is provided on the inoculation pipe opening 55 (structural reference Figure 2-6 ).

[0093] The end face of the inoculation pipe port 55 and the end face of the second transmission pipe port 73 are both electromagnetic end faces. The end face of the second transmission pipe port 73 includes a third contact surface 78 whose magnetism can be controlled by turning the power on and off. The third contact surface 78 is provided with a third sealing ring 79. The end face of the inoculation pipe port 55 includes a fourth contact surface whose magnetism can be controlled by turning the power on and off. The fourth contact surface is provided with a fourth sealing ring. A butterfly valve is also provided on the corresponding pipe port (such as a third butterfly valve 77 is provided on the second transmission pipe 74, and the control system controls the movement of the third butterfly valve stem 76 of the third butterfly valve 77 to control the opening and closing of the third butterfly valve 77). The design principles of the contact surface, sealing ring and butterfly valve are exactly the same as the setting principles and setting methods of the butterfly valve, contact surface and sealing ring between the transplanting pipe port 17 and the first transmission pipe port 31, and the working mode is also exactly the same. The materials used for the contact surface and sealing ring are also the same, so they will not be elaborated here.

[0094] Preferably, the butterfly valves on the seed transfer pipe opening 17, the inoculation pipe opening 55, the first transmission pipe opening 31, and the second transmission pipe opening 73 are positioned as close as possible to the pipe port connection. This minimizes the space between the two butterfly valves after the seed transfer pipe opening 17 or the inoculation pipe opening 55 is sealed with the inoculation main pipe 18. This reduces the chance of the seed liquid coming into contact with air. Considering the possibility of mechanical interference, the preferred spacing is 3 cm to 5 cm.

[0095] Preferably, the number of drive mechanisms provided on the support unit may be one or more. To ensure stability and positioning accuracy during the movement of the transfer conduit opening toward the transplanting conduit opening 17 or the inoculation conduit opening 55, two sets of drive mechanisms are symmetrically designed on the left and right sides of the first transfer conduit opening 31 and the second transfer conduit opening 73. Preferably, the two sets of drive mechanisms are driven by a common motor to ensure synchronization of their movements.

[0096] The control system includes a transplanting control unit and an inoculation control unit. The transplanting control unit controls the connection between the transplanting pipe port 17 and the first transmission pipe port 31, and the inoculation control unit controls the connection between the second transmission pipe port 73 and the inoculation pipe port 55. Preferably, the control system is provided with a control panel, which is a touch screen. The transplanting operation at the seed tank 81 and the inoculation operation at the fermentation tank 92 are integrated into the transplanting control unit and the inoculation control unit, respectively, and are controlled by the same control panel.

[0097] The communication between the transplanting pipe port 17 and the inoculation pipe port 55 is achieved by the following method:

[0098] When the inoculation pipe 93 needs to be connected to the transplanting pipe 26, the inner and outer sliders on the first support unit drive the first support unit and the first transmission pipe opening 31 to move to the transplanting pipe opening 17 where inoculation is possible. The first positioning post 34 on the first transmission pipe opening 31 is aligned with the first positioning hole 23 of the transplanting pipe opening 17 to ensure that the first transmission pipe opening 31 and the transplanting pipe opening 17 are accurately connected and without deviation.

[0099] The first drive mechanism 41 located on the first support unit drives the first drive rod 42 to apply pressure to the drive block 43, pushing the first transmission pipe opening 31 into close contact with the transplanting pipe opening 17, so that the first positioning column 34 is docked with the first positioning hole 23. At this time, the second contact surface 32 located on the first transmission pipe opening 31 is powered by the control unit. After the second contact surface 32 is energized, it becomes magnetic and produces strong magnetic attraction with the first contact surface 21 on the transplanting pipe opening 17 that is energized and has magnetism. The first sealing ring 22 and the second sealing ring 33 provided on the contact surface of the transplanting pipe opening 17 and the first transmission pipe opening 31 act as a seal at the connection between the two pipes. At this time, the first transmission pipe opening 31 and the transplanting pipe opening 17 are in close contact under the strong magnetic attraction and the pressure of the drive mechanism on the support unit. In addition, the sealing effect of the sealing ring ensures that the first transmission pipe opening 31 and the transplanting pipe opening 17 are tightly connected during the seed liquid transfer process, preventing leakage.

[0100] Similarly, the second transmission conduit port 73 of the inoculation main conduit 18 is connected to the inoculation conduit port 55 in a similar manner. The inner and outer sliders on the second support unit drive the second support unit and the second transmission conduit port 73 to the inoculation conduit port 55, where inoculation is possible. The second positioning post 72 on the second transmission conduit port 73 is docked with the second positioning hole of the inoculation conduit port 55 to ensure that the second transmission conduit port 73 and the inoculation conduit port 55 are accurately docked and without deviation.

[0101] The second drive mechanism, located on the second support unit, drives the drive rod to apply pressure to the drive block, pushing the second transmission pipe opening 73 into close contact with the inoculation pipe opening 55, causing the second positioning post 72 to dock with the second positioning hole. At this point, the third contact surface 78 on the second transmission pipe opening 73 is energized by the control unit. This energized contact surface becomes magnetic, creating a strong magnetic attraction with the fourth contact surface on the inoculation pipe opening 55, which has also been energized. A sealing ring, located on the contact surface between the inoculation pipe opening 55 and the second transmission pipe opening 73, seals the connection between the two pipes.

[0102] When the transplanting pipe port and the inoculation pipe port are tightly connected in the above manner, the control unit sends a signal to the butterfly valve control module of the transplanting pipe port 17 and the inoculation pipe port 55 respectively, and the control module controls the butterfly valve to open. The flow rate of the seed liquid transfer is adjusted by controlling the angle of the butterfly valve opening.

[0103] The connection mode of the transplanting pipe port 17 and the inoculation pipe port 55 is to transfer the seed liquid when the pipes are completely connected and sealed, thereby avoiding the possibility of the seed liquid being contaminated by bacteria in the air due to contact with the air.

[0104] After the seed liquid is transferred, the transfer and inoculation pipe openings need to be separated. At this point, the control unit deenergizes the electromagnetic contact surfaces on the inoculation pipe openings 55 and 17, demagnetizing them and releasing the magnetic attraction from the transfer pipe opening. The drive mechanism on the support unit then drives the drive rod to move the drive block in the opposite direction, moving the inoculation main pipe 18 away from the transfer pipe openings 17 and 55, ultimately disconnecting the inoculation and transfer pipe openings.

[0105] The connection between the inoculation pipe opening 55 and the transplanting pipe opening 17 is primarily achieved through a drive mechanism on the support unit. The drive mechanism is mounted on the support unit and is driven by an internal motor to rotate a screw rod. The forward and reverse rotation of the motor drives the forward and reverse rotation of the screw rod. The forward and reverse rotation of the screw rod, in turn, drives the up and down motion of the drive rod. The drive rod is connected to a drive block, which is fixedly connected to the inoculation pipe opening. Rotation of the screw rod drives the up and down motion of the drive rod, which, through the drive block, drives the transmission pipe opening toward or away from the transplanting pipe opening 17 or the inoculation pipe opening 55. When the drive rod moves downward, the drive rod pushes the drive block downward, thereby driving the inoculation pipe opening toward the transplanting pipe opening. When the drive rod moves upward, the drive rod pulls the drive block upward, thereby driving the inoculation pipe opening away from the transplanting pipe opening. The forward and reverse rotation of the screw rod controls the upward or downward motion of the drive rod, and there is no restriction; either rotation is sufficient.

[0106] The transfer pipe opening is connected to a flexible hose via the transfer pipe, forming a rotating short-circuit unit. This short-circuit unit is connected to the inoculation main pipe via a rotating connection mechanism. This rotating connection mechanism incorporates a bearing, forming a rotary joint. The short-circuit unit can rotate 360° about the centerline of the main pipe. This allows the transfer pipe opening to connect to any of the transfer pipe openings 17 or inoculation pipe openings 55 located on the same circumference on the fixed surface.

[0107] The above operation processes are all realized by the control unit of the control system sending signals and instructions to the corresponding mechanisms, and no manual pipeline connection operation is required.

[0108] The above technical solution realizes automatic connection and control between the inoculation pipe port 55 and the transplanting pipe port 17. This avoids the contamination of the seed liquid caused by contact with air during the seed liquid transfer process, and replaces the manual connection of the pipes, reducing labor costs and the risk of misoperation.

[0109] In the above scheme, large-diameter pipelines and high-power pump bodies can be used. Compared with the peristaltic pumps and small-diameter hoses used in existing patents, rapid delivery of liquid materials can be achieved, which is suitable for industrial production.

[0110] Example 2

[0111] See also Figure 11 The control system of this application adopts a DCS control system, including a transplant control unit and an inoculation control unit.

[0112] The seed transfer control unit includes a first drive unit that drives the first support unit along the guide rail, controlling the first support unit to move to the corresponding number of the seed transfer pipe opening 17. The first drive unit is similar to the drive unit of magnetic levitation technology. The seed transfer control unit controls the first drive mechanism 41 to drive the first transmission pipe opening 31 toward or away from the seed transfer pipe opening 17, determines the alignment result of the first positioning column 34 and the first positioning hole 23, controls the power on and off of the first contact surface 21 and the second contact surface 32, generates or releases magnetic adsorption, and controls the opening or closing of the butterfly valve.

[0113] The inoculation control unit includes a second drive unit that drives the second support unit to move along the guide rail, controlling the second support unit to move to the corresponding number of the inoculation pipe opening 55. The second drive unit is similar to the drive unit of magnetic levitation technology. The inoculation control unit controls the second drive mechanism to drive the second transmission pipe opening 73 toward or away from the inoculation pipe opening 55, determines the alignment result of the second positioning column and the second positioning hole, controls the power on and off of the contact surface between the second transmission pipe opening 73 and the inoculation pipe opening 55, generates or releases magnetic adsorption, and controls the opening or closing of the butterfly valve.

[0114] See also Figure 12 The present invention also provides a control method for an automatic inoculation device, characterized in that it comprises the following steps:

[0115] 1) The seed liquid transfer begins. In the seed transfer control unit operation window of the control panel, set the seed transfer pipe port 17 corresponding to the seed tank 81 to which the seed liquid needs to be transferred, such as seed transfer pipe port 17 No. 1. In the inoculation control unit operation window, set the inoculation pipe port 55 corresponding to the fermentation tank 92 to which the seed liquid needs to be received, such as inoculation pipe port 55 No. 1.

[0116] 2) Click Start. The system automatically controls the drive unit at the bottom of the support unit, controlling the magnetism of the first outer guide rail 12, the first inner guide rail 13, the first outer slider 14, and the first inner slider 15 to move the first support unit to the No. 1 seed transfer pipe opening 17. It also controls the magnetism of the second outer guide rail 51, the second inner guide rail 52, the second outer slider 53, and the second inner slider 54 to move the second support unit to the No. 1 seed transfer pipe opening 55.

[0117] 3) After the support unit is in place, click Align. The system controls the drive mechanism on the support unit to move, moving the first transmission pipe opening 31 and the second transmission pipe opening 73 closer to the transplanting pipe opening 17 and the inoculation pipe opening 55, respectively, so that the positioning post moves into the positioning hole.

[0118] 4) After the system determines that the alignment is complete, the system automatically controls the magnetic properties of the contact surface between the transplanting pipe port 17 and the first transmission pipe port 31 to make them adhere to each other, and controls the magnetic properties of the contact surface between the inoculation pipe port 55 and the second transmission pipe port 73 to make them adhere to each other;

[0119] 5) After the magnetic adsorption of the contact surface is completed, the system prompts that the docking is complete. Click to start the liquid transfer. The system automatically controls the butterfly valves on both sides of the inoculation main pipeline 18 to open, and the seed liquid begins to be transferred;

[0120] 6) After the seed solution transfer is complete, the system prompts that the seed solution transfer is complete. Click "Pipette Complete" and the system closes the butterfly valve, the contact surface is powered off to release the magnetic adsorption, and the positioning column is separated from the positioning hole. At this point, the seed solution transfer in seed tank No. 1 is complete.

[0121] 7) Click Continue Transferring, and the system controls the first support unit to move to the designated next transfer pipe port 17, such as transfer pipe port 17 No. 2, and the corresponding second support unit to move to the next inoculation pipe port 55, such as inoculation pipe port 55 No. 2. Repeat steps 2) to 6) to complete the transfer of seed liquid from seed tank No. 2. Similarly, the transfer of seed liquid from other seed tanks 81 is completed.

[0122] 8) Click on "End of Pipetting" to end the transfer of all seed solutions.

[0123] Between step 3) and step 4) there is also a position determination step, in which the control system automatically determines whether the positioning post and the positioning hole are aligned. If not, the control system returns to step 3) to fine-tune the position so that the positioning post and the positioning hole are aligned accurately, and then continues to step 4).

Claims

1. An automatic inoculation device for connecting a seed tank (81) and a fermentation tank (92), characterized in that: include, A first fixing surface (11) is used to fix a transplanting pipe port (17) connected to a transplanting pipe (26) of a seed tank (81), wherein a first supporting unit is movably provided on the first fixing surface (11), and a first inoculation connection port (191) is provided on the first supporting unit; A second fixing surface (91) is used to fix an inoculation pipe port (55) connected to an inoculation pipe (93) of a fermentation tank (92), wherein a second supporting unit is movably provided on the second fixing surface (91), and a second inoculation connection port (571) is provided on the second supporting unit; The inoculation main pipeline (18) is respectively connected to a first rotating short-circuit unit (19) and a second rotating short-circuit unit (57) at both ends; the first supporting unit controls the first rotating short-circuit unit (19) to pass through the first inoculation connection port (191) and dock with the transplanting pipeline port (17); the second supporting unit controls the second rotating short-circuit unit (57) to pass through the second inoculation connection port (571) and dock with the inoculation pipeline port (55); The first rotary short-circuit unit (19) includes a first transmission pipeline port (31), a first transmission pipeline (37) connected to the first transmission pipeline port (31), and a first hose (38) connected to the first transmission pipeline (37), and the first hose (38) is connected to the inoculation main pipeline (18) through a rotary connection mechanism (71); A first outer guide rail (12) and a first inner guide rail (13) are provided on the first fixed surface (11); the seed transfer pipe opening (17) is provided between the first outer guide rail (12) and the first inner guide rail (13); a first support unit is provided on the first outer guide rail (12) and the first inner guide rail (13); the first support unit slides along the first outer guide rail (12) and the first inner guide rail (13) under the control of a control system; The first supporting unit includes a first outer slider (14) sliding on the first outer guide rail (12), a first inner slider (15) sliding on the first inner guide rail (13), and a first connecting structure (16) connecting the first outer slider (14) and the first inner slider (15), the first inoculation connection port (191) is provided on the first connecting structure (16), the first outer guide rail (12) and the first inner guide rail (13) are both electromagnetic guide rails, and the first outer slider (14) and the first inner slider (15) are both electromagnetic sliders; The end faces of the transplanting pipe port (17) and the first transmission pipe port (31) are both electromagnetic end faces, and the magnetism of the electromagnetic end faces is controlled by a control system; the magnetism of the first outer guide rail (12), the first inner guide rail (13), the first outer slider (14), and the first inner slider (15) is controlled by a control system.

2. The automatic inoculation device according to claim 1, characterized in that: The second rotary short-circuit unit (57) includes a second transmission pipeline port (73), a second transmission pipeline (74) connected to the second transmission pipeline port (73), and a second hose (75) connected to the second transmission pipeline (74). The second hose (75) is connected to the inoculation main pipeline (18) through a rotary connection mechanism (71).

3. The automatic inoculation device according to claim 1 or 2, characterized in that: The rotary connection mechanism (71) is a rotary connection joint.

4. The automatic inoculation device according to claim 1, characterized in that: There are multiple transplanting pipe openings (17), the first outer guide rail (12) and the first inner guide rail (13) are concentric annular guide rails centered on the inoculation main pipe (18), and the transplanting pipe openings (17) are arranged in an annular area between the first outer guide rail (12) and the first inner guide rail (13).

5. The automatic inoculation device according to claim 4, characterized in that: The multiple seed transplanting pipe openings (17) are evenly distributed in the annular area between the first outer guide rail (12) and the first inner guide rail (13).

6. The automatic inoculation device according to claim 1, characterized in that: The first connecting structure (16) is a connecting plate.

7. The automatic inoculation device according to claim 1, characterized in that: A second outer guide rail (51) and a second inner guide rail (52) are provided on the second fixed surface (91), the inoculation pipe port (55) is provided between the second outer guide rail (51) and the second inner guide rail (52), a second support unit is provided on the second outer guide rail (51) and the second inner guide rail (52), and the second support unit slides along the second outer guide rail (51) and the second inner guide rail (52) under the control of the control system.

8. The automatic inoculation device according to claim 7, characterized in that: There are multiple inoculation pipe openings (55), the second outer guide rail (51) and the second inner guide rail (52) are concentric annular guide rails centered on the inoculation main pipe (18), and the inoculation pipe openings (55) are arranged in an annular area between the second outer guide rail (51) and the second inner guide rail (52).

9. The automatic inoculation device according to claim 8, characterized in that: The inoculation pipe openings (55) are evenly distributed in the annular area between the second outer guide rail (51) and the second inner guide rail (52).

10. The automatic inoculation device according to claim 1, characterized in that: The second supporting unit includes a second outer slider (53) sliding on the second outer guide rail (51), a second inner slider (54) sliding on the second inner guide rail (52), and a second connecting structure (56) connecting the second outer slider (53) and the second inner slider (54). The second inoculation connection port (571) is provided on the second connecting structure (56). The second outer guide rail (51) and the second inner guide rail (52) are both electromagnetic guide rails. The second outer slider (53) and the second inner slider (54) are both electromagnetic sliders.

11. The automatic inoculation device according to claim 10, characterized in that: The magnetism of the second outer guide rail (51), the second inner guide rail (52), the second outer slider (53), and the second inner slider (54) is controlled by the control system.

12. The automatic inoculation device according to claim 10, characterized in that: The second connecting structure (56) is a connecting plate.

13. The automatic inoculation device according to claim 2, characterized in that: The end faces of the inoculation pipe port (55) and the second transmission pipe port (73) are both electromagnetic end faces, and the magnetism of the electromagnetic end faces is controlled by a control system.

14. The automatic inoculation device according to claim 13, characterized in that: The control system is a DCS control system, which includes a transplant control unit and an inoculation control unit. The transplant control unit controls the docking of the transplant pipeline port (17) with the first transmission pipeline port (31), and the inoculation control unit controls the docking of the second transmission pipeline port (73) with the inoculation pipeline port (55).

15. The automatic inoculation device according to claim 1, characterized in that: The first supporting unit further comprises a first driving mechanism (41), a first driving rod (42) connected to the output end of the first driving mechanism (41), and a first driving block (43) arranged at the front end of the first driving rod (42), the first driving block (43) being fixed to the first transmission pipe (37), the first driving mechanism (41) being fixed to the first connecting structure (16), and the first transmission pipe port (31) passing through the first inoculation connection port (191) being located on the inner side of the first driving block (43).

16. The automatic inoculation device according to claim 15, characterized in that: The first driving mechanism (41) is a motor, and the first driving block (43) is an annular driving block.

17. The automatic inoculation device according to claim 2, characterized in that: The second supporting unit further includes a second driving mechanism, a second driving rod connected to the output end of the second driving mechanism, and a second driving block arranged at the front end of the second driving rod. The second driving block is fixed to the second transmission pipe (74), and the second transmission pipe port (73) passes through the second inoculation connection port (571) and is located on the inner side of the second driving block.

18. The automatic inoculation device according to claim 17, characterized in that: The second driving mechanism is a motor, and the second driving block is an annular driving block.

19. The automatic inoculation device according to claim 1, characterized in that: A first positioning column (34) is provided on the first transmission pipeline opening (31), and a first positioning hole (23) is provided on the transplanting pipeline opening (17); or a first positioning hole (23) is provided on the first transmission pipeline opening (31), and a first positioning column (34) is provided on the transplanting pipeline opening (17).

20. The automatic inoculation device according to claim 2, characterized in that: A second positioning column is provided on the second transmission pipe opening (73), and a second positioning hole is provided on the inoculation pipe opening (55); or a second positioning hole is provided on the second transmission pipe opening (73), and a second positioning column is provided on the inoculation pipe opening (55).

21. The automatic inoculation device according to claim 20, characterized in that: A first butterfly valve (25) is provided on the seed transfer pipeline (26), and the opening and closing of the first butterfly valve stem (24) of the first butterfly valve (25) is controlled by a control system. A second butterfly valve (36) is provided on the first transmission pipeline (37), and the opening and closing of the second butterfly valve stem (35) of the second butterfly valve (36) is controlled by a control system.

22. The automatic inoculation device according to claim 21, characterized in that: A third butterfly valve is provided on the inoculation pipeline (93), and a fourth butterfly valve is provided on the second transmission pipeline (74). The opening and closing of the third and fourth butterfly valve stems of the third and fourth butterfly valves are controlled by a control system.

23. The automatic inoculation device according to claim 1 or 13, characterized in that: Sealing rings are provided on the electromagnetic end faces.

24. The automatic inoculation device according to claim 23, characterized in that: The electromagnetic end face is made of iron-silicon alloy, iron-aluminum alloy or nickel-iron alloy, and the sealing ring is made of polytetrafluoroethylene.

25. A control method for the automatic inoculation device according to claim 22, characterized in that: The steps include: 1) The seed liquid transfer begins, and the seed transfer pipe port (17) corresponding to the seed tank (81) to which the seed liquid needs to be transferred is selected on the control panel, and the inoculation pipe port (55) corresponding to the fermentation tank (92) to which the seed liquid needs to be received is selected; 2) Click Start, and the system automatically controls the first transmission pipeline port to be moved to the No. 1 transplanting pipeline port (17), and the second transmission pipeline port to be moved to the No. 1 inoculation pipeline port (55); 3) After moving into position, click on alignment, and the system controls the positioning column to move into the positioning hole; 4) After the system determines that the alignment is completed, the system automatically controls the electromagnetic end face to be energized, so that the end face generates magnetism and generates magnetic adsorption with the corresponding end face; 5) After the end face magnetic adsorption is completed, the system prompts that the docking is complete. Click to start the liquid transfer. The system automatically controls the butterfly valve to open and the seed liquid begins to transfer; 6) After the seed liquid transfer is completed, the system prompts that the seed liquid transfer is completed. Click "Pipette Complete". The system closes the butterfly valve, cuts off the power to the end face to release the magnetic adsorption, and separates the positioning column from the positioning hole. At this point, the seed liquid transfer of the seed tank is completed; 7) Click Continue Pipetting, the system controls the support unit to move to the designated next transfer pipe port (17), and the next corresponding inoculation pipe port (55), and repeats the above steps 2) to 6) to complete the seed liquid transfer of the next seed tank (81), and in this way, complete the seed liquid transfer of other seed tanks (81); 8) Click "End Pipetting" to end the transfer of all seed solutions. Between step 3) and step 4), there is also an alignment judgment step. The control system automatically determines whether the alignment of the positioning post and the positioning hole is complete. If not, it returns to step 3) to fine-tune the position to ensure accurate alignment between the positioning post and the positioning hole, and then continues to step 4).

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