Vaccine stock solution preparation loading system

Abstract

The invention provides a vaccine stock solution preparation and loading system, which belongs to the technical field of vaccine production, and comprises a plug pulling operation chamber, a flushing operation chamber, a filling operation chamber and a plug closing operation chamber which are connected in sequence, and also comprises a hoisting track, a plurality of groups of grabbing manipulators and a plurality of groups of disinfection devices, the hoisting track sequentially penetrates through the top of the plug pulling operation chamber, the top of the flushing operation chamber, the top of the filling operation chamber and the top of the plug closing operation chamber; the plurality of groups of grabbing manipulators are distributed along the transportation direction of the hoisting track and can move under the driving of the hoisting track; the grabbing manipulator can grab the bottle body and drive the bottle body to turn over up and down, and the grabbing manipulator can pull out the bottle plug or plug the bottle plug into the bottle opening. According to the vaccine stock solution preparation and loading system provided by the invention, the operation of manually transferring the culture bottles is avoided, and the corresponding operation room can be disinfected before the corresponding operation process is started, so that the problem of operation pollution is effectively avoided, and the reliability and safety of operation are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of vaccine production, and in particular relates to a vaccine stock solution preparation and filling system. Background Art

[0002] During the vaccine production process, culture bottles are needed to package the vaccine stock solution, which is then used in subsequent production processes. The culture bottles used for vaccine stock packaging need to be reused and need to be cleaned before packaging. Generally, after the cleaning step is completed, the culture bottles need to be manually transferred to the packaging station. This transfer process can easily cause the culture bottles to be contaminated, affecting the cleanliness of the vaccine stock solution after packaging, and thus affecting the reliability of the subsequent production process. Summary of the invention

[0003] The embodiment of the present invention provides a vaccine stock solution preparation and filling system, which aims to solve the problem in the existing vaccine production process that the culture bottles need to be manually transferred to the filling station after cleaning, which is easy to cause contamination.

[0004] To achieve the above object, the technical solution adopted by the present invention is: A vaccine stock solution preparation and filling system is provided, comprising: A plugging operation chamber, a flushing operation chamber, a filling operation chamber and a plugging operation chamber are connected in sequence, and an openable and closable sealing device is provided on the inlet side of the plugging operation chamber, between the plugging operation chamber and the flushing operation chamber, between the flushing operation chamber and the filling operation chamber, between the filling operation chamber and the plugging operation chamber, and the outlet side of the plugging operation chamber; A hoisting track sequentially passes through the top of the plug removal operation chamber, the top of the flushing operation chamber, the top of the filling operation chamber, and the top of the plug closing operation chamber; Multiple groups of gripping manipulators are distributed along the transport direction of the lifting track. The gripping manipulators can move under the drive of the lifting track and stay in the cork extraction operation room, the flushing operation room, the filling operation room or the cork closing operation room. The gripping manipulators can grip the bottle body and drive the bottle body to turn up and down. The gripping manipulators can also pull out or plug the cork into the bottle mouth; A plurality of groups of disinfection devices are respectively arranged in the plug removal operation room, the flushing operation room, the filling operation room and the plug closing operation room.

[0005] In a possible implementation, the grasping robot includes a bottle body robot and a bottle stopper robot, and the bottle body robot and the bottle stopper robot are respectively connected to the lifting track; the bottle body robot can grasp the bottle body and drive the bottle body to flip up and down, and the bottle stopper robot can pull out or insert the bottle stopper into the bottle mouth.

[0006] In one possible implementation, the vaccine concentrate preparation and filling system also includes a grasping operation room located on the inlet side of the plug-pulling operation room, and an openable and closable sealing device is provided on the inlet side of the grasping operation room and between the grasping operation room and the plug-pulling operation room. The lifting rail passes through the top of the grasping operation room, and the grasping robot can move driven by the lifting rail and stay in the grasping operation room; a disinfection device is provided in the grasping operation room.

[0007] In one possible implementation, the vaccine concentrate preparation and filling system also includes a draining operation chamber arranged between the unplugging operation chamber and the flushing operation chamber, and an openable and closable sealing device is provided between the unplugging operation chamber and the draining operation chamber and between the draining operation chamber and the flushing operation chamber, the lifting rail passes through the top of the draining operation chamber, and the grasping robot can move driven by the lifting rail and stay in the draining operation chamber; a disinfection device is provided in the draining operation chamber.

[0008] In some embodiments, a waste liquid draining pool is provided at the bottom of the draining operation room, the gripping robot keeps the bottle body in a state with the bottle mouth facing downward, and the waste liquid draining pool is used to receive the waste liquid flowing out of the bottle mouth.

[0009] In some embodiments, the bottle body manipulator includes a first vertical bracket, a flip bracket, a bottleneck clamp and a bottle body clamp, the top of the first vertical bracket is connected to the lifting rail, the flip bracket is liftably connected to the first vertical bracket and has the freedom of rotation along a horizontal axis; the bottleneck clamp and the bottle body clamp are respectively arranged on opposite sides of the flip axis of the flip bracket, and the flip axis extends in the horizontal direction.

[0010] In some embodiments, the bottle cork manipulator includes a second vertical bracket and a bottle cork clamp, the top of the second vertical bracket is connected to the lifting rail and can move along the extension direction of the lifting rail, and the bottle cork clamp is liftably connected to the second vertical bracket.

[0011] In a possible implementation, heaters are respectively provided in the plug removal operation chamber and the plug closing operation chamber, and the heaters can heat the bottle mouth.

[0012] In one possible implementation, a flushing waste liquid pool and a flushing device are provided at the bottom of the flushing operation room. The flushing device is arranged in the flushing waste liquid pool and can extend the bottle body flushing head into the bottle mouth. The flushing waste liquid pool is used to receive the waste liquid flowing out of the bottle mouth, and the bottom of the flushing waste liquid pool is connected to a flushing drainage pipe.

[0013] In a possible implementation, the disinfection device is at least one of a steam disinfection device, an ultraviolet disinfection device, and a spray disinfection device.

[0014] Compared with the prior art, the scheme shown in the embodiment of the present application is that the uncorking operation room, the flushing operation room, the filling operation room and the plugging operation room respectively complete the uncorking and opening of the culture bottle, the cleaning and flushing of the culture bottle, the infusion of the vaccine stock solution into the culture bottle (i.e., subpackaging), and the plugging and capping of the culture bottle, wherein each operation room is independent of each other and relatively sealed, and each operation room is isolated from the outside world during normal operation and is not affected by pollution; after the previous process is completed, the sealing device between the two adjacent operation rooms is opened, and the culture bottle is driven to move to the operation room of the next process by the grasping manipulator, and the culture bottle of the upstream process can also be transferred to the uncorking operation room by the grasping manipulator, and the transfer process does not require human participation, avoiding human contact with the culture bottle to cause contamination. In addition, each operation room is provided with a disinfection device, and after the operation is completed in the operation room, the disinfection device is turned on for disinfection to ensure that the cleanliness of the operation room meets the standard before the next operation begins, so that the cleanliness of the operating environment can also be guaranteed. The vaccine concentrate preparation and loading system of the present application avoids the operation of manually transferring culture bottles, and can also disinfect the corresponding operation room before starting the corresponding operation process, effectively avoiding the problem of operational contamination and improving the reliability and safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of a vaccine stock solution preparation and loading system provided in Example 1 of the present invention; Figure 2 This is a schematic top view of the layout of the vaccine stock solution preparation and installation system used in Example 2 of the present invention; Figure 3 This is a schematic top view of the layout of the vaccine stock solution preparation and installation system used in Example 3 of the present invention; Figure 4 This is a schematic top view of the layout of the vaccine stock solution preparation and installation system used in Example 4 of the present invention; Figure 5 This is a schematic top view of the layout of the vaccine stock solution preparation and installation system used in Example 5 of the present invention; Figure 6 This is a schematic diagram of the sealing state of the sealing device used in the sixth embodiment of the present invention; Figure 7 This is a schematic diagram of the opening state of the sealing device used in the sixth embodiment of the present invention; Figure 8 This is an assembly diagram of the bracket adjustment mechanism and the lifting rail used in the seventh embodiment of the present invention; Fig. 9 A schematic diagram of the inner structure of a grabbing operation room provided with a grabbing and deviation-correcting device according to the eighth embodiment of the present invention; Fig.10 The main image of the matching state between the bottle body and the inspection platform in the eighth embodiment of the present invention Figure 1 ; Fig.11 The main image of the matching state between the bottle body and the inspection platform in the eighth embodiment of the present invention Figure 2 ; Fig.12 A top view of the matching state of the bottle body and the inspection platform in the eighth embodiment of the present invention Figure 1 ; Fig.13 A top view of the matching state of the bottle body and the inspection platform in the eighth embodiment of the present invention Figure 2 ; Description of reference numerals: 1. Grasping operation room; 2. Cork extraction operation room; 3. Draining operation room; 4. Flushing operation room; 5. Filling operation room; 6. Corking operation room; 7. Sealing device; 710. Sliding door; 711. Groove; 712. Sealing pad; 720. Lower translation guide rail; 730. Lifting bracket; 740. Translation roller; 8. Lifting track; 9. Grasping manipulator; 910. Bottle manipulator; 911. First vertical bracket; 912. Turning bracket; 913. Bottle neck clamp; 914. Bottle body clamp; 920. Bottle plug manipulator; 921. Second vertical bracket; 922. Bottle plug clamp; 10. Bottle; 11. Bottle plug; 12. Drainage waste liquid pool; 13. Heater; 14. Flushing waste liquid pool; 1410 , flushing and drainage pipeline; 15, flushing device; 16, import hanging rail; 17, export hanging rail; 18, import track; 19, export track; 20, bracket adjustment mechanism; 2010, movable outer frame; 2020, adjustment driver; 2030, driving gear; 2040, driving rack; 2050, first bevel gear; 2060, second bevel gear; 2070, limiting roller; 21, liquid separation cover; 22, ceiling; 23, grasping and correcting device; 2310, inspection platform; 2311, vacuum hole; 2320, light transmitter; 2330, camera; 2340, lifting driver; 2350, vacuum pump; 2360, pressure relief valve; 24, rubber plug recovery tank; 25, rubber plug supply tank. DETAILED DESCRIPTION

[0016] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0017] In the claims, description and the above-mentioned drawings of the present invention, unless otherwise clearly defined, the use of terms such as "first", "second" or "third" etc. are for distinguishing different objects rather than for describing a specific order.

[0018] In the claims, specification and the above-mentioned drawings of the present invention, unless otherwise explicitly defined, directional words, such as the terms "center", "lateral", "longitudinal", "horizontal", "vertical", "top", "bottom", "inside", "outside", "up", "down", "front", "back", "left", "right", "clockwise", "counterclockwise", "high", "low", etc., indicating directions or positional relationships are based on the directions and positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the specific protection scope of the present invention.

[0019] In the claims, specification and the above drawings of the present invention, unless otherwise clearly defined, if the term "fixed connection" or "fixed connection" is used, it should be understood in a broad sense, that is, any connection method without a displacement relationship and relative rotation relationship between the two, that is to say, including non-detachable fixed connection, detachable fixed connection, integrated connection and fixed connection through other devices or elements.

[0020] In the claims, description and drawings of the present invention, if the terms "include", "have" and their variations are used, they are intended to mean "including but not limited to".

[0021] Please also read Figure 1 The vaccine stock solution preparation and loading system provided by the present invention is now described. The vaccine stock solution preparation and loading system comprises a plug removal operation room 2, a flushing operation room 4, a filling operation room 5 and a plug closing operation room 6 connected in sequence, and also comprises a lifting rail 8, multiple groups of gripping manipulators 9 and multiple groups of disinfection devices. An openable and closable sealing device 7 is provided on the inlet side of the cork removal operation chamber 2, between the cork removal operation chamber 2 and the flushing operation chamber 4, between the flushing operation chamber 4 and the filling operation chamber 5, between the filling operation chamber 5 and the plugging operation chamber 6, and on the outlet side of the plugging operation chamber 6; a lifting track 8 sequentially passes through the top of the cork removal operation chamber 2, the top of the flushing operation chamber 4, the top of the filling operation chamber 5 and the top of the plugging operation chamber 6; a plurality of groups of grasping robots 9 are distributed along the transportation direction of the lifting track 8, and the grasping robots 9 can move driven by the lifting track 8 and stay in the cork removal operation chamber 2, the flushing operation chamber 4, the filling operation chamber 5 or the plugging operation chamber 6, the grasping robots 9 can grasp the bottle body 10 and drive the bottle body 10 to turn upside down, and the grasping robots 9 can also pull out or plug the bottle stopper 11 into the bottle mouth. The bottle body 10 and the bottle mouth form a complete culture bottle; multiple groups of disinfection devices are respectively arranged in the plug removal operation room 2, the flushing operation room 4, the filling operation room 5 and the plug closing operation room 6.

[0022] Compared with the prior art, the vaccine stock solution preparation and loading system provided in this embodiment has the following features: the unplugging operation room 2, the flushing operation room 4, the filling operation room 5 and the plugging operation room 6 respectively complete the unplugging and opening of the culture bottle, the cleaning and flushing of the culture bottle (including the bottle body 10 and the bottle plug 11), the infusion of the vaccine stock solution into the culture bottle (i.e., subpackaging), and the plugging and capping of the culture bottle. Among them, each operation room is independent of each other and relatively sealed. When working normally, each operation room is isolated from the outside world and is not affected by pollution. After the previous process is completed, the sealing device 7 between the two adjacent operation rooms is opened, and the culture bottle is driven to move to the operation room of the next process by the grasping manipulator 9. The culture bottle of the upstream process can also be transferred to the unplugging operation room 2 by the grasping manipulator 9. The transfer process does not require human participation, so as to avoid human contact with the culture bottle and cause contamination. In addition, each operation room is provided with a disinfection device. After the operation is completed once in the operation room, the disinfection device is turned on for disinfection to ensure that the cleanliness of the operation room meets the standard before the next operation begins. In this way, the cleanliness of the operating environment can also be guaranteed. The vaccine concentrate preparation and loading system of this embodiment avoids the operation of manually transferring culture bottles, and can also disinfect the corresponding operating room before starting the corresponding operating process, effectively avoiding the problem of operational contamination and improving the reliability and safety of the operation.

[0023] In some embodiments of implementing the disinfection operation, in order to improve the work efficiency, when the plug-pulling operation room 2 and the filling operation room 5 are working normally, the flushing operation room 4 and the plug-closing operation room 6 are disinfected; after the plug-pulling operation room 2 and the filling operation room 5 are finished, they are disinfected, and at this time, the flushing operation room 4 and the plug-closing operation room 6 are working normally. A more specific process is: the sealing devices 7 related to the plug-pulling operation room 2, the flushing operation room 4, the filling operation room 5 and the plug-closing operation room 6 are kept in a sealed closed state, the plug-pulling operation room 2 and the filling operation room 5 are working normally, and the flushing operation room 4 and the plug-closing operation room 6 are disinfected; after the plug-pulling operation room 2 and the filling operation room 5 are finished, the disinfection operation of the flushing operation room 4 and the plug-closing operation room 6 is also finished, the sealing devices 7 related to each operation room are opened, and the hoisting track 8 drives the culture bottles in each operation room to move to the next operation room. After moving into place, each sealing device 7 is closed; then the plug-pulling operation room 2 and the filling operation room 5 are disinfected, and the flushing operation room 4 and the plug-closing operation room 6 are working normally; repeat the above steps, and the vaccine stock solution preparation and loading system can operate continuously.

[0024] In some embodiments, see Figure 1 A stopper recovery pool 24 is provided in the stopper extraction operation room 2. After the grasping robot 9 pulls out the old stopper 11 sealing the bottle body 10, it is put into the stopper recovery pool 24 for unified collection; a stopper supply pool 25 is provided in the stopper closing operation room 6. The grasping robot 9 takes out the new stopper 11 from the stopper supply pool 25 and inserts the new stopper 11 into the bottle mouth to complete the stopper closing.

[0025] In some embodiments, see Figure 6 and Figure 7 The sealing device 7 includes two sliding doors 710 arranged opposite to each other, and also includes an upper sliding guide rail and a lower sliding guide rail 720. A groove 711 corresponding to the lifting rail 8 is respectively arranged on the upper part of each sliding door 710. The two grooves 711 relatively form a space for accommodating the lifting rail 8. A sealing gasket 712 is arranged on the inner wall of the groove 711. After the two sliding doors 710 are closed, the sealing gaskets 712 in the two grooves 711 are respectively tightly fitted with the outer peripheral surface of the lifting rail 8 to ensure the sealing of the area, thereby ensuring the reliability of the sealing isolation between the two adjacent operating rooms; the upper part of the sliding door 710 is slidably adapted to the upper sliding guide rail, and the lower part of the sliding door 710 is slidably adapted to the lower sliding guide rail 720.

[0026] Optionally, the upper translational guide rail has an upper guide groove, a lifting bracket 730 is provided above the translational door 710, and a translation roller 740 is provided on the lifting bracket 730. The translation roller 740 rolls with the upper guide groove to reduce the friction between the upper translational guide rail and the lifting bracket 730 by rolling, thereby reducing the movement resistance.

[0027] In some embodiments, see Figure 1 and Fig. 9 The gripping manipulator 9 includes a bottle body manipulator 910 and a bottle stopper manipulator 920, which are respectively connected to the lifting track 8; the bottle body manipulator 910 can grip the bottle body 10 and drive the bottle body 10 to turn up and down, and the bottle stopper manipulator 920 can pull out or plug the bottle stopper 11 into the bottle mouth. In this embodiment, the gripping manipulator 9 is divided into two parts, so that the gripping function of the bottle stopper 11 is independent of the gripping function of the bottle body 10, the action control is more flexible, and the reliability of gripping the bottle body 10 and the bottle stopper 11 is improved.

[0028] In some embodiments, see Figure 1 , the vaccine stock solution preparation and installation system also includes a grasping operation room 1 arranged on the inlet side of the unplugging operation room 2, and an openable and closable sealing device 7 is provided on the inlet side of the grasping operation room 1 and between the grasping operation room 1 and the unplugging operation room 2; a lifting track 8 runs through the top of the grasping operation room 1, and the grasping manipulator 9 can move driven by the lifting track 8 and stay in the grasping operation room 1; a disinfection device is provided in the grasping operation room 1. Among them, the sealing device 7 has a structure basically the same as the aforementioned sealing device 7, which will not be repeated here. The grasping operation room 1 of this embodiment is arranged on the upstream side of the unplugging operation room 2 and is used as a buffer room of the unplugging operation room 2. Before the culture bottle enters the unplugging operation room 2, the surface of the culture bottle can be preliminarily disinfected in the grasping operation room 1, which can further improve the reliability and convenience of subsequent operations.

[0029] After the gripping robot 9 moves the culture bottle of the upstream process to the gripping operation room 1, if the central axis of the culture bottle body 10 is parallel to the vertical direction, it means that the bottle body 10 in the gripping robot 9 is not tilted and can be moved to the subsequent operation room; if the central axis of the culture bottle body 10 is not in the vertical direction, it means that the bottle body 10 in the gripping robot 9 is tilted. When it comes to the subsequent processes of flipping and cleaning the bottle body 10, the tilted bottle body 10 may cause collision with the gripping robot 9 and other surrounding components during the flipping process, causing damage to the bottle body 10, and may also cause the cleaning liquid to be unable to smoothly enter the bottle body 10 during the cleaning process. In order to solve this problem, in some embodiments, see Fig. 9 , a grasping and correcting device 23 is provided in the grasping operation room 1 to inspect and correct the posture of the bottle body 10. The grasping and correcting device 23 includes an inspection platform 2310, a light emitter 2320 and a camera 2330. The inspection platform 2310 is arranged in the grasping operation room 1 in a manner that it can be raised and lowered. The inspection platform 2310 is a circular platform with a horizontal table surface; the light emitter 2320 and the camera 2330 are arranged on the opposite side edges of the inspection platform 2310 along the same radial line of the inspection platform 2310. The light emitter 2320 and the camera 2330 can move synchronously along the outer contour line of the inspection platform 2310, and maintain a state of being located on the same radial line of the inspection platform 2310 during the movement.

[0030] After the bottle body robot 910 grabs the bottle body 10, it will move to a designated temporary storage location (such as Fig.12 and Fig.13 As shown), wait for the subsequent cork extraction operation room 2 to complete the operation, and open the sealing device 7 between the grabbing operation room 1 and the cork extraction operation room 2. Subsequently, the bottle body manipulator 910 in the grabbing operation room 1 will move to the cork extraction operation room 2 under the drive of the lifting track 8. The grabbing and correcting device 23 can use this time to inspect and correct the posture of the bottle body 10. In this embodiment, the inspection platform 2310 is set at a designated temporary storage position in the grabbing operation room 1. After the bottle body 10 moves to the designated temporary storage position, if the bottle body 10 is not skewed, there is a gap between the bottle bottom and the inspection platform 2310, and the gap is uniform (such as Fig.10 If the bottle body 10 is tilted, the gap between the bottle bottom and the inspection platform 2310 is uneven (as shown); Fig.11 Based on this, the light emitter 2320 is used to emit visible light on one side of the bottle body 10, and the visible light can pass through the gap to illuminate the other side of the bottle body 10. At this time, the camera 2330 is used to shoot the light pattern on the other side of the bottle body 10. If the bottle body 10 is not deflected, the captured pattern can show light strips with uniform width. If the bottle body 10 is deflected, the captured pattern can show light strips with uneven width.

[0031] The above description explains the inspection principle of the grasping and correcting device 23. During the inspection, the light emitter 2320 and the camera 2330 are rotated around the center line of the inspection platform 2310 at a constant speed. During this process, the light emitter 2320 continuously emits light, and the camera 2330 intermittently captures images at a certain time interval. The movement directions of the light emitter 2320 and the camera 2330 are as follows: Fig.13 After rotating half a circle around the inspection platform 2310, if all the captured images show light strips with uniform width, it is determined that the bottle body 10 is not skewed and no correction is required; if at least one of the captured images shows light strips with uneven width, it is determined that the bottle body 10 is skewed and the posture of the bottle body 10 needs to be corrected.

[0032] If the posture of the bottle body 10 needs to be corrected, the inspection platform 2310 is moved upward until the inspection platform 2310 contacts the bottom of the bottle, and then the bottle body manipulator 910 is released. Under the action of gravity, the bottom of the bottle fits with the inspection platform 2310, and the posture of the bottle body 10 is corrected. Then, the bottle body manipulator 910 is used to re-grasp the bottle body 10, and the bottle body 10 is not skewed, achieving the purpose of correction. Subsequently, the inspection platform 2310 moves downward, and the bottle body manipulator 910 can be ready to move the culture bottle to the subsequent operation room.

[0033] Optionally, the mechanism for controlling the lifting of the inspection platform 2310 is a lifting driver 2340, such as a lifting hydraulic cylinder, a lifting cylinder, an electric push rod, etc.

[0034] Optionally, the outer peripheral surface of the inspection platform 2310 is provided with a slide extending along its own circumference, and the light emitter 2320 and the camera 2330 are respectively slidably adapted to the slide, and the control mechanism also includes a rotation driver, a driving gear 2030 and a rotating ring gear, the rotating ring gear is coaxially arranged at the bottom of the inspection platform 2310, and can rotate along the central axis of the inspection platform 2310, the rotation driver is fixed to the bottom of the inspection platform 2310, the driving ring gear is coaxially fixed to the output shaft of the rotation driver, and the driving gear 2030 is meshed with the rotating ring gear; the light emitter 2320 and the camera 2330 are respectively fixed to the rotating ring gear, and the rotating ring gear is driven to rotate by the rotation driver, thereby driving the light emitter 2320 and the camera 2330 to move synchronously along the circumference of the inspection platform 2310.

[0035] Optional, see Fig.12 and Fig.13, a vacuum cavity is provided in the inspection platform 2310, and a vacuum hole 2311 is provided on the upper surface of the inspection platform 2310, and the vacuum hole 2311 is connected to the vacuum cavity, and the distribution area of ​​the vacuum hole 2311 is located within the bottom edge line of the bottle body 10. After the bottle body 10 is completely squared onto the inspection platform 2310, the bottle bottom can completely cover the true vacuum hole 2311, and the vacuum pump 2350 is connected to the vacuum inner cavity and sucks the air in the vacuum inner cavity, and then a negative pressure state is formed between the bottle bottom and the inspection platform 2310, and a certain vacuum adsorption and fixing effect is formed on the bottle body 10 through the negative pressure, and the bottle body 10 can be kept motionless during the process of the bottle body manipulator 910 grasping the bottle body 10 again, so as to avoid the bottle body 10 from being deflected again. After the bottle body manipulator 910 grasps in place, the space between the bottle bottom and the inspection platform 2310 is restored to a normal pressure state, and the bottle body 10 can smoothly leave the inspection platform 2310 and enter the cork removal operation room 2.

[0036] Among them, see Fig. 9 A pressure relief pipe is also connected to the inspection platform 2310, and the pressure relief pipe is connected to the vacuum chamber. A pressure relief valve 2360 is provided on the pressure relief pipe. After the bottle body manipulator 910 grasps the bottle body 10, the pressure relief pipe is opened, and the vacuum chamber is connected to the space in the grasping operation room 1. The air pressure inside the vacuum chamber quickly returns to normal pressure, thereby restoring the space between the bottle bottom and the inspection platform 2310 to normal pressure.

[0037] In some embodiments, see Figure 1 The vaccine stock solution preparation and installation system also includes a draining operation chamber 3 arranged between the unplugging operation chamber 2 and the flushing operation chamber 4. An openable and closable sealing device 7 is provided between the unplugging operation chamber 2 and the draining operation chamber 3, and between the draining operation chamber 3 and the flushing operation chamber 4. A lifting track 8 runs through the top of the draining operation chamber 3. The grasping manipulator 9 can move driven by the lifting track 8 and stay in the draining operation chamber 3. A disinfection device is provided in the draining operation chamber 3. Among them, the sealing device 7 has a structure basically the same as the aforementioned sealing device 7, which will not be repeated here. The draining operation chamber 3 can perform an inverted draining operation on the bottle body 10 of the opened culture bottle. This operation, as a pre-step of the flushing operation, reduces the liquid residue in the bottle body 10, can reduce the difficulty of the subsequent flushing operation, and shorten the flushing time and improve the working efficiency while ensuring the cleanliness.

[0038] The vaccine stock solution preparation and loading system of the present embodiment comprises a grabbing operation room 1, a plugging operation room 2, a draining operation room 3, a flushing operation room 4, a filling operation room 5 and a plugging operation room 6 which are connected in sequence, and a disinfection device is respectively arranged in each operation room. The actual operation process is as follows: each sealing device 7 is kept in a closed state, the grabbing operation room 1, the draining operation room 3 and the filling operation room 5 work normally, and the plugging operation room 2, the flushing operation room 4 and the plugging operation room 6 are disinfected; after the grabbing operation room 1, the draining operation room 3 and the filling operation room 5 have finished their work, the plugging operation room 2, the flushing operation room 4 and the plugging operation room 6 are disinfected. The disinfection operation of the washing operation room 4 and the plugging operation room 6 is also completed, the sealing device 7 related to each operation room is opened, and the lifting rail 8 drives the culture bottles in each operation room to move to the next operation room, wherein the culture bottles in the plugging operation room 6 are removed from the system and are ready to be sent to the downstream process; after the culture bottles are transferred into place, each sealing device 7 is closed; then, the grabbing operation room 1, the draining operation room 3 and the filling operation room 5 are disinfected, and the unplugging operation room 2, the flushing operation room 4 and the plugging operation room 6 work normally; repeat the above steps, and the vaccine concentrate preparation and loading system can operate continuously.

[0039] Based on the above embodiments, see Figure 1 In order to receive the waste liquid drained from the bottle body 10, a waste liquid draining pool 12 is provided at the bottom of the draining operation room 3. During operation, the gripping manipulator 9 drives the bottle body 10 to flip 180 degrees, so that the bottle body 10 keeps the bottle mouth facing downward. The waste liquid draining pool 12 is used to receive the waste liquid flowing out of the bottle mouth, so as to realize the centralized collection and centralized drainage of the waste liquid, and avoid the waste liquid from polluting the internal environment of the draining operation room 3.

[0040] In some embodiments, see Figure 1 and Fig. 9 The bottle manipulator 910 includes a first vertical bracket 911, a flip bracket 912, a bottleneck clamp 913 and a bottle body clamp 914. The top of the first vertical bracket 911 is connected to the lifting track 8. The flip bracket 912 is connected to the first vertical bracket 911 in a liftable manner and has the freedom to rotate along the horizontal axis. The bottleneck clamp 913 and the bottle body clamp 914 are respectively arranged on opposite sides of the flip axis of the flip bracket 912, and the flip axis extends in the horizontal direction. Among them, the bottleneck clamp 913 and the bottle body clamp 914 can use existing starting clamps that meet the gripping size requirements of the bottleneck and the bottle body 10, and the specific structures are not listed here one by one.

[0041] This embodiment further decomposes the function of the bottle manipulator 910 to achieve separate clamping of the bottleneck and the bottle body 10, increase the clamping points of the bottle body 10, improve the reliability of clamping, and avoid the problem of the bottle body 10 falling off. The flip bracket 912 has a flip axis extending in the horizontal direction. In the initial state, the bottleneck clamp 913 is on the top and the bottle body clamp 914 is on the bottom. After entering the drain operation room, the flip bracket 912 drives the bottleneck clamp 913 and the bottle body clamp 914 to flip, so that the bottleneck clamp 913 is on the bottom and the bottle body clamp 914 is on the top, so that the liquid naturally flows out of the bottle body 10. The flip bracket 912 can move up and down along the first vertical bracket 911, and then the height of the bottle body 10 can be flexibly adjusted. For example, when draining or rinsing, the height of the bottle body 10 is lowered, and the position of the bottle body 10 is appropriately raised during filling, which is convenient for docking with the liquid separation cover 21.

[0042] Optionally, the flip bracket 912 includes a lifting connecting rod and a flip connecting rod, the lifting connecting rod extends in the horizontal direction, one end of which is connected to the first vertical bracket 911, and the other end is connected to the middle of the flip connecting rod, the flip connecting rod and the lifting connecting rod are vertically arranged, the bottleneck clamp 913 and the bottle body clamp 914 are respectively arranged at both ends of the flip connecting rod, and the central axis of the lifting connecting rod is the flip axis. A flip motor is arranged between the flip connecting rod and the lifting connecting rod, the main body of the flip motor is fixed to the lifting connecting rod, and the motor output shaft is connected to the flip connecting rod, and the flip motor can drive the flip connecting rod to rotate in a vertical plane to realize the upside-down of the bottleneck clamp 913 and the bottle body clamp 914. A lifting sleeve is fixed to the other end of the lifting connecting rod, and the lifting sleeve is sleeved on the outer periphery of the first vertical bracket 911. A lifting motor is arranged inside the lifting sleeve, and its motor output shaft is coaxially connected with a lifting gear. A lifting rack is arranged on the side wall of the first vertical bracket 911, and the lifting gear is meshed with the lifting rack. The lifting motor can drive the lifting connecting rod to move up and down along the first vertical bracket 911.

[0043] In some embodiments, see Figure 1 and Fig. 9The bottle stopper manipulator 920 includes a second vertical support 921 and a bottle stopper gripper 922. The top of the second vertical support 921 is connected to the lifting track 8 and can move along the extension direction of the lifting track 8. The bottle stopper gripper 922 is connected to the second vertical support 921 in a liftable manner. The bottle stopper manipulator 920 of this embodiment is used to pull out the old bottle stopper 11 and put it into the rubber stopper recovery pool 24, and is also used to take out the new bottle stopper 11 from the rubber stopper supply pool 25 and plug it into the bottle mouth. The second vertical bracket 921 enables the bottle stopper clamp 922 to have the freedom of lifting and lowering, so that when the bottle stopper 11 needs to be pulled out, the bottle stopper clamp 922 can be controlled to move downward close to the bottle body 10. After the bottle stopper clamp 922 clamps the bottle stopper 11, it drives the bottle stopper clamp 922 to move upward to complete the plug pulling action; when closing the stopper, the bottle stopper clamp 922 clamps the bottle stopper 11 and moves downward under the action of the second vertical bracket 921 until the bottle stopper 11 tightly plugs the bottle mouth, and then the bottle stopper clamp 922 is released, and the second vertical bracket 921 drives the bottle stopper clamp 922 to move upward away from the bottle body 10. The overall structure of the bottle stopper manipulator 920 is simple, the design is reasonable, the control logic is also simple, and the failure rate is low.

[0044] Among them, the implementation methods of the second vertical bracket 921 include but are not limited to a telescopic hydraulic cylinder, a telescopic air cylinder, an electric push rod, etc.

[0045] In some embodiments, see Figure 1 The plugging operation room 2 and the plugging operation room 6 are respectively provided with a heater 13, which can heat the bottle mouth and keep the bottle mouth dry to prevent pollution, and facilitate the removal of the bottle plug 11 or the insertion of the bottle plug 11 into the bottle mouth. The heater 13 is fixed in the corresponding operation room (for example, on the ceiling 22 of the operation room) and does not move with the lifting track 8; in addition, the implementation of the heater 13 includes but is not limited to a kerosene lamp.

[0046] Optional, see Figure 1 The draining operation room is also provided with a heater 13, which can be set only for the bottle mouth, and the bottle mouth is heated by the heater 13, so that the heat is gradually transferred to the bottle body 10, so as to dry the bottle body 10 after draining, and avoid the waste liquid from dripping during the movement to the flushing operation room 4. Of course, the heater 13 in the draining operation room can also be designed as a liftable heater 13, and the various height positions of the bottle body 10 can be heated during the lifting process, so that the bottle body 10 can be dried faster.

[0047] In some embodiments, see Figure 1A flushing waste liquid pool 14 and a flushing device 15 are provided at the bottom of the flushing operation room 4. The flushing device 15 is arranged in the flushing waste liquid pool 14, and the bottle body flushing head of the flushing device 15 can be extended into the bottle mouth. The flushing waste liquid pool 14 is used to receive the waste liquid flowing out of the bottle mouth. The bottom of the flushing waste liquid pool 14 is connected with a flushing drainage pipe 1410. Among them, the bottle body flushing head of the flushing device 15 can be raised and lowered, and then can rise to enter the bottle mouth and descend to exit the bottle mouth; or, the height of the bottle body flushing head is fixed, and the bottle body 10 is driven down by the bottle body manipulator 910 to make the bottle body flushing head enter the bottle mouth, and the bottle body 10 is driven up by the bottle body manipulator 910 to make the bottle body flushing head exit the bottle mouth. This embodiment can realize the flushing of the bottle body 10, and at the same time, it can also collect and export the flushing wastewater in a centralized manner to avoid pollution.

[0048] Optional, see Figure 1 The rinsing operation room 4 is also provided with a heater 13, which can be set only for the bottle mouth, and the bottle mouth is heated by the heater 13, so that the heat is gradually transferred to the bottle body 10, so as to dry the bottle body 10 after rinsing, and avoid waste liquid dripping during the movement to the filling operation room 5. Of course, the heater 13 in the rinsing operation room 4 can also be designed as a liftable heater 13, and the various height positions of the bottle body 10 can be heated during the lifting process, so that the bottle body 10 can be dried faster.

[0049] In some embodiments, the disinfection device is at least one of a steam disinfection device, an ultraviolet disinfection device, and a spray disinfection device. Taking the steam disinfection device in the grabbing operation room 1 as an example, a steam inlet and a steam outlet are respectively arranged on opposite sides of the grabbing operation room 1, and after the steam is introduced, it is kept for a period of time, and then the steam is discharged to achieve high-temperature steam disinfection. Taking the ultraviolet disinfection device in the flushing operation room 4 as an example, ultraviolet lamps are respectively arranged at multiple heights in the flushing operation room 4, and comprehensive disinfection is achieved by ultraviolet lamp irradiation. Taking the spray disinfection device in the plugging operation room 6 as an example, spray heads are respectively arranged at multiple heights in the plugging operation room 6, and comprehensive disinfection is achieved by spraying disinfectant, and the disinfection waste liquid is discharged through the drainage collection port at the bottom of the plugging operation room 6.

[0050] It should be noted that in the same operating room, only one of the steam sterilization device, the ultraviolet sterilization device, and the spray sterilization device can be installed. It is also possible to install a steam sterilization device and an ultraviolet sterilization device at the same time in the same operating room, or to install an ultraviolet sterilization device and a spray sterilization device at the same time. The remaining embodiments are not listed here one by one.

[0051] In some embodiments, in order to achieve the connection between the vaccine stock solution preparation and loading system and the upstream and downstream stations, see Figure 4The lifting track 8 is an open track, and its inlet end is connected with the inlet lifting track 16 of the upstream station, and the culture bottle of the upstream station is directly transferred to the grabbing operation room 1 by lifting; the outlet end of the lifting track 8 is connected with the outlet lifting track 17 of the downstream station, and the culture bottle is directly moved to the downstream station by lifting.

[0052] In other embodiments, in order to realize the connection between the vaccine stock solution preparation and loading system and the upstream and downstream stations, see Figure 2 , Figure 3 and Figure 5 The hoisting track 8 is a closed-loop track. An introduction track 18 and an export track 19 are respectively arranged below the hoisting track 8. The introduction track 18 is arranged corresponding to the inlet side of the grabbing operation room 1, and the export track 19 is arranged corresponding to the outlet side of the plugging operation room 6. The introduction track 18 moves the culture bottle of the upstream station to the inlet side of the grabbing operation room 1 in a supporting manner. After the grasping manipulator 9 located outside the grabbing operation room 1 grasps the culture bottle, it moves into the grabbing operation room 1 along with the hoisting track 8; after the culture bottle in the plugging operation room 6 is moved out of the plugging operation room 6, the grasping manipulator 9 puts the culture bottle down to the export track 19, and the export track 19 moves the culture bottle to the downstream station in a supporting manner.

[0053] Taking the case where the hoisting track 8 is a closed-loop track as an example, the hoisting track 8 has two oppositely arranged straight sections and two oppositely arranged arc sections to form an oblong track structure. Based on this, the grabbing operation room 1, the plugging operation room 2, the draining operation room 3, the flushing operation room 4, the filling operation room 5 and the plugging operation room 6 can be respectively arranged along the straight sections (such as Figure 2 Alternatively, the arc segment can also be included in the scope of the operating room to form an operating room layout with the head and tail connected in sequence (as shown in Figure 3 and Figure 5 as shown).

[0054] If the hoisting track 8 is an open track, the distribution of each operating room is similar to the aforementioned closed-loop track. Figure 4 The embodiment of arranging the operating room using only the straight section of the track is shown by way of example, and the other examples are not listed here one by one.

[0055] In some embodiments, see Figure 1 and Figure 8The first vertical bracket 911 and the second vertical bracket 921 are respectively provided with a bracket adjustment mechanism 20, which cooperates with the lifting rail 8 to adjust the relative position of the first vertical bracket 911 and the lifting rail 8 along the long axis of the lifting rail 8, or adjust the relative position of the second vertical bracket 921 and the lifting rail 8. Specifically, the bracket adjustment mechanism 20 includes a movable outer frame 2010, an adjustment driver 2020, a transmission structure, a driving gear 2030 and a driving rack 2040; the movable outer frame 2010 is sleeved on the outer periphery of the lifting rail 8 and is connected to the first vertical bracket 911 or the second vertical bracket 921, and the driving rack 2040 is a flexible rack, which is closely connected to the side of the lifting rail 8; the adjustment driver 2020, the transmission structure and the driving gear 2030 are all arranged in the movable outer frame 2010, the adjustment driver 2020 is fixed to the movable outer frame 2010, the driving gear 2030 is rotatably connected to the movable outer frame 2010, and meshes with the driving rack 2040, the output end of the adjustment driver 2020 is connected to the driving gear 2030 through the transmission structure, and can drive the driving gear 2030 to rotate, and the rotation of the driving gear 2030 causes the movable outer frame 2010 to drive the first vertical bracket 911 or the second vertical bracket 921 to move.

[0056] Optionally, the transmission structure includes a first bevel gear 2050 and a second bevel gear 2060 , the first bevel gear 2050 is coaxially connected to the output shaft of the adjustment driver 2020 , the second bevel gear 2060 is coaxially connected to the driving gear 2030 , and the first bevel gear 2050 is meshed with the second bevel gear 2060 .

[0057] Optionally, the inner wall of the movable outer frame 2010 is also provided with a limiting roller 2070, and the limiting roller 2070 rolls with the two side walls of the lifting rail 8 adjacent to the side wall where the driving rack 2040 is located, and the side wall opposite to the side wall where the driving rack 2040 is located, so as to reduce the friction between the bracket adjustment mechanism 20 and the lifting rail 8, and can limit the relative position of the movable outer frame 2010 and the lifting rail 8 through the limiting roller 2070, thereby improving the stability of the position of the bracket adjustment mechanism 20.

[0058] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A vaccine stock solution preparation and loading system, characterized in that: include: A plugging operation chamber (2), a flushing operation chamber (4), a filling operation chamber (5) and a plugging operation chamber (6) are connected in sequence, and an openable and closable sealing device (7) is provided on the inlet side of the plugging operation chamber (2), between the plugging operation chamber (2) and the flushing operation chamber (4), between the flushing operation chamber (4) and the filling operation chamber (5), between the filling operation chamber (5) and the plugging operation chamber (6), and on the outlet side of the plugging operation chamber (6); A lifting rail (8) sequentially passes through the top of the plug removal operation chamber (2), the top of the flushing operation chamber (4), the top of the filling operation chamber (5) and the top of the plug closing operation chamber (6); A plurality of groups of gripping manipulators (9) are distributed along the transport direction of the lifting track (8). The gripping manipulators (9) can move under the drive of the lifting track (8) and stay in the plug removal operation room (2), the flushing operation room (4), the filling operation room (5) or the plug closing operation room (6). The gripping manipulators (9) can grip the bottle body (10) and drive the bottle body (10) to turn upside down. The gripping manipulators (9) can also pull out or insert the bottle plug (11) into the bottle mouth. A plurality of groups of disinfection devices are respectively arranged in the plug removal operation chamber (2), the flushing operation chamber (4), the filling operation chamber (5) and the plug closing operation chamber (6).

2. The vaccine stock solution preparation and filling system according to claim 1, characterized in that: The grasping robot (9) comprises a bottle body robot (910) and a bottle stopper robot (920), and the bottle body robot (910) and the bottle stopper robot (920) are respectively connected to the lifting track (8); the bottle body robot (910) can grasp the bottle body (10) and drive the bottle body (10) to turn upside down, and the bottle stopper robot (920) can pull out or insert the bottle stopper (11) into the bottle mouth.

3. The vaccine stock solution preparation and filling system according to claim 1 or 2, characterized in that: The vaccine concentrate preparation and filling system also includes a grasping operation room (1) arranged on the inlet side of the plug-pulling operation room (2); the inlet side of the grasping operation room (1) and between the grasping operation room (1) and the plug-pulling operation room (2) are provided with an openable and closable sealing device (7); the lifting rail (8) runs through the top of the grasping operation room (1); the grasping manipulator (9) can move under the drive of the lifting rail (8) and stay in the grasping operation room (1); a disinfection device is provided in the grasping operation room (1).

4. The vaccine stock solution preparation and filling system according to claim 1 or 2, characterized in that: The vaccine concentrate preparation and filling system also includes a draining operation chamber (3) arranged between the unplugging operation chamber (2) and the flushing operation chamber (4); an openable and closable sealing device (7) is provided between the unplugging operation chamber (2) and the draining operation chamber (3), and between the draining operation chamber (3) and the flushing operation chamber (4); the lifting rail (8) passes through the top of the draining operation chamber (3); the grasping manipulator (9) can move driven by the lifting rail (8) and stay in the draining operation chamber (3); a disinfection device is provided in the draining operation chamber (3).

5. The vaccine stock solution preparation and filling system according to claim 4, characterized in that: A waste liquid draining pool (12) is provided at the bottom of the draining operation room (3); the gripping manipulator (9) keeps the bottle body (10) in a state with the bottle mouth facing downward; and the waste liquid draining pool (12) is used to receive waste liquid flowing out of the bottle mouth.

6. The vaccine stock solution preparation and filling system according to claim 2, characterized in that: The bottle manipulator (910) comprises a first vertical support (911), a flip support (912), a bottleneck clamp (913) and a bottle body clamp (914); the top of the first vertical support (911) is connected to the lifting track (8); the flip support (912) is connected to the first vertical support (911) in a liftable manner and has the freedom to rotate along a horizontal axis; the bottleneck clamp (913) and the bottle body clamp (914) are respectively arranged on opposite sides of the flip axis of the flip support (912), and the flip axis extends in the horizontal direction.

7. The vaccine stock solution preparation and filling system according to claim 2, characterized in that: The bottle stopper manipulator (920) includes a second vertical support (921) and a bottle stopper clamp (922), wherein the top of the second vertical support (921) is connected to the lifting track (8) and can move along the extension direction of the lifting track (8), and the bottle stopper clamp (922) is connected to the second vertical support (921) in a liftable manner.

8. The vaccine stock solution preparation and filling system according to claim 1, characterized in that: The plug removal operation chamber (2) and the plug closing operation chamber (6) are respectively provided with a heater (13), and the heater (13) can heat the bottle mouth.

9. The vaccine stock solution preparation and filling system according to claim 1, characterized in that: A flushing waste liquid pool (14) and a flushing device (15) are provided at the bottom of the flushing operation room (4); the flushing device (15) is arranged in the flushing waste liquid pool (14) and can extend the bottle body flushing head into the bottle mouth; the flushing waste liquid pool (14) is used to receive the waste liquid flowing out of the bottle mouth; the bottom of the flushing waste liquid pool (14) is connected to a flushing drainage pipe (1410).

10. The vaccine stock solution preparation and filling system according to claim 1, characterized in that: The disinfection device is at least one of a steam disinfection device, an ultraviolet disinfection device, and a spray disinfection device.

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