Clean manipulator for parallel bioreactor

Abstract

The invention discloses a cleaning manipulator for a parallel bioreactor, which comprises a rotary joint unit and a lifting unit, the rotary joint unit comprises n groups of rotary joint kinematic pairs arranged step by step, and each group of rotary joint kinematic pair comprises a first rotary driving mechanism and a rotary arm, the first rotary driving mechanism is in transmission connection and seal fit with the rotary arm, and the lifting unit is in transmission connection and seal fit with a first group of rotary joint kinematic pairs in the rotary joint unit. According to the clean manipulator for the parallel bioreactor, provided by the invention, automatic liquid adding can be realized, the working efficiency is improved on the premise of ensuring no pollution, and the clean manipulator has the advantages of timeliness and reliability, so that cell culture is more convenient and efficient.

Description

Technical Field

[0001] The invention particularly relates to a clean manipulator for a parallel bioreactor, and belongs to the technical field of biological equipment, parallel bioreactors and laboratory equipment. Background Art

[0002] Currently, most biological cell culture methods use the method of adding reagents manually, which is time-consuming, inefficient, untimely, and unreliable. Multi-axis lifting and extraction and injection manipulators used in the medical industry have defects such as large size, high cost, poor sealing, and low precision. Summary of the invention

[0003] The main purpose of the present invention is to provide a clean manipulator for parallel bioreactors, which mainly solves the problem that different culture reagents need to be added to the culture tanks at irregular intervals and quantities during the current cell culture process, and realizes the process requirements such as automated reagent addition, high efficiency, timeliness and accuracy. Compared with medical manipulators, the present invention has a higher degree of integration, a smaller volume, good sealing, improved rigidity and precision, and is suitable for a more precise and cleaner working environment, thereby overcoming the shortcomings of the prior art. The present invention provides a clean manipulator for parallel bioreactors,

[0004] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention includes:

[0005] The present invention provides a clean manipulator for a parallel bioreactor, comprising:

[0006] A rotary joint unit, comprising n groups of rotary joint motion pairs arranged in stages, each group of the rotary joint motion pairs comprising a first rotary drive mechanism and a rotary arm, the first rotary drive mechanism being transmission-connected and sealingly matched with the rotary arm, the rotary arm being capable of rotating around a selected rotary axis under the drive of the first rotary drive mechanism connected thereto, wherein the first rotary drive mechanism of the mth group of rotary joint motion pairs is fixedly arranged on the rotary arm of the m-1th group of rotary joint motion pairs, and n≥m≥2;

[0007] A lifting unit is connected to the first set of rotating joint kinematic pairs in the rotating joint unit in a transmission manner and is in sealing cooperation with the lifting unit, and the lifting unit is used to drive the rotating joint unit to lift as a whole;

[0008] A jig, arranged on the rotating arm of the nth group of rotating joint kinematic pairs in the rotating joint unit, and used at least to perform a selected process on a work object;

[0009] The displacement sensor is arranged on the fixture and is used to locate the initial position information of the working object.

[0010] Compared with the prior art, the advantages of the present invention include:

[0011] 1) A clean manipulator for a parallel bioreactor provided by the present invention can achieve automatic liquid addition, improve work efficiency on the premise of ensuring no pollution, and has the advantages of timeliness and reliability, making cell culture more convenient and efficient.

[0012] 2) The internal space of a clean manipulator for a parallel bioreactor provided by the present invention is compact, the external volume is small, and the integration degree is high. Moreover, the structure of double lead screws / guide rails improves the precision while ensuring the stiffness. The integrated arm adopts a globally sealed structure, which is more suitable for desktop and more clean working environments.

[0013] 3) A clean manipulator for a parallel bioreactor provided by the present invention uses the combination of double lead screws and double guide rails to achieve lifting, with higher stability and precision. The rotary joint unit adopts a stepped design of the lengths of the large and small arms. When retracted, the small arm can be completely folded on the large arm, and the space utilization rate below is large. The stepped design of the two-section rotary arm can achieve a full 360-degree rotation, and there is no interference space coordinate coverage within the arm span. In addition, cross roller bearings are added at the rotary joints of the large and small arms to strengthen the strength of the connection and the axial bending moment resistance of the arm.

[0014] 4) A clean manipulator for a parallel bioreactor provided by the present invention uses a combination of static and dynamic methods for the lifting kinematic pair to achieve full enclosure using a moving seal ring and a static seal ring. Two sets of rotary kinematic pairs are both added with rotary seal rings for enclosure, improving the sealing level. In addition, a high-precision displacement sensor is used at the end of the joint arm to cope with different height working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic diagram of the overall structure of a clean manipulator for a parallel bioreactor provided in a typical embodiment of the present invention;

[0016] Figure 2 is a schematic diagram of the internal structure of the rotary joint unit in a clean manipulator for a parallel bioreactor provided in a typical embodiment of the present invention;

[0017] Figure 3 is a schematic diagram of the external structure of the rotary joint unit in a clean manipulator for a parallel bioreactor provided in a typical embodiment of the present invention;

[0018] Figure 4 is a schematic diagram of the partial structure of the connection between the first rotary motor and the first rotary arm in a clean manipulator for a parallel bioreactor provided in a typical embodiment of the present invention;

[0019] Figure 5It is a schematic diagram of the partial structure at the connection between the first rotating motor and the second rotating arm of a clean manipulator for a parallel bioreactor provided in a typical embodiment of the present invention;

[0020] Figure 6 It is a schematic diagram of the structure of a lifting unit in a clean manipulator for a parallel bioreactor provided in a typical embodiment of the present invention;

[0021] Figure 7 It is a schematic diagram of the structure of a lifting component in a clean manipulator for a parallel bioreactor provided in a typical embodiment of the present invention;

[0022] Figure 8 It is a schematic diagram of the partial structure at the contact part between the outer shell and the main vertical shaft of a clean manipulator for a parallel bioreactor provided in a typical embodiment of the present invention. Detailed implementation manners

[0023] In view of the deficiencies in the prior art, the inventors of this case have proposed the technical solution of the present invention through long-term research and a large number of practices. The following will further explain the technical solution, its implementation process, principle, etc.

[0024] A clean manipulator for a parallel bioreactor provided by the present invention is mainly a three-axis manipulator for adding culture environment reagents during cell culture in the biological industry. It has excellent sealing characteristics, can prevent cross-contamination with the external environment, thereby ensuring cleanliness. Moreover, the clean manipulator for a parallel bioreactor provided by the present invention has higher precision, can meet the precise addition of reagents, and timely ensure the stability of the culture environment.

[0025] The present invention provides a clean manipulator for a parallel bioreactor, including:

[0026] A rotary joint unit, including n groups of rotary joint kinematic pairs arranged step by step. Each group of the rotary joint kinematic pairs includes a first rotary driving mechanism and a rotating arm. The first rotary driving mechanism is in transmission connection and sealed cooperation with the rotating arm. The rotating arm can rotate around a selected rotation axis under the drive of the first rotary driving mechanism connected thereto. Among them, the first rotary driving mechanism of the mth group of rotary joint kinematic pairs is fixedly arranged on the rotating arm of the (m - 1)th group of rotary joint kinematic pairs, where n≥m≥2;

[0027] A lifting unit, which is in transmission connection and sealed cooperation with the first group of rotary joint kinematic pairs in the rotary joint unit. The lifting unit is used to drive the whole rotary joint unit to lift and lower;

[0028] A fixture, which is arranged on the rotating arm of the nth group of rotary joint kinematic pairs in the rotary joint unit and is at least used to perform a selected process on the workpiece;

[0029] A displacement sensor is disposed on the jig and is used to locate the initial position information of the work object.

[0030] Furthermore, the rotary joint kinematic pair further includes a first sealing structure, and the first rotary drive mechanism is also in sealed cooperation with the connected rotary arm through the first sealing structure.

[0031] Furthermore, the first sealing structure includes a first sealing mechanism, and the first sealing mechanism is disposed between the first rotary drive mechanism and the connected rotary arm.

[0032] Furthermore, the first sealing structure further includes a bearing, the inner ring of the bearing is fixedly connected to the first rotary drive mechanism, and the outer ring is fixedly connected to the rotary arm.

[0033] Furthermore, the first sealing mechanism is fixedly disposed between the outer ring of the bearing and the rotary arm.

[0034] Furthermore, the first sealing mechanism is fixedly connected to the outer ring of the bearing and the rotary arm.

[0035] Furthermore, a plurality of the rotary arms are arranged in a stepped manner to form a stepped structure.

[0036] Furthermore, the rotation axes of a plurality of the rotary arms are parallel.

[0037] Furthermore, the wire harness connecting the first rotary drive mechanism and the rotary arm is encapsulated inside the rotary joint unit, and there is no wire harness exposed outside the rotary joint unit.

[0038] In a more specific embodiment, the rotary joint unit further includes a main vertical shaft, the first rotary drive mechanism included in the first group of rotary joint kinematic pairs is fixedly disposed on the main vertical shaft, and the lifting unit is in transmission connection with the main vertical shaft.

[0039] Furthermore, the axis of the main vertical shaft is parallel to the rotation axis of the rotary arm.

[0040] Furthermore, the main vertical shaft and the n groups of rotary joint kinematic pairs are integrally in an 'L' shape.

[0041] In a more specific embodiment, the lifting unit includes a lifting assembly and a housing, the lifting assembly is encapsulated in the housing, a part of the main vertical shaft is disposed inside the housing, the main vertical shaft is in transmission connection with the lifting assembly and can move up and down along its own axis under the drive of the lifting assembly, and the main vertical shaft is also in sealed cooperation with the housing, and the main vertical shaft always maintains a sealed state with the housing during the process of moving up and down along its own axis.

[0042] Furthermore, the lifting unit further comprises a second sealing structure, and the housing is sealedly matched with the main vertical shaft in an active state via the second sealing structure.

[0043] Furthermore, the second sealing structure includes a second sealing mechanism, and the second sealing mechanism is arranged between the main vertical shaft and the housing.

[0044] Furthermore, the second sealing mechanism is disposed between the main vertical shaft and the housing along the radial direction of the main vertical shaft, and the second sealing mechanism is movably and sealingly matched with the circumferential side surface of the main vertical shaft.

[0045] Furthermore, the second sealing structure also includes a waterproof platform, which is fixedly arranged on the outer shell along the axial direction of the main vertical axis and arranged around the main vertical axis. The second sealing mechanism is located in a limited space formed by the outer shell, the main vertical axis and the waterproof platform.

[0046] Furthermore, the waterproof platform is movably and sealingly matched with the circumferential side surface of the main vertical axis.

[0047] Furthermore, the second sealing structure also includes a dustproof ring, which is arranged between the waterproof platform and the main vertical shaft, and the dustproof ring is movable and sealingly matched with the circumferential side surface of the main vertical shaft.

[0048] Furthermore, the second sealing structure also includes a third sealing mechanism, which is disposed between the waterproof platform and the outer shell, and the waterproof platform and the outer shell are sealed together via the third sealing mechanism.

[0049] Furthermore, the lifting assembly includes a second rotary drive mechanism and a screw assembly, the second rotary drive mechanism is connected to the main vertical shaft through the screw assembly, and the main vertical shaft can be lifted and lowered along its own axis under the drive of the second rotary drive mechanism and the screw assembly.

[0050] Furthermore, a guide rail is provided inside the shell, and the main vertical shaft is movably matched with the guide rail and can be lifted and lowered along the guide rail under the drive of the lifting assembly.

[0051] Furthermore, the extending direction of the guide rail is parallel to the axial direction of the main vertical axis.

[0052] Furthermore, the guide rail is fixed on the shell.

[0053] Furthermore, the guide rail is fixedly arranged on a rail mounting plate, and the rail mounting plate is fixedly arranged on the housing.

[0054] Furthermore, more than two guide rails are arranged inside the shell, and the two guide rails are arranged in parallel. The main vertical shaft is movably matched with the two guide rails at the same time, and the two guide rails together form a guiding structure for guiding the main vertical shaft to rise and fall.

[0055] Furthermore, the lifting assembly also includes a transmission assembly, and the second rotating mechanism is transmission-connected to the screw assembly via the transmission assembly.

[0056] Furthermore, the screw assembly includes a screw and a screw nut threadedly connected to the screw, the screw nut is fixedly matched with the main vertical shaft, and the transmission assembly includes at least two synchronous wheels and a synchronous belt, at least one of the at least two synchronous wheels is fixedly connected to the rotating shaft of the second rotary drive mechanism, and at least the other is fixedly connected to the screw, and at least two of the synchronous wheels are connected via the synchronous belt and can rotate synchronously.

[0057] Furthermore, the lifting assembly includes two groups of the screw rod assemblies, and three synchronous wheels connected to the two screw rods and the second rotary drive mechanism are distributed at three vertices of a triangle.

[0058] Furthermore, the lifting assembly also includes a screw mounting plate, and the two screws are arranged on the screw mounting plate and rotatably cooperate with the screw mounting plate.

[0059] In a more specific implementation scheme, the shell includes a shell body, a bottom plate and a cover plate. The bottom plate and the cover plate are relatively fixedly arranged at two ends of the shell. The cover plate is provided with an axial hole for the main vertical axis to pass through. The waterproof platform is fixedly arranged on the cover plate and distributed around the axial hole.

[0060] Furthermore, the wiring harnesses of the clean manipulator for the parallel bioreactor are all encapsulated inside the structure itself, and no external wiring harnesses are exposed.

[0061] The technical solution, its implementation process and principles will be further explained below in conjunction with the accompanying drawings and specific implementation cases. Unless otherwise specified, the functional components such as the motor, screw assembly, sealing mechanism, displacement sensor, etc. used in the present invention are all known to those skilled in the art and can be purchased commercially. Their specific structures and component models will not be described in detail herein.

[0062] In a typical implementation case, please refer to Figure 1 and Figure 2, a clean manipulator for a parallel bioreactor, which adopts a fully sealed structure on the outside, with no wires exposed on the appearance, and has a smooth and comfortable shape. The clean manipulator for the parallel bioreactor mainly includes two parts: a rotary joint unit 1, a lifting unit 2, a jig 8, and a displacement sensor 9. The displacement sensor 9 is installed on the jig 8, the jig 8 is installed on the rotary joint unit 1, and the rotary joint unit 1 is installed on the lifting unit 2. The jig 8 is at least used to perform a selected process on the workpiece, the displacement sensor 9 is used to locate the initial position information of the workpiece, the rotary joint unit 1 is used to realize the multi-stage rotation of the jig 8, and the lifting unit 2 is used to realize the lifting of the jig 8.

[0063] The following takes the rotary joint unit with two-stage / two-section rotation as an example to give an exemplary description of its structure.

[0064] Specifically, please refer to Figure 2 and Figure 3 , the rotary joint unit 1 includes a main vertical shaft 3, a first rotary motor 6, a first rotary arm (which can also be called a large arm) 4, a second rotary motor 7, and a second rotary arm (which can also be called a small arm) 5. The first rotary motor 6 is fixedly installed on the main vertical shaft 3, and is in transmission connection and sealed cooperation with the first rotary arm 4. The second rotary motor 7 is fixedly installed on the first rotary arm 4, and is in transmission connection and sealed cooperation with the second rotary arm 5. The jig 8 is installed on the second rotary arm 5. The first rotary arm 4 can rotate under the drive of the first rotary motor 6, and the second rotary arm 5 can rotate under the drive of the second rotary motor 7. The rotation axes of the first rotary arm 4 and the second rotary arm 5 are parallel. It should be noted that each rotary motor and a rotary arm connected thereto can form a rotary joint kinematic pair, and the first rotary motor 6 and the second rotary motor 7 are the aforementioned first rotary drive mechanisms.

[0065] It should be noted that the first rotary motor 6 and the second rotary motor 7 can be respectively equipped with a reducer to realize the output of the rotary motion. In addition, the first rotary motor 6 and the second rotary motor 7 can be equipped with an encoder by themselves. These are all known to those skilled in the art, and will not be specifically described herein.

[0066] Specifically, the rotary joint unit 1 is in an overall "L" shape with a smooth appearance without sharp corners and wiring. All structures and wire harness layouts are designed inside the two rotating arms. The rotary joint unit 1 uses two sets of rotary motors and reducers to cooperate for driving. The rotary motor integrated with an encoder has a large torque, strong load capacity, and more precise control. The first rotary motor 6 is installed on the main vertical shaft 3 to drive the first rotating arm 4 to rotate. A second rotary motor 7 is installed at the connection between the first rotating arm 4 and the second rotating arm 5 to drive the second rotating arm 5 to rotate, thereby achieving coordinate coverage in space. The first rotating arm 4 and the second rotating arm 5 are designed in a stepped manner to achieve a larger arm span while also achieving a 360° rotation without blind spots. When not working, the second rotating arm 5 can be rotated to the inner side of the first rotating arm 4, and the stacked placement has a smaller space occupancy rate.

[0067] Specifically, please refer to Figure 4 , while the first rotary motor 6 is in transmission connection with the first rotating arm 4, it also conducts movable sealing. More specifically, a first bearing 12 and a first sealing ring 10 are also provided between the first rotary motor 6 and the first rotating arm 4. The first sealing ring 10 is mainly used to seal the rotary joint pair formed by the first rotary motor 6 and the first rotating arm 4. The first bearing 12 is mainly used to strengthen the structural strength at the connection between the first rotary motor 6 and the first rotating arm 4 and enhance its radial bending resistance. More specifically, the inner ring of the first bearing 12 is fixedly connected to the first rotary motor 6, and the outer ring is fixedly connected to the first rotating arm 4. The first sealing ring 10 is fixedly arranged between the outer ring of the first bearing 12 and the first rotating arm 4.

[0068] Specifically, please refer to Figure 5 , for example, the structure between the first rotary motor 6 and the first rotating arm 4 is the same or similar. While the second rotary motor 7 is in transmission connection with the second rotating arm 5, it also conducts movable sealing. More specifically, a second bearing 13 and a second sealing ring 11 are also provided between the second rotary motor 7 and the second rotating arm 5. The second sealing ring 11 is mainly used to seal the rotary joint pair formed by the second rotary motor 7 and the second rotating arm 5. The second bearing 13 is mainly used to strengthen the structural strength at the connection between the second rotary motor 7 and the second rotating arm 5 and enhance its radial bending resistance. More specifically, the inner ring of the second bearing 13 is fixedly connected to the second rotary motor 7, and the outer ring is fixedly connected to the second rotating arm 5. The second sealing ring 11 is fixedly arranged between the outer ring of the second bearing 13 and the second rotating arm 5.

[0069] Exemplarily, the first sealing ring and the second sealing ring can be sealing components such as rubber rings.

[0070] Specifically, please refer to Figure 6, the lifting unit 2 is of an overall box structure. The lifting unit 2 includes a lifting assembly, a housing, and a sealing structure. The entire lifting assembly is encapsulated within the housing. A portion of the main vertical shaft 3 is disposed inside the housing. The main vertical shaft is in transmission connection with the lifting assembly and can move up and down along its own axis under the drive of the lifting assembly. The main vertical shaft 3 is also movably and sealingly engaged with the housing through the sealing structure, and the main vertical shaft 3 always maintains a sealed state with the housing during the process of moving up and down along its own axis.

[0071] Specifically, the housing includes a housing body 26, a bottom plate 14, and a cover plate 16. The bottom plate 14 and the cover plate 16 are relatively fixedly disposed at both ends of the housing body 26. The housing body 26, the bottom plate 14, and the cover plate 16 together enclose an encapsulation chamber. The entire lifting assembly is installed in the encapsulation chamber inside the housing. The cover plate 16 is provided with a shaft hole through which the main vertical shaft 3 can pass. The sealing structure is fixedly disposed on the cover plate 16 and is distributed around the main vertical shaft 3.

[0072] Specifically, please refer to Figure 6 and Figure 7 , the lifting assembly mainly includes a third rotating motor (i.e., the second rotating drive mechanism) 24 and two sets of lead screw assemblies. The two sets of lead screw assemblies are simultaneously engaged with the third rotating motor 24 and the main vertical shaft 3, and the third rotating motor 24 is used to drive the two sets of lead screw assemblies simultaneously to achieve the lifting of the main vertical shaft 3 in the rotary joint unit 1.

[0073] More specifically, each set of lead screw assemblies includes a lead screw 21 and a lead screw nut (not shown) threadedly disposed on the lead screw 21. The main vertical shaft 3 is fixedly connected to the lead screw nuts on the two sets of lead screw assemblies. The two lead screws 21 are installed on a lead screw mounting plate 20 and are rotatably engaged with the lead screw mounting plate 20. The lead screw mounting plate 20 can be fixed to the housing body 26. The third rotating motor 24, as the power source for providing lifting, can be installed on the housing body 26 or the bottom plate 14. The second rotating drive mechanism 24 is in transmission connection with the lead screw 21 and drives the lead screw 21 to rotate around its own axis, so that the main vertical shaft 3 and the lead screw nut move along the axial direction of the lead screw 21 together.

[0074] Specifically, please refer to Figure 7, the third rotating motor 24 is simultaneously drivingly connected to the two lead screws 21 via a transmission assembly. More specifically, the transmission assembly includes three synchronous pulleys 19, two synchronous idler pulleys 22, and a synchronous belt 18. The three synchronous pulleys 19 and the two synchronous idler pulleys 22 are mounted on the bottom plate 14 and can rotate about their own axes. The synchronous belt 18 is wound around the three synchronous pulleys 19 and the two synchronous idler pulleys 22. The three synchronous pulleys 19 can be drivingly connected via the synchronous belt 18 to achieve synchronous rotation. The synchronous idler pulleys 22 are mainly used to provide tension adjustment and guidance for the synchronous belt 17. The two lead screws 21 are respectively fixedly connected to and rotate coaxially with two of the synchronous pulleys 19. The output shaft of the third rotating motor 24 is fixedly connected to the third synchronous pulley 19.

[0075] More specifically, the three synchronous pulleys 19 are distributed at the three vertices of a triangle; more specifically, the two synchronous idler pulleys 22 can be radially symmetrically arranged.

[0076] More specifically, in order to improve the stability of the main vertical shaft 3 during lifting, two sets of guiding structures are further provided inside the housing. Each set of guiding structures includes two guiding rails 23, a first rail mounting plate 15, and a second rail mounting plate 25. The two guiding rails 23 are respectively fixedly mounted on the first rail mounting plate 15 and the second rail mounting plate 25. The first rail mounting plate 15 and the second rail mounting plate 25 are fixedly mounted on the bottom plate 14 and / or the housing main body 26. The guiding rails 23 can cooperate with the main vertical shaft 3 in a sliding manner. Exemplarily, guiding grooves can be provided on the circumferential side surface of the main vertical shaft 3, and guiding protrusions matching the guiding grooves can be provided on the guiding rails 23. The guiding protrusions are embedded in the guiding grooves and are in sliding contact, thereby realizing the movable cooperation and guiding function between the two. More specifically, the two sets of guiding structures can be symmetrically arranged on both sides of the main vertical shaft 3.

[0077] Specifically, please refer to Figure 8 , the sealing structure includes a waterproof platform 17, a third sealing ring (i.e., the aforementioned second sealing mechanism) 27, a fourth sealing ring (i.e., the aforementioned third sealing mechanism) 28, and a dust-proof ring 29. The third sealing ring 27 is mainly used to seal the relative moving pair between the main vertical shaft 3 and the cover plate 16; the dust-proof ring 29 is mainly used to protect the joint of the main vertical shaft 3 to prevent dust from entering. The fourth sealing ring 28 is mainly used to seal the gap between the cover plate 16 and the waterproof platform 17.

[0078] More specifically, the plinth 17 is fixedly arranged on the cover plate 16 and is disposed around the main vertical shaft 3. There is no direct contact or moving contact (such as sliding contact) between the plinth 17 and the circumferential side surface of the main vertical shaft 3. The third sealing ring 27 is arranged between the main vertical shaft 3 and the cover plate 16 in the radial direction of the main vertical shaft 3. Moreover, the top of the third sealing ring 27 is also in contact with the bottom of the plinth 16. The third sealing ring 27 is in moving contact with the circumferential side surface of the main vertical shaft 3. The fourth sealing ring 28 is arranged between the plinth 17 and the cover plate 16. The plinth 17 and the cover plate 16 are in sealed cooperation through the fourth sealing ring 28. The dust-proof ring 29 is arranged between the plinth 17 and the main vertical shaft 3. The dust-proof ring 29 is in moving contact with the circumferential side surface of the main vertical shaft 3.

[0079] More specifically, a groove-like structure is further arranged on the inner side of the cover plate 16 facing the main vertical shaft 3. The third sealing ring 27 can be arranged in this groove-like structure. It can be understood that this groove-like structure is mainly for installing the third sealing ring 27 and preventing the third sealing ring 27 from moving relative to the main vertical shaft 3 and the cover plate 16 and thus coming off. Correspondingly, a groove-like structure for restricting the movement of the fourth sealing ring 28 and the dust-proof ring 29 can also be arranged on the plinth 17.

[0080] It can be understood that the plinth 17, the third sealing ring 27, the fourth sealing ring 28, and the dust-proof ring 29 are all continuous annular components. Exemplarily, the third sealing ring 27, the fourth sealing ring 28, and the dust-proof ring 29 can be rubber rings or the like.

[0081] For the clean manipulator for a parallel bioreactor provided by the present invention, a motor drives a synchronous pulley to cooperate with a synchronous belt 18 for transmission inside. The driving lead screw makes a vertical lifting movement along the guide rail. The three synchronous belt pulleys are arranged in a "triangle" layout and are respectively connected to the lead screw and the motor. Then, the synchronous belt is tensioned and adjusted through two synchronous idler pulleys. The synchronous belt pulleys and the synchronous belt are both arranged in an "arc-shaped" structure to ensure the maximization of the transmission accuracy. The structure of the double lead screws makes the force during the lifting movement more uniform and stable compared with the traditional single lead screw drive. The double guide rail structure and the double lead screws are arranged at 90°. This makes the guiding accuracy of the rotary joint unit higher and more stable during operation. A rotary drive motor and a power cable chain are arranged inside the housing, which is convenient for wire routing layout and quick maintenance, etc. The main body of the housing is an arc-shaped cover, which can seal the lifting components and the like inside to prevent cross-contamination between the inside and the outside environment, enabling it to be applied to more scenarios.

[0082] The clean manipulator for a parallel bioreactor provided by the present invention can achieve automatic liquid addition, improve the working efficiency on the premise of ensuring no pollution, and has the advantages of timeliness and reliability, making cell culture more convenient and efficient.

[0083] The internal space of the clean manipulator for a parallel bioreactor provided by the present invention is compact, with a smaller external volume and a higher integration degree. Moreover, the structure of the double lead screw / guide rail improves the precision while ensuring the stiffness. The integrated arm adopts a globally sealed structure, making it more suitable for desktop and more clean working environments.

[0084] A clean manipulator for a parallel bioreactor provided by the present invention realizes lifting by means of a double lead screw cooperating with a double guide rail, with higher stability and precision. The rotary joint unit adopts a stepped design of the lengths of the large arm and the small arm. When retracted, the small arm can be completely folded onto the large arm, and the space utilization rate below is large. The stepped design of the two-section rotary arm can achieve a full 360-degree rotation, with no interference within the arm span and full coverage of the space coordinates. In addition, crossed roller bearings are added at the rotary joints of the large arm and the small arm, strengthening the strength of the connection and the axial bending moment resistance of the arm.

[0085] A clean manipulator for a parallel bioreactor provided by the present invention uses a combination of static and dynamic methods for the lifting kinematic pair to achieve full enclosure by using a kinematic seal ring and a static sealing ring. Rotary seal rings are added to both groups of rotary kinematic pairs for sealing, improving the sealing level. In addition, high-precision displacement sensors are used at the ends of the joint arms to cope with working environments at different heights.

[0086] It should be understood that the above embodiments are only used to illustrate the technical concept and features of the present invention, and the purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. It cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. A clean manipulator for a parallel bioreactor, characterized in that, Comprising: A rotary joint unit, including n groups of rotary joint kinematic pairs arranged step by step. Each group of the rotary joint kinematic pairs includes a first rotary driving mechanism and a rotary arm. The first rotary driving mechanism is in transmission connection and sealed cooperation with the rotary arm. The rotary arm can rotate around a selected rotation axis under the drive of the first rotary driving mechanism connected thereto. Among them, the first rotary driving mechanism of the mth group of rotary joint kinematic pairs is fixedly arranged on the rotary arm of the (m - 1)th group of rotary joint kinematic pairs, where n ≥ m ≥ 2; A lifting unit, in transmission connection and sealed cooperation with the first group of rotary joint kinematic pairs in the rotary joint unit. The lifting unit is used to drive the whole rotary joint unit to lift; A jig, arranged on the rotary arm of the nth group of rotary joint kinematic pairs in the rotary joint unit, and at least used to perform a selected process on the work object; A displacement sensor, arranged on the jig, and used to locate the initial position information of the work object.

2. The clean manipulator for a parallel bioreactor according to claim 1, wherein: The rotary joint kinematic pair further includes a first sealing structure. The first rotary driving mechanism is also in sealed cooperation with the connected rotary arm through the first sealing structure.

3. The clean manipulator for a parallel bioreactor according to claim 2, characterized in that: The first sealing structure includes a first sealing mechanism, and the first sealing mechanism is arranged between the first rotary driving mechanism and the connected rotary arm; And / or, the first sealing structure further includes a bearing. The inner ring of the bearing is fixedly connected to the first rotary driving mechanism, and the outer ring is fixedly connected to the rotary arm; And / or, the first sealing mechanism is fixedly arranged between the outer ring of the bearing and the rotary arm; And / or, the first sealing mechanism is fixedly connected to the outer ring of the bearing and the rotary arm.

4. The clean manipulator for a parallel bioreactor according to claim 1, wherein: The multiple rotary arms are arranged in a stepped manner and form a stepped structure; and / or, the rotation axes of the multiple rotary arms are parallel; And / or, the wire harness connecting the first rotary driving mechanism and the rotary arm is encapsulated inside the rotary joint unit.

5. The clean manipulator for a parallel bioreactor according to claim 1 or 4, characterized in that: The rotary joint unit further includes a main vertical shaft. The first rotary driving mechanism included in the first group of rotary joint kinematic pairs is fixedly arranged on the main vertical shaft. The lifting unit is in transmission connection with the main vertical shaft; And / or, the axis of the main vertical shaft is parallel to the rotation axis of the rotary arm; And / or, the main vertical shaft and the n groups of rotary joint kinematic pairs are in an 'L' shape as a whole.

6. The clean manipulator for a parallel bioreactor according to claim 5, wherein: The lifting unit includes a lifting component and a housing. The lifting component is encapsulated in the housing. A part of the main vertical shaft is arranged inside the housing. The main vertical shaft is in transmission connection with the lifting component and can move up and down along its own axis under the drive of the lifting component. The main vertical shaft is also in sealed cooperation with the housing, and the main vertical shaft always maintains a sealed state with the housing during the process of moving up and down along its own axis.

7. The clean manipulator for a parallel bioreactor according to claim 6, wherein: The lifting unit further includes a second sealing structure. The housing is in sealed cooperation with the main vertical shaft in an active state through the second sealing structure; And / or, the second sealing structure includes a second sealing mechanism, and the second sealing mechanism is arranged between the main vertical shaft and the housing; And / or, the second sealing mechanism is disposed between the main vertical shaft and the housing along the radial direction of the main vertical shaft, and the second sealing mechanism is movable and sealingly matched with the circumferential side surface of the main vertical shaft; And / or, the second sealing structure further comprises a waterproof platform, the waterproof platform is fixedly arranged on the housing along the axial direction of the main vertical axis and is arranged around the main vertical axis, and the second sealing mechanism is located in a limited space enclosed by the housing, the main vertical axis and the waterproof platform; And / or, the waterproof platform is movably and sealingly matched with the circumferential side surface of the main vertical axis; And / or, the second sealing structure further comprises a dustproof ring, the dustproof ring is arranged between the waterproof platform and the main vertical shaft, and the dustproof ring is movable and sealingly matched with the circumferential side surface of the main vertical shaft; And / or, the second sealing structure further includes a third sealing mechanism, the third sealing mechanism is disposed between the waterproof platform and the outer shell, and the waterproof platform and the outer shell are sealed together via the third sealing mechanism.

8. The clean manipulator for a parallel bioreactor according to claim 6, characterized in that: The lifting assembly includes a second rotary drive mechanism and a screw assembly, wherein the second rotary drive mechanism is connected to the main vertical shaft through the screw assembly, and the main vertical shaft can be lifted and lowered along its own axial direction under the drive of the second rotary drive mechanism and the screw assembly; And / or, a guide rail is further provided inside the shell, and the main vertical shaft is movably matched with the guide rail and can be lifted and lowered along the guide rail under the drive of the lifting assembly; And / or, the extension direction of the guide rail is parallel to the axial direction of the main vertical axis; and / or, the guide rail is fixed to the housing; And / or, the guide rail is fixedly arranged on a rail mounting plate, and the rail mounting plate is fixedly arranged on the housing; And / or, more than two guide rails are arranged inside the shell, the two or more guide rails are arranged in parallel, the main vertical shaft is movably cooperated with the two or more guide rails at the same time, and the two or more guide rails together form a guiding structure for guiding the main vertical shaft to rise and fall.

9. The clean manipulator for a parallel bioreactor according to claim 8, characterized in that: The lifting assembly further comprises a transmission assembly, and the second rotating mechanism is transmission-connected to the screw assembly via the transmission assembly; And / or, the screw assembly includes a screw and a screw nut threadedly connected to the screw, the screw nut is fixedly matched with the main vertical shaft, the transmission assembly includes at least two synchronous wheels and a synchronous belt, at least one of the at least two synchronous wheels is fixedly connected to the rotating shaft of the second rotary drive mechanism, and at least the other is fixedly connected to the screw, and at least two synchronous wheels are connected via the synchronous belt and can rotate synchronously; And / or, the lifting assembly includes two groups of the screw rod assemblies, and three synchronous wheels connected to the two screw rods and the second rotary drive mechanism are distributed at three vertices of a triangle; And / or, the lifting assembly further includes a screw rod mounting plate, and the two screw rods are arranged on the screw rod mounting plate and rotatably cooperate with the screw rod mounting plate.

10. The clean manipulator for a parallel bioreactor according to claim 6, wherein: The housing includes a housing body, a bottom plate and a cover plate. The bottom plate and the cover plate are relatively fixedly arranged at two ends of the housing. An axial hole for the main vertical shaft to pass through is provided on the cover plate. The waterproof platform is fixedly arranged on the cover plate and distributed around the axial hole.

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