Clean manipulator for parallel bioreactor

Abstract

The utility model 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 utility model, 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 utility model particularly relates to a clean manipulator for a parallel bioreactor, belonging 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. Utility Model Content

[0003] The main purpose of the utility model 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 of reagent addition automation, efficiency, timeliness and accuracy. Compared with medical manipulators, the utility model 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 utility model provides a clean manipulator for parallel bioreactors,

[0004] In order to achieve the above-mentioned utility model purpose, the technical solution adopted by the utility model includes:

[0005] The utility model 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 utility model include:

[0011] 1) The utility model provides a parallel bioreactor with a clean manipulator that can realize automatic liquid addition, thereby improving work efficiency while ensuring no pollution, and having the advantages of timeliness and reliability, making cell culture more convenient and efficient.

[0012] 2) The utility model provides a clean manipulator for parallel bioreactors with compact internal space, small external volume, and high integration. In addition, the double-screw / guide rail structure improves precision while ensuring rigidity. The integrated arm adopts a global sealing structure, which is more suitable for desktops and more clean working environments.

[0013] 3) The utility model provides a clean manipulator for a parallel bioreactor, which adopts a double screw and a double guide rail method to achieve lifting and lowering, with higher stability and precision. The rotating joint unit adopts a stepped design of the length of the upper and lower arms. When contracted, the lower arm can be completely folded on the upper arm, and the space utilization rate below is large. The stepped design of the two-section rotating arms can achieve a full 360-degree rotation, and the spatial coordinates within the arm span are fully covered without interference. In addition, cross roller bearings are added to the rotating joints of the upper and lower arms to enhance the strength of the connection and the axial bending moment resistance of the arm.

[0014] 4) The utility model provides a clean manipulator for a parallel bioreactor. The lifting motion pair adopts a dynamic and static combination method to achieve full closure using a moving sealing ring and a static sealing ring. Both sets of rotating motion pairs are sealed with rotating sealing rings to improve the sealing level. In addition, a high-precision displacement sensor is used at the end of the articulated arm to cope with working environments at different heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of a clean manipulator for a parallel bioreactor provided in a typical implementation case of the utility model;

[0016] Figure 2 This is a schematic diagram of the internal structure of a rotary joint unit in a clean manipulator for a parallel bioreactor provided in a typical implementation case of the utility model;

[0017] Figure 3 It is a schematic diagram of the external structure of a rotary joint unit in a clean manipulator for a parallel bioreactor provided in a typical implementation case of the utility model;

[0018] Figure 4 It is a schematic diagram of the local structure of the connection between the first rotating motor and the first rotating arm in a clean manipulator for a parallel bioreactor provided in a typical implementation case of the utility model;

[0019] Figure 5It is a schematic diagram of the local structure of the connection between the first rotating motor and the second rotating arm in a clean manipulator for a parallel bioreactor provided in a typical implementation case of the utility model;

[0020] Figure 6 This is a schematic diagram of the structure of a lifting unit in a clean manipulator for a parallel bioreactor provided in a typical implementation case of the utility model;

[0021] Figure 7 This is a structural schematic diagram of a lifting component in a clean manipulator for a parallel bioreactor provided in a typical implementation case of the utility model;

[0022] Figure 8 The utility model is a schematic diagram of the local structure of the contact part between the outer shell and the main vertical shaft of a clean manipulator for a parallel bioreactor provided in a typical implementation case. DETAILED DESCRIPTION

[0023] In view of the deficiencies in the prior art, the inventor of this case has proposed the technical solution of the utility model after long-term research and extensive practice. The technical solution, its implementation process and principle will be further explained as follows.

[0024] The utility model provides a clean machine for parallel bioreactors, which is mainly used as a three-axis manipulator for adding culture environment reagents during cell culture in the biological industry. It has excellent sealing properties and can prevent cross-contamination with the external environment, thereby ensuring cleanliness. In addition, the utility model provides a clean machine for parallel bioreactors with higher precision, which can meet the requirements of accurate addition of reagents and timely guarantee the stability of the culture environment.

[0025] The utility model provides a clean manipulator for a parallel bioreactor, comprising:

[0026] 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;

[0027] 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;

[0028] 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;

[0029] The displacement sensor is arranged on the fixture and is used to locate the initial position information of the working object.

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

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

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

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

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

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

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

[0037] Furthermore, the wiring harness connecting the first rotation drive mechanism and the rotation arm is encapsulated inside the rotation joint unit, and the outside of the rotation joint unit has no exposed wiring harness.

[0038] In a more specific implementation, the rotary joint unit further includes a main vertical shaft, the first rotary drive mechanism included in the first set of rotary joint kinematic pairs is fixedly disposed on the main vertical shaft, and the lifting unit is transmission-connected to the main vertical shaft.

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

[0040] Furthermore, the main vertical axis and the n sets of rotary joint kinematic pairs are in an 'L' shape as a whole.

[0041] In a more specific implementation scheme, the lifting unit includes a lifting assembly and a shell, the lifting assembly is encapsulated in the shell, part of the main vertical shaft is arranged inside the shell, the main vertical shaft is transmission-connected to the lifting assembly, and can move up and down along its own axis under the drive of the lifting assembly, the main vertical shaft is also sealed with the shell, and the main vertical shaft always remains sealed with the shell during the process of lifting and lowering 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 rotation drive 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 utility model 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 2A clean manipulator for a parallel bioreactor adopts a fully sealed structure on the outside, has no exposed wires on the outside, and has a smooth and comfortable shape. The clean manipulator for a parallel bioreactor mainly comprises two parts: a rotating joint unit 1, a lifting unit 2, a fixture 8 and a displacement sensor 9. The displacement sensor 9 is installed on the fixture 8, the fixture 8 is installed on the rotating joint unit 1, the rotating joint unit 1 is installed on the lifting unit 2, the fixture 8 is at least used to perform a selected process on the working object, the displacement sensor 9 is used to locate the initial position information of the working object, the rotating joint unit 1 is used to realize the multi-stage rotation of the fixture 8, and the lifting unit 2 is used to realize the lifting of the fixture 8.

[0063] The structure of a two-stage / two-section rotating joint unit is exemplarily described below.

[0064] For details, 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 (also called a large arm) 4, a second rotary motor 7 and a second rotary arm (also called a small arm) 5. The first rotary motor 6 is fixedly mounted on the main vertical shaft 3, and is connected to the first rotary arm 4 in a transmission and sealed manner. The second rotary motor 7 is fixedly mounted on the first rotary arm 4, and is connected to the second rotary arm 5 in a transmission and sealed manner. The fixture 8 is mounted 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 constitute a rotary joint kinematic pair, and the first rotary motor 6 and the second rotary motor 7 are the aforementioned first rotary drive mechanism.

[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 achieve the output of rotational motion, and the first rotary motor 6 and the second rotary motor 7 can have their own encoders. These are all known to those skilled in the art and will not be described in detail here.

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

[0067] For details, please refer to Figure 4 , the first rotary motor 6 and the first rotary arm 4 are connected in transmission and also seal movably. More specifically, a first bearing 12 and a first sealing ring 10 are also provided between the first rotary motor 6 and the first rotary arm 4. The first sealing ring 10 is mainly used to seal the rotary joint kinematic pair formed by the first rotary motor 6 and the first rotary arm 4. The first bearing 12 is mainly used to strengthen the structural strength of the connection between the first rotary motor 6 and the first rotary arm 4 and enhance its radial bending moment 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 rotary arm 4. The first sealing ring 10 is fixedly arranged between the outer ring of the first bearing 12 and the first rotary arm 4.

[0068] For details, please refer to Figure 5 , such as the first rotary motor 6 and the first rotary arm 4 have the same or similar structures, the second rotary motor 7 and the second rotary arm 5 are also sealed while being connected in transmission, more specifically, a second bearing 13 and a second sealing ring 11 are also provided between the second rotary motor 7 and the second rotary arm 5, the second sealing ring 11 is mainly used to seal the rotary joint kinematic pair formed by the second rotary motor 7 and the second rotary arm 5, and the second bearing 13 is mainly used to strengthen the structural strength of the connection between the second rotary motor 7 and the second rotary arm 5, and enhance its radial bending moment resistance. More specifically, the inner ring of the second bearing 13 is fixedly connected to the second rotary motor 7, the outer ring is fixedly connected to the second rotary arm 5, and the second sealing ring 11 is fixedly arranged between the outer ring of the second bearing 13 and the second rotary arm 5.

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

[0070] For details, please refer to Figure 6The lifting unit 2 is a box-type structure as a whole. The lifting unit 2 includes a lifting component, a shell and a sealing structure. The lifting component is encapsulated in the shell as a whole. Part of the main vertical shaft 3 is arranged inside the shell. The main vertical shaft is connected to the lifting component in a transmission manner and can move up and down along its own axis under the drive of the lifting component. The main vertical shaft 3 is also movable and sealed with the shell through the sealing structure. The main vertical shaft 3 always maintains a sealed state with the shell during the process of lifting and lowering along its own axis.

[0071] Specifically, the shell includes a shell body 26, a bottom plate 14 and a cover plate 16. The bottom plate 14 and the cover plate 16 are relatively fixedly arranged at both ends of the shell body 26. The shell body 26, the bottom plate 14 and the cover plate 16 are integrally enclosed to form a packaging chamber. The lifting assembly is integrally installed in the packaging chamber inside the shell. The cover plate 16 is provided with an axial hole for the main vertical shaft 3 to pass through. The sealing structure is fixedly arranged on the cover plate 16 and distributed around the main vertical shaft 3.

[0072] For details, please refer to Figure 6 and Figure 7 The lifting assembly mainly includes a third rotating motor (i.e., a second rotating drive mechanism) 24 and two sets of screw assemblies. The two sets of screw assemblies cooperate with the third rotating motor 24 and the main vertical shaft 3 at the same time. The third rotating motor 24 drives the two sets of screw assemblies at the same time to realize the lifting and lowering of the main vertical shaft 3 in the rotating joint unit 1.

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

[0074] For details, please refer to Figure 7The third rotating motor 24 is connected to the two screw rods 21 through a transmission assembly. More specifically, the transmission assembly includes three synchronous wheels 19, two synchronous idler wheels 22 and a synchronous belt 18. The three synchronous wheels 19 and the two synchronous idler wheels 22 are installed on the base plate 14 and can rotate around their own axes. The synchronous belt 18 is arranged on the three synchronous wheels 19 and the two synchronous idler wheels 22. The three synchronous wheels 19 can be connected through the transmission of the synchronous belt 18 to achieve synchronous rotation. The synchronous idler wheel 22 is mainly used to provide adjustment tension and guidance for the synchronous belt 17. The two screw rods 21 are respectively fixedly connected to two of the synchronous wheels 19 and rotate coaxially. The output shaft of the third rotating motor 24 is fixedly connected to the third synchronous wheel 19.

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

[0076] More specifically, in order to improve the stability of the main vertical shaft 3 during lifting and lowering, two sets of guide structures are further provided inside the shell, each set of guide structures includes two guide rails 23, a first guide rail mounting plate 15, and a second guide rail mounting plate 25, the two guide rails 23 are respectively fixedly mounted on the first guide rail mounting plate 15 and the second guide rail mounting plate 25, the first guide rail mounting plate 15 and the second guide rail mounting plate 25 are fixedly mounted on the bottom plate 14 and / or the shell body 26, the guide rails 23 can cooperate with the main vertical shaft 3 in a sliding manner, illustratively, a guide groove can be provided on the circumferential side of the main vertical shaft 3, and a guide protrusion matching the guide groove can be provided on the guide rail 23, the guide protrusion is embedded in the guide groove and in sliding contact, so as to realize the active cooperation and guiding effect of the two. More specifically, the two sets of guide structures can be symmetrically arranged on both sides of the main vertical shaft 3.

[0077] For details, 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 ring 29. The third sealing ring 27 is mainly used to seal the relative motion pair between the main vertical shaft 3 and the cover plate 16; the dust ring 29 is mainly used to protect the joint between the main vertical shaft 3 and 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 waterproof platform 17 is fixedly arranged on the cover plate 16 and is arranged around the main vertical shaft 3. There is no direct contact or movable contact (such as sliding contact) between the waterproof platform 17 and the circumferential side of the main vertical shaft 3. The third sealing ring 27 is arranged between the main vertical shaft 3 and the cover plate 16 along the radial direction of the main vertical shaft 3, and the top of the third sealing ring 27 also contacts the bottom of the waterproof platform 16. The third sealing ring 27 is in movable contact with the circumferential side of the main vertical shaft 3. The fourth sealing ring 28 is arranged between the waterproof platform 17 and the cover plate 16. The waterproof platform 17 and the cover plate 16 are sealed and matched via the fourth sealing ring 28. The dust ring 29 is arranged between the waterproof platform 17 and the main vertical shaft 3. The dust ring 29 is in movable contact with the circumferential side of the main vertical shaft 3.

[0079] More specifically, a groove-like structure is further provided on the inner side of the cover plate 16 facing the main vertical shaft 3, and the third sealing ring 27 can be arranged in the groove-like structure. It can be understood that the groove-like structure is mainly used to install the third sealing ring 27 and prevent the third sealing ring 27 from detaching due to relative movement with the main vertical shaft 3 and the cover plate 16. Correspondingly, a groove-like structure for limiting the movement of the fourth sealing ring 28 and the dustproof ring 29 can also be provided on the waterproof platform 17.

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

[0081] The utility model provides a clean manipulator for parallel bioreactors, which uses a motor to drive a synchronous wheel to cooperate with a synchronous belt 18 for transmission, and drives the screw rod to perform up and down lifting motion along the guide rail. Three sets of synchronous pulleys are arranged in a "triangle" shape, respectively connecting the screw rod and the motor, and then the synchronous belt is tensioned and adjusted through two sets of synchronous idler wheels. The synchronous pulleys and the synchronous belt are arranged in an "arc-shaped" structure to ensure the maximum transmission accuracy. The double screw rod structure makes the force during the lifting motion more uniform and stable compared with the traditional single screw rod drive. The double guide rail structure and the double screw rod are arranged at 90 degrees, so that the guiding accuracy of the rotary joint unit during operation is higher and more stable. A rotary drive motor and a power supply drag chain are arranged inside the shell to facilitate the layout of wire routing and quick maintenance. The main body of the shell is an arc-shaped cover, which can seal the lifting components inside it to prevent cross-contamination between the internal and external environments, so that it can be applied to more scenarios.

[0082] The utility model provides a clean manipulator for a parallel bioreactor, which can realize automatic liquid addition, improves work efficiency under the premise of ensuring no pollution, has the advantages of timeliness and reliability, and makes cell culture more convenient and efficient.

[0083] The utility model provides a clean manipulator for a parallel bioreactor with a compact internal space, a small external volume, and a high degree of integration. In addition, the double-screw / guide rail structure improves the precision while ensuring the rigidity. The integrated arm adopts a global sealing structure, which is more suitable for desktops and more clean working environments.

[0084] The utility model provides a clean manipulator for a parallel bioreactor, which adopts a double-screw combined with a double-guide rail method to achieve lifting and lowering, with higher stability and precision. The rotating joint unit adopts a stepped design of the length of the large and small arms. When contracted, 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 rotating arms can achieve a full 360-degree rotation, and the space coordinates within the arm span are fully covered without interference. In addition, cross roller bearings are added to the rotating joints of the large and small arms to enhance the strength of the connection and the axial bending moment resistance of the arm.

[0085] The utility model provides a clean manipulator for a parallel bioreactor. The lifting motion pair adopts a dynamic and static combination method to achieve full closure by using a motion sealing ring and a static sealing ring. Rotating sealing rings are added to the two sets of rotating motion pairs for sealing, thereby improving the sealing level. In addition, a high-precision displacement sensor is used at the end of the joint arm to cope with working environments at different heights.

[0086] It should be understood that the above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with the technology to understand the content of the utility model and implement it accordingly, and they cannot be used to limit the protection scope of the utility model. Any equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A clean manipulator for parallel bioreactors, characterized in that: include: 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; 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; 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; The displacement sensor is arranged on the fixture and is used to locate the initial position information of the working object.

2. The clean robot for parallel bioreactor according to claim 1, characterized in that: The rotary joint kinematic pair also includes a first sealing structure, and the first rotary drive mechanism is also in sealing cooperation with the rotary arm connected thereto via the first sealing structure.

3. The clean robot for 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 drive mechanism and the rotary arm connected thereto.

4. The clean robot for parallel bioreactor according to claim 3, characterized in that: The first sealing structure further comprises a bearing, an inner ring of the bearing is fixedly connected to the first rotary drive mechanism, and an outer ring of the bearing is fixedly connected to the rotary arm.

5. The clean robot for parallel bioreactor according to claim 4, characterized in that: The first sealing mechanism is fixedly disposed between the outer ring of the bearing and the rotating arm.

6. The clean robot for parallel bioreactors according to claim 5, characterized in that: The first sealing mechanism is fixedly connected to the outer ring of the bearing and the rotating arm.

7. The clean robot for parallel bioreactors according to claim 1, characterized in that: The plurality of rotating arms are arranged in stages to form a stepped structure; and / or the rotating axes of the plurality of rotating arms are parallel.

8. The clean robot for parallel bioreactors according to claim 7, characterized in that: The wiring harness connecting the first rotation drive mechanism and the rotation arm is encapsulated inside the rotation joint unit.

9. The clean robot for parallel bioreactors according to claim 1 or 7, characterized in that: The rotary joint unit further comprises a main vertical shaft, a first rotary drive mechanism included in the first set of rotary joint kinematic pairs is fixedly arranged on the main vertical shaft, and the lifting unit is drivingly connected to the main vertical shaft.

10. The clean robot for parallel bioreactors according to claim 9, characterized in that: The axis of the main vertical shaft is parallel to the rotation axis of the rotating arm.

11. The clean robot for parallel bioreactors according to claim 9, characterized in that: The main vertical axis and the n sets of rotary joint motion pairs are in an 'L' shape as a whole.

12. The clean robot for parallel bioreactors according to claim 9, characterized in that: The lifting unit includes a lifting assembly and a shell, the lifting assembly is encapsulated in the shell, part of the main vertical shaft is arranged inside the shell, the main vertical shaft is transmission-connected with the lifting assembly, and can move up and down along its own axis driven by the lifting assembly, the main vertical shaft is also sealed with the shell, and the main vertical shaft always maintains a sealed state with the shell during the process of lifting and lowering along its own axis.

13. The clean robot for parallel bioreactors according to claim 12, characterized in that: 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.

14. The clean robot for parallel bioreactors according to claim 13, characterized in that: The second sealing structure comprises a second sealing mechanism, and the second sealing mechanism is arranged between the main vertical shaft and the housing.

15. The clean robot for parallel bioreactors according to claim 14, characterized in that: 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.

16. The clean robot for parallel bioreactors according to claim 15, characterized in that: The second sealing structure also includes a waterproof platform, which is fixedly arranged on the 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 shell, the main vertical axis and the waterproof platform.

17. The clean robot for parallel bioreactors according to claim 16, characterized in that: The waterproof platform is movably and sealingly matched with the circumferential side surface of the main vertical shaft.

18. The clean robot for parallel bioreactors according to claim 16, characterized in that: The second sealing structure further comprises 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.

19. The clean robot for parallel bioreactors according to claim 16, characterized in that: The second sealing structure further includes a third sealing mechanism, which is disposed between the waterproof platform and the outer shell. The waterproof platform and the outer shell are sealed together via the third sealing mechanism.

20. The clean robot for parallel bioreactors according to claim 16, characterized in that: 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. 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.

21. The clean robot for parallel bioreactors according to claim 20, characterized in that: A guide rail is also arranged 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.

22. The clean robot for parallel bioreactors according to claim 21, characterized in that: The extending direction of the guide rail is parallel to the axial direction of the main vertical axis.

23. The clean robot for parallel bioreactors according to claim 21, characterized in that: The guide rail is fixed on the housing.

24. The clean robot for parallel bioreactors according to claim 23, characterized in that: The guide rail is fixedly arranged on a rail mounting plate, and the rail mounting plate is fixedly arranged on the housing.

25. The clean robot for parallel bioreactors according to claim 21, characterized in that: 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.

26. The clean robot for parallel bioreactors according to claim 20, characterized in that: The lifting assembly also includes a transmission assembly, and the second rotary drive mechanism is transmission-connected to the screw assembly via the transmission assembly.

27. The clean robot for parallel bioreactors according to claim 26, characterized in that: 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.

28. The clean robot for parallel bioreactors according to claim 27, characterized in that: 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.

29. The clean robot for parallel bioreactors according to claim 28, characterized in that: The lifting assembly further comprises 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.

30. The clean robot for parallel bioreactors according to claim 16, characterized in that: 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.

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