A consumable film sealing and recycling mechanism and method

Abstract

The application discloses a consumable sealing film recycling processing mechanism and method, relates to the technical field of automatic sample processing, and provides the consumable sealing film recycling processing mechanism and method, which is characterized in that a suction cup unit is arranged, can not only transfer the stacked sheet-shaped sealing film in the sealing film storage module, but also transfer the sealed consumable to the recycling module, can solve the problem that the mechanical clamping jaw cannot tightly and reliably recycle the sealed consumable in the space-limited recycling module, can reliably stack multiple layers of biological consumables in the limited recycling module, and has the effect of efficient and reliable recycling; in addition, the suction cup unit can be combined with the clamping jaw unit for use, so that the suction cup unit and the clamping jaw unit have a large range of overlapping strokes during operation, and the driving design can be simplified in the limited space.

Description

Technical Field

[0001] This invention relates to the field of automated sample processing technology, specifically to a consumable sealing film recycling and processing mechanism and method. Background Technology

[0002] Biological samples come in a wide variety of forms and origins, such as secretions from animals or humans, saliva, sputum, and feces, tissue fluid from humans or animals, amniotic fluid, blood, etc., biological tissue excision fluid, excision fluid from plant root, stem, and leaf sections, excision fluid from animal epidermis, and preservation fluid from swabs collected from the respiratory tract, intestines, etc. All these biological samples are widely used in modern medicine, especially in in vitro diagnostic technology. Based on the genetic material fragments contained in different types of samples, amplification techniques are used to enrich the fragments, making it relatively easy and reliable to locate specific target fragments. This can then be used for disease diagnosis and screening, genotyping, and precision medicine guidance.

[0003] With the development of automation and intelligent equipment, biological sample processing, which previously required a large amount of manpower, has been replaced by intelligent equipment. In particular, the latest trend of automated processing systems has replaced manual processes such as sample cap opening and closing, sample aspiration, extraction and purification of sample fragments, and the final PCR amplification, which previously required different personnel to manually complete in different spaces. This design not only frees up a lot of labor but also avoids the risk of infection for laboratory or medical personnel during sample processing to a certain extent. However, many biological consumables are still stored and processed in an open manner. This design has a fatal problem in automated systems. Due to the compact space of automated systems, consumables that have been in contact with samples cannot be processed in an open state. Beckman Co. designed a single-sample-tube automated processing system. Chinese invention patent application CN104718457A shows the clamp structure for holding and transferring sample tubes within the system. Chinese invention patent CN103551212A illustrates a consumable with a special structure. While this design addresses the risk of contamination of biological consumables in automated systems, it is incompatible with widely used deep-well plate extraction and PCR amplification consumables, resulting in excessively high costs for consumables and reagents. Abbott Laboratories' automated processing system also employs a specialized consumable design. The scheme disclosed in US patent application US20210132097A1 details the system layout and basic operating steps. This automated system uses an integrated consumable with multiple processing units arranged in parallel, and the consumable is matched with a cap to reduce or even eliminate the risk of contamination after use. Although some of these leading companies have developed automated molecular diagnostic devices, the overall cost is high and the process control complexity is also higher due to consumable compatibility issues and other factors. In the process of processing large numbers of samples, more cost-effective biological consumables are used, including 96-well deep-well plate extraction consumables, as well as positive plates or eight-tube PCR consumables. In some scenarios, these consumables have poor sealing when equipped with caps. It is also impractical and unlikely to equip deep-well plate extraction consumables with sealing caps. The inventor adopted the solution of packaging the extraction kit with aluminum foil as a whole for sale very early on. Subsequently, some domestic companies also designed equipment and instruments for sealing extraction consumables with aluminum foil.Chinese invention patent application CN115892560A discloses a roll-type sealing device, similar to the sealing solutions commonly used for cups such as milk tea cups. The sealing film is stored in roll form, cut to the required size when needed, and rotated for sealing perforated plate consumables. Chinese invention patent application CN115723988A also uses a roll-type sealing method, sealing the perforated receiving portion after dispensing spherical materials. Chinese invention patent application CN116238762A discloses a linear, automated filling machine sealing solution, equipped with a film cutting tool on the thermoplastic sealing machine. This is a pre-sale sealing solution for perforated plate consumables, and its application scenario differs from the automated on-site configuration system. Chinese invention patent application CN114919783A discloses a rotary table type solution for continuous sealing of perforated plate consumables. Chinese invention patent CN114132543B discloses a scheme that uses circuit control to partially encapsulate deep-well plates containing reagents. This design is not applicable to the disposal of used orifice plates that need to be discarded.

[0004] Although many manufacturers have designed some solutions for encapsulating consumables with perforated plates, these designs are mostly for thermoplastic encapsulation of consumables containing reagents. They are not limited by the volume of automated production lines. Many solutions also require manual labor or additional mechanical transfer mechanisms to move consumables in and out, making the entire design unsuitable for fully automated production lines. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned problems by providing a consumable sealing film recycling mechanism and method. By incorporating a suction cup unit, it can not only transfer stacked sheet-like sealing films within the sealing film storage module but also transfer sealed consumables to the recycling module. This design solves the problem of mechanical grippers being unable to tightly and reliably recycle sealed consumables within the limited space of the recycling module. Furthermore, it allows for the reliable stacking of multiple layers of biological consumables within the confined space, achieving efficient and reliable recycling. Secondly, the suction cup unit can be combined with a gripper unit, allowing for a large overlap in the travel range of the suction cup and gripper units during operation, simplifying the drive design within a limited space.

[0006] The technical solution adopted in this invention is as follows:

[0007] A consumable sealing film recycling and processing mechanism includes a transfer module, a sealing film storage module, a heat sealing module, and a recycling module. The transfer module includes a moving unit and a suction cup unit, the moving unit being able to drive the suction cup unit to move along the X, Y, and Z axes. The sealing film storage module has several sheet-shaped sealing films stacked inside. The heat sealing module includes a buffer unit and an execution unit. The buffer unit can hold consumables to be sealed, and the suction cup unit, driven by the moving unit, can suction and transfer the sealing film to the opening of the consumable to be sealed. The buffer unit can move into the execution unit, and the execution unit can heat seal the sealing film onto the consumable to be sealed. The suction cup unit, driven by the moving unit, can suction and transfer sealed consumables to the recycling module.

[0008] Furthermore, the suction cup unit includes a negative pressure sensor, the negative pressure sensor signal is connected to the control system, and the negative pressure data value generated at the suction cup unit is transmitted between the negative pressure sensor and the control system. The control system can determine whether the suction cup unit has correctly performed the suction operation based on the negative pressure data value.

[0009] Furthermore, the control system includes a sealing film negative pressure threshold and a consumable negative pressure threshold; the sealing film negative pressure threshold is used to determine whether the suction cup unit's operation of adhering to the sealing film is performed correctly, and the consumable negative pressure threshold is used to determine whether the suction cup unit's operation of adhering to the consumable is performed correctly; the consumable negative pressure threshold is greater than the sealing film negative pressure threshold.

[0010] Furthermore, the encapsulation film storage module includes a weight sensor, the sensitivity of which is less than the weight of one encapsulation film; the weight sensor signal is connected to the control system, and the control system transmits weight change data values ​​at the encapsulation film storage module to the weight sensor, and the control system can determine the number of encapsulation films adsorbed by the suction cup unit based on the weight change data values.

[0011] Furthermore, the encapsulation film storage module includes a gravity-driven pressing block, which is disposed on the stacked encapsulation films. The gravity-driven pressing block can exert a downward pressing force on the encapsulation films locally under the action of gravity, and the encapsulation films are confined within the encapsulation film storage module under the action of the gravity-driven pressing block.

[0012] Furthermore, the encapsulation film can flex and deform under the action of the suction cup unit, and be pulled out and attracted to the suction cup unit under the constraint of the gravity-driven pressure block. The encapsulation film can recover its deformation and maintain its sheet-like structure without external force.

[0013] Furthermore, the transfer module also includes a gripper unit, and the moving unit can drive the gripper unit to move on the X, Y, and Z axes; the gripper unit can hold the target item, and the gripper unit can transfer the held target item under the drive of the moving unit.

[0014] Furthermore, the recycling module, the encapsulation film storage module, and the heat sealing module are arranged sequentially along the Y-axis; the suction cup unit and the gripper unit are configured on opposite sides of the moving unit along the Y-axis, with the gripper unit located on the side closer to the heat sealing module and the suction cup unit located on the side closer to the recycling module; the X-axis travel and Y-axis travel of the suction cup unit and the gripper unit are synchronized, while the Z-axis travel of the suction cup unit and the gripper unit is independent of each other.

[0015] A method for recycling and processing consumable sealing films includes the following steps: sealing film adsorption step: the moving unit drives the suction cup unit to move above the sealing film storage module, the moving unit drives the suction cup unit to descend to the top layer of sealing film, the suction cup unit activates the negative pressure adsorption function to generate negative pressure to adsorb the top layer of sealing film onto the suction cup unit, and the suction cup unit is lifted and reset.

[0016] Encapsulation film transfer steps: The buffer unit extends from the heat sealing module, the moving unit drives the suction cup unit to move above the buffer unit and correspond to the film consumable to be sealed in the buffer unit, the moving unit drives the suction cup unit to descend to the opening of the film consumable to be sealed, the suction cup unit closes the negative pressure adsorption function, the encapsulation film is released from the constraint of the suction cup unit and covers the opening of the film consumable to be sealed.

[0017] Heat sealing step: The buffer unit moves into the execution unit, and the execution unit heat seals the encapsulation film onto the consumable film to be sealed;

[0018] Consumable recycling steps: The buffer unit extends from the heat-sealing module, the suction cup unit moves to the top of the corresponding sealed consumable, the suction cup unit activates the negative pressure adsorption function, generating negative pressure to attract the sealed consumable to the suction cup unit, after the suction cup unit is lifted and reset, the moving unit drives the suction cup unit to the recycling module, the suction cup unit descends until the sealed consumable is placed in the recycling module, the suction cup unit deactivates the negative pressure adsorption function, the sealed consumable is released from the constraint of the suction cup unit and recycled into the recycling module.

[0019] Furthermore, it also includes

[0020] The encapsulation film suction detection steps are as follows: After the suction cup unit suctions the encapsulation film, the negative pressure sensor transmits the negative pressure data value generated at the suction cup unit to the control system, and the weight sensor transmits the weight change data value at the encapsulation film storage module to the control system. The control system determines whether the negative pressure data value at this time meets the negative pressure threshold of the encapsulation film and whether the weight change data value corresponds to the weight of the correct number of encapsulation films. If both judgments are satisfied, the control system determines that the suction cup unit suctions the encapsulation film correctly and continues to the next step. If either judgment is not satisfied, the control system determines that the suction cup unit suctions the encapsulation film incorrectly and the equipment is suspended for maintenance.

[0021] The detection steps for the suction of sealed consumables are as follows: After the suction unit suctions the sealed consumable, the negative pressure sensor transmits the negative pressure data value generated at the suction unit to the control system. The control system determines whether the negative pressure data value at this time meets the negative pressure threshold of the consumable. If the determination meets the threshold, the control system determines that the suction unit suction operation of the consumable is performed correctly and continues to the next step. If the determination does not meet the threshold, the control system determines that the suction unit suction operation of the consumable is not performed correctly and the equipment is suspended for maintenance.

[0022] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0023] 1. By setting up a suction cup unit, this invention can not only transfer the stacked sheet-like encapsulation films in the encapsulation film storage module, but also transfer the encapsulated consumables to the recycling module. This design can solve the problem that mechanical grippers cannot tightly and reliably recycle encapsulated consumables in the limited space of the recycling module, greatly improving the module efficiency. Furthermore, it can reliably stack multiple layers of biological consumables in the limited recycling module, achieving a highly efficient and reliable recycling effect.

[0024] 2. The suction cup unit of the present invention can be used in combination with the gripper unit, sharing a common moving unit, so that the suction cup unit and the gripper unit have a large range of overlapping strokes during operation, which can simplify the drive design in a limited space.

[0025] 3. The suction cup unit of the present invention is equipped with a negative pressure sensor, which can determine whether the suction cup unit is performing the suction operation correctly by using the negative pressure data value.

[0026] 4. The encapsulation film storage module of the present invention is equipped with a weight sensor. The weight sensor can work in conjunction with the negative pressure sensor to more accurately determine whether the suction cup unit has transferred the correct number of encapsulation films and whether the transfer process has been executed correctly.

[0027] 5. This invention sets different negative pressure thresholds for different transfer objects, preventing problems such as deformation and rupture of the encapsulation film due to excessive negative pressure.

[0028] 6. The present invention also configures a gravity-driven pressing block in the encapsulation film storage module, which can always ensure that the stacked sheet-like encapsulation films are stored flat and compactly. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the consumable sealing film recycling and processing mechanism of the present invention;

[0030] Figure 2 This is a schematic diagram of the consumable sealing film recycling and processing mechanism of the present invention from another perspective;

[0031] Figure 3 This is a schematic diagram of the transfer module of the present invention;

[0032] Figure 4 This is a schematic diagram of the structure of the heat-sealing module, the encapsulation film storage module, and the recycling module of the present invention;

[0033] Figure 5 This is a structural schematic diagram of the heat-sealing module, the encapsulation film storage module, and the recycling module of the present invention from another perspective;

[0034] Figure 6 This is a schematic diagram of the structure of the encapsulated film storage module of the present invention;

[0035] Figure 7 This is a schematic diagram of the structure of the encapsulation film inside the suction cup unit of the present invention, which attracts the encapsulation film storage module.

[0036] Figure 8 This is a schematic diagram of the structure of the cache unit being moved out of the execution unit according to the present invention;

[0037] Figure 9 This is a schematic diagram of the structure of moving the cache unit into the execution unit according to the present invention;

[0038] Figure 10 This is a schematic diagram of the suction cup unit of the present invention adsorbing the sealed film consumable.

[0039] The diagram shows the following markings: 10-Y-axis truss, 101-Y-axis drive motor, 102-Y-axis slide rail, 103-Y-axis slider, 104-truss beam, 105-roller, 106-guide rod, 20-suction cup unit, 2011, 2012-suction cups, 202-negative pressure sensor, 30-heat sealing module, 301-heat sealing block drive motor, 302-buffer slide rail, 303-buffer unit, 304-buffer drive motor, 305-heat sealing block, 40-recycling module, 50-gripper unit, 60-encapsulation film storage module, 601-encapsulation film, 6021, 6022-gravity driven block, 603-weight sensor, 604-receiving substrate, 70-target item. Detailed Implementation

[0040] The present invention will now be described in detail with reference to the accompanying drawings.

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0042] Example 1

[0043] A consumable sealing film recycling and processing mechanism and method, such as Figure 1-10As shown, the system includes a transfer module, a packaging film storage module 60, a heat-sealing module 30, and a recycling module 40. The transfer module includes a moving unit and a suction cup unit 20, which can drive the suction cup unit 20 to move along the X, Y, and Z axes. The packaging film storage module 60 contains a plurality of sheet-shaped packaging films 601 stacked within it. The heat-sealing module 30 includes a buffer unit 303 and an execution unit. The buffer unit 303 can hold the packaging film consumables to be sealed. The suction cup unit 20 can pick up the packaging films 601 under the drive of the moving unit. The buffer unit 303 is transferred to the opening of the consumable to be sealed. The buffer drive motor 304 can drive the buffer unit 303 to slide along the buffer slide rail 302 through the buffer transmission mechanism, thereby moving the buffer unit 303 into or out of the execution unit. The buffer transmission mechanism here can be a belt drive. In order to ensure the reliable sliding of the buffer unit 303, the buffer transmission mechanism includes two buffer sliders arranged at intervals and two buffer slide rails 302 arranged at intervals. The buffer sliders are slidably connected to the buffer slide rails 302. Multiple limiting guide rods are provided on the buffer unit 303 to limit the received film consumable to be sealed in the predetermined position of the buffer unit 303, ensuring the reliability of the sealing. The execution unit can heat seal the sealing film 601 onto the film consumable to be sealed. The execution unit is equipped with a position sensor. When the position sensor detects that the buffer unit 303 has been correctly pushed into the execution unit, the heat sealing block 305 is driven to move downward to heat-press the sealing film 601 onto the film consumable to be sealed. The sealed film consumable is driven by the buffer drive motor 304 to move out of the execution unit with the buffer unit 303 to the initial position before sealing. The suction cup unit 20 can suck up and transfer the sealed film consumable to the recycling module 40 under the drive of the moving unit. The execution unit includes a heat-sealing block drive motor 301, which drives the heat-sealing block 305 to move up and down, thereby achieving heat sealing of the consumable material to be sealed. To ensure that the heat-sealing block 305 can uniformly and tightly heat seal the consumable material, an elastic support element is also configured between the heat-sealing block 305 and the drive structure plate on which the heat-sealing block drive motor 301 is installed. The heat-sealing block 305 contains a heat source that can provide sufficient heat to seal the consumable material. The heat source in the heat-sealing block 305 can be configured with high heat density at the edges and low heat density at the center. This is more suitable for the processing characteristics of the discarded consumable material, ensuring that the edges are reliably sealed so that the liquid inside the consumable material does not leak, while minimizing the impact of liquid migration and crosstalk between internal holes, and also allowing for more rational use of energy.

[0044] The suction cup unit 20 includes a negative pressure sensor 202, which is connected to the control system. The negative pressure sensor 202 transmits negative pressure data values ​​generated at the suction cup unit 20 to the control system. The control system can determine whether the suction cup unit 20 has correctly performed the suction operation based on the negative pressure data values.

[0045] The control system includes a sealing film negative pressure threshold and a consumable negative pressure threshold. The sealing film negative pressure threshold is used to determine whether the suction cup unit 20 correctly performs the operation of suctioning the sealing film 601, and the consumable negative pressure threshold is used to determine whether the suction cup unit 20 correctly performs the operation of suctioning the consumable. The consumable negative pressure threshold is greater than the sealing film negative pressure threshold.

[0046] The encapsulation film storage module 60 includes a weight sensor 603, the sensitivity of which is less than the weight of one encapsulation film 601; the weight sensor 603 is connected to the control system, and the control system transmits weight change data values ​​at the encapsulation film storage module 60 to the weight sensor 603; the control system can determine the number of encapsulation films 601 adsorbed by the suction cup unit 20 based on the weight change data values.

[0047] Figure 7 The illustration shows the suction cup unit 20 adsorbing the encapsulation film 601 within the encapsulation film storage module 60. The suction cup unit 20 is equipped with an air compressor as a negative pressure source, and is connected to two spaced-apart suction cups 2011 and 2012 via connecting pipes, thereby enabling the suction cups 2011 and 2012 to generate negative pressure adsorption force, thus achieving adsorption of the encapsulation film 601. A negative pressure sensor 202 is also arranged in the connecting pipe, which can detect changes in negative pressure within the connecting pipe in real time. More preferably, the suction cup unit 20 is also set with different negative pressure thresholds to achieve different negative pressure control for different transfer objects. When the suction cup unit 20 transfers the encapsulation film 601... At step 1, due to the blockage of suction cups 2011 and 2012 by the encapsulation film 601, the negative pressure in the connecting pipe will change. At this time, the weight sensor 603 inside the encapsulation film 601 can be used to determine whether the transfer is performed correctly. When the suction cup unit 20 transfers the encapsulation film 601, the weight sensor 603 can indicate whether the suction cup unit 20 has attracted the correct number of encapsulation films 601. The negative pressure sensor 202 can indicate whether the encapsulation film 601 has been correctly attracted by the suction cup unit 20 by comparing the negative pressure data value with the negative pressure threshold of the encapsulation film. The two different types of sensors can achieve accurate monitoring of different transfer steps.

[0048] The encapsulation film storage module 60 includes gravity-driven pressing blocks 6021 and 6022, which are disposed on top of the stacked encapsulation films 601. Under the action of gravity, the gravity-driven pressing blocks 6021 and 6022 can locally generate a downward pressing force on the encapsulation films 601, thus confining the encapsulation films 601 within the encapsulation film storage module 60. Preferably, the two opposing gravity-driven pressing blocks 6021 and 6022 are disposed on two opposite sides of the encapsulation films 601, thereby achieving the effect of consistently pressing the sheet-like encapsulation films 601 within the encapsulation film storage module 60.

[0049] The encapsulation film 601 can flex and deform under the action of the suction cup unit 20, and be pulled out and adhered to the suction cup unit 20 under the constraint of gravity-driven pressure blocks 6021 and 6022. The encapsulation film 601 can recover its deformation and maintain its sheet-like structure without external force. The encapsulation film 601 is preferably selected as an aluminum foil film, and the aluminum foil film has a thickness of not less than 0.03 mm, which can also ensure that the aluminum foil film has a certain structural strength and is not easily damaged when the suction cup unit 20 is transferred.

[0050] Figure 6The structure of the encapsulation film storage module 60 is illustrated. The encapsulation film storage module 60 includes a receiving substrate 604, on which a weight sensor 603 is disposed. A tray is arranged above the substrate, stacking multiple sheet-like encapsulation films 601. To ensure that the encapsulation films 601 can be flatly and tightly compressed for storage, gravity-driven pressing blocks 6021 and 6022 are provided on opposite sides of the encapsulation films to partially press the encapsulation films 601 together. The sensitivity of the weight sensor 603 is lower than the weight of a single encapsulation film, thus easily and accurately identifying the number of encapsulation films 601 transferred by the suction cup unit 20. When the topmost encapsulation film 601 is suctioned by the negative pressure of the suction cup unit 20, the encapsulation film 601 itself can flex and deform, allowing it to be extracted from the constraints of the partially pressed gravity-driven pressing blocks 6021 and 6022. The encapsulation film 601 is adsorbed onto the suction cup unit 20. The area covered by the gravity-driven pressing blocks 6021 and 6022 pressing the encapsulation film 601 does not exceed 5% of the total area of ​​the encapsulation film 601 and is not less than 0.2% of the total area of ​​the encapsulation film 601. This ensures that the encapsulation film 601 is reliably pressed and will not be deformed such as curling. At the same time, the encapsulation film 601 can be easily attracted and transferred by the suction cup unit 20. The gravity-driven pressing blocks 6021 and 6022 are arranged on the slide bar and can slide up and down along the slide bar. After the top encapsulation film is adsorbed and transferred, the gravity-driven pressing blocks 6021 and 6022 can move downward under the action of gravity, so as to always locally press the opposite sides of the encapsulation film 601. In order to ensure the accuracy of the storage position of the encapsulation film 601, multiple limiting guide rods are also provided on the encapsulation film storage module 60.

[0051] The transfer module also includes a gripper unit 50, which is driven by the moving unit to move along the X, Y, and Z axes. The gripper unit 50 can hold the target item 70 through opposing gripper units, and can transfer the gripped target item 70 under the drive of the moving unit. The target item 70 can be a deep-well plate extraction consumable or a whole-plate PCR consumable. In this embodiment, the target item 70 is a 96-well deep-well plate consumable after extraction. The gripper unit 50 can be a commercially available conventional mechanical gripper, and the gripper unit structure can be matched to the design to more reliably clamp the consumable. In this embodiment, the gripper unit 50 is used to transfer the consumable to be sealed. After the transfer is completed, the buffer unit 303 can be driven to move into the execution unit to perform heat sealing. After heat sealing, the sealed consumable is pushed out of the execution unit along with the buffer unit 303. Because the upper part of the sealed consumable is heat-sealed with a sheet-like encapsulation film 601, a transfer connection surface that can be attracted is formed. At this time, the negative pressure generated by the suction cup unit 20 can achieve the adsorption connection of the sealed consumable. Thus, the suction cup unit 20 can be used to transfer the sealed consumable. Because the suction cup unit 20 is connected to the area within the shape range of the sealed consumable, it can perform stacking operations within the limited space of the recycling module 40, avoiding the problem that using the gripper unit 50 for transfer cannot effectively operate at the edges of the recycling module 40 and can only operate in the middle area. This effectively solves the problem of not being able to tightly stack the sealed consumables within the recycling module 40 when recycling them. The overall design also meets the design principle of the simplest and most efficient use of different functional modules. The recycling module 40, the sealing film storage module 60, and the heat sealing module 30 are arranged sequentially along the Y-axis. The suction cup unit 20 and the gripper unit 50 are positioned on opposite sides of the moving unit along the Y-axis. The gripper unit 50 is located closer to the heat sealing module 30, and the suction cup unit 20 is located closer to the recycling module 40. This allows the gripper unit 50 to transfer the target item 70, i.e., the film-to-be-sealed consumable, with the shortest possible travel distance. In addition, the suction cup unit 20 can transfer the already-sealed consumable to the recycling module 40 with a shorter travel distance and faster speed. This design also reduces the overlap and intersection of the transfer paths of the film-to-be-sealed and already-sealed consumables, further reducing the risk of contamination. The X-axis and Y-axis travel distances of the suction cup unit 20 and the gripper unit 50 are synchronized, while their Z-axis travel distances are independent.

[0052] Specifically, the moving unit includes a Y-axis truss 10, with a recycling module 40, a packaging film 601 storage module 60, and a heat-sealing module 30 all positioned below the Y-axis truss 10. The Y-axis truss 10 includes an extension frame extending in the Y-axis direction and a truss beam 104 positioned in the X-axis direction. The truss beam 104 is slidably connected to a Y-axis slide rail 102 on the extension frame via a Y-axis slider 103. An extension drive wheel and an extension driven wheel are spaced apart along the length of the extension frame. An extension transmission belt is fitted between the extension drive wheel and the extension driven wheel. The extension transmission belt is connected to the Y-axis slider 103 via an extension connector. The extension drive wheel can rotate under the action of the Y-axis drive motor 101. The movement causes the Y-axis slider 103 to slide along the Y-axis slide rail 102, which in turn causes the truss beam 104 to move freely along the Y-axis. To ensure the reliability of the truss beam 104, a guide rod 106 is provided at the other end of the truss beam 104 relative to the Y-axis slider 103. A roller 105 matching the guide rod 106 is provided at the end of the truss beam 104. This achieves a rolling connection between the other end of the truss beam 104 and the guide rod 106 through the roller 105, so that the truss beam 104 can be driven to move along the Y-axis with less resistance. There are two rollers 105 here, and the two rollers 105 are respectively rollingly connected to the upper and lower surfaces of the guide rod 106, ensuring the reliability of the support of the truss beam 104.

[0053] The suction cup unit 20 and the gripper unit 50 are respectively arranged on two opposite sides of the truss beam 104, so that the suction cup unit 20 and the gripper unit 50 can have basically the same Y-axis travel. The suction cup unit 20 and the gripper unit 50 are arranged on two opposite sides of the same truss beam 104, so they can also be designed with basically the same X-axis travel length. Overall, the travel range of the suction cup unit 20 and the gripper unit 50 has a high degree of overlap, which enables the suction cup unit 20 and the gripper unit 50 to reliably transfer different objects within basically the same range.

[0054] Example 2

[0055] A method for recycling and processing consumable sealing films, such as Figure 1-10 As shown, the following steps are included: the buffering step of the consumable to be sealed: the moving unit drives the gripper unit 50 to move above the consumable to be sealed, the driving gripper unit descends and clamps the consumable to be sealed, the gripper unit is lifted and reset, the moving unit drives the gripper unit 50 to move above the buffering unit 303, the driving gripper unit descends until the consumable to be sealed is placed in the buffering unit 303, and the gripper unit 50 is reset.

[0056] The encapsulation film 601 adsorption step: The moving unit drives the suction cup unit 20 to move above the encapsulation film storage module 60, the moving unit drives the suction cup unit 20 to descend to the top encapsulation film 601, the suction cup unit 20 activates the negative pressure adsorption function, generates negative pressure to adsorb the top encapsulation film 601 onto the suction cup unit 20, and the suction cup unit 20 is lifted and reset.

[0057] The encapsulation film 601 transfer steps: The buffer unit 303 extends from the heat sealing module 30, the moving unit drives the suction cup unit 20 to move above the buffer unit 303 and correspond to the film consumable to be sealed in the buffer unit 303, the moving unit drives the suction cup unit 20 to descend to the opening of the film consumable to be sealed, the suction cup unit 20 turns off the negative pressure adsorption function, the encapsulation film 601 is released from the constraint of the suction cup unit 20 and covers the top opening of the film consumable to be sealed;

[0058] Heat sealing step: The buffer unit 303 moves into the execution unit, and the execution unit heat seals the encapsulation film 601 onto the consumable film to be sealed;

[0059] Consumable recycling steps: The buffer unit 303 extends from the self-heating sealing module 30, the suction cup unit 20 moves to the top of the corresponding sealed consumable, the suction cup unit 20 activates the negative pressure adsorption function, generating negative pressure to attract the sealed consumable to the suction cup unit 20, after the suction cup unit 20 is lifted and reset, the moving unit drives the suction cup unit 20 to the recycling module 40, the suction cup unit 20 descends until the sealed consumable is placed in the recycling module 40, the suction cup unit 20 deactivates the negative pressure adsorption function, the sealed consumable is released from the constraint of the suction cup unit 20 and recycled into the recycling module 40.

[0060] The detection steps for the suction of the encapsulation film 601 are as follows: After the suction unit 20 suctions the encapsulation film 601, the negative pressure sensor 202 transmits the negative pressure data value generated at the suction unit 20 to the control system, and the weight sensor 603 transmits the weight change data value at the encapsulation film storage module 60 to the control system. The control system determines whether the negative pressure data value at this time meets the negative pressure threshold of the encapsulation film and whether the weight change data value corresponds to the weight of the correct number of encapsulation films 601. If both judgments are satisfied, the control system determines that the suction unit 20 suctions the encapsulation film 601 correctly and continues to the next step. If either judgment is not satisfied, the control system determines that the suction unit 20 suctions the encapsulation film 601 incorrectly and the equipment is suspended for maintenance.

[0061] The detection steps for the suction of sealed consumables are as follows: After the suction unit 20 suctions the sealed consumable, the negative pressure sensor 202 transmits the negative pressure data value generated at the suction unit 20 to the control system. The control system determines whether the negative pressure data value at this time meets the negative pressure threshold of the consumable. If the determination meets the threshold, the control system determines that the suction unit 20 has correctly executed the operation of suctioning the consumable and continues to execute the next step. If the determination does not meet the threshold, the control system determines that the suction unit 20 has not correctly executed the operation of suctioning the consumable and the equipment is suspended for maintenance.

[0062] This article uses specific embodiments to illustrate the principles and implementation methods of the present invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0063] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed during use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0064] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. A consumable sealing film recycling and processing mechanism, characterized in that, The system includes a transfer module, a packaging film storage module, a heat-sealing module, and a recycling module. The transfer module comprises a moving unit and a suction cup unit, the moving unit driving the suction cup unit to move along the X, Y, and Z axes. The packaging film storage module contains stacked sheet-like packaging films. The heat-sealing module includes a buffer unit and an execution unit. The buffer unit holds the packaging film to be sealed. The suction cup unit, driven by the moving unit, transfers the packaging film to the top opening of the packaging film to be sealed. The buffer unit can move into the execution unit, where the execution unit heat-seales the packaging film onto the packaging film to form a sealed packaging film with sheet-like packaging films attached to its upper part. The sheet-like packaging films attached to the sealed packaging film form a transfer connection surface that can be suctioned. The suction cup unit can achieve suction connection of the transfer connection surface through negative pressure. The suction cup unit can move within the moving unit... Driven by the suction cup unit, the sealed consumables are attracted and transferred to the recycling module. The suction cup unit matches the shape of the sealed consumables with the required transfer space and can perform stacking operations within the limited space of the recycling module. The transfer module also includes a gripper unit, which can be driven by the moving unit to move along the X, Y, and Z axes. The gripper unit can hold the target item and can transfer the held target item under the drive of the moving unit. The recycling module, the sealing film storage module, and the heat sealing module are arranged sequentially along the Y-axis. The suction cup unit and the gripper unit are located on opposite sides of the moving unit along the Y-axis, with the gripper unit located closer to the heat sealing module and the suction cup unit located closer to the recycling module. The X-axis travel and Y-axis travel of the suction cup unit and the gripper unit are synchronized, while the Z-axis travel of the suction cup unit and the gripper unit is independent of each other.

2. The consumable sealing film recycling and processing mechanism as described in claim 1, characterized in that, The suction cup unit includes a negative pressure sensor, which is connected to the control system. The negative pressure sensor transmits negative pressure data values ​​generated at the suction cup unit to the control system. The control system can determine whether the suction cup unit has correctly performed the suction operation based on the negative pressure data values.

3. The consumable sealing film recycling and processing mechanism as described in claim 2, characterized in that, The control system includes a sealing film negative pressure threshold and a consumable negative pressure threshold. The sealing film negative pressure threshold is used to determine whether the suction cup unit's operation of adhering to the sealing film is performed correctly, and the consumable negative pressure threshold is used to determine whether the suction cup unit's operation of adhering to the consumable is performed correctly. The consumable negative pressure threshold is greater than the sealing film negative pressure threshold.

4. The consumable sealing film recycling and processing mechanism as described in claim 1, characterized in that, The encapsulation film storage module includes a weight sensor, the sensitivity of which is less than the weight of a single encapsulation film. The weight sensor signal is connected to the control system, and the control system transmits weight change data values ​​at the encapsulation film storage module to the weight sensor. The control system can determine the number of encapsulation films adsorbed by the suction cup unit based on the weight change data values.

5. The consumable sealing film recycling and processing mechanism as described in claim 1, characterized in that, The encapsulation film storage module includes a gravity-driven pressing block, which is disposed on the stacked encapsulation films. The gravity-driven pressing block can exert a downward pressing force on the encapsulation films locally under the action of gravity, and the encapsulation films are confined within the encapsulation film storage module under the action of the gravity-driven pressing block.

6. The consumable sealing film recycling and processing mechanism as described in claim 5, characterized in that, The encapsulation film can flex and deform under the action of the suction cup unit, and be pulled out and attracted to the suction cup unit under the constraint of the gravity-driven pressure block. The encapsulation film can recover its deformation and maintain its sheet-like structure without external force.

7. A method for recycling and processing consumable sealing films, characterized in that, Includes the following steps, Encapsulation film adsorption steps: The moving unit drives the suction cup unit to move above the encapsulation film storage module, the moving unit drives the suction cup unit to descend to the top layer of the encapsulation film, the suction cup unit activates the negative pressure adsorption function, generating negative pressure to adsorb the top layer of the encapsulation film onto the suction cup unit, and the suction cup unit is lifted and reset. Encapsulation film transfer steps: The buffer unit extends from the heat sealing module, the moving unit drives the suction cup unit to move above the buffer unit and correspond to the film consumable to be sealed in the buffer unit, the moving unit drives the suction cup unit to descend to the top opening of the film consumable to be sealed, the suction cup unit closes the negative pressure adsorption function, the encapsulation film is released from the constraint of the suction cup unit and covers the opening of the film consumable to be sealed. Heat sealing step: The buffer unit moves into the execution unit, and the execution unit heat seals the encapsulation film onto the consumable film to be sealed; Consumable recycling steps: The buffer unit extends from the heat-sealing module, and the suction cup unit moves to the top of the corresponding sealed consumable. The sheet-like encapsulation film connected to the sealed consumable forms a transfer connection surface that can be attracted. The suction cup unit activates the negative pressure adsorption function, generating negative pressure to achieve adsorption connection of the transfer connection surface, so that the sealed consumable is attracted to the suction cup unit. After the suction cup unit is lifted and reset, the moving unit drives the suction cup unit to the recycling module. The suction cup unit descends until the sealed consumable is placed in the recycling module. The suction cup unit deactivates the negative pressure adsorption function, and the sealed consumable is released from the constraint of the suction cup unit and recycled into the recycling module. The suction cup unit matches the required transfer space of the sealed consumable with the shape of the sealed consumable and can perform stacking operations within the limited space of the recycling module.

8. The method for recycling and processing consumable sealing films as described in claim 7, characterized in that, Also includes The encapsulation film suction detection steps are as follows: After the suction cup unit suctions the encapsulation film, the negative pressure sensor transmits the negative pressure data value generated at the suction cup unit to the control system, and the weight sensor transmits the weight change data value at the encapsulation film storage module to the control system. The control system determines whether the negative pressure data value at this time meets the negative pressure threshold of the encapsulation film and whether the weight change data value corresponds to the weight of the correct number of encapsulation films. If both judgments are satisfied, the control system determines that the suction cup unit suctions the encapsulation film correctly and continues to the next step. If either judgment is not satisfied, the control system determines that the suction cup unit suctions the encapsulation film incorrectly and the equipment is suspended for maintenance. The detection steps for the suction of sealed consumables are as follows: After the suction unit suctions the sealed consumable, the negative pressure sensor transmits the negative pressure data value generated at the suction unit to the control system. The control system determines whether the negative pressure data value at this time meets the negative pressure threshold of the consumable. If the determination meets the threshold, the control system determines that the suction unit suction operation of the consumable is performed correctly and continues to the next step. If the determination does not meet the threshold, the control system determines that the suction unit suction operation of the consumable is not performed correctly and the equipment is suspended for maintenance.

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