Gravity-sensing programmable high-precision dispensing system and method of use

Abstract

The present application relates to a pipetting workstation, and discloses a gravity-sensing programmable high-precision liquid distribution system and a use method, which comprises a main body (1), wherein an X-axis track unit (3) perpendicular to a horizontal plane is arranged on the main body (1), an Y-axis track unit (11) perpendicular to the horizontal plane is slidably arranged on the X-axis track unit (3), a Z-axis mechanical arm (10) is arranged on the Y-axis track unit (11), and the Z-axis mechanical arm (10) comprises a Z-axis track unit (14), a tip retraction assembly (16) arranged on the Z-axis mechanical arm (10) and a tip adapter (17) arranged on the tip retraction assembly (16) from top to bottom in sequence, and a gravity sensor (15) is further arranged on the tip retraction assembly (16). Through setting data in a control system, the X-axis track unit (3), the Y-axis track unit (11), the Z-axis track unit (14) and the Z-axis mechanical arm (10) can be controlled to perform liquid suction, liquid discharge and movement and the like, and the operation is accurate and efficient.

Description

Technical Field

[0001] This invention relates to a mobile workstation, and more specifically to a gravity-sensing programmable high-precision liquid dispensing system and its usage method. Background Technology

[0002] In life science research, with the rapid development of technology, laboratories require a large amount of solution mixing and pretreatment. As a liquid transfer and processing device, the pipetting workstation features high automation, high accuracy, and high compatibility. It can perform continuous pipetting, liquid distribution, addition, combination, and continuous repetitive processing in microplates. It has been widely used in fields such as molecular biology, genetic engineering, and drug development. For example, it is used for large-scale pipetting in experiments such as the extraction, purification, and sequencing of biological macromolecules such as DNA / RNA / protein, oligo synthesis, drug screening, and protein analysis. This solves the problems of low efficiency, low pipetting accuracy, and easy errors caused by manual repetitive operations.

[0003] However, existing pipetting workstations have the following problems:

[0004] 1. Most current pipetting workstations have overly simple functions, only capable of performing simple, repetitive routine pipetting operations;

[0005] 2. Current pipetting workstations have specific requirements for pipette tips, resulting in high costs for pipette tip consumables and a lack of universality of consumables;

[0006] 3. The connection of pipette tips in pipetting workstations is mostly determined by the distance of movement. It is common for the connection of the pipette tip to be too loose, which leads to inaccurate aspiration or leakage during movement. The connection of the pipette tip to be too tight leads to errors in the removal of the pipette tip and jamming.

[0007] In view of this, there is a need to design a gravity-sensing programmable high-precision liquid dispensing system and its usage method that can overcome the above-mentioned technical difficulties and effectively solve or alleviate them. Summary of the Invention

[0008] The fundamental technical problem to be solved by this invention is to provide a gravity-sensing programmable high-precision liquid dispensing system and its usage method. This gravity-sensing programmable high-precision liquid dispensing system and its usage method can adapt to different pipette tip specifications by setting data in the control system. At the same time, by setting data in the control system, it can control the X-axis track unit, Y-axis track unit, Z-axis track unit and Z-axis robotic arm to perform liquid suction, liquid discharge and movement operations with precision and efficiency.

[0009] Furthermore, by using a gravity sensor to determine the weight on the Z-axis robotic arm, the system can accurately determine whether the actions of connecting the suction head, suctioning, discharging, and retracting the suction head have been completed, thereby improving the accuracy of the equipment.

[0010] Furthermore, this invention only requires setting the parameters within the control system according to different situations, and the automated operation saves manpower.

[0011] To achieve the above objectives, the present invention provides a gravity-sensing programmable high-precision liquid dispensing system, comprising a main body, an X-axis track assembly horizontally aligned with a horizontal plane, a Y-axis track assembly slidably mounted on the X-axis track assembly, and a Z-axis robotic arm mounted on the Y-axis track assembly. The Z-axis robotic arm, from top to bottom, includes a Z-axis track assembly, a suction head retraction assembly mounted on the Z-axis robotic arm, and a suction head nozzle mounted on the suction head retraction assembly. A gravity sensor is also mounted on the suction head retraction assembly to detect mass changes after the suction head nozzle is connected to the suction head and after the suction head aspirates and dispenses liquid. The Z-axis track assembly and the Y-axis track assembly are movably connected.

[0012] Preferably, the main body is provided with a pipette pump, and a pipette pump connecting pipe is provided between the pipette pump and the pipette tip assembly.

[0013] More preferably, the main body is provided with a control panel.

[0014] More preferably, the main body is provided with multiple sample plate positions, template plate positions, suction head box positions and waste suction head box positions below it.

[0015] Furthermore, the main body is also equipped with a USB interface and a power switch.

[0016] Furthermore, the control panel is also equipped with a control system, which is electrically connected to the X-axis track unit, Z-axis track unit, Y-axis track unit, gravity sensor and pipetting pump.

[0017] Preferably, the control system includes control software and a gravity sensing system. The control software is used to set the pipette tip specifications and liquid aspiration requirements, and the gravity sensing system is used to monitor whether the pipette tip connection, liquid aspiration, liquid discharge, and pipette tip retraction operations are completed.

[0018] Specifically, multiple sample plates, target plates, pipette head boxes, and waste pipette head boxes are placed on the multiple sample plate positions, template plate positions, pipette head box positions, and waste pipette head box positions respectively.

[0019] Alternatively, the gravity sensor may have a gravity detection range of 0.1G to 5KG.

[0020] To achieve the above objectives, the present invention also provides a method for using a gravity-sensing programmable high-precision liquid dispensing system, comprising the following steps:

[0021] Step 1: Place the waste pipette tip box, target plate, sample plate, and pipette tip box in the waste pipette tip box position, template plate position, sample plate position, and pipette tip box position on the main body in sequence, and put the clean pipette tip into the pipette tip box;

[0022] Step 2: Using the control panel, set the pipette tip parameters in the control system according to the specifications of the selected pipette tip, adjust the corresponding gravity sensing parameters, and input the liquid aspiration requirements.

[0023] Step 3: The control system moves the Z-axis robotic arm to the suction head box by controlling the X-axis, Z-axis, and Y-axis track units. The control system then controls the Z-axis track unit to descend and connect the suction head nozzle to the suction head.

[0024] Step 4: The gravity sensor detects changes in weight to determine if the nozzle is successfully connected. If the connection is unsuccessful, repeat Step 3 until the gravity sensor detects that the predetermined weight has been reached. In this case, the nozzle and the nozzle are successfully connected.

[0025] Step 5: After the nozzle is successfully connected to the suction head, the control system controls the X-axis track unit, Z-axis track unit and Y-axis track unit to move the Z-axis robotic arm above the sample plate. The control system then controls the Z-axis track unit to place the suction head on the Z-axis robotic arm into the sample plate.

[0026] Step 6: The gravity sensor detects the weight change after liquid aspiration. When the weight reaches the preset weight, the control system controls the X-axis track unit, Z-axis track unit and Y-axis track unit to move the Z-axis robotic arm above the target plate.

[0027] Step 7: The control system controls the pipette pump to drain liquid from the iron wall through the pipette tip via the pipette pump connection tube;

[0028] Step 8: The gravity sensor detects the weight change after liquid aspiration. When the weight reaches the preset discharge weight, the control system controls the X-axis track unit, Z-axis track unit and Y-axis track unit to move the Z-axis robotic arm above the waste suction head box. The control system then controls the suction head retraction assembly to put the waste suction head into the waste suction head box.

[0029] Step Nine: Repeat steps one through eight to complete all operations on the imported information in the control system in sequence.

[0030] Through the above technical solutions, the gravity-sensing programmable high-precision liquid dispensing system and its usage method of the present invention control the specifications of the selected pipette tips, the liquid aspiration requirements, and the gravity sensing parameters within the system, thereby adapting to various types of pipette tips.

[0031] Furthermore, the present invention controls the Z-axis track unit, Y-axis track unit, X-axis track unit, Z-axis robotic arm, gravity sensor and pipetting pump to move sequentially to the pipette tip box, sample plate, target plate and waste pipette tip box through a pre-set control system to perform pipette tip installation, liquid aspiration, liquid discharge and pipette tip removal operations. The automated operation improves accuracy and saves manpower.

[0032] Furthermore, this invention detects the weight of the Z-axis robotic arm by installing a gravity sensor on the Z-axis robotic arm, enabling accurate operation of pipette tip installation, liquid aspiration, liquid discharge, and pipette tip retraction. It also adjusts the gravity sensing parameters in the control system according to the differences in pipette tips, thereby achieving pipetting operations for various experimental needs with greater precision. Attached Figure Description

[0033] Figure 1 This is a three-dimensional structural diagram of a gravity-sensing programmable high-precision liquid dispensing system according to a specific embodiment of the present invention;

[0034] Figure 2 This is a front structural schematic diagram of a Z-axis robotic arm equipped with a gravity-sensing programmable high-precision liquid dispensing system according to a specific embodiment of the present invention.

[0035] Figure 3 This is a side view of the Z-axis robotic arm in a gravity-sensing programmable high-precision liquid dispensing system according to a specific embodiment of the present invention.

[0036] Figure 4 This is a flowchart illustrating the usage method of a gravity-sensing programmable high-precision liquid dispensing system according to a specific embodiment of the present invention.

[0037] Explanation of reference numerals in the attached figures

[0038] 1. Main body 2. Control panel

[0039] 3. X-axis track unit; 4. USB interface

[0040] 5. Power switch 6. Waste suction head box

[0041] 7. Target plate 8. Sample plate

[0042] 9. Suction head box 10. Z-axis robotic arm

[0043] 11. Y-axis track unit; 12. Pipette pump connecting pipe

[0044] 13. Pipette pump 14. Z-axis track unit

[0045] 15. Gravity sensor 16. Suction head assembly

[0046] 17. Suction head nozzle Detailed Implementation

[0047] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0048] First, it should be noted that in the description of the technical solutions of this invention below, the directional terms such as "inner", "outer", "bottom", and "below" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to facilitate the description of this invention and to simplify 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.

[0049] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connection," "installation," and "fixation" should be interpreted broadly. For example, a connection can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components or an interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] See Figures 1 to 3 One aspect of the basic embodiment of the present invention provides a gravity-sensing programmable high-precision liquid dispensing system, including a main body 1. An X-axis track assembly 3 is mounted on the main body 1 and is horizontally aligned with the horizontal plane. A Y-axis track assembly 11 is slidably mounted on the X-axis track assembly 3 and is perpendicular to the horizontal plane. A Z-axis robotic arm 10 is mounted on the Y-axis track assembly 11. The Z-axis robotic arm 10 includes, from top to bottom, a Z-axis track assembly 14, a suction head retraction assembly 16 mounted on the Z-axis robotic arm 10, and a suction head nozzle 17 mounted on the suction head retraction assembly 16. A gravity sensor 15 is also mounted on the suction head retraction assembly 16. The gravity sensor is used to detect the mass change after the suction head nozzle 17 is connected to the suction head and after the suction head aspirates and discharges liquid. The Z-axis track assembly 14 is movably connected to the Y-axis track assembly 11.

[0051] This invention moves the position of the Z-axis robotic arm 10 by controlling the Y-axis track unit 11, X-axis track unit 3, and Z-axis track unit 14. The gravity sensor 15 detects and identifies changes in gravity, thereby accurately performing the operations of suction head installation, liquid suction, liquid discharge, and suction head retraction, improving accuracy and reducing manual operation.

[0052] Preferably, a pipette pump 13 is provided on the main body 1, and a pipette pump connecting pipe 12 is provided between the pipette pump 13 and the pipette tip assembly 16. The pipette pump 13 is used for aspiration and dispensing of liquid, which reduces manual labor and is more accurate.

[0053] More preferably, the main body 1 is provided with a control panel 2, which allows the parameters in the control system to be set by operating the control panel 2, thereby adapting to more types of suction tips and liquid suction operations.

[0054] More preferably, multiple sample plate positions, template plate positions, pipette tip boxes, and waste pipette tip boxes are provided below the main body 1. By providing multiple sample plate positions, template plate positions, pipette tip boxes, and waste pipette tip boxes below the main body, one-to-many pipetting operations can be performed.

[0055] Furthermore, the main body 1 is also equipped with a USB interface 4 and a power switch 5, which improves the expandability of the liquid dispensing system.

[0056] Specifically, the control panel 2 is also equipped with a control system, which is electrically connected to the X-axis track unit 3, Z-axis track unit 14, Y-axis track unit 11, gravity sensor 15 and pipette pump 13. The control system controls the movement of the X-axis track unit 3, Z-axis track unit 14, Y-axis track unit 11, gravity sensor 15 and pipette pump 13, thereby improving the accuracy of operation and reducing manual operation.

[0057] More specifically, the control system includes control software and a gravity sensing system. The control software is used to set the pipette tip specifications and aspiration requirements, while the gravity sensing system is used to monitor whether the pipette tip connection, aspiration, drainage, and retraction operations are completed. By setting the pipette tip specifications and aspiration requirements through the control software, different pipette tips can be adapted to different pipette tips. By setting different gravity sensing parameters, the system monitors whether the pipette tip connection, aspiration, drainage, and retraction operations are completed, thus adapting to various experimental needs and making the operation more precise.

[0058] More specifically, multiple sample plates 8, target plates 7, pipette heads 9, and waste pipette heads 6 are placed on multiple sample plate positions, template plate positions, pipette head boxes, and waste pipette head boxes, respectively. By placing multiple sample plates 8, target plates 7, pipette head boxes 9, and waste pipette head boxes on multiple sample plate positions, template plate positions, pipette head boxes, and waste pipette head boxes, the stability of the system is improved.

[0059] Optionally, the gravity sensor 15 has a gravity detection range of 0.1KG to 5KG. Different gravity detection parameters can be set according to different pipette tips to enable more accurate pipetting operations for various experimental needs.

[0060] See Figure 4The second aspect of the basic embodiment of the present invention provides a practical method for a gravity-sensing programmable high-precision liquid dispensing system, comprising the following steps: Step 1: Sequentially placing the waste pipette tip box 6, target plate 7, sample plate 8, and pipette tip box 9 on the main body 1 at the waste pipette tip box position, template plate position, sample plate position, and pipette tip box position, and placing clean pipette tips into the pipette tip box 9; Step 2: Setting the pipette tip parameters in the control system according to the specifications of the selected pipette tips through the operation control panel 2, adjusting and setting the corresponding gravity sensing parameters, and inputting the liquid aspiration requirements; Step 3: ... Step 3: The control system moves the Z-axis robotic arm 10 to the position of the suction head box 9 by controlling the X-axis track unit 3, Z-axis track unit 14, and Y-axis track unit 11. The control system then controls the Z-axis track unit 14 to descend and connect the suction head connector 17 to the suction head. Step 4: The gravity sensor 15 detects changes in weight to determine if the suction head is successfully connected. If the connection is unsuccessful, step 3 is repeated until the gravity sensor 15 detects that the predetermined weight has been reached, at which point the suction head connector 17 is successfully connected to the suction head. Step 5: After the suction head connector 17 is successfully connected to the suction head... The control system controls the X-axis track unit 3, Z-axis track unit 14, and Y-axis track unit 11 to move the Z-axis robotic arm 10 above the sample plate 8. The control system also controls the Z-axis track unit 14 to place the suction head on the Z-axis robotic arm 10 into the sample plate 8. Step Six: The gravity sensor 15 detects the weight change after liquid aspiration. When the weight reaches the preset weight, the control system controls the X-axis track unit 3, Z-axis track unit 14, and Y-axis track unit 11 to move the Z-axis robotic arm 10 above the target plate 7. Step Seven: The control system... Step 8: The control system controls the pipetting pump 13 to drain liquid from the iron wall through the pipetting pump connecting pipe 12 using the suction tip; Step 9: The gravity sensor 15 detects the weight change after suction. When the weight reaches the preset drainage weight, the control system controls the X-axis track unit 3, Z-axis track unit 14 and Y-axis track unit 11 to move the Z-axis robotic arm 10 above the waste suction tip box 6. The control system controls the suction tip retraction assembly 16 to put the waste suction tip into the waste suction tip box 9; Step 10: Repeat steps one to eight to complete all operations of the information imported into the control system in sequence.

[0061] To facilitate a deeper understanding of the technical concept and advantages of this invention, the following is combined with... Figures 1 to 4 The invention describes a relatively preferred and comprehensive structural form.

[0062] The waste pipette tip box 6, target plate 7, sample plate 8, and pipette tip box 9 are placed sequentially on the waste pipette tip box position, template plate position, sample plate position, and pipette tip box position on the main body 1. Clean pipette tips are then placed into pipette tip box 9. Using the control panel 2, the pipette tip parameters in the control system are set according to the specifications of the selected pipette tip. The corresponding gravity sensing parameters are adjusted and the liquid aspiration requirements are input. The control system controls the X-axis track unit 3, Z-axis track unit 14, and Y-axis track unit 11 to move the Z-axis robotic arm 10 to the position of pipette tip box 9. The control system controls the Z-axis track unit 14 to descend and connect the pipette tip connector 17 to the pipette tip. The gravity sensor 15 detects changes in weight to determine if the pipette tip is successfully connected. If the connection is unsuccessful, step three is repeated until the gravity sensor 15 detects that the predetermined weight has been reached. Once the pipette tip connector 17 is successfully connected to the pipette tip, the control system controls the X-axis track unit 3, Z-axis track unit 14, and Y-axis track unit 11 to... The system moves the Z-axis robotic arm 10 above the sample plate 8 using the track unit 11. The control system controls the Z-axis track unit 14 to place the suction tip on the Z-axis robotic arm 10 into the sample plate 8. The gravity sensor 15 detects the weight change after liquid aspiration. When the weight reaches the preset weight, the control system controls the X-axis track unit 3, Z-axis track unit 14, and Y-axis track unit 11 to move the Z-axis robotic arm 10 above the target plate 7. The control system controls the pipetting pump 13 to drain the liquid from the iron wall through the pipetting pump connecting pipe 12 using the suction tip. The gravity sensor 15 detects the weight change after liquid aspiration. When the weight reaches the preset drain weight, the control system controls the X-axis track unit 3, Z-axis track unit 14, and Y-axis track unit 11 to move the Z-axis robotic arm 10 above the waste suction tip box 6. The control system controls the suction tip retraction assembly 16 to place the waste suction tip into the waste suction tip box 9. Steps one to eight are repeated to complete all operations of the information imported into the control system in sequence.

[0063] This invention provides a gravity-sensing programmable high-precision liquid dispensing system and its usage method. By setting data within the control system, it can adapt to different pipette tip specifications. Simultaneously, by setting data within the control system, it can control the X-axis track unit, Y-axis track unit, Z-axis track unit, and Z-axis robotic arm to perform operations such as liquid suction, liquid discharge, and movement, achieving precision and efficiency.

[0064] Furthermore, by using a gravity sensor to determine the weight on the Z-axis robotic arm, the system can accurately determine whether the actions of connecting the suction head, suctioning, discharging, and retracting the suction head have been completed, thereby improving the accuracy of the equipment.

[0065] Furthermore, this invention only requires setting the parameters within the control system according to different situations, and the automated operation saves manpower.

[0066] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings; however, the present invention is not limited thereto. Within the scope of the inventive concept, various simple modifications can be made to the technical solutions of the present invention, including combinations of various specific technical features in any suitable manner. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately. However, these simple modifications and combinations should also be considered as the content disclosed in the present invention and are all within the protection scope of the present invention.

Claims

1. A gravity-sensing programmable high-precision liquid dispensing system, characterized in that, It includes a main body (1) and a control system. The main body (1) is equipped with an X-axis track unit (3) that is horizontal to the horizontal plane. The X-axis track unit (3) is slidably equipped with a Y-axis track unit (11) that is perpendicular to the horizontal plane. The Y-axis track unit (11) is equipped with a Z-axis robotic arm (10). The Z-axis robotic arm (10) includes, from top to bottom, a Z-axis track unit (14), a suction head assembly (16) mounted on the Z-axis robotic arm (10), and a suction head nozzle (17) mounted on the suction head assembly (16). The suction head assembly (16) is also equipped with a gravity sensor (15). The gravity sensor (15) is used to detect the mass change of the suction head after the suction head nozzle (17) is connected to the suction head and after the suction head sucks and drains liquid; A pipette pump (13) is provided on the main body (1), and a pipette pump connecting pipe (12) is provided between the pipette pump (13) and the pipette tip assembly (16). The main body (1) is provided with a control panel (2), and the control panel (2) is also provided with the control system; The control system is electrically connected to the pipette pump (13), the gravity sensor (15), the X-axis track unit (3), the Y-axis track unit (11), and the Z-axis track unit (14). The control system is configured to determine whether the pipette tip connection, suction, and discharge operations are completed based on the mass change detected by the gravity sensor (15), and control the movement of the Z-axis robotic arm (10) accordingly. The Z-axis track unit (14) is movably connected to the Y-axis track unit (11).

2. The gravity-sensing programmable high-precision liquid dispensing system according to claim 1, characterized in that, The main body (1) is provided with multiple sample plate positions, template plate positions, suction head box positions and waste suction head box positions below it.

3. The gravity-sensing programmable high-precision liquid dispensing system according to claim 1, characterized in that, The main body (1) is also provided with a USB interface (4) and a power switch (5).

4. The gravity-sensing programmable high-precision liquid dispensing system according to claim 1, characterized in that, The control system includes control software and a gravity sensing system; The control software is used to set the pipette tip specifications and liquid aspiration requirements; The gravity sensing system is used to monitor whether the operations of connecting the pipette tip, aspirating, discharging, and retracting the pipette tip have been completed.

5. A gravity-sensing programmable high-precision liquid dispensing system according to claim 2, characterized in that, Multiple sample plates (8), target plates (7), suction head boxes (9), and waste suction head boxes (6) are placed on the multiple sample plate positions, template plate positions, suction head box positions, and waste suction head box positions respectively.

6. A gravity-sensing programmable high-precision liquid dispensing system according to claim 1, characterized in that, The gravity sensor (15) has a gravity detection range of 0.1G to 5KG.

7. A method of using a gravity-sensing programmable high-precision liquid dispensing system, characterized in that, The gravity-sensing programmable high-precision liquid dispensing system based on any one of claims 1 to 6 includes the following steps: Step 1: Place the waste pipette tip box (6), target plate (7), sample plate (8) and pipette tip box (9) on the waste pipette tip box position, template plate position, sample plate position and pipette tip box position on the main body (1) in sequence, and put the clean pipette tip into the pipette tip box (9); Step 2: By operating the control panel (2), set the pipette tip parameters in the control system according to the specifications of the selected pipette tip, adjust the corresponding gravity sensing parameters and input the liquid aspiration requirements; Step 3: The control system moves the Z-axis robotic arm (10) to the position of the suction head box (9) by controlling the X-axis track unit (3), Z-axis track unit (14) and Y-axis track unit (11). The control system controls the Z-axis track unit (14) to descend and connect the suction head nozzle (17) to the suction head. Step 4: The gravity sensor (15) detects the change in weight to determine whether the suction head is successfully connected. If the connection is unsuccessful, repeat step 3 until the gravity sensor (15) detects that the predetermined weight has been reached. Then the suction head nozzle (17) is successfully connected to the suction head. Step 5: After the suction nozzle (17) is successfully connected to the suction head, the control system controls the X-axis track unit (3), Z-axis track unit (14) and Y-axis track unit (11) to move the Z-axis robotic arm (10) above the sample plate (8). The control system controls the Z-axis track unit (14) to place the suction head on the Z-axis robotic arm (10) into the sample plate (8). Step 6: Gravity sensor (15) detects the weight change after liquid absorption. When the weight reaches the preset weight, the control system controls the X-axis track unit (3), Z-axis track unit (14) and Y-axis track unit (11) to move the Z-axis robotic arm (10) above the target plate (7). Step 7: The control system controls the pipette pump (13) to drain the liquid from the iron wall through the pipette pump connecting pipe (12) using the suction tip; Step 8: The gravity sensor (15) detects the weight change after liquid aspiration. When the weight reaches the preset discharge weight, the control system controls the X-axis track unit (3), Z-axis track unit (14) and Y-axis track unit (11) to move the Z-axis robotic arm (10) above the waste suction head box (6). The control system controls the suction head retraction assembly (16) to put the waste suction head into the waste suction head box (9). Step Nine: Repeat steps one through eight to complete all operations on the imported information in the control system in sequence.

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