A magnetic rod sleeve unloading and recovery device and a magnetic rod sleeve recovery control method

Abstract

The present invention relates to the technical field of centralized automated recycling and processing of waste consumables, and specifically to a magnetic rod sleeve unloading and recovery device and a magnetic rod sleeve recovery control method in magnetic processing scenarios such as magnetic bead extraction in medical devices. The technical solution is: a magnetic rod sleeve unloading and recovery device, including a base plate, a lifting drive module is installed on the base plate, the output end of the lifting drive module is connected to a magnetic rod sleeve acquisition module, and the magnetic rod sleeve acquisition module is configured with at least two acquisition units that can be combined with the magnetic rod sleeve; a combined drive mechanism is also installed on the base plate, and a combined structure is provided at the output end of the combined drive mechanism, and a liquid receiving tray and an unloading part for unloading the magnetic rod sleeve are provided on the combined structure. The present invention provides a magnetic rod sleeve unloading and recovery device and a magnetic rod sleeve recovery control method that can both ensure the extraction efficiency of the system and reduce the risk of contamination in the system.

Description

Technical Field

[0001] The present invention relates to the technical field of centralized automated recycling of waste consumables, and in particular to a magnetic rod sleeve unloading and recycling device and a magnetic rod sleeve recycling control method in magnetic processing scenarios such as magnetic bead extraction in medical devices. Background Art

[0002] In medical testing, it is often necessary to process in vitro samples and perform in vitro diagnostic tests to obtain low-contamination and high-reliability test results. These samples can be subjected to biochemical analysis, spectral analysis or amplification analysis, etc., to complete the quantitative or qualitative analysis of the target components contained in the biological samples. In order to achieve efficient analysis of samples in and results out, more and more companies are exploring the design of streamlined automated analysis systems that can perform continuous analysis operations on a large number of samples. During the operation, in order to perform different sample processing processes efficiently and with low pollution, a variety of different types of consumables need to be used in conjunction, and the used consumables need to be automatically recycled.

[0003] At present, the more mature consumables in the pipeline scheme designs designed by different manufacturers include pipetting consumables, extraction deep-well plate consumables processing solutions, etc. The Japanese authorized invention patent JP7221997B2 discloses a pipetting consumable supply and recovery processing device, which is designed with a multi-layer structure in the vertical plane. The bottom layer can supply pipetting consumables in a stacked manner, and the middle layer is equipped with a transfer mechanism, which can take the supplied pipetting consumables from the bottom layer and drive them to move to the middle layer. The pipette is configured to be able to plug and connect the pipetting consumables in the middle layer, and they can be centrally processed or recycled after use. The consumables rack can be sent back to the original position after use, and the used consumables rack can be transported to the top layer for storage, completing the addition and subsequent processing of pipetting consumables; the scheme disclosed in the US invention patent US8357538B2 designs a recovery part protruding from the device body, and the magnetic bead control involved in the device adopts an indirect wall surface method, so there are relatively few consumables that directly contact the sample liquid. It is equipped with a clamp transfer mechanism to cooperate with the recovery of solid consumables, but there is a risk of cross contamination in centralized processing; Chinese patents CN213384850U and CN215852271 U protects a device for plastic sealing of 96-well deep-well plates, which are widely used at present. It can be used to complete the deep-well plate consumables used to reduce the possibility of contamination, and can also be used for batch production of pre-packaged extraction kits; the scheme authorized by the US invention patent EP1684909B1 designs an array-type extraction consumable, which is a whole plate structure design. It is difficult for the magnetic rod sleeve to complete the rotation movement with this design, which may cause problems such as low extraction yield. In addition, in the application scenario of the automated equipment, it is necessary to design a corresponding unloading and transfer mechanism; the scheme authorized by US7927495B2 is a strip magnetic rod sleeve consumable. This design can be used in the flow-through equipment to share the clamp with other processing units to perform the transfer and recovery of the magnetic rod sleeve, which is relatively more suitable for the flow-through application scenario. However, this magnetic rod sleeve structure is also difficult to perform the rotation or oscillation rotation compound movement of the magnetic rod sleeve to ensure the extraction efficiency. The improvement of extraction efficiency is crucial to the accuracy of flow-through batch detection. Insufficient extraction may lead to the problem of obtaining false negatives after performing large-scale sample extraction operations and then amplification detection.

[0004] According to the analysis of existing technologies, there are designs for batch processing and recycling of pipetting consumables and deep-well plate extraction consumables, but the recycling of magnetic rod covers is rarely disclosed. However, the recycling of magnetic rod covers is as necessary as the recycling of pipetting consumables. In the process of nucleic acid extraction and purification, magnetic rod covers are consumables that directly contact samples. If not handled in time, there will be serious contamination risks. In addition, magnetic rod covers placed in deep-well plate consumables will make it impossible to perform subsequent sealing and recycling of deep-well plate consumables.

[0005] Therefore, designing a solution that can perform dispersed magnetic rod sleeve recovery can not only ensure the extraction efficiency of the system but also reduce the risk of contamination within the system. This is an urgent need for a streamlined large sample volume processing system. Summary of the invention

[0006] In order to solve the above problems existing in the prior art, the object of the present invention is to provide a magnetic rod sleeve unloading and recovery device and a magnetic rod sleeve recovery control method which can not only ensure the extraction efficiency of the system but also reduce the risk of contamination in the system.

[0007] The technical solution adopted by the present invention is:

[0008] A magnetic rod sleeve unloading and recovery device comprises a base plate, on which a lifting drive module is installed, the output end of the lifting drive module is connected to a magnetic rod sleeve acquisition module, and the magnetic rod sleeve acquisition module is provided with at least two acquisition units that can be combined with the magnetic rod sleeve; a combined drive mechanism is also installed on the base plate, and the output end of the combined drive mechanism is provided with a combined structure, and the combined structure is provided with a liquid receiving tray and an unloading part for unloading the magnetic rod sleeve.

[0009] As a preferred solution of the present invention, the lifting drive module includes a lifting drive motor installed on a substrate, the output shaft of the lifting drive motor is connected to a lifting transmission screw, the lifting transmission screw is threadedly connected to a lifting connection block, and the lifting connection block is connected to the magnetic rod sleeve capture module.

[0010] As a preferred solution of the present invention, a lifting slide rail is provided on the base plate, an engaging groove is arranged on the lifting connection block, and the lifting connection block is engaged and connected with the lifting slide rail through the engaging groove.

[0011] As a preferred solution of the present invention, a sensor unit is installed on the base plate, and a sensing block cooperating with the sensor unit is connected to the lifting connection block.

[0012] As a preferred solution of the present invention, the capture unit comprises a reduced diameter end, a transition section, a coupling portion and a reserved section which are arranged in sequence from bottom to top, and the coupling portion is engaged with the engaging portion of the magnetic rod sleeve.

[0013] As a preferred embodiment of the present invention, the bottom of the substrate is connected to an assembly shell, and the combined structure is configured in the assembly shell; the combined drive mechanism includes a combined drive motor installed on the assembly shell, the output shaft of the combined drive motor is connected to a drive gear, and a rack is provided on the combined structure, and the drive gear is meshed with the rack.

[0014] As a preferred solution of the present invention, the unloading portion is located at the edge of the combined structure, and the unloading portion is provided with at least two unloading grooves.

[0015] As a preferred embodiment of the present invention, it also includes a transfer module, which includes a transfer bracket, a transfer drive motor is installed on the transfer bracket, the output shaft of the transfer drive motor is connected to the transfer drive wheel, a transfer driven wheel is also installed on the transfer bracket, a transfer drive belt is connected between the transfer drive wheel and the transfer driven wheel, a transfer connecting block is arranged on the transfer drive belt, a transfer slide rail is arranged on the transfer bracket, the transfer connecting block is embedded and connected to the transfer slide rail, and the transfer connecting block is fixed to the base plate.

[0016] A magnetic rod sleeve recovery control method includes a magnetic rod sleeve acquisition step, at least two acquisition units are driven by a lifting drive module to descend and combine with the magnetic rod sleeve, the acquisition unit after combining with the magnetic rod sleeve is driven to rise, and after reaching a preset height, a liquid receiving step is performed, the combined structure is driven so that the liquid receiving plate is received directly below the magnetic rod sleeve, and a transfer mechanism can drive the magnetic rod sleeve to change its position while keeping the relative position of the magnetic rod sleeve connected to the acquisition unit and the liquid receiving plate basically unchanged to perform the transfer step, and a magnetic rod sleeve unloading step, the magnetic rod sleeve unloading part can be driven to be inserted into the combination portion of the acquisition unit and the magnetic rod sleeve to perform an unloading operation.

[0017] As a preferred embodiment of the present invention, the magnetic rod sleeve unloading step further includes a sub-step in which a lifting driving module drives the magnetic rod sleeve capturing module to raise its height in a vertical plane, so that the magnetic rod sleeve unloading part at the inserted joint position unloads the connected magnetic rod sleeve.

[0018] Compared with the prior art, the beneficial effects of the present invention include:

[0019] 1. The present invention is designed to configure an acquisition module with N acquisition units that can be combined with magnetic rod sleeves. Through the drive of the lifting drive module, it can batch-acquire individual magnetic rod sleeves, retaining the advantage of independent magnetic rod sleeves that can perform complex compound movements, and designs a combined structure that combines the dual functions of liquid connection and magnetic rod sleeve unloading, which can perform magnetic rod sleeve unloading and recovery operations at low cost, high efficiency and low pollution. The acquisition unit can be detachably connected to the acquisition module to achieve rapid replacement and maintenance.

[0020] 2. The lifting drive mechanism includes a lifting motor output, which realizes the lifting operation of the acquisition unit through the cooperation of the transmission screw and the slide rail. The design is simple, and combined with the sensor unit, it can accurately and efficiently control the acquisition module to execute the acquisition process of the magnetic rod sleeve. The signal of the sensor unit can also be used as a reference instruction for the liquid connection operation, making the control of the entire system simpler. The liquid receiving plate has a preset depth and a width that is not less than the maximum diameter of the magnetic rod sleeve, ensuring that the liquid connection step can be performed with low contamination risk. The acquisition unit sets the center spacing of the acquisition unit according to the hole spacing of the deep well plate consumables, and includes a reduced diameter end, a transition section, a joint and a reserved section in the acquisition unit, making the entire acquisition and combination process simple and efficient without the need for additional power drive.

[0021] 3. The present invention also discloses a magnetic rod sleeve recovery control method using a magnetic rod sleeve unloading and recovery device. The combined structure that combines the functions of a liquid receiving tray and an unloading part has a simple control drive and a lower risk of contamination during the unloading process. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 and Figure 2 It is a structural diagram of different states of the magnetic rod sleeve unloading and recovery device provided by the present invention;

[0023] Figure 3 It is a diagram of the combined structure and the corresponding driving structure provided by the present invention;

[0024] Figure 4 It is a structural diagram of the magnetic rod sleeve consumable material to be transferred and recovered provided by the present invention;

[0025] Figure 5 It is a structural diagram of a transfer mechanism driven recovery device provided by the present invention;

[0026] Figure 6 and Figure 7 The recovery device provided by the present invention is combined with a magnetic rod sleeve and drives the liquid receiving tray to execute the receiving diagram;

[0027] Figure 8 and Fig. 9 It is a process diagram of unloading the magnetic rod sleeve at the recovery port of the recovery part of the recovery device provided by the present invention;

[0028] Fig.10 The invention provides a magnetic rod sleeve recovery control method implemented by a recovery device. DETAILED DESCRIPTION

[0029] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the scheme according to the present invention is described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0030] The above and other technical contents, features and effects of the present invention are clearly presented in the following detailed description of the specific implementation modes in conjunction with the accompanying drawings. Through the description of the specific implementation modes, the technical means and effects adopted by the present invention to achieve the predetermined purpose can be more deeply and specifically understood. However, the attached drawings are only for reference and explanation purposes and are not used to limit the technical solutions of the present invention.

[0031] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants are intended to cover non-exclusive inclusion, so that an article or device including a series of elements includes not only those elements, but also other elements that are not explicitly listed. In the absence of more restrictions, the elements defined by the statement "including one..." do not exclude the existence of other identical elements in the article or device including the elements.

[0032] The streamlined sample processing system has become the focus of development for more and more companies due to its advantages such as high efficiency and high degree of automation. This system or equipment has less human involvement and less subjective influence on the result detection. It integrates the full-process inspection system performed by different functional areas under multiple traditional physical separations. This design requires timely recovery and processing of various types of consumables to prevent contamination risks due to long exposure time. In the streamlined system for quantitative or qualitative nucleic acid analysis, the efficiency of nucleic acid extraction affects the accuracy of the test results, and the complex rotation and oscillation stirring can most fully extract the nucleic acid fragments. In this extraction method, the magnetic rod sleeve 200 is required to be an independent magnetic rod sleeve unit, which also makes the recovery and processing of the magnetic rod sleeve 200 more difficult. Therefore, the present invention designs a magnetic rod sleeve unloading and recovery device with low contamination risk for this independent magnetic rod sleeve unit.

[0033] Figure 1 and Figure 2 It is a structural diagram of different states of the magnetic rod sleeve unloading and recovery device provided by the present invention. The device includes a magnetic rod sleeve acquisition module 10, and the magnetic rod sleeve acquisition module 10 is configured with N acquisition units 101 that can be combined with the magnetic rod sleeve 200. 8 parallel acquisition units 101 are shown here, which can realize the one-time transfer of a row of used magnetic rod sleeves 200 in the deep well plate consumables. The distance between each two acquisition units 101 is a preset distance, which can match the commonly used 96-well plate extraction consumable hole spacing configuration. The acquisition unit 101 is configured to be detachably connected to the acquisition module base, so that the damaged acquisition unit 101 can be replaced quickly and at low cost.

[0034] The acquisition unit 101 includes a reduced diameter end 1011, a transition section 1012, a combination 1013 and a reserved section, wherein the reduced diameter end 1011 is configured as a cone or other reduced diameter rotating body structure, so that the acquisition unit can be smoothly inserted into the magnetic rod sleeve 200, and this reduced diameter structure design can also realize automatic straightening, making the acquisition process safer and more reliable. The transition section 1012 can be reliably connected with the transition cone of the magnetic rod sleeve 200 in cooperation with the reduced diameter end 1011. Here, the combination 1013 can be configured as a ring groove structure with a preset depth to reliably combine the magnetic rod sleeve 200 consumables. The reserved section can be configured to be more than 5 times the length of the transition section 1012, so that on the one hand, the acquisition unit can capture the magnetic rod sleeve 200 at different positions under various extreme conditions, and on the other hand, it can also reduce the risk of contamination of other parts of the acquisition module by the magnetic rod sleeve 200. The spacing between any two adjacent acquisition units 101 is the same or similar, so that the transfer of the magnetic rod sleeve 200 can be performed reliably and consistently without collision.

[0035] Here, the base of the acquisition module is connected to the lifting connection block 120, and the lifting connection block 120 is connected to the screw 202 of the lifting drive module 20 through the configured threaded hole, and the screw 202 is connected to the output shaft of the lifting drive motor 201. The lifting drive motor 201 is fixedly connected to the base plate, and the screw 202 can be rotatably configured on the base plate by using the constraints at both ends of the bearing. In order to ensure that the acquisition module can move relative to the base plate with less resistance and high precision, a lifting slide rail 204 is configured on the base plate, and a lifting slider 203 is connected to the base of the acquisition module. A sensor unit 205 is also configured on the base plate, and the base of the acquisition module is also connected to a sensor block 121. The clockwise or counterclockwise rotational motion of the lifting drive motor 201 can be converted into a linear motion that drives the extraction module to rise or fall. The sensor block 121 and the sensor unit 205 can cooperate to limit the extreme position, and can also be used as a reference for controlling motion correction.

[0036] In this embodiment, the substrate is also connected to an assembly shell, and a combination structure 31 is configured inside the assembly shell and can extend out of the assembly shell at different distances. The position of the combination structure 31 is changed by a combination drive motor 301 fixed on the assembly shell. Here, the two figures show that the combination structure 31 in the assembly shell is driven to extend out of the shell at different distances.

[0037] Figure 3 The combined structure and the corresponding driving structure diagram provided by the present invention, the combined driving motor 301 is fixedly connected to the assembly shell, and here it is mounted in an inverted manner on the mounting frame connected to the assembly shell. The output shaft of the combined driving motor 301 passes through the mounting frame and is connected to the driving gear 302, and the driving gear 302 is meshed and connected to the rack 303, and the rack 303 is fixedly connected to the combined structure 31. When the combined driving motor 301 outputs the drive, the meshing transmission of the rack gear group can make the connection extend out of the assembly shell by different distances, or retract into the assembly shell.

[0038] Here, the combined structure 31 includes an unloading portion 311 at the edge, and the unloading portion 311 includes a plurality of unloading grooves 3111 arranged in parallel. Here, the unloading groove 3111 is configured as a semicircular structure, and its diameter is slightly larger than the reserved section diameter of the acquisition unit 101, which can be 1.05-1.2 times. In this way, the unloading groove 3111 can be smoothly inserted into the joint between the acquisition unit and the magnetic rod sleeve, and can reliably abut the edge of the connected magnetic rod sleeve 200 to perform the unloading operation of the magnetic rod sleeve 200. The number of unloading grooves 3111 is also configured to be 8, and the center distance between two adjacent unloading grooves 3111 is the same or similar to the center distance between adjacent acquisition units 101. A liquid receiving tray 312 is configured near the center of the combined structure 31, and here the liquid receiving tray 312 has a maximum diameter D that is not less than the magnetic rod sleeve 200, such as Figure 4 The width feature shown. Of course, the width of the liquid receiving tray 312 can be arranged in a size within the range of 1.2D-2.5D. If the size is too small, the magnetic rod sleeve combined with the slightly tilted state cannot be fully covered, causing the risk of dripping contamination, while if the size is too large, there will be problems such as excessive space occupation and difficulty in avoiding. The liquid receiving tray 312 can have a preset depth of not less than 2mm. If the depth of the liquid receiving tray 312 is too small, the liquid will splash out of the liquid receiving tray 312 after dripping, causing the risk of contamination. Of course, in order to avoid waste and facilitate processing, the optimal depth is not more than 1cm. Limiting grooves 313 are also provided on both sides of the combined structure, and a plurality of limiting pins can be configured inside the assembly shell to limit the maximum distance of the combined structure extending out of the shell and the limit position of the retracted shell. On the other hand, the limiting pins at the fixed position cooperate with the current or voltage parameter changes of the combined drive motor 301, which can be used as a position reference and calibration, so that the position sensor can also be omitted. Of course, for precise control, a position sensor can also be configured in the assembly shell. In addition, the cooperation of the limiting groove and the pin can also constrain the movement direction of the combined structure, so that the combined structure can be driven with less resistance and precision.

[0039] Figure 4The structure diagram of the magnetic rod sleeve consumables to be transferred and recovered provided by the present invention, the magnetic rod sleeve 200 includes a closed extraction end and an open interface end, and the magnetic rod sleeves 200 here are all individual rather than connected to form a tube or array type, which can meet the extraction requirements of the rotation and oscillation composite type. The interface end is divided into three parts by the slot 2002, so that the interface end can have an elastic feature and thus meet the effect of reliably connecting the magnetic rod sleeve 200 using different interference amounts. A clamping part 2001 is also configured on each separated part, and the stable feature of the three-point combination can make the clamping part 2001 reliably and without shaking and basically without deflection connected to the acquisition unit 101. Here, the clamping part 2001 is a protruding structure, which can be a tongue-shaped protrusion. The protruding clamping part 2001 in the use state can be embedded in different positions of the ring groove type combination part 1013, so that the magnetic rod sleeve 200 is connected to the acquisition unit 101.

[0040] Figure 5 The present invention provides a structural diagram of a transfer mechanism-driven recovery device. In order to cooperate with the recovery device to perform the unloading and recovery operation of the magnetic rod sleeve in various scenarios, the present embodiment has a matching design of a transfer mechanism, which includes a transfer drive motor 401 fixed on the transfer bracket, the motor output shaft connected to the transfer drive pulley 402, and a pulley transmission structure is formed by the wound transfer transmission belt 403 and the transfer transmission pulley 406. The transfer transmission belt 403 is fixedly connected to the recovery device through a connecting block 405. The connecting block 405 is also configured with a slide groove structure, which is finally slidably connected to the transfer slide rail 404 configured on the transfer bracket, so that the operating freedom of the recovery device of the present invention is expanded.

[0041] Figure 6 and Figure 7 The recovery device provided by the present invention is combined with a magnetic rod sleeve and drives the liquid receiving plate to execute the receiving diagram. The deep-well plate consumables extracted by the extraction module can be transferred to the preset unloading position, and the transfer mechanism 40 can drive the recovery device to move and adjust to a suitable position. At this time, the lifting drive motor 201 in the recovery device drives the acquisition module 10 to lower its height by driving the screw rod 202, so that the 8 acquisition units descend and combine with the magnetic rod sleeve 200 to complete the use. During the descent process, the center distance between adjacent acquisition units 101 is designed to match the center distance between adjacent holes of the extraction consumables 300. The 8 acquisition units can rely on the downward driving force to prop open the separated interface ends, thereby realizing the snap-in combination of the snap-in portion and the combination portion. After the connection is completed, the lifting drive motor can drive the acquisition module to rise. Here, the sensor unit 205 can control the set distance of the rise of the acquisition module, and the signal of the sensor unit 205 can also be used as a driving instruction for the combined structure. Figure 7The combined structure can be driven to move the liquid receiving tray 312 to directly below the magnetic rod sleeve 200, so that the possibility of contamination caused by dripping of the magnetic rod sleeve 200 that is in direct contact with the liquid will be reduced or even eliminated. The transfer mechanism 40 can drive the position of the magnetic rod sleeve 200 to change while keeping the relative position of the magnetic rod sleeve 200 connected to the acquisition unit and the liquid receiving tray 312 basically unchanged to perform the transfer step. During this process, the magnetic rod sleeve 200 will be shifted to directly above the consumables recovery part 400.

[0042] Figure 8 and Fig. 9 This is a process diagram of the recovery device provided by the present invention unloading the magnetic rod sleeve at the recovery port of the recovery part. After the magnetic rod sleeve 200 is transferred to the set position, the combined structure 31 can be driven to retract into the assembly shell. Here, the limit pin can be retracted to limit the position. After the retraction is completed, Figure 8 The middle magnetic rod sleeve 200 is driven down by the lifting drive module 20. Here, in order to reduce the risk of contamination and ensure that the magnetic rod sleeve 200 can be accurately recovered, the magnetic rod sleeve 200 is at least partially lowered to below the recovery port of the recovery part 400, and then the combined structure 31 is driven to extend out of the assembly shell. The extension distance here is less than the distance that the liquid receiving plate 312 is driven to receive the liquid, so that the unloading groove 3111 of the unloading part 311 is inserted into the joint between the capture unit and the magnetic rod sleeve 200, and the edge of the unloading groove 3111 is optimally spaced from the capture unit. This gap is optimally between 0.05mm-0.3mm, ensuring that the unloading groove 3111 and the capture unit 101 will not collide with each other due to processing errors or there will be excessive unloading resistance, and can also ensure that the unloading groove 3111 can reliably abut against the edge of the magnetic rod sleeve 200 during the process of the lifting drive module 20 driving the capture module to rise. Fig. 9 It illustrates that after the combined structure is driven and correctly inserted, the lifting drive module 20 lifts the magnetic rod sleeve acquisition module 10, and the edge of the unloading groove 3111 can contact the edge of the magnetic rod sleeve 200, and as the lifting continues, the unloading groove 3111 can apply a greater unloading force to the edge of the magnetic rod sleeve 200. As the lifting continues, the magnetic rod sleeve 200 will be peeled off from the acquisition unit 101 and into the consumable recovery part 400 to complete the unloading and recovery of the magnetic rod sleeve 200.

[0043] Fig.10The present invention provides a magnetic rod sleeve recovery control method implemented by a recovery device. The method may include a magnetic rod sleeve capture step. The N capture units 101 in the previously disclosed recovery device are driven down by the lifting drive module 20 to combine with the magnetic rod sleeve 200. The combination part of the capture unit 101 is combined with the clamping part of the magnetic rod sleeve 200 by the downward driving and pressing effect, so as to realize a reliable and non-shaking connection and combination between the two. The capture unit 101 after combining with the magnetic rod sleeve 200 is driven to rise to a preset height. Here, the preset height can be a position defined by the sensor unit 205 cooperating with the induction block 121. And this signal can also be used as a trigger signal for the liquid connection step. In the liquid connection step, the combined structure 31 is driven to make the liquid receiving plate 312 receive the magnetic rod sleeve 200 directly below. In the transfer step, the transfer mechanism can drive the magnetic rod sleeve 200 to change its position while keeping the relative position of the magnetic rod sleeve 200 connected to the capture unit 101 and the liquid receiving plate 312 basically unchanged. The magnetic rod sleeve 200 unloading step, the unloading part 311 can be driven to insert into the joint of the acquisition unit 101 and the magnetic rod sleeve 200 to perform the unloading operation. Here, the unloading part 311 can be driven so that the gap between the unloading groove 3111 and the acquisition unit 101 ranges from 0.05mm to 0.3mm. It also includes a sub-step in which the lifting drive module 20 drives the magnetic rod sleeve acquisition module 10 to raise the height in the vertical plane, so that the unloading part 311 inserted at the joint position unloads the connected magnetic rod sleeve 200.

[0044] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A magnetic rod sleeve unloading and recovery device, characterized in that: It comprises a base plate, on which a lifting drive module is mounted, the output end of the lifting drive module is connected to a magnetic rod sleeve capturing module, on which at least two capturing units capable of combining with the magnetic rod sleeve are arranged; a combined drive mechanism is also mounted on the base plate, on which a combined structure is arranged at the output end of the combined drive mechanism, on which a liquid receiving tray and an unloading portion for unloading the magnetic rod sleeve are arranged; an assembly shell is connected to the bottom of the base plate, in which the combined structure is arranged; the combined drive mechanism comprises a combined drive motor mounted on the assembly shell, the output shaft of the combined drive motor is connected to a driving gear, a rack is arranged on the combined structure, and the driving gear meshes with the rack; the unloading portion is located at the edge of the combined structure, and the unloading portion is provided with at least two unloading grooves.

2. The magnetic rod sleeve unloading and recovery device according to claim 1 is characterized in that: The lifting drive module comprises a lifting drive motor installed on a base plate, the output shaft of the lifting drive motor is connected with a lifting transmission screw rod, the lifting transmission screw rod is threadedly connected with a lifting connection block, and the lifting connection block is connected with the magnetic rod sleeve capturing module.

3. The magnetic rod sleeve unloading and recovery device according to claim 2 is characterized in that: The base plate is provided with a lifting slide rail, the lifting connection block is provided with an engaging groove, and the lifting connection block is engaged and connected with the lifting slide rail through the engaging groove.

4. The magnetic rod sleeve unloading and recovery device according to claim 2 is characterized in that: A sensing unit is installed on the base plate, and a sensing block matching the sensing unit is connected to the lifting connection block.

5. The magnetic rod sleeve unloading and recovery device according to claim 1, characterized in that: The pickup unit comprises a diameter-reduced end, a transition section, a coupling portion and a reserved section which are arranged in sequence from bottom to top, and the coupling portion is engaged with the engaging portion of the magnetic rod sleeve.

6. The magnetic rod sleeve unloading and recovery device according to claim 1, characterized in that: It also includes a transfer module, which includes a transfer bracket, a transfer drive motor is installed on the transfer bracket, the output shaft of the transfer drive motor is connected to the transfer drive wheel, a transfer driven wheel is also installed on the transfer bracket, a transfer drive belt is connected between the transfer drive wheel and the transfer driven wheel, a transfer connecting block is arranged on the transfer drive belt, a transfer slide rail is arranged on the transfer bracket, the transfer connecting block is embedded and connected to the transfer slide rail, and the transfer connecting block is fixed to the base plate.

7. A magnetic rod sleeve recovery control method using the magnetic rod sleeve unloading and recovery device according to claim 1, characterized in that: The method comprises a magnetic rod sleeve capturing step, wherein at least two capturing units are driven by a lifting drive module to descend and combine with the magnetic rod sleeve, and the capturing units combined with the magnetic rod sleeve are driven to ascend, and after reaching a preset height, a liquid receiving step is performed, the combined structure is driven so that the liquid receiving plate is received directly below the magnetic rod sleeve, and a transfer mechanism can drive the magnetic rod sleeve to change its position while keeping the relative position of the magnetic rod sleeve connected to the capturing unit and the liquid receiving plate basically unchanged to perform the transfer step, and a magnetic rod sleeve unloading step, wherein the magnetic rod sleeve unloading part can be driven to be inserted into the combining portion between the capturing unit and the magnetic rod sleeve to perform an unloading operation.

8. The magnetic rod sleeve recovery control method according to claim 7, characterized in that: The magnetic rod sleeve unloading step also includes a sub-step in which the lifting driving module drives the magnetic rod sleeve capturing module to lift the height in a vertical plane, so that the magnetic rod sleeve unloading part at the inserted joint position unloads the connected magnetic rod sleeve.

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