Automatic feeding and discharging centrifugal device

Abstract

The utility model relates to the technical field of pathological cell smears, in particular to an automatic feeding and discharging centrifugal device, which is characterized in that a centrifugal device and a conveying device are built on a workbench on the basis of the arrangement of a rack and the workbench, the conveying device grabs a carrier of cell sap, the cell sap is sequentially put into the centrifugal device, and the centrifugal device and the conveying device are arranged on the workbench. The centrifugal operation is performed through the operation of the centrifugal device, and after the centrifugal operation is completed, the conveying device grabs the carrier of the cell sap again and takes the cell sap out of the centrifugal device in sequence, so that the automatic centrifugal operation is realized, and the production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of pathological cell smears, and more specifically, to an automatic feeding and discharging centrifugal device. Background Art

[0002] Smear refers to the process of obtaining samples from cell samples and fixing them on preparation slides during cell preparation.

[0003] In the smear process, specifically, before staining is completed, the cell fluid needs to be centrifuged once or gradient centrifuged according to the requirements of the cell smear. The traditional centrifugation operation relies on people to manually place the cell smears to be centrifuged into the centrifuge one by one. After the centrifugation is completed, the cell smears are manually taken out one by one, resulting in a serious reliance on manual labor in the operation process and low operation efficiency. Utility Model Content

[0004] In view of the above-mentioned deficiencies in the prior art, the purpose of the utility model is to provide an automated feeding and discharging centrifugal device, which has the advantages of realizing automated operation and improving production efficiency.

[0005] The above technical purpose of the utility model is achieved through the following technical solutions: an automatic feeding and discharging centrifugal device, comprising a frame and a workbench arranged on the frame, wherein the workbench is provided with:

[0006] A centrifugal device, used for centrifuging the cell fluid;

[0007] A conveying device, used to complete the entry and exit of cell fluid in the centrifugal device;

[0008] The conveying device grabs the carrier of the cell fluid, puts the cell fluid into the centrifugal device in turn, and performs centrifugal operation through the operation of the centrifugal device. After the centrifugal operation is completed, the conveying device grabs the carrier of the cell fluid again and takes the cell fluid out of the centrifugal device in turn.

[0009] Preferably, the centrifugal device comprises:

[0010] A primary centrifuge, used for performing a primary centrifugation on a cell smear containing a cell solution;

[0011] The gradient centrifuge is used to perform multiple centrifugation treatments on test tubes containing cell fluid mixed with gradient fluid.

[0012] Preferably, the workbench is provided with a cell smear placement area for temporarily placing a cell smear.

[0013] Preferably, the cell smear placement area includes a storage area and a calibration area, the calibration area is located close to the centrifuge and is used to place the cell smear, and the storage area is used to place a placement fixture that carries multiple cell smears.

[0014] Preferably, the conveying device includes a three-axis robotic arm arranged on the workbench, a jig clamping mechanism arranged on the three-axis robotic arm, and a clamping claw mechanism arranged on the three-axis robotic arm, the jig clamping mechanism is used to grab and place the jig, and the clamping claw mechanism is used to grab a cell smear or a test tube.

[0015] Preferably, the jig clamping mechanism includes symmetrical jig jaws, a first stroke driving member for driving the symmetrical jig jaws to move toward or away from each other, and a first linear lifting module for driving the first stroke driving member to move toward or away from the workbench.

[0016] Preferably, the clamping mechanism comprises symmetrical tubular clamps, a second stroke driving member for driving the symmetrical tubular clamps to move closer to or away from each other, and a second linear lifting module for driving the second stroke driving member to move closer to or away from the workbench.

[0017] Preferably, the workbench is provided with a liquid aspiration mechanism for aspirating the cell fluid in the gradient centrifuge.

[0018] Preferably, the liquid suction mechanism includes a support frame installed on the workbench, a third linear lifting module arranged on the support frame, and a plurality of liquid suction tubes installed on the third linear lifting module, and the liquid suction tubes are externally connected to a negative pressure pump.

[0019] In summary, the utility model has the beneficial effects: based on the setting of the frame and the workbench, a centrifugal device and a conveying device are built on the workbench, the conveying device grabs the carrier of the cell fluid, and the cell fluid is placed in the centrifugal device in turn, and the centrifugal operation is performed by the centrifugal device. After the centrifugal operation is completed, the conveying device grabs the carrier of the cell fluid again, and the cell fluid is taken out of the centrifugal device in turn, thereby realizing automated centrifugal operation and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the centrifugal overall structure of the first embodiment of the utility model;

[0021] Figure 2 It is a structural schematic diagram of the fixture clamping mechanism of the first embodiment of the utility model;

[0022] Figure 3 It is a structural schematic diagram of the clamping mechanism of the first embodiment of the utility model;

[0023] Figure 4 It is a structural schematic diagram of a conveying device according to Embodiment 2 of the present utility model;

[0024] Figure 5 It is a schematic diagram of the structure of the conveying device of the third embodiment of the present utility model.

[0025] Figure numerals: 1. rack; 11. workbench; 12. storage area; 13. calibration area; 2. centrifuge; 21. primary centrifuge; 22. gradient centrifuge; 23. conveying device; 24. three-axis robot arm; 3. fixture clamping mechanism; 31. fixture clamping claw; 32. first stroke drive member; 33. first linear lifting module; 4. clamping claw mechanism; 41. tube clamping claw; 42. second stroke drive member; 43. second linear lifting module; 5. liquid suction mechanism; 51. support frame; 52. third linear lifting module; 53. liquid suction tube; 61. gantry bracket; 62. first linear module; 63. suction claw; 64. third linear lifting module; 65. second linear module carrying fixture. DETAILED DESCRIPTION

[0026] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0027] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as being "connected to" another component, it can be directly or indirectly connected to the other component.

[0028] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0030] Example 1: An automated feeding and discharging centrifugal device, see Figures 1 to 3 , comprising a frame 1 and a workbench 11 arranged on the frame 1, wherein the workbench 11 is provided with:

[0031] A centrifugal device 2, used for centrifuging the cell fluid;

[0032] The conveying device 23 is used to complete the entry and exit of the cell fluid in the centrifugal device 2.

[0033] Based on the setting of the frame 1 and the workbench 11, a centrifugal device 2 and a conveying device 23 are built on the workbench 11. The conveying device 23 grabs the carrier of the cell fluid, and puts the cell fluid into the centrifugal device 2 in sequence. The centrifugal operation is performed by the operation of the centrifugal device 2. After the centrifugal operation is completed, the conveying device 23 grabs the carrier of the cell fluid again, and takes the cell fluid out of the centrifugal device 2 in sequence, thereby realizing automated centrifugal operation and improving production efficiency.

[0034] Specifically, the centrifugal device 2 comprises:

[0035] The primary centrifuge 21 is used for performing a primary centrifugation process on the cell smear device containing the cell fluid.

[0036] This embodiment is provided with a primary centrifuge 21 for a centrifugal operation of a primary centrifugation of a cell smear, and the cell smear is grabbed and moved into and out of the primary centrifuge 21 through a conveying device 23 .

[0037] Specifically, the workbench 11 is provided with a cell smear placement area for temporarily placing a cell smear.

[0038] The cell smear placement area is divided on the workbench 11, which is convenient for placing the cell smear and for grabbing the conveying device 23.

[0039] Specifically, the cell smear placement area includes a storage area 12 and a calibration area 13. The calibration area 13 is located close to one side of the centrifuge and is used to place the cell smear. The storage area 12 is used to place a placement fixture that carries multiple cell smears.

[0040] Since centrifugal operation is required in the centrifuge, in order to prevent the cell smear from moving arbitrarily, each cell smear has an independent restriction position. For this reason, the cell smear placed in the storage area 12 needs to be accurately placed in the limit position of the centrifuge using the conveying device 23. After the cell smear is centrifuged, the cell smear in the centrifuge needs to be moved out, also relying on the conveying device 23. However, after the cell smear is rotated and centrifuged in the centrifuge, its position is tilted. In order to ensure that the conveying device 23 can accurately move the cell smear out and put it back into the placement fixture, it is necessary to correct the position after placing it in the calibration area 13, and then transport it to the placement fixture through the conveying device 23.

[0041] The correction of the correction position is achieved by selecting an independent limiting station of the centrifuge 21 which is parallel to the correction position. When the conveying device 23 moves, it is only necessary to move the cell smear device on the limiting station parallel to the correction position.

[0042] Specifically, the conveying device 23 includes a three-axis robotic arm 24 arranged on the workbench 11, a jig clamping mechanism 3 arranged on the three-axis robotic arm 24, and a clamping claw mechanism 4 arranged on the three-axis robotic arm 24, the jig clamping mechanism 3 is used to grab and place the jig, and the clamping claw mechanism 4 is used to grab the cell smear and test tube.

[0043] This embodiment realizes linkage in the X, Y, and Z directions through a three-axis robotic arm 24. On this basis, the fixture clamping mechanism 3 is used to grab and place the fixture and the clamping claw mechanism 4 is used to grab the cell smear, thereby completing the loading and unloading of the cell smear and test tube of the centrifuge.

[0044] The specific structure of the jig clamping mechanism 3 includes symmetrical jig jaws 31 , a first travel driving member 32 for driving the symmetrical jig jaws 31 to move toward or away from each other, and a first linear lifting module 33 for driving the travel driving member to move toward or away from the workbench 11 .

[0045] The specific structure of the clamp mechanism 4 includes symmetrical tube clamps 41, a second stroke driving member 42 that drives the symmetrical tube clamps 41 to move closer or farther from each other, and a second linear lifting module 43 that drives the second stroke driving member 42 to move closer or farther from the workbench 11. The tube clamp 41 is a clamp for grabbing tubular products. The tube clamp 41 of this embodiment is mainly used for grabbing test tubes and centrifuge tubes. The test tube is a mixture of gradient fluid and cell fluid.

[0046] Centrifugal operation:

[0047] First, driven by the three-axis robot arm 24, the placement jig carrying the cell smear is grasped by the jig clamping mechanism 3 and temporarily placed in the storage area 12. Then, the cell smear on the placement jig is coordinated with the intermittent movement of the centrifuge by the clamping claw mechanism 4, and the cell smear is placed in the centrifuge one by one. After the centrifuge places the cell smear, the centrifuge is operated independently. After centrifugation is completed, the clamping claw mechanism 4 cooperates with the intermittent movement of the centrifuge to take the cell smear out of the centrifuge one by one and place it in the calibration area 13. The clamping claw mechanism 4 is then used to transfer the cell smear in the calibration area 13 to the placement jig in the storage area 12. Finally, the placement jig of the cell smear that has completed the centrifugation operation is removed by the jig clamping mechanism 3, and then the jig clamping mechanism 3 is used again to clamp the placement jig of the cell smear to be centrifuged and place it in the storage area 12, and the operation is repeated.

[0048] The carrier referred to in this embodiment is a cell smear apparatus and a placement fixture, etc.

[0049] Example 2: An automated feeding and discharging centrifugal device, see Figure 4 The difference between this embodiment and the first embodiment is that the centrifugal device 2 further comprises a gradient centrifuge 22 for performing multiple centrifugation treatments on the test tube containing the cell fluid mixed with the gradient fluid.

[0050] This embodiment is provided with a gradient centrifuge 22, which is used for centrifugation operations for multiple centrifugation of test tubes, and the test tubes are grabbed and put in and out of the gradient centrifuge 22 by the conveying device 23. The cell smear is moved to the primary centrifuge 21 by the conveying device 23, or the test tube of the mixed solution of the gradient liquid and the cell liquid is transferred to the gradient centrifuge 22, and then the centrifugation operation is performed by operating the primary centrifuge 21 or the gradient centrifuge 22, thereby taking into account the multifunctional application operations of primary centrifugation and gradient centrifugation.

[0051] At the same time, the test tube is grasped by the conveying device 23. Since the test tube and the centrifuge tube on the cell smear apparatus are both tubular, the dual-purpose clamping of the test tube and the centrifuge tube can be achieved by adjusting the clamping size of the tube clamp 41.

[0052] The carrier referred to in this embodiment is a test tube or the like.

[0053] Specifically, the workbench 11 is provided with a liquid suction mechanism 5 for sucking the cell fluid in the gradient centrifuge 22. In the gradient centrifugation process, different cell fluids use different centrifugation processes according to the requirements of centrifugation and the selection of centrifugation process. Therefore, in order to be able to centrifuge the cell fluid in sections during the gradient centrifugation process, it is necessary to continuously suck out the unnecessary waste liquid at intervals and extract the liquid layer to be detected.

[0054] Among them, the specific structure of the liquid suction mechanism 5 includes a support frame 51 installed on the workbench 11, a third linear lifting module 6452 arranged on the support frame 51, and a plurality of liquid suction tubes 53 installed on the third linear lifting module 6452, and the liquid suction tubes 53 are externally connected to a negative pressure pump.

[0055] The third linear lifting module 6452 is lifted and lowered by the support frame 51 as a space support, and the negative pressure pump provides negative pressure suction, and when the pipette 53 approaches the impurities in the proportioning test tube, the impurities are washed out, thereby cooperating with the gradient centrifugation operation in the gradient centrifuge 22 .

[0056] Gradient centrifugation work:

[0057] Also driven by the three-axis robot arm 24, the liquid storage tube storing the mixed liquid is directly grasped by the clamping mechanism 4, and the grasped liquid storage tube is placed in order in sequence in coordination with the intermittent movement of the gradient centrifuge 22. During the centrifugation process, it is necessary to use the liquid aspiration mechanism 5 from time to time to continuously and intermittently absorb and separate unnecessary waste liquid, complete multiple gradient centrifugation operations, and then the liquid storage tube is moved out of the gradient centrifuge 22 through the clamping mechanism 4 in coordination with the intermittent movement of the gradient centrifuge 22 to complete the gradient centrifugation operation.

[0058] The test tube is placed by an external device, which is not shown in this embodiment.

[0059] Example 3: An automated feeding and discharging centrifugal device, see Figure 5 The difference between this embodiment and the first embodiment is that the conveying device 23 includes a gantry bracket 61 arranged on the workbench 11, a plurality of suction claws 63 mechanisms sliding on the gantry bracket 61, and a carrying fixture sliding on the workbench 11, the gantry bracket 61 is provided with a first linear module 62 for driving the suction claws 63 mechanisms to move linearly, and the workbench 11 is provided with a second linear module for driving the carrying fixture to move away from or close to the suction claws 63 mechanisms.

[0060] Based on the driving cooperation between the first linear module 62 and the second linear module, the cell smear is grasped by the suction claw 63 mechanism to realize loading and unloading of the cell smear in the centrifuge.

[0061] When loading, the second linear module first moves the carrier jig to the bottom of the suction claw 63 mechanism, and the suction claw 63 mechanism grabs the cell smear on the carrier jig. Then, the first linear module 62 moves the suction claw 63 mechanism, and the suction claw 63 mechanism grabs the cell smear into the primary centrifuge 21.

[0062] When unloading, the first linear module 62 first moves the suction claw 63 mechanism to just above the cell smear. After the suction claw 63 mechanism grabs the cell smear on the carrying jig, the first linear module 62 moves the suction claw 63 mechanism, and at the same time, the second linear module moves the carrying jig closer to the suction claw 63 mechanism, so that the carrying jig is located just below the suction claw 63 mechanism, and then the cell smear is placed in the carrying jig through the suction claw 63 mechanism.

[0063] The suction claw 63 mechanism includes a suction claw 63 and a third linear lifting module 6452 for driving the suction claw 63 to rise and fall. The suction claw 63 generates negative pressure suction by connecting to an external negative pressure device.

[0064] The rest of this embodiment is the same as the first embodiment. The features not explained in this embodiment are all based on the explanations in the first embodiment and will not be described in detail here.

[0065] The above embodiments are merely explanations of the present invention and are not limitations of the present invention. After reading this specification, those skilled in the art may make modifications to the embodiments without any creative contribution as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. An automatic feeding and discharging centrifugal device, characterized in that: It comprises a frame and a workbench arranged on the frame, and the workbench is provided with: A centrifugal device, used for centrifuging the cell fluid; A conveying device, used to complete the entry and exit of cell fluid in the centrifugal device; The conveying device grabs the carrier of the cell fluid, puts the cell fluid into the centrifugal device in turn, and performs centrifugal operation through the operation of the centrifugal device. After the centrifugal operation is completed, the conveying device grabs the carrier of the cell fluid again and takes the cell fluid out of the centrifugal device in turn.

2. The automatic feeding and discharging centrifugal device according to claim 1 is characterized in that: The centrifugal device comprises: A primary centrifuge is used for performing a primary centrifugation on a cell smear containing cell fluid.

3. An automatic feeding and discharging centrifugal device according to claim 1 or 2, characterized in that: The centrifugal device comprises: The gradient centrifuge is used to perform multiple centrifugation treatments on test tubes containing cell fluid mixed with gradient fluid.

4. The automatic feeding and discharging centrifugal device according to claim 2 is characterized in that: The workbench is provided with a cell smear placement area for temporarily placing a cell smear.

5. The automatic feeding and discharging centrifugal device according to claim 4 is characterized in that: The cell smear placement area includes a storage area and a calibration area. The calibration area is located near the centrifuge and is used to place the cell smear. The storage area is used to place a placement fixture that carries multiple cell smears.

6. The automatic feeding and discharging centrifugal device according to claim 1 is characterized in that: The conveying device includes a three-axis robotic arm arranged on the workbench, a fixture clamping mechanism arranged on the three-axis robotic arm, and a clamping claw mechanism arranged on the three-axis robotic arm. The fixture clamping mechanism is used to grab and place the fixture, and the clamping claw mechanism is used to grab a cell smear device or a test tube.

7. The automatic feeding and discharging centrifugal device according to claim 6 is characterized in that: The jig clamping mechanism includes symmetrical jig jaws, a first stroke driving member driving the symmetrical jig jaws to move closer to or away from each other, and a first linear lifting module driving the first stroke driving member to move closer to or away from the workbench.

8. The automatic feeding and discharging centrifugal device according to claim 7 is characterized in that: The clamping mechanism includes symmetrical pipe clamping jaws, a second stroke driving member driving the symmetrical pipe clamping jaws to move closer to or away from each other, and a second linear lifting module driving the second stroke driving member to move closer to or away from the workbench.

9. The automatic feeding and discharging centrifugal device according to claim 3 is characterized in that: The workbench is provided with a liquid suction mechanism for sucking the cell fluid in the gradient centrifuge.

10. The automatic feeding and discharging centrifugal device according to claim 9, characterized in that: The liquid suction mechanism includes a support frame installed on the workbench, a third linear lifting module arranged on the support frame, and a plurality of liquid suction pipes installed on the third linear lifting module, and the liquid suction pipes are externally connected to a negative pressure pump.

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