A glass slide clamping and fixing device

Abstract

The present invention provides a glass slide clamping and fixing device, including a control module, a base plate, a stepper motor and a driver, a transmission mechanism, a guide mechanism, a force sensor and a clamping jaw. The control module is connected to the force sensor and the driver, the driver is connected to the stepper motor, the force sensor is installed between the clamping jaws or between the transmission mechanism, measures the magnitude of the force changed due to the movement of the clamping jaws, and feeds back to the control module, the control module receives the feedback signal of the force sensor, and controls the rotation of the stepper motor through the driver; the clamping jaw is connected to the transmission mechanism and the guide mechanism, the transmission mechanism is connected to the stepper motor, and the guide mechanism constrains the movement of the clamping jaw; the stepper motor and the driver, the transmission mechanism and the guide mechanism are all installed on the base plate. The device of the present invention integrates the glass slide clamping and fixing functions in the same device, and uses a force sensor for feedback, which can integrate the mechanism, simplify the operation, and reduce the accuracy requirements of the control at the same time, thereby improving the efficiency of the automatic microscope.

Description

Technical Field

[0001] The invention belongs to the field of microscopic imaging, and in particular relates to a device for clamping and fixing a glass slide. Background Art

[0002] Microscopes are widely used in the medical and biological fields. With the continuous deepening of various researches, the observation mode of microscopes has changed from traditional manual observation to automatic scanning. For automatic scanning microscopes, the loading and unloading of slides is a major factor affecting the scanning efficiency.

[0003] Early automatic scanning microscopes still used manual loading and unloading of slides, which was inefficient. As the automation of microscopes increased, various devices for automatically loading and unloading slides emerged. The common feature of these devices is that the mechanisms for gripping and transporting slides and for gripping and fixing slides are independent of each other, and the degree of integration is low. Summary of the invention

[0004] The present invention provides a glass slide clamping and fixing device, aiming to provide a solution for clamping, transporting and fixing the glass slide for an automatic scanning microscope, wherein all actions are performed by the same device to achieve the purpose of integrating the mechanism and simplifying the operation.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] A slide glass clamping and fixing device comprises a control module, a base plate, a stepping motor and a driver, a transmission mechanism, a guide mechanism, a force sensor and a clamping claw.

[0007] The control module is connected to the force sensor and the driver, the driver is connected to the stepper motor, the force sensor is installed between the clamping jaws or between the transmission mechanism, measures the magnitude of the force caused by the movement of the clamping jaws, and feeds back to the control module, the control module receives the feedback signal of the force sensor, and controls the rotation of the stepper motor through the driver; the clamping jaw is connected to the transmission mechanism and the guide mechanism, the clamping jaw can fine-tune the posture of the fixed glass slide, the transmission mechanism is connected to the stepper motor, the rotary motion of the stepper motor is converted into the linear motion of the clamping jaw, and the guide mechanism constrains the movement of the clamping jaw to ensure the straightness of the movement of the clamping jaw; the stepping motor and the driver, the transmission mechanism and the guide mechanism are all installed on the base plate.

[0008] Furthermore, the control module has an analog input function and a limit function. By setting the control module, when the force measured by the force sensor reaches a threshold, a pulse can be output and the stepper motor can be controlled to stop rotating through the driver.

[0009] Furthermore, the transmission mechanism is a screw transmission or a connecting rod transmission.

[0010] Furthermore, the guide mechanism adopts a guide rail or a guide shaft with high motion stiffness.

[0011] Furthermore, the object clamped by the clamping jaws is a glass slide. The clamping jaws are connected to the transmission mechanism and the guide mechanism, and the transmission mechanism provides power. The guide mechanism ensures the rigidity and straightness of the movement, and performs linear movement. The clamping jaws are provided with a dovetail groove or an inclined plane structure, and the clamped glass slide can be completely fixed when the two clamping jaws move toward each other; the clamping jaws are provided with a supporting surface for the glass slide, and the supporting surface is finely processed to ensure high flatness, and the three inclination angles of yaw, pitch and roll can be fine-tuned, thereby fine-tuning the position of the clamped glass slide.

[0012] Furthermore, the force sensor is installed between the clamping jaws or between the transmission mechanisms to measure the force that changes as the clamping jaws move, and convert the magnitude of the force into an analog quantity and transmit it to the control module.

[0013] Furthermore, the control module adopts the model VSMD102 / 103.

[0014] The beneficial effects of the present invention over the prior art are as follows: by integrating the glass slide clamping and fixing functions in the same device and using a force sensor for feedback, the mechanism can be integrated, the operation can be simplified, and the control accuracy requirements can be reduced. After the glass slide is clamped by the device, it can be directly placed under the microscope objective lens for observation, thereby improving the efficiency of the automatic microscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is an isometric view of the first embodiment of the present invention;

[0016] Figure 2 is a front view of the clamping jaw portion in the first embodiment of the present invention;

[0017] Figure 3 This is an isometric view of the first embodiment of the present invention after the clamp is removed and the slide is removed.

[0018] Figure 4 is a top view of the diamond-shaped linkage mechanism in the first embodiment of the present invention;

[0019] Figure 5 It is a schematic diagram of the mechanical principle of the first embodiment of the present invention; DETAILED DESCRIPTION

[0020] The present invention is described in detail below in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0021] A slide glass clamping and fixing device comprises a control module, a base plate, a stepping motor and a driver, a transmission mechanism, a guide mechanism, a force sensor and a clamping claw.

[0022] The control module is connected to the force sensor and the driver, the driver is connected to the stepper motor, the force sensor is installed between the clamping jaws or between the transmission mechanism, measures the magnitude of the force caused by the movement of the clamping jaws, and feeds back to the control module, the control module receives the feedback signal of the force sensor, and controls the rotation of the stepper motor through the driver; the clamping jaw is connected to the transmission mechanism and the guide mechanism, the clamping jaw can fine-tune the posture of the fixed glass slide, the transmission mechanism is connected to the stepper motor, the rotary motion of the stepper motor is converted into the linear motion of the clamping jaw, and the guide mechanism constrains the movement of the clamping jaw to ensure the straightness of the movement of the clamping jaw; the stepping motor and the driver, the transmission mechanism and the guide mechanism are all installed on the base plate.

[0023] Furthermore, the control module has an analog input function and a limit function. By setting the control module, when the force measured by the force sensor reaches a threshold, a pulse can be output and the stepper motor can be controlled to stop rotating through the driver.

[0024] Furthermore, the transmission mechanism is a screw transmission or a connecting rod transmission, which can convert the rotary motion output by the stepper motor into linear motion.

[0025] Furthermore, the guide mechanism uses a guide rail or a guide shaft with high motion rigidity, so that the deviation in other directions generated by the guide mechanism during linear motion is as small as possible.

[0026] Furthermore, the object clamped by the clamping jaws is a glass slide. The clamping jaws are connected to the transmission mechanism and the guide mechanism, and the transmission mechanism provides power. The guide mechanism ensures the rigidity and straightness of the movement, and performs linear movement. The clamping jaws are provided with a dovetail groove or an inclined plane structure, and the clamped glass slide can be completely fixed when the two clamping jaws move toward each other; the clamping jaws are provided with a supporting surface for the glass slide, and the supporting surface is finely processed to ensure high flatness, and the three inclination angles of yaw, pitch and roll can be fine-tuned, thereby fine-tuning the position of the clamped glass slide.

[0027] Furthermore, the force sensor is installed between the clamping jaws or between the transmission mechanisms to measure the force that changes with the movement of the clamping jaws, and convert the magnitude of the force into an analog quantity and transmit it to the control module.

[0028] Furthermore, the control module adopts the model VSMD102 / 103.

[0029] Embodiment 1

[0030] See also Figure 1The mechanical part of the slide gripping and fixing device described in the first embodiment of the present invention comprises a stepper motor 1, a transmission screw 2, a diamond linkage mechanism 22, a guide rail 3, a clamping claw 4, a base 6 and a force sensor 7. The stepper motor 1, the transmission screw 2, the diamond linkage mechanism 22 and the guide rail 3 are all installed on the base 6. The transmission screw 2 is connected with the diamond linkage mechanism 22 to form a transmission mechanism, and the stepper motor 1 is connected with one end of the transmission screw 2 9; a screw nut 21 is installed on the transmission screw 2, and one end of the force sensor 7 is fixed with the first contact end 72, and the other end is fixed with the second contact end 73, so as to measure the tension and pressure between the first contact end 72 and the second contact end 73. The force sensor 7 is connected with the control module, and the stepper motor 1 is connected with the control module through the driver.

[0031] like Figure 2 As shown, the working surface 42 of the clamping jaw 4 for supporting the slide glass 5 is finely processed to ensure its high flatness, and there are three top screw holes 43, 44 and 45 on the working surface 42 for fine-tuning the three inclination angles of yaw, pitch and roll of the working surface 42. By adjusting the three inclination angles of yaw, pitch and roll of the working surface 42, when the clamping jaw 4 is closed to clamp the slide glass 5, the posture of the slide glass 5 meets the observation requirements of the microscope objective.

[0032] like Figure 3 and Figure 4 As shown, the first contact end 72 is fixed to the lead screw nut 21, and the second contact end 73 is fixed to the third rotating shaft 223 of the diamond link mechanism 22. The first rotating shaft 221 and the second rotating shaft 222 of the diamond link mechanism 22 are respectively fixed to the slider 31 of the guide rail 3 through the adapter 23, and there are two sliders 31 of the guide rail 3, and the fourth rotating shaft 224 is suspended. The two sides of the clamping jaw 4 are respectively installed on the adapter 23 on both sides, so that the rotary motion of the stepping motor 1 is converted into the linear motion of the clamping jaw 4, and the rigidity and linearity of the movement of the clamping jaw 4 are guaranteed by the guide rail 3.

[0033] like Figure 5 As shown in the mechanical schematic diagram, when the second contact end 73 connected to the third rotating shaft 223 moves along the F1 direction, due to the transmission action of the diamond linkage mechanism 22 and the guide rail 3, the clamping jaws 4 will close through linear motion to clamp the glass slide 5, and the clamping force acting on the glass slide 5 is F2.

[0034] When the clamp 4 has not yet contacted the glass slide 5, since the magnitude of F2 is 0, if the second contact end 73 makes uniform linear motion, according to Newton's first law, the magnitude of F1 is equal to the motion resistance from the guide rail and the first rotating shaft 221 and the second rotating shaft 222, and its magnitude can be ignored relative to the clamping force after the clamp 4 clamps the glass slide 5.

[0035] The second contact end 73 is connected to the first contact end 72 through the force sensor 7, and the first contact end 72 is fixed to the screw nut 21, so the magnitude of the force measured by the force sensor 7 is the magnitude of F1.

[0036] The control module has analog input function and limit function. Through the setting of the control module, when the size of F1 detected by the sensor 7 reaches the threshold, the motor can be controlled to stop rotating to keep the slide in the clamped state.

[0037] The above-described embodiments are only some preferred solutions of the present invention, but they are not intended to limit the present invention. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the technical principles of the present invention, and these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A slide gripping and fixing device, characterized in that: It includes a stepper motor, a transmission screw, a diamond-shaped connecting rod mechanism, a guide rail, a clamp, a base, a force sensor and a control module. The stepper motor, the transmission screw, the diamond-shaped connecting rod mechanism and the guide rail are all installed on the base; the transmission screw and the diamond-shaped connecting rod mechanism are connected to form a transmission mechanism, and the stepper motor is connected to one end of the transmission screw; a screw nut is installed on the transmission screw, one end of the force sensor is fixed to the first contact end, and the other end is fixed to the second contact end to measure the tensile pressure between the first contact end and the second contact end, the force sensor is connected to the control module, and the stepper motor is connected to the control module through a driver; The working surface of the clamping jaws is used to support the slide, and its high flatness is ensured by precision machining. There are three top screw holes on the working surface for fine-tuning the three inclination angles of the working surface: yaw, pitch and roll. By adjusting the three inclination angles of the working surface, when the clamping jaws are closed to clamp the slide, the position of the slide meets the observation requirements of the microscope objective lens; The first contact end is fixed to the lead screw nut, and the second contact end is fixed to the third rotating shaft of the diamond linkage mechanism; the first rotating shaft and the second rotating shaft of the diamond linkage mechanism are respectively fixed to the slider of the guide rail through the adapter, and there are two sliders of the guide rail, and the fourth rotating shaft is suspended; the two sides of the clamping jaw are respectively installed on the adapters on both sides, so that the rotary motion of the stepping motor is converted into the linear motion of the clamping jaw, and the rigidity and linearity of the clamping jaw motion are guaranteed by the guide rail; When the second contact end connected to the third rotating shaft moves in the direction of the force F1 pushing and pulling the second contact end, the clamping jaws close to clamp the glass slide, and the clamping force acting on the glass slide is F2; If the second contact end makes a uniform linear motion, the magnitude of F1 is equal to the motion resistance from the guide rail, the first rotating shaft, and the second rotating shaft, and its magnitude is negligible relative to the clamping force after the clamping jaws clamp the slide; The second contact end is connected to the first contact end through a force sensor, and the magnitude of the force measured by the force sensor is the magnitude of F1; The control module has analog input function and limit function. When the size of F1 detected by the sensor reaches the threshold, the motor is controlled to stop rotating to keep the slide in the clamped state.

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