Manipulator and medical testing equipment for easy grasping of glass slides

Abstract

The present invention relates to the technical field of medical devices, and discloses a manipulator for grabbing glass slides, comprising a frame, a mounting block, an upper clamping block, a lower clamping block, an elastic clamping piece, and an anti-corrosion and anti-slip sheet, wherein the upper clamping block and the lower clamping block are both connected to the mounting block; the elastic clamping piece is connected to the upper clamping block, and its lower end protrudes from the lower end of the upper clamping block; and the anti-corrosion and anti-slip sheet is arranged at the upper end of the lower clamping block. When grabbing the glass slide, the mounting block moves vertically and horizontally relative to the frame, the upper clamping block and the lower clamping block move toward or away from each other to clamp or release the glass slide, the lower end of the elastic clamping piece elastically contacts the glass slide, which can not only firmly grasp the glass slide, but also avoid damage to the glass slide caused by excessive grasping force, the anti-corrosion and anti-slip sheet can prevent the glass slide from sliding off the lower clamping block, and can prevent the lower clamping block from being corroded, and the present invention also discloses a medical detection device with the above-mentioned manipulator, which can effectively grab the glass slide, avoid damage to the glass slide, and improve work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a manipulator and medical testing equipment that are convenient for grabbing glass slides. Background Art

[0002] In the medical industry, it is often necessary to inspect and process specimens on glass slides. During the inspection and processing, multiple processes are required, such as heating, staining, drying, and microscopic examination, which requires the glass slides to be transferred between different workstations. In the prior art, professional technicians manually grab the glass slides and transfer them to each workstation. This operation method requires high professionalism of the technicians, has low work efficiency, is easy to damage the glass slides, and will affect the inspection results. In addition, since the working environment of the glass slides is corrosive, and sometimes the specimens on the glass slides are also infectious, the technicians are in contact with the glass slides and specimens for a long time, which is easy to affect their health. If a general manipulator is used to grab the glass slide, when the thickness of different glass slides is different, the gripping force of the manipulator is difficult to control. If the grip is too loose, it is easy to cause the glass slide to slip. If the grip is too tight, it will cause the glass slide to be damaged. Therefore, there is an urgent need for a medical device that is easy to grab glass slides. Summary of the invention

[0003] In view of the above-mentioned technical problems existing in the prior art, the present invention provides a manipulator for grabbing glass slides, which can grab glass slides stably without causing damage to the glass slides, thereby improving work efficiency.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a manipulator for grabbing glass slides, comprising a frame; a clamping assembly, comprising a mounting block, an upper clamping block and a lower clamping block, the mounting block can move horizontally and vertically relative to the frame, the upper clamping block and the lower clamping block are both connected to the mounting block, the upper clamping block and the lower clamping block can move toward or away from each other to clamp or release the glass slide; an elastic clamping piece, connected to the upper clamping block, and the lower end of the elastic clamping piece protrudes from the lower end of the upper clamping block; an anti-corrosion and anti-slip sheet, arranged at the upper end of the lower clamping block.

[0005] The above-mentioned manipulator that is convenient for grabbing glass slides, the elastic clamping part includes a connecting rod, a steel ball and a spring, the connecting rod is fixedly connected to the upper clamping block, the steel ball and the spring are both installed in the connecting rod, and the lower end of the steel ball protrudes from the lower end of the connecting rod and the lower end of the upper clamping block, the upper end of the spring is connected to the upper clamping block, and the lower end is connected to the steel ball.

[0006] In the above-mentioned manipulator for grabbing glass slides, the connecting rod is provided with a through hole along the axial direction, and the inner diameter of the lower end of the through hole is smaller than the outer diameter of the steel ball, and the steel ball and the spring are both installed in the through hole.

[0007] The above-mentioned manipulator for grabbing glass slides also includes a sensing component, which includes a sensing baffle, a first sensor and a second sensor. The sensing baffle and the first sensor are both installed on the mounting block. The sensing baffle and the first sensor are used to identify the opening and closing state of the clamping component. The second sensor is connected to the upper clamping block, and the second sensor is used to identify the state of the clamping component grabbing the glass slide.

[0008] The above-mentioned manipulator convenient for grabbing glass slides, the upper clamping block is fixedly connected to the mounting block, and the lower clamping block is vertically slidably connected to the mounting block.

[0009] The above-mentioned robot arm for grabbing glass slides also includes a driving member, a screw rod and a guide sleeve. The driving member is installed on the mounting block, the output end of the driving member is connected to the upper end of the screw rod, the lower end of the screw rod is rotatably connected to the guide sleeve, the upper end of the guide sleeve is vertically slidably connected to the mounting block, and the lower end is connected to the lower clamping block.

[0010] The above-mentioned manipulator convenient for grabbing glass slides, the lower end of the guide sleeve is connected to the lower clamping block through a spline shaft.

[0011] The above-mentioned manipulator for grabbing glass slides also includes a sliding block and a vertical guide rail, the guide rail is horizontally slidably connected to the frame, the sliding block is vertically slidably connected to the guide rail, and the mounting block is vertically slidably connected to the sliding block.

[0012] The above-mentioned manipulator convenient for grabbing glass slides, the upper surface of the anti-corrosion and anti-slip sheet has knurled patterns.

[0013] The robot arm for grabbing glass slides of the present invention has at least the following beneficial effects:

[0014] When it is necessary to grab a glass slide, the mounting block drives the upper clamping block and the lower clamping block to move vertically relative to the frame, so that the upper clamping block and the lower clamping block are close to the glass slide, and then the mounting block drives the upper clamping block and the lower clamping block to move horizontally relative to the frame, so that the upper clamping block and the lower clamping block are respectively located above and below the glass slide, and then the upper clamping block and the lower clamping block move toward each other to clamp the glass slide, and the mounting block then moves horizontally and vertically relative to the frame to transfer the glass slide, which can improve work efficiency. In the process of clamping the glass slide, the lower end of the elastic clamping piece elastically contacts the glass slide The strength of clamping the glass slide can be adjusted, which can not only firmly grasp the glass slide to prevent it from falling, but also avoid damage to the glass slide caused by excessive gripping force. At the same time, the anti-corrosion and anti-slip sheet on the upper end of the lower clamping block can prevent the glass slide from slipping from the lower clamping block. When the surface of the glass slide is accidentally stained with the detection liquid, the anti-corrosion and anti-slip sheet can also prevent the lower clamping block from being corroded by the detection liquid flowing down from the glass slide, thereby increasing the service life of the lower clamping block. In addition, it can also prevent the glass slide from sticking to the lower clamping block, so that the glass slide can be quickly detached from the lower clamping block after the transfer is completed.

[0015] The present invention also provides a medical testing device, which uses the above-mentioned manipulator that is easy to grab glass slides, can effectively grab glass slides, avoid damage to the glass slides, and improve work efficiency; there is no need to manually transfer glass slides, and while ensuring the health of technicians, it can ensure that the glass slides are transferred in a closed space and that the specimens on the glass slides will not be contaminated, thereby ensuring the accuracy of the test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, wherein:

[0017] Figure 1 A schematic diagram of a portion of the structure of a manipulator according to an embodiment of the present invention (with the frame hidden);

[0018] Figure 2 for Figure 1 A side view of the manipulator shown in;

[0019] Figure 3 It is a partial structural schematic diagram of a clamping assembly according to an embodiment of the present invention.

[0020] In the accompanying drawings: 100 clamping assembly, 110 mounting block, 120 upper clamping block, 130 lower clamping block, 200 elastic clamping member, 210 connecting rod, 211 through hole, 220 steel ball, 230 spring, 300 anti-corrosion and anti-skid sheet, 400 sensing assembly, 410 sensing baffle, 420 first sensor, 430 second sensor, 500 driving member, 610 screw rod, 620 guide sleeve, 630 spline shaft, 710 sliding block, 720 vertical guide rail. DETAILED DESCRIPTION

[0021] The embodiments of the present invention are described in detail below. Figure 1 and Figure 2 An embodiment of the present invention provides a manipulator for grabbing glass slides, including a frame, a clamping assembly 100, an elastic clamping member 200 and an anti-corrosion and anti-slip sheet 300. The clamping assembly 100 includes a mounting block 110, an upper clamping block 120 and a lower clamping block 130. The mounting block 110 can move horizontally and vertically relative to the frame. The upper clamping block 120 and the lower clamping block 130 are both connected to the mounting block 110. The upper clamping block 120 and the lower clamping block 130 can move toward or away from each other to clamp or release the glass slide; the elastic clamping member 200 is connected to the upper clamping block 120, and the lower end of the elastic clamping member 200 protrudes from the lower end of the upper clamping block 120; the anti-corrosion and anti-slip sheet 300 is arranged at the upper end of the lower clamping block 130.

[0022] When it is necessary to grab a glass slide, the mounting block 110 drives the upper clamping block 120 and the lower clamping block 130 to move vertically relative to the frame, so that the upper clamping block 120 and the lower clamping block 130 are close to the glass slide, and then the mounting block 110 drives the upper clamping block 120 and the lower clamping block 130 to move horizontally relative to the frame, so that the upper clamping block 120 and the lower clamping block 130 are respectively located above and below the glass slide, and then, the upper clamping block 120 and the lower clamping block 130 move toward each other to clamp the glass slide, and the mounting block 110 moves horizontally and vertically relative to the frame to transfer the glass slide. After the glass slide is transferred to the next workstation, the upper clamping block 120 and the lower clamping block 130 move back to back again to place the glass slide stably on the next workstation, thereby replacing manual transfer of glass slides and improving work efficiency.

[0023] In the process of clamping the glass slide, the lower end of the elastic clamping member 200 is in elastic contact with the glass slide, and the force of clamping the glass slide can be adjusted. When the thickness of the glass slide is different, the upper clamping block 120 can automatically compensate the clamping force through the elastic clamping member 200, which can not only firmly grasp the glass slide to prevent it from falling, but also avoid damage to the glass slide caused by excessive grasping force; when releasing the glass slide, the elastic clamping member 200 has a downward elastic force on the glass slide, so that the glass slide quickly moves downward away from the upper clamping block 120, and will not follow the machine. At the same time, the anti-corrosion and anti-slip sheet 300 on the upper end of the lower clamping block 130 can prevent the glass slide from sliding off the lower clamping block 130. When the surface of the glass slide is accidentally stained with the detection liquid, the anti-corrosion and anti-slip sheet 300 can also prevent the lower clamping block 130 from being corroded by the detection liquid flowing down from the glass slide, thereby increasing the service life of the lower clamping block 130. In addition, it can also prevent the glass slide from sticking to the lower clamping block 130, so that the glass slide can be quickly detached from the lower clamping block 130 after the transfer is completed. Furthermore, the upper surface of the anti-corrosion and anti-slip sheet 300 has a knurled pattern. By increasing the damping between the anti-corrosion and anti-slip sheet 300 and the glass slide, the glass slide can be effectively prevented from sliding off the lower clamping block 130. When the glass slide moves rapidly horizontally and vertically, it can also prevent the glass slide from swinging or deflecting, thereby ensuring that the glass slide is accurately transferred to the next station.

[0024] Reference Figure 3 The elastic clamping member 200 includes a connecting rod 210, a steel ball 220 and a spring 230. The connecting rod 210 is fixedly connected to the upper clamping block 120. The steel ball 220 and the spring 230 are both installed in the connecting rod 210. The lower end of the steel ball 220 protrudes from the lower end of the connecting rod 210 and the lower end of the upper clamping block 120. The upper end of the spring 230 is connected to the upper clamping block 120, and the lower end is connected to the steel ball 220. When clamping the glass slide, the spring 230 applies a downward elastic force to the steel ball 220, so that the lower end of the steel ball 220 elastically contacts the glass slide. The surface of the steel ball 220 is relatively smooth, so that the glass slide will not be damaged. The spring 230 and the steel ball 220 are both installed inside the connecting rod 210, so that the spring 230 and the steel ball 220 are not easy to fall off from the upper clamping block 120. Furthermore, a buffer film can be coated on the surface of the steel ball 220 to reduce the rigid impact of the steel ball 220 on the glass slide and prevent the glass slide from being crushed; further, the connecting rod 210 is provided with a through hole 211 along the axial direction, and the inner diameter of the lower end of the through hole 211 is smaller than the outer diameter of the steel ball 220, and the steel ball 220 and the spring 230 are both installed in the through hole 211, which can ensure that the steel ball 220 effectively contacts the glass slide and prevent the steel ball 220 from falling out of the through hole 211; further, the connecting rod 210, the spring 230 and the steel ball 220 can be arranged as a whole, that is, after the spring 230 and the steel ball 220 are installed in the through hole 211, the upper end of the through hole 211 is blocked, and then a thread is set at the upper end of the connecting rod 210 to facilitate the connection of the clamping block 120, so that the elastic clamping member 200 can be easily transported and the spring 230 and the steel ball 220 can be prevented from falling out of the connecting rod 210.

[0025] Continue to refer to Figure 1 and Figure 2 The manipulator further includes a sensing component 400, which includes a sensing baffle 410, a first sensor 420 and a second sensor 430. The sensing baffle 410 and the first sensor 420 are both mounted on the mounting block 110. The sensing baffle 410 and the first sensor 420 are used to identify the opening and closing state of the clamping component 100. In this embodiment, when the sensing baffle 410 and the second sensor 430 identify that the upper clamping block 120 and the lower clamping block 130 are in the open state, the system will automatically reset to provide accuracy guarantee for the next grasping. At the same time, no unnecessary action will be generated during the reset, making the action of the manipulator more efficient and accurate; the second sensor 430 is connected to the upper clamping block 120, and the second sensor 430 is used to identify the state of the clamping component 100 grasping the glass slide. In this embodiment, the second sensor 430 can identify whether the manipulator effectively grasps the glass slide, and promptly discover the situation of grasping empty or grasping off, to ensure the effective operation of the manipulator.

[0026] Reference Figure 1 and Figure 2, the upper clamping block 120 is fixedly connected to the mounting block 110, and the lower clamping block 130 is vertically slidably connected to the mounting block 110. Further, the manipulator further comprises a driving member 500, a screw rod 610 and a guide sleeve 620, wherein the driving member 500 is mounted on the mounting block 110, the output end of the driving member 500 is connected to the upper end of the screw rod 610, the lower end of the screw rod 610 is rotatably connected to the guide sleeve 620, the upper end of the guide sleeve 620 is vertically slidably connected to the mounting block 110, and the lower end is connected to the lower clamping block 130. When the mounting block 110 moves vertically and horizontally, it drives the upper clamping block 120 and the lower clamping block 130 to move vertically and horizontally together. When moving to the target position, the driving member 500 drives the screw rod 610 to rotate, and the rotation of the screw rod 610 can drive the guide sleeve 620 to move in the vertical direction, converting the rotational motion into a linear motion, thereby clamping or releasing the glass slide. At the same time, the speed of the motion can be adjusted by adjusting the lead of the screw rod 610. Furthermore, the lower end of the guide sleeve 620 is connected to the lower clamping block 130 through the spline shaft 630. The linear output power can be guaranteed to be stable without shaking or swaying, thereby ensuring the stability of the manipulator clamping.

[0027] Furthermore, the manipulator further includes a sliding block 710 and a vertical guide rail 720. The guide rail is connected to the frame by horizontal sliding, the sliding block 710 is connected to the guide rail by vertical sliding, and the mounting block 110 is connected to the sliding block 710 by vertical sliding. When the guide rail slides horizontally along the frame, the entire manipulator can be driven to move horizontally relative to the frame. Of course, the horizontal movement is not limited to horizontal movement in one direction, but horizontal movement within a plane. When the clamping assembly 100 needs to move in the vertical direction, the sliding block 710 first slides in the vertical direction so that the clamping assembly 100 is close to the glass slide. After that, the mounting block 110 slowly slides vertically relative to the sliding block 710 to contact the glass slide, so as to avoid the upper clamping block 120 and the lower clamping block 130 from exerting a large impact force on the glass slide. In addition, by setting two stages of vertical sliding processes, the vertical movement range of the clamping assembly 100 can be increased without increasing the height of the frame.

[0028] An embodiment of the present invention also provides a medical testing device, which uses the above-mentioned manipulator that is easy to grab glass slides, can effectively grab glass slides, avoid damage to the glass slides, and improve work efficiency; there is no need to manually transfer glass slides, and while ensuring the health of technicians, the glass slides can be transferred in a confined space, thereby ensuring the accuracy of the test results.

[0029] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying 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 should not be understood as a limitation on the present invention.

[0030] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0031] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A manipulator for grabbing a glass slide, characterized in that: include frame; The clamping assembly (100) comprises a mounting block (110), an upper clamping block (120) and a lower clamping block (130), wherein the mounting block (110) can move horizontally and vertically relative to the frame, the upper clamping block (120) and the lower clamping block (130) are both connected to the mounting block (110), and the upper clamping block (120) and the lower clamping block (130) can move toward or away from each other to clamp or release the glass slide; The elastic clamping member (200) is connected to the upper clamping block (120), and the lower end of the elastic clamping member (200) protrudes from the lower end of the upper clamping block (120). The elastic clamping member (200) comprises a connecting rod (210), a steel ball (220) and a spring (230). The connecting rod (210) is fixedly connected to the upper clamping block (120). The connecting rod (210) is provided with a through hole (211) along the axial direction. The inner diameter of the lower end of the through hole (211) is smaller than the outer diameter of the steel ball (220); the steel ball (220) and the spring (230) are both installed in the through hole (211); the lower end of the steel ball (220) protrudes from the lower end of the connecting rod (210) and the lower end of the upper clamping block (120); the upper end of the spring (230) is connected to the upper clamping block (120), and the lower end is connected to the steel ball (220); An anti-corrosion and anti-slip sheet (300) is provided on the upper end of the lower clamping block (130); The invention also comprises a sensing component (400), wherein the sensing component (400) comprises a sensing baffle (410), a first sensor (420) and a second sensor (430), wherein the sensing baffle (410) and the first sensor (420) are both mounted on the mounting block (110), the sensing baffle (410) and the first sensor (420) are used to identify the opening and closing state of the clamping component (100), and the second sensor (430) is connected to the upper clamping block (120), and the second sensor (430) is used to identify the state of the clamping component (100) grabbing a glass slide.

2. The robot for grabbing a glass slide according to claim 1, characterized in that: The upper clamping block (120) is fixedly connected to the mounting block (110), and the lower clamping block (130) is vertically slidably connected to the mounting block (110).

3. The robot for grabbing a glass slide according to claim 2, characterized in that: It also includes a driving member (500), a screw rod (610) and a guide sleeve (620), wherein the driving member (500) is mounted on the mounting block (110), the output end of the driving member (500) is connected to the upper end of the screw rod (610), the lower end of the screw rod (610) is rotatably connected to the guide sleeve (620), the upper end of the guide sleeve (620) is vertically slidably connected to the mounting block (110), and the lower end is connected to the lower clamping block (130).

4. The robot for grabbing a glass slide according to claim 3, characterized in that: The lower end of the guide sleeve (620) is connected to the lower clamping block (130) via a spline shaft (630).

5. The robot for grabbing a glass slide according to claim 1, characterized in that: It also includes a sliding block (710) and a vertical guide rail (720), wherein the guide rail is horizontally slidably connected to the rack, the sliding block (710) is vertically slidably connected to the guide rail, and the mounting block (110) is vertically slidably connected to the sliding block (710).

6. The robot for grabbing a glass slide according to any one of claims 1 to 5, characterized in that: The upper surface of the anti-corrosion and anti-slip sheet (300) has a knurled pattern.

7. A medical testing device, characterized in that: A robot arm for grabbing a glass slide as described in any one of claims 1 to 6 is used.

Images