Slide making and dyeing all-in-one machine and slide making and dyeing method

Abstract

The invention belongs to the field of biochemical detection equipment, and discloses a flaking and dyeing all-in-one machine and a flaking and dyeing method.The flaking and dyeing all-in-one machine comprises a machine base, and a workbench, a moving mechanism and a manipulator assembly are arranged on the machine base; the working table is provided with a working area, and the working area is at least provided with a pretreatment working position and a flaking and dyeing working position; the manipulator assembly is movably arranged on the moving mechanism, and the manipulator assembly is located above the working area; the manipulator assembly comprises manipulators, the manipulators at least comprise a first manipulator and a second manipulator, the first manipulator at least has a first moving position and a second moving position, and the second manipulator at least has a third moving position and a fourth moving position; and the first moving position, the second moving position, the third moving position and the fourth moving position are at least matched with the pre-treatment working position and the flaking and dyeing treatment working position. According to the slide preparation and dyeing all-in-one machine, slide preparation and dyeing of liquid-based sample cells can be integrated into all-in-one equipment, and all steps can be independently and circularly carried out.

Description

[0001] The present invention claims priority to Chinese patent application No. 2024103691081, filed with the Patent Office of China on March 28, 2024, entitled “ALL-IN-ONE MACHINE FOR SLIDE MAKING AND DYING AND METHOD FOR SLIDE MAKING AND DYING”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present invention belongs to the technical field of biochemical detection equipment, and in particular relates to a slide making and staining all-in-one machine and a slide making and staining method. Background Art

[0003] Liquid-based cytology is a technology that uses a liquid-based thin-layer cell detection system to detect cervical cells and perform cytological classification diagnosis. It is currently one of the most advanced cervical cancer cell cytology examination technologies in the world. Compared with the traditional cervical scraping and Pap smear examination, it significantly improves the satisfaction of the specimen and the detection rate of abnormal cervical cells. The detection rate of cervical cancer cell cytology examination for cervical cancer is 100%. At the same time, it can detect some precancerous lesions and microbial infections such as fungi, Trichomonas, viruses, and chlamydia.

[0004] Currently, the main methods for liquid-based cell preparation include centrifugation, natural sedimentation, and cell filtration. Regardless of the process used, there are several steps, each completed in a different instrument. The degree of automation is low, requiring a lot of manual intervention. The previous step must be completed before the next step can proceed, resulting in low efficiency. Furthermore, the different instruments occupy a large area, which is not conducive to improving the testing environment. Summary of the Invention

[0005] The purpose of the present invention is to provide an all-in-one slide preparation and staining machine that can integrate liquid-based sample cell pretreatment and slide preparation and staining into an integrated device, and can make each step independent and cyclical, thereby improving efficiency.

[0006] The above-mentioned objectives are achieved by the following technical solutions.

[0007] The present invention provides a slide making and dyeing all-in-one machine, which comprises a machine base, on which a workbench, a moving mechanism and a manipulator assembly are arranged;

[0008] The workbench is provided with a work area, and the work area at least has a pre-processing work station and a slide preparation and dyeing work station;

[0009] The manipulator assembly is movably arranged on the moving mechanism, and the manipulator assembly is located above the working area;

[0010] The manipulator assembly includes a manipulator, which at least includes a first manipulator and a second manipulator. The first manipulator at least has a first moving position and a second moving position, and the second manipulator at least has a third moving position and a fourth moving position;

[0011] The first moving position, the second moving position, the third moving position, and the fourth moving position at least cooperate with the pre-processing working position and the film-making and dyeing processing working position.

[0012] In some embodiments, the first manipulator is correspondingly arranged on the pre-processing working position and cooperates with the pre-processing working position;

[0013] The second manipulator is correspondingly arranged on the film-making and dyeing processing working position and cooperates with the film-making and dyeing working position.

[0014] In some embodiments, a forklift material handling device, a sample mixing device, an automatic centrifugation mechanism, an eccentric oscillation mechanism, and a rocker pipetting device are arranged on the pre-processing working position.

[0015] In some embodiments, a film-making rack, an automatic blanking device, a cleaning device, a slide placement rack transportation device, and a liquid adding and pumping assembly are arranged on the film-making and dyeing working position.

[0016] In some embodiments, the forklift material handling device, the automatic centrifuge, the eccentric oscillation mechanism, and the rocker pipetting device are all arranged around the sample mixing device.

[0017] In some embodiments, in the film-making and dyeing working position, the automatic blanking device, the cleaning device, the slide placement rack transportation device, and the liquid adding and pumping assembly are all arranged around the film-making rack.

[0018] In some embodiments, the pre-processing working position is arranged on the right side of the workbench, and the first manipulator is correspondingly arranged on the right side of the workbench;

[0019] The film-making and dyeing processing working position is arranged on the left side of the workbench, and the second manipulator is correspondingly arranged on the left side of the workbench.

[0020] In some embodiments, a first clamping structure and a nozzle loading structure are arranged on the first manipulator, and the nozzle loading structure is located on the side close to the film-making and dyeing processing working position; and / or,

[0021] A second clamping structure and a liquid adding and pumping assembly are arranged on the second manipulator.

[0022] In some embodiments, the moving mechanism drives the manipulator to reciprocate in three-dimensional space, and the manipulator has a clamping part, and the clamping part has a first clamping structure and a second clamping structure with different clamping spaces.

[0023] In some embodiments, the moving mechanism includes a first moving component, at least two second moving components, and at least two third moving components;

[0024] The first moving component is located above the working position. Each of the second moving components is disposed on the first moving component. The first moving component drives each of the second moving components to move independently along a first direction. Each of the third moving components is respectively and correspondingly disposed on each of the second moving components. The second moving component drives the third moving component to move along a second direction. Any one of a first robot arm or a second robot arm is disposed on each of the third moving components. The third moving component drives the robot arm to move along a third direction. The first direction, the second direction, and the third direction cooperate to form a three-dimensional direction.

[0025] In some embodiments, the first moving component includes a support beam, a moving guide rail body, and at least two moving driving devices; the moving guide rail body is disposed on the support beam along the first direction. Each of the moving driving devices is correspondingly disposed with the second moving component and drives each of the second moving components to reciprocally move along the moving guide rail body independently.

[0026] In some embodiments, the slide-making rack includes a base. The base has a supporting bottom. At least two fixing platforms for fixing the slide-making chambers are provided on the base. The distances between the fixing platforms and the supporting bottom are different. The base has a first side end and a second side end. The connection line between the first side end and the second side end constitutes an installation direction.

[0027] In some embodiments, a second installation hole is provided on the side wall of the base. A slide clamping device is provided on the fixing platform. A first positioning post is provided on the slide clamping device.

[0028] In some embodiments, the base is trapezoidal.

[0029] In some embodiments, a slide-making chamber fixing device is further provided on the slide-making rack. The slide-making chamber fixing device includes: a main body and an elastic chuck;

[0030] A through hole for pressing the slide-making chamber into is provided on the main body. A plurality of channels communicating with the through hole are provided on the main body along the circumference of the through hole. The elastic chuck is provided in the channel. The elastic chuck can be partially exposed outside the through hole.

[0031] In some embodiments, the liquid adding and pumping component includes a liquid adding driving component, a support bar, and at least two suction heads. The first end of the support bar is installed on the liquid adding driving component. The liquid adding driving component is installed on the moving mechanism. The support bar is inclined. Both suction heads are installed on the support bar and are staggeredly arranged in the horizontal direction.

[0032] In some embodiments, the automatic centrifugation mechanism includes a centrifuge, a centrifuge tube rack seat, and a centrifugal rotation assembly. The centrifuge tube rack seat is disposed within the centrifuge, and the output end of the centrifugal rotation assembly is connected to the centrifuge tube rack seat and is capable of driving the centrifuge tube rack seat to rotate.

[0033] In some embodiments, the robotic arm sampling device includes a sampling needle, a sampling needle rotation driving device, and a sampling needle lifting driving device. The output end of the sampling needle lifting driving device is connected to the sampling needle rotation driving device and drives the sampling needle rotation driving device to move up and down. The output end of the sampling needle rotation driving device is connected to the sampling needle and drives the sampling needle to rotate.

[0034] In some embodiments, the slide making and staining work station further includes an automatic slide numbering mechanism, which includes a slide rack, a marker, and a slide pushing platform; the slide rack has a slide accommodating space, and the slide pushing platform can push the slide in the slide rack to the marking coverage area of the marker.

[0035] In some embodiments, the eccentric oscillation mechanism includes a centrifuge tube rack vibrating table and an oscillation driving device. The output end of the oscillation driving device is connected to the centrifuge tube rack vibrating table and drives the centrifuge tube rack vibrating table to perform eccentric oscillation.

[0036] A second aspect of the present invention provides a slide making and staining method, including a pretreatment step and a slide making and staining treatment step:

[0037] Pretreatment step: Controlling one of the first robot and the second robot to transfer the test sample to the cell pretreatment at the pretreatment work station;

[0038] Slide making and staining treatment step: Controlling the other of the first robot and the second robot to transfer the pretreated test sample to the slide making and staining treatment work station for slide making and staining treatment;

[0039] Wherein, the pretreatment step and the slide making and staining treatment step are independent of each other and can be carried out synchronously.

[0040] The technical solution provided by the present invention has the following advantages and effects:

[0041] The integrated specimen preparation and staining machine forms a working area on the workbench, and a pretreatment working position and a specimen preparation and staining treatment working position are formed on this working area. The pretreatment working position and the specimen preparation and staining treatment working position can be integrated with various functional modules for liquid-based cell pretreatment, specimen preparation and staining, and can complete the liquid-based sample cell pretreatment, specimen preparation and staining in an integrated device, reducing the floor space occupied by the device. By setting at least two manipulators, each manipulator can move independently, so that different operations can be carried out simultaneously at different working positions on the workbench, and each step can be independent and cyclic, thus effectively improving the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a schematic structural view of the structure for clamping the first workpiece in an embodiment of the present invention;

[0043] Figure 2 is a schematic structural view of the structure for clamping the second workpiece in an embodiment of the present invention

[0044] Figure 3 is a three-dimensional structural view of the first arm body in an embodiment of the present invention;

[0045] Figure 4 is a three-dimensional structural view of the first arm body from another angle in an embodiment of the present invention;

[0046] 1] Figure 5 is a schematic structural view of the structure for clamping the first workpiece in another embodiment of the present invention;

[0047] Figure 6 is a schematic structural view of the structure for clamping the second workpiece in another embodiment of the present invention

[0048] Figure 7 is a three-dimensional structural view of the first arm body in another embodiment of the present invention;

[0049] Figure 8 is a three-dimensional structural view of the first arm body from another angle in another embodiment of the present invention;

[0050] Figure 9 is a schematic overall structural view of the integrated specimen preparation and staining machine in an embodiment of the present invention;

[0051] Figure 10 is Figure 9 a schematic partial open structural view of the integrated specimen preparation and staining machine in ;

[0052] Figure 11 is Figure 9 an open structural view of the integrated specimen preparation and staining machine in .

[0053] Figure 12 is a schematic diagram of the cooperation between the forklift material handling device and the material storage mechanism in an embodiment of the present inventionFigure 1 ;

[0054] Figure 13 is a schematic diagram of the cooperation between the forklift material handling device and the material storage mechanism in an embodiment of the present invention Figure 2 ;

[0055] Figure 14 is a cross-sectional view of the cooperation between the forklift material handling device and the material storage mechanism in an embodiment of the present invention;

[0056] Figure 15 is a schematic diagram of the first drive assembly and the material handling assembly in an embodiment of the present invention;

[0057] Figure 16 is a schematic diagram of the second drive assembly in an embodiment of the present invention Figure 1 ;

[0058] Figure 17 is a schematic diagram of the second drive assembly in an embodiment of the present invention Figure 2 ;

[0059] Figure 18 is a partial enlarged view in an embodiment of the present invention;

[0060] Figure 19 is a schematic diagram of the material storage mechanism in an embodiment of the present invention;

[0061] Figure 20 is a schematic diagram of the drawer in an embodiment of the present invention;

[0062] Figure 21 is a schematic diagram of the overall structure of the pipe fitting placement and transfer device in an embodiment of the present invention;

[0063] Figure 22 is a cross-sectional structure schematic diagram of a partial structure of the pipe fitting placement and transfer device in one direction;

[0064] Figure 23 is a cross-sectional structure schematic diagram of a partial structure of the pipe fitting placement and transfer device in another direction;

[0065] Figure 24 is a schematic diagram of the overall structure of the clamping assembly;

[0066] Figure 25 is a top view structure schematic diagram of the clamping assembly;

[0067] Figure 26 is a schematic diagram of the overall structure of the mounting rack;

[0068] Figure 27 is a three-dimensional view of one embodiment of the film production rack;

[0069] Figure 28 is a three-dimensional view of another embodiment of the film production rack;

[0070] Figure 29 is Figure 28 an enlarged view of region A in

[0071] Figure 30 a perspective view of another embodiment of the slide making rack

[0072] Figure 31 is Figure 30 a bottom view of the embodiment

[0073] Figure 32 a perspective view of an embodiment of the slide making rack

[0074] Figure 33 a schematic view of the snap connection of the spring pin

[0075] Figure 34 a perspective view of an embodiment of a fixing rack

[0076] Figure 35 a perspective view of an embodiment of a base of the slide making bin

[0077] Figure 36 a perspective view of the assembled slide making rack

[0078] Figure 37 a perspective view of another assembled slide making rack

[0079] Figure 38 is a perspective view of the slide making bin provided by this embodiment

[0080] Figure 39 is Figure 38 a longitudinal sectional view of the embodiment

[0081] Figure 40 is a perspective view of the slide making bin fixing device provided by this embodiment

[0082] Figure 41 is Figure 40 a transverse sectional view of the embodiment

[0083] Figure 42 is a perspective view of another slide making bin fixing device provided by this embodiment

[0084] Figure 43 is a perspective view of the liquid-based cytology slide making device provided by this embodiment

[0085] Figure 44 is Figure 43 a longitudinal sectional view of the embodiment

[0086] Figure 45 is a schematic structural view of the automatic feeding and sorting device in an embodiment of the present invention

[0087] Figure 46 is a cross-section of the automatic loading and sorting device in an embodiment of the present invention Figure 1 ;

[0088] Figure 47 is a cross-section of the automatic loading and sorting device in an embodiment of the present invention Figure 2 ;

[0089] Figure 48 is the state of the moving discharging mechanism in an embodiment of the present invention Figure 1 ;

[0090] Figure 49 is the state of the moving discharging mechanism in an embodiment of the present invention Figure 2 ;

[0091] Figure 50 is a schematic structural diagram of the moving discharging mechanism in an embodiment of the present invention;

[0092] Figure 51 is a schematic structural diagram of the loading bin in an embodiment of the present invention;

[0093] Figure 52 is a schematic structural diagram of the pusher in an embodiment of the present invention Figure 1 ;

[0094] Figure 53 is a schematic structural diagram of the pusher in an embodiment of the present invention Figure 2 ;

[0095] Figure 54 is a schematic structural diagram of the film production bin in an embodiment of the present invention;

[0096] Figure 55 is a top view of the cooperation between the first transportation mechanism and the second transportation mechanism in an embodiment of the present invention;

[0097] Figure 56 is a schematic structural diagram of the second transportation mechanism in an embodiment of the present invention;

[0098] Figure 57 is a schematic structural diagram of the picking component in an embodiment of the present invention;

[0099] Figure 58 is a schematic structural diagram of the material blocking component in an embodiment of the present invention;

[0100] Figure 59 is a schematic structural diagram of the tray component in an embodiment of the present invention;

[0101] Figure 60 is a schematic structural diagram of the first transportation mechanism in an embodiment of the present invention;

[0102] Figure 61It is a schematic structural diagram of an automatic centrifugal mechanism in an embodiment of the present invention;

[0103] Figure 62 It is a schematic structural diagram of a centrifugal rotating assembly in an embodiment of the invention;

[0104] Figure 63 It is a schematic structural diagram of a centrifuge cover assembly in an embodiment of the invention;

[0105] Figure 64 It is a schematic structural diagram of a rocker arm sampling mechanism;

[0106] Figure 65 It is a schematic structural diagram of an automatic glass slide numbering mechanism;

[0107] Figure 6 It is a perspective view of a cleaning device provided in this embodiment;

[0108] ​ It is ​ A top view of the cleaning device of the embodiment;

[0109] ​ It is ​ A sectional view of the cleaning device of the embodiment;

[0110] ​ It is a top view of the second cleaning tank provided in this embodiment;

[0111] ​ It is ​ A sectional view taken along line A-A of the second cleaning tank of the embodiment;

[0112] ​ It is ​ A sectional view taken along line B-B of the second cleaning tank of the embodiment;

[0113] ​ It is a first-direction view of the overall structure of the glass slide placement rack transportation device in an embodiment of the present invention;

[0114] ​ It is a first-direction view of the transportation base and the upper structure in an embodiment of the present invention;

[0115] ​ It is a second-direction view of the transportation base and the upper structure in an embodiment of the present invention;

[0116] ​ It is a first-direction view of a partial structure of the transportation base in an embodiment of the present invention;

[0117] ​ It is a first-direction view of a partial structure of the bearing seat in an embodiment of the present invention;

[0118] ​It is a first-direction cross-sectional view of the upper structure of the transportation base in the extended state of the embodiment of the present invention;

[0119] ​ It is a first-direction cross-sectional view of the upper structure of the transportation base in the contracted state of the embodiment of the present invention;

[0120] ​ It is a first-direction view of the structure of the storage box in the embodiment of the present invention;

[0121] ​ It is a first-direction view of the overall structure of the sample mixing device according to an embodiment of the present invention;

[0122] ​ It is a second-direction view of the overall structure of the sample mixing device according to an embodiment of the present invention;

[0123] ​ It is a third-direction cross-sectional view of the overall structure of the sample mixing device according to an embodiment of the present invention;

[0124] ​ It is a first-direction view of the mixing mechanism in the non-working state according to an embodiment of the present invention;

[0125] ​ It is a second-direction cross-sectional view of the mixing mechanism in the working state according to an embodiment of the present invention;

[0126] ​ It is a first-direction view of the pushing mechanism according to an embodiment of the present invention;

[0127] ​ It is a first-direction structural view of the clamping mechanism according to an embodiment of the present invention;

[0128] ​ It is a schematic structural diagram of the eccentric oscillation mechanism in an embodiment of the present invention;

[0129] ​ It is a partial structural schematic diagram of the eccentric oscillation mechanism in an embodiment of the present invention;

[0130] ​ It is a schematic structural diagram of the moving mechanism in an embodiment of the present invention;

[0131] ​ It is a schematic structural diagram of the sample addition driving component in an embodiment of the present invention;

[0132] ​ It is a partial structural schematic diagram of the sample addition driving component in an embodiment of the present invention.

[0133] Explanation of reference numerals:

[0134] 1001, Workbench; 1002, Pretreatment working position; 1003, Slide preparation and staining treatment working position; 1004, Outer shell; 1005, Flap window door;

[0135] A100, Forklift material handling device; A1, Material storage mechanism; A11, Tray; A112, Groove; A12, Material rack; A13, Drawer; A131, Push-pull plate; A132, Third support member; A1321, First support plate; A1322, Second support plate; A133, Connecting plate; A134, First limit pin; A135, Second limit pin; A14, First discharge port; A15, First feed port; A20, Driving mechanism; A2, First driving component; A21, Fourth driving member; A22, Third transmission member; A221, Third driving wheel; A222, Third transmission belt; A223, Third driven wheel; A23, First support member; A24, First guide rail; A25, First sliding block; A3, Second driving component; A31, Fifth driving member; A32, Second guide rail; A33, Second sliding block; A34, Lead screw; A35, Second support member; A4, Material handling component; A41, Positioning block; A42, Material handling plate; A43, Hook bar; A44, Bolt; A5, First direction; A6, Second direction;

[0136] B10, Bracket body, B11, Third driving motor, B12, First rotating member, B121, Seventh wheel, B122, Eighth wheel, B123, Fourth conveyor belt body, B13, Mixing cup, B131, Fourth groove, B132, First hole, B133, Second groove, B134, Third groove, B135, Elastic member, B14, Clamping mechanism, B141, Claw, B1411, First clamping portion, B1412, Second clamping portion, B142, Clamping arm body, B1421, Fourth driving motor, B14211, First transmission shaft, B14212, Second transmission shaft, B1422, Clamping and fixing member, B143, Positioning adapter, B1431, Second positioning hole body, B15, Fourth driving motor, B16, Pushing body, B161, Push rod, B162, Third support plate, B17, First positioning hole body, B18, Sample bottle;

[0137] C10, Pipe fitting placement and transfer device; C1, Mounting frame; C11, Placement position; C111, Placement hole; C112, Carrying groove; C12, Second positioning member; C13, Second connecting member; C2, Clamping component; C21, First clamping member; C22, Second clamping member; C23, Guide boss; C231, Side; C24, Fixed seat; C241, Communication hole; C242, Groove body; C243, First positioning member; C244, First connecting member; C3, Threaded fastener; C4, Window structure; C20, Pipe fitting;

[0138] D100, Automatic blanking device; D1, Loading bin; D11, Second feed inlet; D12, Partition board; D13, First chamber; D14, Second chamber; D141, Second discharge outlet; D15, Through port; D16, First bottom plate; D17, Second bottom plate; D18, Opening; D2, Moving discharging mechanism; D21, Pushing member; D211, Transportation and sorting track; D212, Pushing block; D213, First side plate; D214, First connecting block; D22, Third driving assembly; D221, First driving member; D222, First transmission member; D2221, First driving wheel; D2222, First transmission belt; D2223, First driven wheel; D223, First sliding block; D224, Third guide rail; D23, Fourth supporting member; D24, First light shielding sheet; D25, First sensor; D3, First transportation mechanism; D31, Blocking member; D32, Transportation member; D321, Second side plate; D322, Third bottom plate; D323, First detector; D324, Second detector; D33, Conveyor channel; D34, First inclination angle; D35, Second inclination angle; D36, Blanking port; D4, Second transportation mechanism; D40, Fourth driving assembly; D41, Second driving member; D42, Second transmission member; D421, Second driving wheel; D422, Second transmission belt; D423, Second driven wheel; D43, Fourth guide rail; D44, Pick-up assembly; D441, Pick-up plate; D442, Pick-up port; D443, Second sliding block; D444, Second light shielding sheet; D445, Second sensor; D45, Tray assembly; D451, Tray; D452, Second mounting plate; D453, Third driving member; D454, Third light shielding sheet; D455, Third sensor; D46, Fifth supporting member; D47, Third side plate; D48, Material blocking assembly; D481, First mounting plate; D482, Guide post; D483, Reset member; D484, Contact plate; D485, Baffle plate; D486, Spring; D5, Film production bin; D51, Fourth housing; D52, Fifth housing;

[0139] E10, main arm; E11, first housing; E12, second housing; E13, second connecting block; E131, slide; E20, first clamping arm; E21, first arm body; E22, first slider; E221, first positioning hole; E23, first clamping portion; E24, second clamping portion; E25, first positioning groove; E251, first positioning surface; E252, second positioning surface; E26, first stopper; E261, first locking screw; E27, first screw. E28, first locating pin; E29, first avoidance groove; E30, second clamping arm; E31, second arm body; E32, second slider; E321, second locating hole; E33, third clamping portion; E34, fourth clamping portion; E35, second stopper; E40, first abutting surface; E41, toothed block; E42, upper plane; E43, lower plane; E50, countersunk groove; E51, draft bevel; E60, V-groove; E80, first workpiece; E90, second workpiece.

[0140] F10, film preparation chamber, F11, chamber body, F12, elastic sealing ring, F13, annular flange, F14, reinforcing rib, F15, slot, F16, sliding surface, F20, film preparation chamber fixing device, F21, body, F22, positioning glass beads, F23, through hole, F24, channel, F25, first clearance, F26, first boss, F27, avoidance area, F28, first mounting hole, F29, clamping groove, F30, slide;

[0141] G10, slide rack, G11, base, G12, fixing table, G13, slide clamping device, G13a, third clamping member, G14, fixing device, G14a, second mounting hole, G14b, first positioning column, G14c, positioning pin, G15, third threaded hole, G16, slotted hole, G17, spring pin, G17a, pin shaft, G17b, fastener, G18, positioning slot, G20, fixing frame, G21, second positioning column, G22, flange, G30, slide, G40, slide chamber base, G41, through hole, G42, second boss, G43, second clearance, G44, fourth threaded hole, G50, slide chamber;

[0142] H10. Transport base, H11. Fifth drive assembly, H111. First drive motor, H112. First wheel set, H1121. First wheel, H1122. Second wheel, H1123. First conveyor belt body, H1124. First connection part, H113. Second wheel set, H1131. Third wheel, H1132. Fourth wheel, H1133. Second conveyor belt body, H1134. Second connection part, H12. First guiding mechanism, H13. Support body, H131. Second guiding mechanism, H14. First seat plate, H141. First groove, H142. Storage box, H1421. Storage cavity, H1422. Holding part, H1423. Protrusion, H1424. Guiding part, H1425. Slide holder, H15. First zero optical coupler, H16. First stop piece

[0143] H20. Carrying seat, H21. Third guiding mechanism, H22. Sixth drive assembly, H221. Second drive motor, H222. Fifth wheel, H223. Sixth wheel, H224. Third conveyor belt body, H225. Third connecting piece, H23. Sixth support piece, H24. Second zero optical coupler

[0144] K10. Cleaning base, K11. Stepped platform, K12. Positioning boss, K13. Screw hole, K14. Through channel, K15. Consumable discard opening, K20. First cleaning tank, K30. Second cleaning tank, K31. Cleaning positioning groove, K32. Slide cleaning chamber, K32a. Cavity, K32b. Cleaning interface pipe, K32c. Flushing port, K32d. Chamfer, K32e. First pipe, K32f. Second pipe, K33. Slide debris cleaning chamber, K34. Waste discharge port, K35. Waste discharge pipe, K36. Connecting channel, K37. Fixing hole, K40. Slide

[0145] M1. Moving mechanism; M11. First moving assembly; M112. First driving part; M13. Third moving assembly; M3. Liquid adding and pumping assembly; M31. Connecting piece; M32. Support bar; M33. Pipette tip; M30. Sampling driving assembly; M34. Sampling driving part; M35. Sampling transmission part; M36. Sampling guide rail; M37. Sampling sliding block

[0146] 6. Automatic centrifugation mechanism; 601. Centrifuge support frame; 602. Centrifuge tube rack seat; 603. Centrifugal rotation assembly; 603-1. Centrifugal flange; 603-2. Flange support sleeve; 603-3. Bearing cover plate; 603-4. Light-shielding sheet; 603-5. Bearing; 603-6. Photoelectric sensor; 603-7. Bearing seat; 603-8. Motor fixing plate; 603-9. Fifth driving motor; 604. Fixing plate; 605. Centrifuge sealed housing; 606-1. Sixth driving motor; 606-2. Motor fixing plate; 606-3. Photoelectric sensor; 606-4. Light-shielding sheet; 606-5. Guide rail; 606-6. Slide block; 606-7. Cover plate;

[0147] 7. Rocker arm sampling mechanism; 701. Sampling needle; 702. Sampling needle rotation driving device; 703. Sampling needle rotation driving device;

[0148] 8. Eccentric oscillation mechanism; 801. Centrifuge tube rack vibrating table; 802. Bearing seat; 803. Shock-absorbing rubber pad; 804. Spring; 805. Driving motor fixing plate; 806. Eccentric shaft; 807. Seventh driving motor;

[0149] 9. Automatic glass slide numbering mechanism; 91. Glass slide rack; 92. Marker; Detailed implementation manners

[0150] To facilitate the understanding of the present invention, the specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings of the specification.

[0151] Unless otherwise specified or defined, the "first, second..." used herein is only for differentiating names and does not represent a specific quantity or order.

[0152] Unless otherwise specified or defined, the term "and / or" used herein includes any and all combinations of one or more related listed items.

[0153] It should be noted that "fixed to" and "connected to" herein can be directly fixed or connected to an element, or indirectly fixed or connected to an element.

[0154] This integrated slide-making and staining machine is applicable to the pretreatment, slide-making, staining, and cytological analysis of various liquid-based cells. These cells can be various cells of mammals, without special restrictions here. Specifically, in this embodiment, the cells are mainly cervical cells for cervical cancer cytological examination. Through this integrated slide-making and staining machine, pretreatment operations and slide-making and staining operations are performed on liquid-based cells. Specifically, the automatic process of liquid-based thin-layer cells is achieved through automatic cyclic sample injection, automatic sample mixing, eccentric oscillation, automatic centrifugation, automatic feeding and loading of the staining chamber, automatic slide loading, automatic sample bottle capping, automatic addition of specimen solution, automatic coding, automatic alcohol fixation and staining, automatic cleaning, and automatic slide collection. It has the characteristics of low operation difficulty and high efficiency.

[0155] This integrated slide-making and staining machine includes, but is not limited to, the manipulator assembly, moving mechanism, forklift material handling device, pipe fitting placement and transfer device, slide rack and chamber for liquid-based thin-layer cell slide-making, automatic feeding and sorting device for automatic feeding of the staining chamber, cleaning device for cell staining and slide-making, slide rack transport device, sample mixing device, liquid addition and extraction assembly, automatic centrifugation mechanism, eccentric oscillation mechanism, rocker arm sample addition device, automatic slide numbering mechanism, and scanning module. Among them, the moving mechanism drives the manipulator to move. With the specific structure of the manipulator, the manipulator assembly can achieve functions such as automatic liquid addition, automatic waste liquid extraction, automatic needle cleaning, automatic clamping of the staining chamber, slides, automatic picking and discarding of suction nozzles, automatic picking and placing of centrifugal baskets, and automatic picking and placing of sample bottles. The forklift material handling device realizes the function of automatic cyclic sample injection of liquid-based samples, the sample mixing device realizes the function of mixing samples in the sample bottle, the pipe fitting placement and transfer device realizes placing a batch of centrifugal tubes loaded with samples into the automatic centrifugation mechanism or eccentric oscillation mechanism for eccentric or oscillating, and the rocker arm sample addition device realizes functions such as adding extraction liquid and sucking away waste liquid after centrifugation. The automatic feeding and sorting device for automatic feeding of the staining chamber realizes automatic feeding and loading of the staining chamber. The liquid addition and extraction assembly, slide rack for liquid-based thin-layer cell slide-making, staining chamber, and cleaning device realize the functions of automatic reagent addition, alcohol fixation, nuclear staining, and automatic cleaning. The slide rack transport device realizes the function of automatic slide collection, and the automatic slide numbering mechanism realizes the function of automatic slide numbering. The scanning module is used to scan the sample information of the sample bottle. In addition, this integrated slide-making and staining machine may also include a processor, etc., for controlling and realizing the above various functions, and can be used for automatic cytological analysis of the stained cells.

[0156] Among them, the overall working process of this integrated slide-making and staining machine generally includes the following pretreatment steps and slide-making and staining steps:

[0157] Pretreatment steps: The centrifuge tube is placed in the pipe fitting placement and transfer device within the automatic centrifugation mechanism by a manipulator. The extraction solution is added to the centrifuge tube by the rocker pipetting device. The sample bottle is automatically loaded by the forklift material handling device. The sample bottle is transferred to the sample mixing device by a manipulator for mixing and capping. During the mixing process, the information of the sample bottle can be scanned by the scanning module, and the scanned information is transmitted to the slide numbering mechanism for corresponding information marking. Then, the sample mixed in the sample bottle is transferred to the centrifuge tube containing the extraction solution by the manipulator loading the pipette tip for centrifugation operation. Multiple centrifugations can be performed during the centrifugation operation. After centrifugation is completed, the manipulator takes out the pipe fitting placement and transfer device and transfers it to the eccentric oscillation mechanism for polarization. After polarization is completed, another manipulator takes the pipette tip, and samples are taken from the centrifuge tube with the pipette tip and dropped into the preparation chamber in the preparation rack equipped with the preparation chamber and the slide for preparation and staining operations.

[0158] Preparation and staining operations: After the pipette tip has transferred all the samples, the manipulator clamps the pipe fitting placement and transfer device and places it back in the centrifuge tube rack placement position. During the staining operation, the staining reagent can be added and the waste liquid can be extracted through the liquid addition and extraction component. After staining is completed, the slide is transferred to the cleaning device for cell staining preparation by the manipulator for cleaning, and finally transported out through the slide placement rack transportation device. Meanwhile, during the mixing, centrifugation, and polarization processes of the sample, the preparation chamber is automatically loaded by the automatic loading and sorting device for the preparation chamber in the preparation rack. The automatic slide numbering mechanism performs automatic loading and marking operations on the slide. Then, the preparation chamber and the slide are transferred and assembled into the preparation rack by the manipulator for staining operations. The above sample treatment steps and staining steps can be synchronized through the control of at least two manipulators, which can greatly improve the efficiency.

[0159] Among them, the first robotic arm can have a first clamping structure and a nozzle loading structure. The first robotic arm can independently move in the three-dimensional XYZ directions. The first clamping structure and the nozzle loading structure of this first robotic arm are mainly responsible for the pre-treatment area on the workbench. The nozzle loading structure is located on one side close to the sample preparation and staining processing work position, and specifically includes: transferring the sample bottle to the sample mixing device through the first clamping structure of the first robotic arm, performing sample barcode scanning, capping, and box combining. The sample mixing device disperses the sample. At the same time, the pipe fitting placement and transfer device can grab and transfer the sample into and out of the automatic centrifugation mechanism to the consumable drawer placement area. The nozzle loading structure of the first robotic arm can load the liquid extraction module to transfer the mixed sample into the centrifuge tube, and perform centrifugation processing through the automatic centrifugation mechanism. Before sample transfer, the reagent required for the experimental steps will be added to the centrifuge tube through the rocker pipetting mechanism, and then the mixture of the sample and the reagent will be centrifuged. After centrifugation is completed, the pipe fitting placement and transfer device will be transferred to the eccentric oscillation mechanism by the first robotic arm to perform the sample cell dispersion action. After the centrifugation and dispersion action is completed, the liquid extraction module of the nozzle loading structure of the first robotic arm will transfer the secondary sample to the sample preparation and staining area, and at this time, the pre-treatment steps are completed.

[0160] The second robotic arm can have a liquid addition and extraction component and a second clamping structure. The second robotic arm can independently move in the three-dimensional XYZ directions. This second robotic arm is mainly responsible for the sample preparation and staining area on the workbench surface, performing liquid addition and flushing and waste liquid suction during the sample preparation process in the staining rack module of the sample preparation and staining area, automatically loading and unloading the glass slides and consumables in the sample preparation chamber, and the working module in the staining area. The moving stroke is the shortest. At the same time, it can work synchronously with the first robotic arm, minimizing the interference area between the two robotic arms during various operations, improving the working efficiency of the left and right dual robotic arms, and completing their respective action processes more independently.

[0161] In addition, it should be noted that for the convenience of description, in the following embodiments, for the structures of the robotic arm assembly, the moving mechanism, the forklift material handling device, the pipe fitting placement and transfer device, the sample preparation rack and sample preparation chamber for liquid-based thin-layer cytology, the automatic feeding and sorting device for automatic feeding of the sample preparation chamber, the cleaning device for cell staining and sample preparation, the glass slide placement rack transportation device, the sample mixing device, the liquid addition and extraction component, the automatic centrifugation mechanism, the eccentric oscillation mechanism, the rocker pipetting device, and the automatic glass slide numbering mechanism, the reference numerals for the same component in each structure module may be different. For example ​ the sample preparation chamber G50 shown is also ​ the sample preparation chamber F10 shown and ​ the sample preparation chamber D5, and the three are essentially the same component, which is only used to assist in explaining the composition and function realization of the structure without any other special restrictions.

[0162] The specific structure and realized functions of the integrated slide-making and staining machine of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0163] An embodiment of the present invention provides an integrated slide-making and staining machine, as ​ shown. The integrated slide-making and staining machine includes a machine base, on which a workbench 1001, a moving mechanism M1, and a manipulator assembly are provided;

[0164] The workbench 1001 has a working area, and the working area has a pretreatment working position 1002 and a slide-making and staining treatment working position 1003; wherein, various functional modules for liquid-based cell pretreatment, slide-making and staining, and cytological analysis can be integrated on the pretreatment working position 1002 and the slide-making and staining treatment working position 1003, and the liquid-based sample pretreatment and cell slide-making and staining can be integrated and completed in one device.

[0165] The manipulator assembly is movably arranged on the moving mechanism M1, and the manipulator assembly is located above the working area;

[0166] The manipulator assembly includes a manipulator, and the manipulator at least includes a first manipulator and a second manipulator. The first manipulator at least has a first moving position and a second moving position, and the second manipulator at least has a third moving position and a fourth moving position;

[0167] The first moving position, the second moving position, the third moving position, and the fourth moving position at least cooperate with the pretreatment working position 1002 and the slide-making and staining treatment working position 1003. It should be noted that the first moving position and the second moving position are different positions on different working positions or different positions on the same working position, and the third moving position and the fourth moving position are different positions on different working positions or different positions on the same working position, but the first moving position can be the same position or a different position as the third moving position or the fourth moving position, and no special limitation is made here, that is, it can be ensured that the first manipulator and the second manipulator can independently move at different positions of each working position. Among them, the manipulator is used to move the detected cell samples, consumables, or equipment, etc. at the working position for specific operations. By setting that the manipulator at least includes at least two manipulators, namely the first manipulator and the second manipulator, and each manipulator can move independently, multiple operations can be carried out simultaneously at different working positions of the workbench 1001. For example, in the liquid-based cell slide-making and staining steps, when completing the pretreatment step and the staining step, during the staining process after completing the pretreatment, the next process can be cycled to synchronously carry out the pretreatment work, thereby improving the detection efficiency.

[0168] Among them, a slide-making and staining method based on the integrated slide-making and staining machine is provided here, including a pretreatment step and a slide-making and staining treatment step:

[0169] Pretreatment step: Control one of the first manipulator and the second manipulator to transfer the test sample to the cell pretreatment at the pretreatment working position 1002;

[0170] Slide preparation and staining treatment step: Control the other manipulator of the first manipulator and the second manipulator to transfer the pretreated test sample to the slide preparation and staining treatment working position 1003 for slide preparation and staining treatment;

[0171] Wherein, the pretreatment step and the slide preparation and staining treatment step are independent of each other and can be carried out synchronously.

[0172] Specifically, the pretreatment area 1002 is arranged on the right side of the workbench, and the slide preparation and staining area 1003 is arranged on the left side of the workbench. Correspondingly, the first manipulator is arranged on the right side of the workbench, and the second manipulator is arranged on the left side of the workbench.

[0173] In summary, the slide preparation and staining integrated machine forms working areas on the workbench 1001. By forming the pretreatment working position 1002 and the slide preparation and staining treatment working position 1003 on the working areas, the pretreatment working position 1002 and the slide preparation and staining treatment working position 1003 can cooperate to integrate various functional modules for liquid-based cell pretreatment, slide preparation and staining. It can complete the liquid-based sample cell pretreatment, slide preparation and staining in an integrated device, reduce the floor space occupied by the device, and by setting at least two such manipulators, each manipulator can move independently, so that different operations can be carried out simultaneously at different working positions of the workbench 1001, and each step can be independent and cyclic, thereby effectively improving the detection efficiency.

[0174] In some embodiments, the slide preparation and staining integrated machine further includes a housing 1004, as ​ and ​ shown, the housing 1004 covers the workbench 1001, and the housing 1004 and the workbench 1001 form a cavity to protect the internal core components and its hardware. In addition, the housing 1004 can be provided with a loading turnover door, a flip window door 1005, a drawer A13, etc. Among them, the flip window door 1005 can be opened and closed up and down, which is convenient for observing the internal structure and maintenance, and is used for loading or unloading various consumables or reagents, and is convenient for maintenance. In addition, the housing 1004 can also be provided with a touch display screen, a perspective window, etc., which are not particularly limited here. And the bottom of the housing 1004 can also be provided with foot cups, casters, etc.

[0175] In some embodiments, the first manipulator is correspondingly arranged on the pre-treatment working position 1002 and cooperates with the pre-treatment working position 1002; the second manipulator is correspondingly arranged on the slide-making and staining treatment working position 1003 and cooperates with the slide-making and staining working position 1003. The two manipulators are independently responsible for the pre-treatment step and the slide-making and staining treatment step respectively, which can make the pre-treatment step and the slide-making and staining treatment step independent of each other and can be carried out synchronously.

[0176] In some embodiments, a forklift material handling device A100, a sample mixing device, an automatic centrifugation mechanism 6, an eccentric oscillation mechanism 8 and a rocker pipetting device 7 are arranged on the pre-treatment working position 1002. Preferably, a slide-making rack G10, an automatic blanking device D100 for the slide-making bin, a cleaning device, a slide placement rack transportation device and a liquid adding and pumping assembly M3 are arranged on the slide-making and staining working position 1003 to facilitate the first manipulator to perform sample transfer, mixing, pipetting, centrifugation and oscillation operations related to pre-treatment.

[0177] In some embodiments, the forklift material handling device A100, the automatic centrifuge 6, the eccentric oscillation mechanism 8 and the rocker pipetting device 7 are all arranged around the sample mixing device. Preferably, in the slide-making and staining working position 1003, the automatic blanking device D100, the cleaning device, the slide placement rack transportation device and the liquid adding and pumping assembly M3 are all arranged around the slide-making rack G10 to facilitate the second manipulator to perform operations such as feeding, slide-making, staining and blanking related to slide-making and staining.

[0178] In some embodiments, the moving mechanism M1 drives the manipulator to reciprocate in a three-dimensional space, and the manipulator has a clamping part, and the clamping part has a first clamping position and a second clamping position with different clamping spaces. Among them, the manipulator can move in a three-dimensional space, so that it can reciprocate and move up and down between different working positions, and can form a mutual avoidance space. In addition, the clamping position is used to clamp the instruments for detection such as consumables or test tube racks, etc. By forming a first clamping structure and a second clamping structure with different clamping spaces by the manipulator, it can be changed to different clamping positions for clamping according to the specifications of the instruments to be clamped, which can realize clamping different instruments by one mechanical part, improve the versatility, further streamline the structure of the manipulator, and reduce the space occupation.

[0179] In some embodiments, as ​ shown, the moving mechanism M1 includes a first moving component M11, at least two second moving components M12 and at least two third moving components M13;

[0180] The first moving component M11 is located above the working position. Each second moving component M12 is arranged on the first moving component M11. The first moving component M11 drives each second moving component M12 to move independently along the first direction. Each third moving component M13 is respectively arranged on each second moving component M12 in a one-to-one correspondence. The second moving component M12 drives the third moving component M13 to move along the second direction. Any one of the first manipulator or the second manipulator is arranged on each third moving component M13. The third moving component M13 drives the manipulator to move along the third direction. The first direction, the second direction, and the third direction cooperate to form a three-dimensional direction. Wherein, the first moving component M11, the second moving component M12, and the third moving component M13 can all be linear drive devices such as linear motion sliders, linear lead screws, etc., and no special limitation is made here. Wherein, the first moving component M11 can include a support beam, a moving guide rail body, and at least two moving drive devices. The moving drive devices are arranged on the support beam along the first direction, and the number of the moving drive devices corresponds to the number of the second moving components M12, so as to independently drive each second moving component M12 to reciprocate along the moving guide rail body.

[0181] In some embodiments, the moving mechanism M1 further has a liquid adding and pumping component M3. The first end of the support bar M32 is installed on the third driving component M30. The third driving component M30 is installed on the moving mechanism M1. The support bar M32 is inclined. And both suction heads M33 are installed on the support bar M32 and are staggeredly arranged in the horizontal direction. The suction heads M33 of this liquid adding and pumping component M3 are used to add buffer solution and alcohol to the samples in the staining tank. After the samples react with the buffer solution and alcohol, the samples settle, and the waste liquid in the staining tank is sucked, so that the liquid samples form solid stained samples after staining. The support bar M32 is used to fix multiple suction heads M33. The multiple suction heads M33 are staggeredly arranged on the support bar M32. The inclination slope of this support bar M32 is the same as the inclination slope of the staining table M41, so that the liquid adding and pumping component M3 can add buffer solution and extract waste liquid to multiple staining tanks on the staining table M41 at one time, further improving the staining efficiency of the staining device M100.

[0182] In this embodiment, there are at least two straws with different heights on the suction head M33. The straws with different heights are respectively used for adding buffer solution, alcohol, and extracting waste liquid to avoid cross-contamination.

[0183] The sample adding driving assembly M30 includes a sample adding connecting piece M31, a sample adding driving piece M34, a sample adding transmission piece M35, a sample adding guide rail M36, a sample adding sliding block M37 and a sample adding support piece. The sample adding driving piece M34 is installed on the sample adding support piece, the sample adding support piece is installed on the second moving assembly M12 of the moving mechanism M1, the sample adding transmission piece M35 is installed on the output end of the sample adding driving piece M34, the first end of the sample adding transmission piece M35 is installed on the second moving assembly M12, the sample adding guide rail M36 is installed on the sample adding support piece and extends along the third direction, the sample adding sliding block M37 is installed on the second end of the sample adding transmission piece M35, the sample adding sliding block M37 is in sliding fit with the sample adding guide rail M36, and the support bar M32 is installed on the sample adding sliding block M37 through the sample adding connecting piece M31. The sample adding driving piece M34 is used to drive the sample adding transmission piece M35, the sample adding transmission piece M35 is used to transmit the power of the sample adding driving piece M34 and change the output torque and output direction of the sample adding driving piece M34, so that the sample adding sliding block M37 is in sliding fit with the sample adding guide rail M36 in the third direction, and the sample adding guide rail M36 is used to limit the moving direction of the sample adding sliding block M37, realizing the movement of the sample adding and pumping assembly M3 in the third direction. In this embodiment, there are two groups of the second moving assemblies M12. One group of the second moving assemblies M12 is used to drive the third moving assembly M13 to move in the second direction, and the other group of the second moving assemblies M12 is used to drive the third driving assembly M30 to move in the second direction; when the sample adding and pumping assembly M3 needs to suck waste liquid, the moving mechanism M1 is used to drive the sample adding and pumping assembly M3 to move and operate. The first moving assembly M11 and the second moving assembly M12 can control the movement of the sample adding and pumping assembly M3 in the first direction and the second direction.

[0184] In some embodiments, the manipulator is a two-in-one manipulator, such as ​ shown, including: a main arm E10; at least one first clamping arm E20 and at least one second clamping arm E30 are arranged on the main arm E10, at least a first clamping part E23 and a second clamping part E24 are arranged on the first clamping arm E20, and at least a third clamping part E33 and a fourth clamping part E34 are arranged on the second clamping arm E30; the first clamping part E23 and the third clamping part E33 correspond to each other and form a first clamping structure, and the second clamping part E24 and the fourth clamping part E34 correspond to each other and form a second clamping structure.

[0185] Specifically, in this embodiment, the main arm E10 includes: a first housing E11, a second housing E12, and a second connecting block E13. The second housing E12 is rotatably connected to the first housing E11, and the second connecting block E13 is fixedly connected to the second housing E12. The first clamping arm E20 and the second clamping arm E30 are slidably arranged on the second connecting block E13. A driving motor is arranged in the first housing E11, and a transmission assembly is arranged in the second housing E12. The output end of the driving motor passes through the first housing E11 and the second housing E12 and is connected to the input end of the transmission assembly. The output end of the transmission assembly passes through the second housing E12 and the second connecting block E13 and is connected to the first clamping arm E20 and the second clamping arm E30. The transmission assembly can adopt components such as worm gears and gear linkages in the prior art, which are not limited herein. By driving the transmission assembly to move through the driving motor, the transmission assembly drives the first clamping arm E20 and the second clamping arm E30 to perform opening and closing movements, so as to realize the first clamping structure to clamp / drop the first workpiece E80, or realize the second clamping structure to clamp / drop the second workpiece E90, thereby being able to realize the clamping of two different types of workpieces, realizing the function of a two-in-one manipulator, reducing the tediousness of changing the clamping arm midway, and improving versatility.

[0186] Further, the first clamping structure is closer to the main arm E10 than the second clamping structure, and the distance between the first clamping portion E23 and the third clamping portion E33 is smaller than the distance between the second clamping portion E24 and the fourth clamping portion E34.

[0187] Specifically, in this embodiment, by the first clamping structure being closer to the main arm E10 than the second clamping structure, and the distance between the first clamping portion E23 and the third clamping portion E33 being smaller than the distance between the second clamping portion E24 and the fourth clamping portion E34, it is prevented that the second clamping structure affects the first clamping structure from clamping the first workpiece E80, and after the second clamping structure clamps the second workpiece E90, the first clamping structure can also play an axial limiting role on the second workpiece E90, preventing the second workpiece E90 from axially slipping and resulting in the failure of the insertion station.

[0188] Further, as ​ shown, both the first clamping portion E23 and the third clamping portion E33 include: a first abutting surface E40, the first abutting surface E40 is an arc surface, and a plurality of tooth-shaped blocks E41 are arranged on the first abutting surface E40.

[0189] Specifically, in this embodiment, the first abutting surface E40 of the first clamping portion E23 is provided on the first clamping arm E20, the first abutting surface E40 of the third clamping portion E33 is provided on the second clamping arm E30, a plurality of tooth blocks E41 are evenly arranged, the first workpiece E80 is a sample bottle, a plurality of evenly arranged tooth bars are provided on the side wall of the bottle cap of the sample bottle, tooth grooves are formed between adjacent tooth bars, the first abutting surface E40 is an arc surface, and a plurality of tooth blocks E41 are provided on the first abutting surface E40, when the first clamping structure clamps the sample bottle, the plurality of tooth blocks E41 are evenly arranged. E41 is inserted into the corresponding toothed groove, so that the sample bottle is automatically centered and aligned to ensure the accuracy of the clamping transfer to the next workstation. In addition, after the first clamping arm E20 and the second clamping arm E30 clamp the bottle cap of the sample bottle, the driving motor can drive the second shell E12 to rotate, and the second shell E12 drives the connecting block E13, the first clamping arm E20 and the second clamping arm E30 to rotate to complete the opening and tightening operations. When the first workpiece E80 is rotated to open and tighten the cap, the setting of the toothed block E41 can also increase the friction force to prevent the cap from slipping and causing failure in opening and tightening the cap.

[0190] Furthermore, the second clamping portion E24 and the fourth clamping portion E34 both include a recessed groove E50 , and the four side surfaces of the recessed groove E50 are all draft slopes E51 .

[0191] Specifically, in this embodiment, the groove E50 of the second clamping part E24 is opened on the first clamping part E23, the groove E50 of the fourth clamping part E34 is opened on the fourth clamping part E34, the second workpiece E90 is a centrifuge tube transfer rack, and the four side surfaces of the groove E50 are all draft slopes E51, that is, the upper, lower, left and right four sides of the groove E50 gradually tilt outward from the bottom of the groove E50, so that the second abutment mechanism can be compatible with the position accuracy error of the centrifuge tube transfer rack, ensuring that each clamping is stable and reliable.

[0192] Furthermore, if ​ and ​ As shown, a first limit block E26 is provided on the first clamping arm E20, and a second limit block E35 is provided on the second clamping arm E30. The first limit block E26 is closer to the main arm E10 than the first clamping part E23, and the second limit block E35 is closer to the main arm E10 than the third clamping part E33.

[0193] Specifically, in this embodiment, the first limiting block E26 is fixed to the first clamping arm E20 by the first locking screw E261, and the second limiting block E35 is fixed to the second clamping arm E30 by the second locking screw. The first limiting block E26 corresponds to the second limiting block E35. The first limiting block E26 is closer to the main arm E10 than the first clamping portion E23, and the second limiting block E35 is closer to the main arm E10 than the third clamping portion E33. When transferring and inserting the first workpiece E80 into the next working station, the first limiting block E26 and the second limiting block E35 can abut against the top end of the first workpiece E80, playing an axial limiting role on the first workpiece E80 to prevent the first workpiece E80 from axially slipping and causing the failure of the insertion working station.

[0194] Further, as ​ and ​ shown, the first clamping arm E20 includes: a first slider E22 and a first arm body E21; the second clamping arm E30 includes: a second slider E32 and a second arm body E31; both the first slider E22 and the second slider E32 are slidably arranged on the main arm E10. A first positioning groove E25 is formed on the first arm body E21, and a second positioning groove is formed on the second arm body E31. The first positioning groove E25 is inserted with the first slider E22, and the second positioning groove is inserted with the second slider E32. The first slider E22 is fixedly connected to the first arm body E21 by the first screw E27, and the second slider E32 is fixedly connected to the second arm body E31 by the second screw.

[0195] Specifically, in this embodiment, a chute E131 is formed on the second connecting block E13, and both the first slider E22 and the second slider E32 are slidably arranged in the chute E131. By arranging first positioning blocks on both sides of the first arm body E21 and arranging second positioning blocks at the lower positions of the first positioning blocks on the first arm body E21, the first positioning groove E25 is formed. The inner side surface of the first positioning block is the first positioning surface E251, and the inner side surface of the second positioning block is the second positioning surface E252. By arranging third positioning blocks on both sides of the second arm body E31 and arranging fourth positioning blocks at the lower positions of the third positioning blocks on the second arm body E31, the second positioning groove is formed. The inner side surface of the third positioning block is the third positioning surface, and the inner side surface of the fourth positioning block is the fourth positioning surface. After inserting the first slider E22 into the first positioning groove E25, the first arm body E21 and the first slider E22 are prevented from shifting by the limiting of the first positioning surface E251 and the second positioning surface E252, facilitating the locking and fixing of the first arm body E21 and the first slider E22 by the first screw E27. After inserting the second slider E32 into the second positioning groove, the second arm body E31 and the second slider E32 are prevented from shifting by the limiting of the third positioning surface and the fourth positioning surface, facilitating the locking and fixing of the first arm body E2 and the first slider E22 by the second screw.

[0196] In some other embodiments, both the first clamping portion E23 and the third clamping portion E33 include: a first abutting surface E40, an upper plane E42, and a lower plane E43; the upper plane E42 is disposed on the upper side of the first abutting surface E40, and the lower plane E43 is disposed on the lower side of the first abutting surface E40.

[0197] Specifically, in this embodiment, the main arm E10 includes: a first housing E11 and a second connecting block E13. The second connecting block E13 is connected to the first housing E11. The first clamping arm E20 and the second clamping arm E30 are slidably disposed on the second connecting block E13. A driving motor and a transmission assembly are disposed in the first housing E11. The output end of the driving motor is connected to the input end of the transmission assembly. The output end of the transmission assembly passes through the first housing E11 and the second connecting block E13 and then is connected to the first clamping arm E20 and the second clamping arm E30. The first abutting surface E40 is an arc surface. The upper plane E42 of the first clamping portion E23 is the bottom surface of the first limiting block E26. The second clamping portion E24 is the bottom surface of the second limiting block E35. The first limiting block E26 is formed by outward extension of the front surface of the first clamping arm E20. The second limiting block E35 is formed by outward extension of the front surface of the second clamping arm E30. The first workpiece E80 is a film production bin. Through the settings of the first abutting surface E40, the upper plane E42, and the lower plane E43, when clamping the film production bin, the arc-shaped first abutting surface E40 cooperates with the arc surface of the film production bin for automatic centering and clamping, realizing positioning clamping and transfer. When inserting the film production bin into the working station, the upper plane E42 directly acts on the top plane of the film production bin, preventing axial slip of the film production bin during the process of inserting into the working station, resulting in insertion failure. When removing the film production bin, the lower plane E43 supports the shoulder surface of the film production bin, preventing axial slip of the film production bin, resulting in failure to remove the film production bin.

[0198] Further, as ​ shown, both the second clamping portion E24 and the fourth clamping portion E34 include: a V-shaped groove E60, and the bottom of the V-shaped groove E60 is a plane.

[0199] Specifically, in this embodiment, the V-shaped groove E60 of the second clamping portion E24 is disposed on the first clamping arm E20, and the V-shaped groove E60 of the fourth clamping portion E34 is disposed on the second clamping arm E30. The second workpiece E90 is a glass slide. When clamping the glass slide, under the guidance of the V-shaped groove E60, the glass slide automatically moves in a centered manner until the side surface of the glass slide fits and positions with the bottom plane of the V-shaped groove E60, thereby eliminating the positioning accuracy error of the glass slide and avoiding crushing the glass slide due to poor position accuracy during the clamping process. After the side surface of the glass slide fits and positions with the bottom plane of the V-shaped groove E60, the driving motor receives the clamping force feedback and stops clamping, realizing the clamping and transfer of the glass slide.

[0200] Further, as ​ and ​As shown, a first positioning pin E28 is provided on the first arm body E21, and a second positioning pin is provided on the second arm body E31. A first positioning hole E221 is formed on the first slider E22, and a second positioning hole E321 is formed on the second slider E32. The first positioning pin E28 is inserted into the first positioning hole E221, and the second positioning pin is inserted into the second positioning hole E321. The first slider E22 is fixedly connected to the first arm body E21 by a first screw E27, and the second slider E32 is fixedly connected to the second arm body E31 by a second screw.

[0201] Specifically, in this embodiment, through the cooperation of the first positioning pin E28 and the first positioning hole E221, it is convenient to fix the first slider E22 and the first arm body E21 by the first screw E27. Through the cooperation of the second positioning pin and the second positioning hole E321, it is convenient to fix the second slider E32 and the second arm body E31 by the second screw. In addition, as ​ shown, in this embodiment, a first avoidance groove E29 is provided on the back surface of the first arm body E21, so that the rod portion of the first screw E27 passes through the side wall of the first avoidance groove E29 and then passes through the first arm body E21 to be fixedly connected to the first slider E22, and the head of the first screw E27 is located in the first avoidance groove E29. A second avoidance groove is provided on the back surface of the second arm body E31, so that the rod portion of the second screw passes through the side wall of the second avoidance groove and then passes through the second arm body E31 to be fixedly connected to the second slider E32, and the head of the second screw is located in the second avoidance groove. Through the settings of the first avoidance groove E29 and the second avoidance groove, it is not only convenient for the installation and disassembly of the first screw E27 and the second screw respectively, but also can protect the first screw E27 and the second screw respectively.

[0202] In some embodiments, the pre-treatment working position 1002 includes a forklift material handling device A100, such as ​As shown in the figure, it includes a driving mechanism A20, a material transporting component A4, and a material storage mechanism A1. The first end of the material transporting component A4 is installed on the driving mechanism A20, and the second end of the material transporting component A4 is located on one side of the material storage mechanism A1; the material storage mechanism A1 has a tray A11; the material transporting component A4 has a first moving position and a second moving position. In the first moving position, the material transporting component A4 is at least partially inserted into the material storage mechanism A1; in the second moving position, the material transporting component A4 moves the tray A11 out of the material storage mechanism A1. By using the material storage mechanism A1 to store multiple trays A11, each tray A11 is used to place multiple sample bottles, and the material transporting component A4 is used to pick up the tray A11 with multiple sample bottles; the driving mechanism A20 is used to drive the material transporting component A4 so that the material transporting component A4 has a first moving position and a second moving position. When the material transporting component A4 moves to the first moving position, the material transporting component A4 is used to support or lift the tray A11 to move the tray A11 within the material storage mechanism A1; when the material transporting component A4 moves to the second moving position, the material transporting component A4 moves the tray A11 out of the material storage mechanism A1, realizing automated material handling and improving the problem of low automation in the transportation of sample bottles in batch pathological quantity detection.

[0203] In order to further realize the automated transportation of the tray A11, in some embodiments, the driving mechanism A20 includes a first driving component A2 and a second driving component A3. The material transporting component A4 is installed at the first end of the first driving component A2, and the second end of the first driving component A2 is installed on the second driving component A3; the first driving component A2 is used to drive the material transporting component A4 to move in the first direction A5, and the second driving component A3 is used to drive the material transporting component A4 to move in the second direction A6; wherein, the first direction A5 intersects with the second direction A6. The first driving component A2 is used to drive the material transporting component A4 to move in the first direction A5, and the second driving component A3 is used to drive the material transporting component A4 to move in the second direction A6; in use, the second driving component A3 moves the material transporting component A4 to the target layer position to be picked up, and then the first driving component A2 moves the material transporting component A4 into the material storage mechanism A1. The material transporting component A4 moves to a preset position, and the second driving component A3 moves in the second direction A6 to make the material transporting component A4 cooperate with the bottom of the tray A11. This cooperation method includes jamming, hooking, or dragging the bottom of the tray A11. When the material transporting component A4 cooperates with the tray A11, the first driving component A2 is used to drive the material transporting component A4 to move in the first direction A5 and move the material transporting component A4 from the first moving position to the second moving position, and the tray A11 moves out of the storage material mechanism A1 along with the material transporting component A4, further realizing the automated transportation of the slide-making bin.

[0204] In order to further move the material transport component A4 in the first direction A5, the first drive component A2 includes a first support member A23, a fourth drive member A21, a third transmission member A22, a first guide rail A24, and a first sliding block A25. The first support member A23 is installed on the second drive component A3, the fourth drive member A21 is installed on the first support member A23, the first end of the third transmission member A22 is installed on the output end of the fourth drive member A21, and the first sliding block A25 is installed on the second end of the third transmission member A22; the first guide rail A24 is installed on the first support member A23 and extends along the first direction A5. The first sliding block A25 slides with the first guide rail A24, and the material transport component A4 is installed on the first sliding block A25. The first support member A23 is used to support the fourth driving member A21, the fourth driving member A21 is used to provide power, the third transmission member A22 is used to change the transmission direction of force, and drive the first sliding block A25 to move on the first guide rail A24. Since the material transport component A4 is installed on the first sliding block A25, when the first sliding block A25 moves, it will drive the material transport component A4 to move in the first direction A5, so that the material transport component A4 has a first moving position and a second moving position.

[0205] In order to further realize the movement of the material transport component A4, the third transmission member A22 includes a third driving wheel A221, a third driven wheel A223 and a third transmission belt A222. The third driving wheel A221 is installed at the output end of the fourth driving member A21, and the third driven wheel A223 is rotatably installed on the first support member A23. The two ends of the third transmission belt A222 are respectively connected to the third driving wheel A221 and the third driven wheel A223. The first sliding block A25 is installed on the third transmission belt A222. The fourth driving member A21 drives the third driving wheel A221 to rotate, and the third driving wheel A221 and the third transmission belt A222 generate friction. The third transmission belt A222 is in a tensioned state, driving the third driven wheel A223 to rotate. The third driving wheel A221, the third transmission belt A222 and the third driven wheel A223 constitute a transmission structure. Since the first sliding block A25 is installed on the third transmission belt A222, when the third transmission belt A222 moves, it will drive the first sliding block A25 to move, and the first sliding block A25 drives the material transport component A4 to move.

[0206] In order to further achieve the movement of the material transporting component A4 in the second direction A6, the second driving component A3 includes a second support member A35, a fifth driving member A31, a second sliding block A33, a second guide rail A32, and a lead screw A34. The fifth driving member A31 is installed on the second support member A35, and the lead screw A34 is installed on the output end of the fifth driving member A31. The first support member A23 of the first driving component A2 is installed on the second sliding block A33. The second sliding block A33 is sleeved outside the lead screw A34 and is in threaded cooperation with the lead screw A34. The second guide rail A32 is installed on the second support member A35. Both the second guide rail A32 and the lead screw A34 extend along the second direction A6. The first support member A23 is in sliding cooperation with the second guide rail A32. The second support member A35 is used to support the fifth driving member A31. The lead screw A34 is installed on the output end of the fifth driving member A31. The fifth driving member A31 is used to drive the lead screw A34 to rotate clockwise or counterclockwise. Since the first support member A23 is installed on the second sliding block A33, the second sliding block A33 is sleeved outside the lead screw A34 and is in threaded cooperation with the lead screw A34. Moreover, the first support member A23 also cooperates with the second guide rail A32. The second guide rail A32 restricts the moving direction of the first support member A23, so that the first support member A23 restricts the rotation of the second sliding block A33. When the lead screw A34 rotates, a frictional force is generated between the outer wall of the lead screw A34 and the inner wall of the second sliding block A33. This frictional force will drive the second sliding block A33 to move along the lead screw A34, thereby further achieving the movement of the material transporting component A4 in the second direction A6 through the first support member A23.

[0207] In some embodiments, the material transporting assembly A4 includes a material transporting plate A42 and a hook bar A43. The material transporting plate A42 is installed on the driving mechanism A20, and the hook bar A43 is installed on the material transporting plate A42. The bottom of the material tray A11 has a second avoidance groove and a groove A112. The second avoidance groove allows the material transporting plate A42 to pass through, so that the hook bar A43 cooperates with the groove A112. The first driving assembly A2 of the driving mechanism A20 will drive the material transporting assembly A4 to move in the first direction A5, so that the material transporting plate A42 of the material transporting assembly A4 is inserted into the material storage mechanism A1. When the material transporting plate A42 moves, it is inserted into the second avoidance groove at the bottom of the material tray A11. When the material transporting plate A42 moves to a preset position, the hook bar A43 on the material transporting plate A42 is located below the groove A112. Start the second driving assembly A3 to drive the material transporting plate A42 of the material transporting assembly A4. The material transporting plate A42 moves in the second direction A6, and the hook bar A43 on the material transporting plate A42 moves into the groove A112. The hook bar A43 cooperates with the groove A112. Then the first driving assembly A2 drives the material transporting plate A42 to move, so that the material transporting plate A42 hooks out the material tray A11 to the outside of the material storage mechanism A1 through the hook bar A43. In this embodiment, the material transporting assembly A4 has a bolt A44. The first end of the bolt A44 passes through the bottom of the material transporting plate A42 and is fixed to the hook bar A43, so that the hook bar A43 is fixed on the upper end surface of the material transporting plate A42.

[0208] In some embodiments, the material transporting assembly A4 also has a positioning block A41 and a roller. The first end of the positioning block A41 is installed on the first sliding block A25 of the driving mechanism A20, and the material transporting plate A42 is installed on the second end of the positioning block A41. One end of the positioning block A41 close to the material storage mechanism A1 is used to abut against the material tray A11. This positioning block A41 has the function of strengthening the stability between the first sliding block A25 and the material transporting plate A42, and also has a positioning function. Specifically, when the material transporting plate A42 is inserted into the material storage mechanism A1, when the side wall of this positioning block A41 just abuts against the outer wall of the material tray A11, the hook bar A43 is exactly located directly below the groove A112. When designing, making the distance between the positioning block A41 and the hook bar A43 equal to the distance between the outer wall of the material tray A11 and the groove A112 can achieve positioning.

[0209] In addition, the roller is installed on the first support member A23 of the first driving assembly A2 (not shown in the figure), and the lower end surface of the material transporting plate A42 cooperates with the roller. The roller supports the movement of the material transporting plate A42. The material transporting plate A42 is in rolling cooperation with the roller, which improves the support strength of the material transporting plate A42 and the friction force when the material transporting plate A42 moves, and reduces the power consumption of the fourth driving member A21.

[0210] In some embodiments, the material storage mechanism A1 includes a material rack A12 and at least one drawer A13. The tray A11 is detachably placed in the drawer A13, and the drawer A13 is slidably engaged with the material rack A12; the material rack A12 has a first feed inlet A15 and a first discharge outlet A14, and the first feed inlet A15 and the first discharge outlet A14 are oppositely arranged. A plurality of drawers A13 are arranged in the material rack A12 and are slidably engaged with the material rack A12. Each drawer A13 is respectively used to accommodate the tray A11, which facilitates the removal of the tray A11 from the material rack A12. The tray A11 enters the material rack A12 through the first feed inlet A15, and the material transporting assembly A4 picks up the tray A11 through the first discharge outlet A14. After the material transporting assembly A4 takes out the tray A11 from the material rack A12 to the working position, a robotic arm is used to grab the sample bottles placed on the tray A11 for the next process step.

[0211] In some embodiments, the drawer A13 includes a push-pull plate A131, a connecting plate A133, and two third support members A132. The two third support members A132 are installed on the inner wall of the push-pull plate A131 through the connecting plate A133. The cross-section of the third support member A132 is L-shaped, and the third support member A132 has an L-shaped groove, and at least a part of the tray A11 is located in the L-shaped groove. The two third support members A132 are used to support the tray A11, and at least a part of the tray A11 is located in the L-shaped groove, which improves the stability of the tray A11 in the two third support members A132. The two third support members A132 are fixed to the inner wall of the push-pull plate A131 through the connecting plate A133, which improves the stability of the third support member A132. The tray A11 is moved into or out of the material rack A12 by pushing the push-pull plate A131.

[0212] In some embodiments, the third support member A132 includes a first support plate A1321, a second support plate A1322, a first limit pin A134, and a second limit pin A135. The first support plate A1321 and the second support plate A1322 are of an integral structure. The first limit pin A134 is installed on the side wall of the first support plate A1321, and the second limit pin A135 is installed on the upper end surface of the second support plate A1322. The first limit pin A134 and the second limit pin A135 are arranged far apart from each other, and the length direction of the first limit pin A134 intersects with the length direction of the second limit pin A135. When using the drawer A13 to place the tray A11, the front and rear sides of the tray A11 are respectively abutted against the first limit pin A134 and the second limit pin A135, and the tray A11 is restricted between the first limit pin A134 and the second limit pin A135, improving the stability of the tray A11 in the drawer A13. When the material conveying assembly A4 takes out the tray A11, the conveying plate A42 only needs to move the tray A11 upward in the second direction A6, and the height of the tray A11 is greater than the heights of the first limit pin A134 and the second limit pin A135, so that the front and rear sides of the tray A11 are respectively separated from the first limit pin A134 and the second limit pin A135, and then the tray A11 can move in the first direction A5, thereby taking out the tray A11 from the drawer A13.

[0213] In some embodiments, the pretreatment working position 1002 includes a pipe fitting placing and transferring device C10, such as ​ shown, the pipe fitting placing and transferring device C10 includes a mounting frame C1 and a clamping assembly C2.

[0214] A plurality of placing positions C11 are provided on the mounting frame C1, and the placing positions C11 are used for placing pipe fittings C20; among them, a plurality of pipe fittings C20, such as a plurality of centrifuge tubes, can be placed on the mounting frame C1 at the same time, and by directly transferring the mounting frame C1 on which a plurality of pipe fittings C20 are placed, a batch of pipe fittings C20 can be transferred to the next working position at the same time, such as being transferred to a centrifuge or a polarization mechanism for batch centrifugation or polarization.

[0215] The clamping assembly C2 includes a first clamping member C21 and a second clamping member C22, and the first clamping member C21 and the second clamping member C22 are arranged on both sides of the mounting frame C1 corresponding to the placement position C11. Among them, by arranging the first clamping member C21 and the second clamping member C22 on the mounting frame C1, the cooperation of the first clamping member C21 and the second clamping member C22 can facilitate the clamping and transfer by an external mechanical clamping arm. The shapes and positions of the first clamping member C21 and the second clamping member C22 are adaptively set according to the shape of the mechanical clamping arm, and no special restrictions are made here. And arranging the two clamping members on both sides of the placement position C11 can make the overall clamping force on the mounting frame C1 uniform, so that the mounting frame C1 with multiple pipe fittings C20 placed thereon can be conveniently and smoothly transferred from the previous station to the next station.

[0216] In summary, the pipe fitting placement and transfer device C10 can place a batch of pipe fittings C20 on the mounting frame C1 by providing a plurality of placement positions C11 on the mounting frame C1. And by arranging the first clamping member C21 and the second clamping member C22 on the mounting frame C1, the cooperation of the first clamping member C21 and the second clamping member C22 can facilitate the clamping and transfer by an external mechanical clamping arm, realizing an automatic transfer operation. And arranging the two clamping members on the opposite sides of the placement position C11 can make the overall clamping force on the mounting frame C1 uniform, so that the batch of pipe fittings C20 can be conveniently and smoothly transferred, and the operation is simple and convenient.

[0217] In some embodiments, the mounting frame C1 is provided with a plurality of spaced-apart placement positions C11 along its own length direction. The first clamping member C21 and the second clamping member C22 are arranged on both sides of the mounting frame C1 corresponding to the placement positions C11 in the width direction, and both the first clamping member C21 and the second clamping member C22 are located in the spaced space between two adjacent placement positions C11. Each placement position C11 is arranged along the length direction of the mounting frame C1, that is, the mounting frame C1 is approximately in a linear structure, specifically in an approximately cuboid structure. Each placement position C11 is equidistant and spaced, having the characteristics of being structurally compact and saving space. Due to the linear structure of the mounting frame C1, the width of the mounting frame C1 can be made narrower, resulting in less occupied space and higher space utilization rate. In order to enable the first clamping member C21 and the second clamping member C22 to have sufficient space for placement without occupying extra space, by arranging the first clamping member C21 and the second clamping member C22 on both sides of the mounting frame C1 corresponding to the placement positions C11 in the width direction and making both the first clamping member C21 and the second clamping member C22 located in the spaced space between two adjacent placement positions C11, the spaced space between the placement positions C11 in the length direction of the mounting frame C1 can be well utilized, so as to fix the two clamping members on the mounting frame C1 and reduce the space occupied by the two clamping members in the width direction of the mounting frame C1, thereby further improving the structural compactness and space utilization rate.

[0218] In some embodiments, the first clamping member C21 and the second clamping member C22 are centrally symmetrically arranged about the central axis of the mounting frame C1. Specifically, the first clamping member C21 and the second clamping member C22 are centrally symmetrically arranged about the central axis z of the mounting frame C1 to facilitate clamping operations performed by conventional mechanical clamping arms. Specifically, in this embodiment, the cross-sections of the first clamping member C21 and the second clamping member C22 are both approximately trapezoidal in structure, and the width of the opposite side of the first clamping member C21 and the second clamping member C22 is smaller than the width of the opposite side, facilitating clamping and preventing interference with the placement of the pipe C20.

[0219] In some embodiments, the extension directions of the first clamping member C21 and the second clamping member C22 intersect and are not parallel to the length direction of the mounting frame C1, that is, the extension directions of the first clamping member C21 and the second clamping member C22 are tilted relative to the length direction of the mounting frame C1, so that when multiple mounting frames C1 are placed side by side, the mechanical clamping arm can be conveniently tilted to clamp, effectively avoiding the mechanical clamping arm from hitting the mounting frame C1 next to it.

[0220] In some embodiments, a guide boss C23 is provided on the opposite side of the first clamping member C21 and the second clamping member C22, and the guide boss C23 has four side surfaces C231, and the four side surfaces C231 are all inclined surface structures. Particularly, by forming the four side surfaces C231 of the guide boss C23 into an inclined surface structure, the guide boss C23 forms an approximately trapezoidal structure, and specifically, the area of the end of the guide boss C23 away from the corresponding first clamping member C21 or second clamping member C22 is smaller than the area of the end close to the first clamping member C21 or second clamping member C22. When a mechanical clamping arm is used for clamping, even if there is a position error in the mounting frame C1, it can be automatically centered and aligned under the inclined surface guidance of the guide boss C23, so that the mechanical clamping arm can clamp accurately.

[0221] In some embodiments, the clamping assembly C2 further includes a fixing seat C24 having a connecting hole C241 formed therein. The fixing seat C24 is disposed on the mounting frame C1, and the connecting hole C241 of the fixing seat C24 corresponds to and is interconnected with at least one placement position C11. The first clamping member C21 and the second clamping member C22 are respectively disposed on either side of the fixing seat C24 corresponding to the connecting hole C241. The provision of the fixing seat C24 enables the two clamping members to be fixed to the mounting frame C1, and the provision of the connecting hole C241 on the fixing seat C24 prevents the fixing seat C24 from interfering with the placement of the pipe C20. Specifically, in this embodiment, the connecting hole C241 of the fixing seat C24 corresponds to and is interconnected with one of the placement positions C11, and the two clamping members are respectively disposed on either side of the fixing seat C24 corresponding to the connecting hole C241.

[0222] In some embodiments, on both sides of the fixing base C24 corresponding to the length direction of the mounting frame C1, there are formed groove bodies C242 adapted to the outer peripheral wall shape of the pipe fitting C20. Among them, the groove body C242 is used to avoid the pipe fitting C20, so as to prevent the edge of the fixing base C24 from interfering with the placement operation of the pipe fitting C20 at the placement position C11.

[0223] In some embodiments, at least one first positioning member C243 and at least one first connecting member C244 are provided at the bottom of the fixing base C24, and at least one second positioning member C12 and at least one second connecting member C13 are provided on the mounting frame C1. The fixing base C24 is positioned on the mounting frame C1 through the positioning cooperation of the first positioning member C243 and the second positioning member C12, and the fixing base C24 is fixed on the mounting frame C1 through the connection cooperation of the first connecting member C244 and the second connecting member C13. Specifically, in this embodiment, two of each of the first positioning member C243, the second positioning member C12, the first connecting member C244, and the second connecting member C13 are provided. The fixing base C24 is of a square structure. The two first positioning members C243 are arranged at one diagonal of the fixing base C24, and the two first connecting members C244 are arranged at the other diagonal of the fixing base C24. The two second positioning members C12 are arranged on the mounting frame C1 to adapt to the positions of the two first positioning members C243, and the two second connecting members C13 are arranged on the mounting frame C1 to adapt to the positions of the two first connecting members C244. Therefore, the fixing base C24 can be quickly positioned on the mounting frame C1 through the positioning cooperation of the first positioning member C243 and the second positioning member C12, avoiding the deviation of their positions from affecting the clamping and transfer operations of the pipe fitting C20, and then the fixing base C24 is locked on the mounting frame C1 through the connection cooperation of the first connecting member C244 and the second connecting member C13, so that the two are relatively fixed.

[0224] In some embodiments, the first connecting member C244 is a first threaded hole opened at the bottom of the fixing base C24, and the second connecting member C13 is a second threaded hole opened on the mounting frame C1. The fixing base C24 is fixed on the mounting frame C1 by a threaded fastener C3 passing through the second threaded hole and the first threaded hole in sequence to form a threaded connection. Among them, the fixing base C24 and the mounting frame C1 are connected by a threaded connection method, which has the characteristics of stable connection and convenient disassembly and assembly, and is convenient for maintenance operations. Of course, in other embodiments, the connection method of the fixing base C24 and the mounting frame C1 is not limited to the above-mentioned threaded connection method, and other methods such as pin connection, snap connection, and welding are also applicable, and no special limitation is made here.

[0225] In some embodiments, the first positioning member C243 is a positioning column provided at the bottom of the fixed seat C24, and the second positioning member C12 is a positioning hole correspondingly provided on the mounting bracket C1. The fixed seat C24 is positioned on the mounting bracket C1 through the positioning cooperation between the positioning column and the positioning hole; or, in other embodiments, the first positioning member C243 is a positioning hole provided at the bottom of the fixed seat C24, and the second positioning member C12 is a positioning column correspondingly provided on the mounting bracket C1. The fixed seat C24 is positioned on the mounting bracket C1 through the positioning cooperation between the positioning hole and the positioning column. Among them, through the positioning cooperation between the positioning column and the positioning hole between the fixed seat C24 and the mounting bracket C1, the fixed seat C24 can be quickly and correctly positioned on the mounting bracket C1, and has the characteristics of simple structure.

[0226] In some embodiments, the mounting bracket C1 is provided with a window structure C4 penetrating along the width direction of the mounting bracket C1, and a plurality of placement holes C111 are provided at the top of the mounting bracket C1. A bearing groove C112 is correspondingly provided at the bottom of the mounting bracket C1 at the position corresponding to the placement holes C111. The placement holes C111 and the bearing groove C112 cooperate to form a placement position C11 for placing the pipe fitting C20. Among them, the mounting bracket C1 is provided with a window structure C4 penetrating along the width direction of the mounting bracket C1, which can effectively reduce the overall weight of the mounting bracket C1, and can form an avoidance space for the above-mentioned threaded fastener C3 during threaded connection. The threaded fastener C3 can pass through the second threaded hole from bottom to top and the first threaded hole to fixedly connect the mounting bracket C1 and the fixed seat C24. Specifically, in this embodiment, the mounting bracket C1 includes a top frame, a bottom frame and two support columns. The top frame, the bottom frame and the two support columns cooperate to form a closed frame body with a window structure C4 penetrating from front to back. The placement holes C111 are provided on the top frame, and the bearing groove C112 is provided on the bottom frame. The placement holes C111 on the mounting bracket C1 are for the pipe fitting C20 to pass through, and the bottom of the pipe fitting C20 is carried at the bearing groove C112 to form a placement position C11 for placing the pipe fitting C20, preventing the pipe fitting C20 from falling off and also facilitating maintaining the posture of the pipe fitting C20 during centrifugation and polarization.

[0227] In some embodiments, the opposite sides of the mounting bracket C1 near the bearing groove C112 are inclined surface structures, which are convenient for guiding when transferring the mounting bracket C1 and inserting it into the next working station, and can also reduce the noise generated when the mounting bracket C1 works on the polarizer.

[0228] In some embodiments, as ​ shown, the preparation and staining working position 1003 includes a preparation rack G10 and a preparation chamber G10 for liquid-based thin-layer cell preparation. The preparation rack G10 includes a base G11, and the preparation chamber F10 is fixed on the base G11.

[0229] It should be noted that ​The shown slide-making bin G50 also corresponds to the slide-making bin F10 shown below as ​ and the slide-making bin D5 shown as ​ . Substantially, these three are the same component.

[0230] When making thin-layer cell smears in batches, many slide-making bins, glass slides, and related fixing devices are arranged on the workbench 1001, occupying a large space and being inconvenient to operate; when making slides automatically, it not only increases the stroke of the robotic arm, but also makes the volume of the full-automatic liquid-based cell slide maker even larger.

[0231] Regarding the problems of large space occupation and inconvenient operation when making thin-layer cell smears in batches currently, in some embodiments, at least one base G11 is provided in the slide-making rack G10. In this embodiment, six bases G11 are arranged side by side. It should be noted that the arrangement of multiple bases G11 is not limited to side-by-side arrangement, and can also be arranged in a fan shape, or arranged along the radial direction of a circle, etc.

[0232] The shape of the base G11 is not limited, and it can be trapezoidal or pyramid-shaped. A number of fixing platforms G12 are provided on the base G11. A glass slide clamping device G13 is provided on each fixing platform G12, so that the glass slide G30 can be inserted and installed on the fixing platform G12.

[0233] It should be noted that the glass slide G30 shown as ​ corresponds to the glass slide F30 shown below as ​ and the glass slide K40 shown as ​ . Substantially, these three are the same component.

[0234] A fixing device G14 is also provided on the fixing platform G12. Through the fixing device G14, the base G40 of the slide-making bin can be installed above the fixing platform G12 and above the glass slide G30 installed on the fixing platform G12. Therefore, the glass slide G30 and the base G40 of the slide-making bin on each step are equivalent to a thin-layer cell smear making device, and one base G11 is equivalent to several thin-layer cell smear making devices. Utilizing the space difference between the slide-making bin G50 and the glass slide G30 reduces the planar space of the slide-making rack G10 and makes full use of the three-dimensional space. It is not only convenient for manual operation, but also beneficial for the robotic arm to place and remove the glass slide when installed on the full-automatic liquid-based cell slide maker. The bottom end of the base is the first side end, and the top end is the second side end. The direction of the line connecting the first side end and the second side end constitutes the installation direction of the glass slide.

[0235] The glass slide clamping device G13 is used to make it more convenient and accurate to position the glass slide G30 on the fixed table G12, and also makes the position where the specimen preparation chamber is pressed against the glass slide accurate through the specimen preparation chamber base G40. Taking the insertion direction of the glass slide G30 on the fixed table G12 as a reference, the glass slide clamping device G13 in this embodiment includes third clamping members G13a located on both sides of the fixed table G12 (parallel to the above-mentioned insertion direction) and third clamping members G13a in the front (on the side opposite to the insertion end of the glass slide). In one embodiment, using the vertical surface of the step as the above-mentioned third clamping member in the front, the glass slide clamping device G13 only includes third clamping members G13a located on both sides of the step surface. By arranging the third clamping member G13a in the front, in this embodiment, when inserting the glass slide G30, it can provide elastic buffering for the glass slide G30 to avoid the glass slide G30 colliding with the vertical surface of the step during insertion and causing damage.

[0236] The above-mentioned third clamping member G13a can be in various shapes such as a baffle, a positioning strip, an inverted L-shaped clamping strip, etc., and the material of the third clamping member G13a can be plastic, rubber, elastic rubber strip, etc.

[0237] The base G11 in this embodiment is trapezoidal. Not only is the glass slide clamping device G13 arranged on the inclined surface, but also the glass slide clamping device G13 is arranged on the top surface of the base G11. That is, the top surface and the inclined surface of the base G11 together form a three-dimensional multi-level step.

[0238] The fixing device G14 is related to the structure of the specimen preparation chamber base G40. The fixing device G14 can include: a slot hole provided on the side wall of the base, a pin shaft provided on the third clamping member, a positioning block provided on the step surface of the base, etc. For example: when the specimen preparation chamber base is installed on the step, if a boss is formed by the downward extension of its side wall, the boss can be fixed on the side wall of the base through the slot hole on the side wall of the base to realize the fixation of the specimen preparation chamber base; if a slot hole is provided on the bottom wall of the specimen preparation chamber base, the fixation of the specimen preparation chamber base can be realized by the cooperation of the pin shaft provided on the third clamping member and the slot hole on the bottom wall of the specimen preparation chamber base.

[0239] In one embodiment, the fixing device G14 includes a second mounting hole G14a and a first positioning post G14b. Among them, the second mounting hole G14a is a slot hole on the side wall of the base G11 and is located below the step; the number of the second mounting holes G14a below each step is not limited and can be one or more; the first positioning post G14b is arranged at the top end of the third clamping member G13a on the step surface, and the first positioning post G14b cooperates with the slot hole on the bottom wall of the specimen preparation chamber base G40. By designing the first positioning post G14b and the second mounting hole G14a, the specimen preparation chamber base G40 can be fixed from different spatial dimensions, ensuring that the specimen preparation chamber base G40 is stably and accurately installed on the fixed table G12.

[0240] In order to make the installation of the slide preparation bin G40 more stable, further, two first positioning posts G14b are arranged at intervals on the third clamping member G13a on each side, and the cross-section of the first positioning post G14b is designed as a trapezoid.

[0241] In another embodiment, the fixing device G14 includes a second mounting hole G14a and a positioning pin G14c arranged on the side wall of the base G11. Through the second mounting hole G14a and the positioning pin G14c, it is ensured that the base G40 of the slide preparation bin is stably mounted on the fixing table G12.

[0242] In order to facilitate the fixing of the base G11 on the workbench, the side wall of the base G11 is hollowed out to form a hollow area, and then a number of third threaded holes G15 are arranged on the bottom wall of the base G11, so that the base G11 can be conveniently fixed on the workbench through the hollow area by fasteners.

[0243] In order to make it more convenient to insert or take out the slide during manual staining slide preparation and to facilitate the cleaning of the base, etc. In one example, a slot hole G16 is arranged at the front end of the bottom wall of the base G11 for fasteners such as screws or bolts on the workbench to pass through. The slot hole G16 is arranged in the vertical direction, and a horizontal channel is also dug on the bottom wall of the base G11, and the channel communicates with the slot hole G16, that is to say, the slot hole and the channel are orthogonally arranged. A spring pin G17 is arranged in the channel, and a pin shaft G17a is arranged on the spring pin G17, which can be clamped with the fastener G17b in the slot hole G16. When the spring pin G17 is pulled, the spring pin G17 is separated from the fastener G17b. When the spring pin G17 is released, under the action of the resilience of the spring, the spring pin G17 is re-clamped with the fastener G17b. Therefore, when the base G11 is hinged and installed on the workbench and the bottom wall of the base G11 is not fixed to the workbench by threads, by pulling the spring pin G17 to remove the clamping between the spring pin G17 and the fastener G17b in the slot hole G16, the base G11 can be lifted, making it more convenient to carry out cleaning work or take or insert the slide G30.

[0244] In this embodiment, six bases G11 are arranged side by side. A positioning slot G18 is provided on the upper and lower back surfaces of each base G11. A fixing frame G20 is fixed to the work surface. The fixing frame G20 is frame-shaped and includes an upper frame and a lower frame. The upper frame is provided with six second positioning posts G21 that cooperate with the positioning slots G18. The lower frame is also provided with six second positioning posts G21 that cooperate with the positioning slots G18. The second positioning posts G21 in the upper frame and the positioning slots G18 form a hinge mechanism. When the spring pin G17 is pulled, the base G11 can be lifted by means of this hinge mechanism. Since the bottom wall of the base G11 is not fixed to the work surface by a fixing member, the second positioning posts G21 in the lower frame and the positioning slots G18 can make the base G11 more stable when placed flat.

[0245] The fixing frame G20 is not limited to the structure of this embodiment. In one example, the fixing frame G20 is provided with only one crossbar, and six second positioning posts G21 are provided on the crossbar at intervals.

[0246] The left and right ends of the fixing frame G20 are provided with flanges G22 perpendicular to the plane where the fixing frame G20 is located. The entire fixing frame G20 is shaped like a "C". The flanges G22 on both sides can clamp the bases G11 on both sides of the side-by-side base, which can more firmly fix the side-by-side bases G11.

[0247] Based on the above embodiments of a single base or bases arranged side by side, the preparation rack G10 may further include a plurality of preparation chamber bases G40, each having through-holes for inserting preparation chambers. The preparation chamber bases G40 are then secured to the top of the fixed table G12 via a securing device G14. When a slide G30 is inserted into the slide clamping device G13 on the fixed table G12, the slide G30 is positioned below the preparation chamber base G40. After the preparation chamber G50 is mounted on the preparation chamber base G40, the slide G30 seals the bottom of the preparation chamber G50, preventing leakage of cell fluid in the preparation chamber G50, allowing the cells to naturally settle onto the slides G30.

[0248] In this embodiment, the film-making chamber base G40 has a through hole G41 and a fourth threaded hole G44 at its center, and the film-making chamber G50 can be pressed into and snapped into the through hole G41. The bottom wall of the film-making chamber base G40 extends downward on both sides to form second bosses G42, and a second clearance gap G43 is formed between the two second bosses G42. When the film-making chamber base G40 is fixed on the step, the fixing platform G12 is exactly in the second clearance gap G43. A second mounting hole G14a is provided on the side wall of the base G11. Fasteners secure the bosses G42 on both sides to the side wall of the base G11 through the fourth threaded hole G44, thus completing the fixation of the film-making chamber base G40. Obviously, the fixing device G14 may include not only the above-mentioned second mounting hole, but also various other positioning components provided on the base, such as pins and positioning columns.

[0249] In summary, the slide-making rack is designed as a trapezoid, with slide clamping devices arranged on each step, and a fixing device for fixing the base of the slide-making chamber. The glass slide and the base of the slide-making chamber together form a set of slide-making devices. By arranging each set of slide-making devices on the steps and utilizing the spatial difference between the slide-making chamber and the glass slide, the planar space of the slide-making rack is greatly reduced. It can achieve the maximum utilization effect in a limited area and can more conveniently and easily install the slide-making chamber.

[0250] Currently, ear handles are provided at the lower ends of existing slide-making chambers. The slide-making chamber is installed by rotating the ear handle and snapping it onto the slide-making plate with a glass slide placed on it. The installation is not convenient, and the installation force of each person for the slide-making chamber is different, so it is very easy to install it inappropriately, resulting in different pressing degrees between the slide-making chamber and the glass slide, and there may be a situation of liquid leakage.

[0251] In response to the above problems, as ​ shown, this embodiment provides a slide-making chamber F10 and a fixing device F20 for the slide-making chamber. When installing the slide-making chamber F10, by pressing the slide-making chamber F10, the slide-making chamber F10 can be slidably snapped into the fixing device F20 for the slide-making chamber, and the slide-making chamber F10 is pressed tightly on the glass slide. The installation is simple and convenient. Moreover, whether it is different people or a robotic arm pressing, the slide-making chamber F10 is snapped into the same position of the fixing device F20 for the slide-making chamber, ensuring proper installation and good sealing performance, and avoiding liquid leakage.

[0252] Specifically, the slide-making chamber F10 includes a chamber body F11 and an elastic sealing ring F12. The chamber body F11 is cylindrical with openings at both ends. The end where the cell liquid is dropped is the top of the chamber body F11, and the elastic sealing ring F12 is fixed to the bottom of the chamber body F11. The free end of the elastic sealing ring F12 extends beyond the bottom of the chamber body. Under the action of pressure, the elastic sealing ring F12 can deform axially along the chamber body F11, and the elastic sealing ring F12 contracts, so that the elastic sealing ring F12 tightly adheres to the glass slide, preventing the cell liquid dropped into the slide-making chamber F10 from leaking to the outside of the slide-making chamber F10. Among them, the way of fixing the elastic sealing ring F12 to the bottom of the chamber body F11 is not limited. For example, the elastic sealing ring F12 is fixed to the bottom of the chamber body F11 in a tightly fitting manner. Both the chamber body F11 and the elastic sealing ring F12 of this embodiment are plastic parts. Therefore, when manufacturing the slide-making chamber F10, the chamber body F11 and the elastic sealing ring F12 can be integrally formed, or can be cooperatively formed by opening a glue injection port at one end of the chamber body F11 close to the glass slide.

[0253] The top of the bin body F11 extends outward to form an annular flange F13. The diameter of the annular flange F13 is larger than that of the bin body F11. Through this annular flange F13, it is more convenient to press the tablet pressing bin F10, and it makes it easier and more stable to clamp the tablet pressing bin F10. The height of the bin body F11 is greater than the diameter of the annular flange F13, which can ensure that the center of gravity of the entire tablet pressing bin is located in the lower half of the entire tablet pressing bin. In this embodiment, in order to reduce the weight of the top of the tablet pressing bin F10 and achieve the effect of being heavier at the bottom and lighter at the top, and further make the center of gravity of the tablet pressing bin located in the lower half of the tablet pressing bin, an annular groove is dug at the top end of the annular flange F13. A number of reinforcing ribs F14 are arranged circumferentially along the side wall and the bottom wall of the annular flange F13 that forms the annular groove. One end of the reinforcing rib F14 is connected to the side wall of the annular flange F13, and the other end is connected to the bottom wall of the annular flange F13 to enhance the strength of the annular flange F13. The center of gravity of the tablet pressing bin being located in the lower half of the tablet pressing bin is beneficial to the sorting and arrangement of the tablet pressing bin during the feeding stage.

[0254] A clamping groove F15 that recesses inward into the bin body F11 is provided on the outer wall of the bin body F11. The shape of the clamping groove F15 can be designed accordingly according to the shape of the elastic chuck in the tablet pressing bin fixing device. The clamping groove F15 cooperates with the elastic chuck in the tablet pressing bin fixing device to achieve the clamping connection between the tablet pressing bin and the tablet pressing bin fixing device. In order to achieve the sliding clamping operation by pressing the tablet pressing bin, a sliding surface F16 is provided between the bottom of the clamping groove F15 (the deepest point where the clamping groove recesses inward) and the top of the clamping groove F15 (the connection point between the clamping groove and the outer wall of the tablet pressing bin). When the tablet pressing bin F10 is pressed into the tablet pressing bin fixing device, the elastic chuck in the tablet pressing bin fixing device can move along the sliding surface F16 and be clamped at the bottom in the clamping groove F15 to ensure proper installation. The side wall of the bin body F11 at the position where the clamping groove F15 is located extends inward, and a chamfer is provided at the connection between the inner surface of the side wall of the bin body F11 and the outer surface of the elastic sealing ring F12, making it more secure to inlay the elastic sealing ring F12 on the inner wall of the bin body F11.

[0255] Multiple clamping grooves F15 can be provided along the outer wall of the bin body F11. Preferably, the clamping groove F15 is an annular groove on the outer wall of the bin body F11, so that there is no need to consider the horizontal deflection angle when installing the tablet pressing bin F10.

[0256] In this embodiment, the cross-section of the sliding surface F16 is circular arc-shaped, which can cooperate with the spherical elastic chuck in the tablet pressing bin fixing device, and can make the tablet pressing bin more smoothly clamped with the tablet pressing bin fixing device when pressed. However, the cross-sectional shape of the sliding surface F16 is not limited to this. It can also be that the shape of the bottom of the clamping groove F15 matches the shape of the elastic chuck in the tablet pressing bin fixing device, and then is connected to the top of the clamping groove F15 through a straight line at a certain oblique angle, which can also achieve the effect of sliding clamping when pressed.

[0257] After the production chamber adopts the above structure, it can achieve press fixation. Compared with the existing production chambers, the installation is simpler and more convenient. Even when different forces are used during the installation of the production chamber, the production chamber can finally return to the same clamping position, ensuring proper installation.

[0258] In order to achieve sliding clamping of the production chamber, this embodiment also provides a production chamber fixing device F20, which includes a body F21 and an elastic chuck. A through hole F23 for pressing the production chamber F10 is provided on the body F21. The position of the elastic chuck is not fixed and can move linearly under an external force, and can be clamped in the card slot of the production chamber F10 under the action of a pressing force, realizing the clamping of the production chamber fixing device F20 and the production chamber F10.

[0259] Since the card slot F15 in the production chamber F10 of this embodiment is semi-circular, a positioning ball F22 with a spring (i.e., a spring is fixed on the positioning ball F22) is used as the elastic chuck. The positioning ball F22 is spherical and is pushed by an elastic force, and can match the shape of the card slot F15. However, the elastic chuck is not limited to this structure, and a conventional plug head can also be used as the elastic chuck; other elastic members can also be used to push the positioning ball F22, such as a bolt with a spring.

[0260] A number of channels F24 communicating with the through hole F23 are opened on the body F21, and the channels F24 are arranged along the circumferential direction of the through hole F23. The positioning ball F22 and the elastic member are installed in the channels F24. Under the thrust of the elastic member, a part of the positioning ball F22 is exposed in the through hole F23. When the production chamber F10 is pressed in, the positioning ball F22 is squeezed by the outer wall of the production chamber F10 and retracts into the channels F24. Then, when the card slot F15 of the production chamber F10 reaches the position where the positioning ball F22 is located, the positioning ball F22 slides into the bottom of the card slot F15 of the production chamber F10, realizing the clamping of the positioning ball F22 on the production chamber F10.

[0261] The positioning ball F22 of this embodiment is equipped with a spring. To simplify the installation of the positioning ball F22, one end of the channel F24 communicates with the through hole F23, and the other end penetrates the body F21 until the outside of the body F21. Placing the positioning ball F22 inward at the channel opening facing the outside of the body F21 can realize the installation of the positioning ball F22.

[0262] To facilitate the placement of the slide F30, a first relief gap F25 for placing the slide F30 is provided below the through hole F23 on the body F21. The height of the first relief gap F25 is higher than the thickness of the slide. Specifically, in this embodiment, first bosses F26 extending downward are provided on opposite sides of the body F21. The shape of the first bosses F26 is not limited, and the gap between the two first bosses F26 forms the first relief gap F25. When the slide F30 is inserted into the first relief gap F25 and the specimen preparation chamber F10 is pressed into the specimen preparation chamber fixing device F20, the elastic sealing ring F12 on the specimen preparation chamber F10 can closely adhere to the slide F30 to prevent the cell fluid dropped into the specimen preparation chamber F10 from leaking out.

[0263] A first mounting hole F28 for fixing the specimen preparation chamber fixing device F20 is also provided on the first boss F26. Through this first mounting hole F28, the specimen preparation chamber fixing device F20 can be screwed and fixed on the specimen preparation rack.

[0264] In this embodiment, the body is similar to an "X" shape. An avoidance area F27 is provided at the center of the body F21, which makes it more convenient to take and place the specimen preparation chamber F10 and the slide F30, not easily collide with the body F21, and can also reduce the overlapping area between the specimen preparation chamber fixing device F20 and the slide F30 to prevent the body F21 from scratching the cell sample on the slide F30 when the slide F30 is taken out. A clamping groove F29 is also provided to facilitate the pressing and taking out of the specimen preparation chamber.

[0265] During specimen preparation and staining, first insert the slide F30 vertically into the first relief gap F25 along the direction of the avoidance area F27, and then press the specimen preparation chamber F10 into the specimen preparation chamber fixing device F20 so that the specimen preparation chamber F10 is slidably clamped in the specimen preparation chamber fixing device F20. At this time, the specimen preparation chamber tightly presses on the slide, and then the liquid-based cell specimen preparation and staining operation can be carried out. After the specimen preparation and staining are completed, first take out the specimen preparation chamber, and then take out the slide for the next step of cover glass mounting operation.

[0266] In summary, when the specimen preparation chamber is clamped in the specimen preparation chamber fixing device by pressing, the magnitude of the pressing force can be different, and finally the specimen preparation chamber can return to the same position of the specimen preparation chamber fixing device through the sliding surface. The installation is simple and convenient, ensuring that the installation is in place and avoiding liquid leakage.

[0267] In some embodiments, such as ​As shown in the figure, an automatic loading and sorting device D100 for automatically loading the film production bin D5 is further provided in an embodiment of the present invention, including a loading bin D1, a moving discharging mechanism D2, and a blocking member D31. The loading bin D1 has a second feeding port D11, an opening D18, and a second discharging port D141. The second feeding port D11 is communicated with the second discharging port D141. One end of the moving discharging mechanism D2 passes through the opening D18, and in the first direction, the moving discharging mechanism D2 is slidably matched with the loading bin D1; the blocking member D31 is installed on the loading bin D1 and at least partially located at the second discharging port D141; the moving discharging mechanism D2 has a transportation and sorting track D211; the moving discharging mechanism D2 has a first moving position and a second moving position in the loading bin D1. In the first moving position, the transportation and sorting track D211 is located at the bottom of the loading bin D1; in the second moving position, the transportation and sorting track D211 corresponds to the second discharging port D141. In this embodiment, the first direction is the height direction of the loading bin D1.

[0268] By the sliding fit between the moving discharging mechanism D2 and the loading bin D1, when the moving discharging mechanism D2 moves to the first moving position, the transportation and sorting track D211 is located at the bottom of the loading bin D1, and the film production bin D5 at the bottom of the loading bin D1 slides onto the transportation and sorting track D211. The posture of the film production bin D5 on the transportation and sorting track D211 is forward or reverse; when the moving discharging mechanism D2 moves to the second moving position, the transportation and sorting track D211 corresponds to the second discharging port D141, and the film production bin D5 with a forward posture on the transportation and sorting track D211 falls into the second discharging port D141. The blocking member D31 is used to block the film production bin D5 with a reverse posture and guide the film production bin D5 to slide into the second discharging port D141. By the reciprocating movement of the moving discharging mechanism D2 between the first moving position and the second moving position, the transportation and sorting track D211 continuously conveys the sorted film production bin D5 to the second discharging port D141, and the film production bin D5 with a misaligned posture is blocked by the blocking member D31, so that the automatic loading and sorting device D100 realizes the sorting of consumables (film production bin D5), improves the sorting efficiency of consumables, and improves the problem of low efficiency of manually sorting consumables in batch pathological quantity detection. In this embodiment, this blocking member D31 is used to limit the height outside the second discharging port D141. When the posture of the film production bin D5 is reverse, the position of the film production bin D5 on the transportation and sorting track D211 is relatively high, and the film production bin D5 is likely to contact the blocking member D31, so it is blocked by the blocking member D31 and cannot be discharged from the second discharging port D141.

[0269] The transport sorting track D211 includes a receiving groove. The width of the receiving groove is smaller than the width of the second discharge port D141, and the height of the receiving groove is smaller than the height of the second discharge port D141. A guiding groove is formed between the inner side of the blocking member D31 and the second discharge port D141. The guiding groove gradually increases from the top to the bottom of the second discharge port D141. This guiding groove is used for the reverse film production bin D5 to move. After the film production bin D5 contacts the blocking member D31, the film production bin D5 acts on the blocking member D31, and the blocking member D31 generates a reverse acting force. The film production bin D5 moves in the guiding groove and adjusts its direction. If the film production bin D5 is adjusted to the forward posture, it will fall into the receiving groove and be discharged along the second discharge port D141. If it cannot be adjusted to the forward posture, it will move downward along the transport sorting track D211 to the bottom of the loading bin D1, or directly fall into the loading bin D1 and be transported, adjusted, and sorted by the transport sorting track D211 next time.

[0270] In this embodiment, the transport sorting track D211 is a receiving groove. The width of the receiving groove is smaller than the width of the second discharge port D141, and the width of the receiving groove is larger than the minimum end of the film production bin D5, so that the minimum end of the film production bin D5 can enter the receiving groove. Since the width of the receiving groove is smaller than the maximum end of the film production bin D5, the maximum end of the film production bin D5 cannot enter the receiving groove. Therefore, the film production bin D5 cannot enter the receiving groove in the reverse posture. The width of the receiving groove is also smaller than the height of the film production bin D5, so the film production bin D5 cannot enter the receiving groove in the horizontal posture. When the transport sorting track D211 transports the film production bin D5 and the minimum end of the film production bin D5 does not enter the receiving groove, the film production bin D5 is extremely unstable on the transport sorting track D211. When the moving discharge mechanism D2 drives the transport sorting track D211 to move, the generated inertia easily causes the unstable film production bin D5 to fall from the transport sorting track D211. Moreover, when the transport sorting track D211 moves to the second discharge port D141, when the unstable film production bin D5 contacts the blocking member D31, it is easily blocked by the blocking member D31 and falls from the transport sorting track D211. When the minimum end of the film production bin D5 enters the receiving groove, at least part of the film production bin D5 is engaged with the receiving groove, and the film production bin D5 is relatively stable on the transport sorting track D211. Also, since the width of the second discharge port D141 is smaller than the maximum size of the film production bin D5, the film production bin D5 cannot be discharged from the second discharge port D141 when it is placed horizontally on the transport sorting track D211. Therefore, only when the minimum end of the film production bin D5 enters the receiving groove can it be discharged from the second discharge port D141 through the transport sorting track D211.

[0271] The blocking member D31 is installed obliquely on the loading bin D1. A first inclination angle D34 is formed between the length direction of the blocking member D31 and the height direction of the loading bin D1. For the obliquely arranged blocking member D31, after the transportation and sorting track D211 rises, the production bins D5 stacked at the second discharge port D141, the guiding inclined surface of the blocking member D31 will guide the production bins D5 to be discharged, or guide the reverse production bins D5 to fall, reducing the extrusion phenomenon between the production bins D5 and the blocking member D31 and avoiding excessive wear of the production bins D5. In this embodiment, by arranging the blocking member D31 obliquely on the loading bin D1, its inclined first inclination angle D34 is less than 60 degrees. At the second discharge port D141, the space between the blocking member D31 and the second discharge port D141 gradually increases from the top to the bottom of the second discharge port D141. When the production bin D5 is reverse or transverse on the transportation and sorting track D211, the smallest end of the production bin D5 cannot enter the receiving groove. The position of the production bin D5 on the transportation and sorting track D211 is relatively high, and the smallest end of the production bin D5 will be blocked by the blocking member D31, and the production bin D5 cannot be discharged from the second discharge port D141; when the production bin D5 is forward on the transportation and sorting track D211, at least part of the production bin D5 is caught in the receiving groove, and the space between the blocking member D31 and the bottom of the second discharge port D141 can just allow the production bin D5 to be discharged from the second discharge port D141, so as to further realize that after the production bins D5 are sorted, they are discharged from the second discharge port D141. By the transportation and sorting track D211 moving up and down in the loading bin D1, the automatic sorting of the production bins D5 is further realized. In this embodiment, the maximum width between the bottom of the blocking member D31 and the second discharge port D141 is less than the height of the production bin D5 and greater than the outer diameter of the largest end of the production bin D5.

[0272] The automatic feeding and sorting device D100 further includes a partition D12. The partition D12 is installed in the feeding bin D1 and divides the inner cavity of the feeding bin D1 into a first chamber D13 and a second chamber D14. The second feeding port D11 communicates with the first chamber D13, the second chamber D14 communicates with the second discharge port D141, and a through port D15 is formed between the partition D12 and the bottom of the feeding bin D1. The first chamber D13 communicates with the second chamber D14 through the through port D15; the bottom of the feeding bin D1 is inclined. In this embodiment, a large number of production bins D5 enter the feeding bin D1 from the second feeding port D11. The inner cavity of the feeding bin D1 is divided into a first chamber D13 and a second chamber D14 by the partition D12. The first chamber D13 is used for stacking and storing a large number of production bins D5. The transportation and sorting track D211 is used for sorting the production bins D5 in the second chamber D14. By using the partition D12, a large number of production bins D5 are prevented from piling up near the transportation and sorting track D211, reducing the resistance when the transportation and sorting track D211 moves. Moreover, by providing the through port D15, the production bins D5 in the first chamber D13 gradually enter the second chamber D14, and material blockage in the feeding bin D1 is also avoided. The bottom of the feeding bin D1 is inclined. The feeding bin D1 has a first bottom plate D16 and a second bottom plate D17. Both the first bottom plate D16 and the second bottom plate D17 are inclined, and the lowest points of the first bottom plate D16 and the second bottom plate D17 are close to the opening D18, so that the production bins D5 in the first chamber D13 slide to the second chamber D14 due to their own weight, and when the moving discharging mechanism D2 is in the first moving position, the production bins D5 in the second chamber D14 slide onto the transportation and sorting track D211, and then are sorted on the transportation and sorting track D211.

[0273] The automatic feeding and sorting device D100 also has a first conveying mechanism D3. The first conveying mechanism D3 has an inclined conveying channel D33. The conveying channel D33 communicates with the second chamber D14 through a second discharge port D141. The transportation and sorting track D211 is inclined. The transportation and sorting track D211, the bottom of the feeding bin D1, and the conveying channel D33 are inclined in the same direction, and the inclined direction forms a second inclination angle 35 with the height direction of the feeding bin 1. The second inclination angle 35 is less than 80. In this embodiment, the first conveying mechanism D3 is used to convey and sort the film-making bins D5. The transportation and sorting track D211, the bottom of the feeding bin D1, and the conveying channel D33 are inclined in the same direction, so that the film-making bin D5 in the second chamber D14 can more easily slide onto the transportation and sorting track D211. When the feeding bin D1 moves to correspond to the second discharge port D141, the sorted film-making bin D5 on the transportation and sorting track D211 easily slides into the conveying channel D33 of the first conveying mechanism D3 due to its own weight. The film-making bins D5 on the conveying channel D33 are automatically conveyed or moved in sequence by their own weight, further improving the movement passability of the film-making bin D5 in the automatic feeding and sorting device D100.

[0274] In this embodiment, the height of the film-making bin D5 is greater than the maximum outer diameter of the film-making bin D5. The center of gravity of the film-making bin D5 is close to the minimum end of the film-making bin D5. When the film-making bin D5 is on the transportation and sorting track D211, the transportation and sorting track D211 is inclined. Multiple film-making bins D5 move in the feeding bin D1 through the transportation and sorting track D211. Due to its own gravity, the minimum end of the film-making bin D5 is prone to move downward, and will preferentially approach the transportation and sorting track D211 in a forward or forwardly skewed posture. When the forwardly skewed film-making bin D5 slides in the transportation and sorting track D211, it will adjust its posture under the action of gravity and the center of gravity, so that the forwardly skewed film-making bin D5 returns to the correct posture, further realizing the sorting of the film-making bin D5 in the transportation and sorting track D211.

[0275] The moving material discharging mechanism D2 includes a fourth support member D23, a pushing member D21, and a third driving assembly D22. The fourth support member D23 is installed on the feeding bin D1. The first end of the third driving assembly D22 is installed on the fourth support member D23, and the pushing member D21 is installed on the second end of the third driving assembly D22. One end of the pushing member D21 passes through the opening D18 and is at least partially located inside the feeding bin D1. The pushing member D21 is slidably engaged with the feeding bin D1. The transportation and sorting track D211 is provided on the top of the pushing member D21. The third driving assembly D22 is used to drive the pushing member D21 to move, so that the pushing member D21 has a first moving position and a second moving position inside the feeding bin D1. In this embodiment, the third driving assembly D22 provides the power for the up and down movement of the pushing member D21. The third driving assembly D22 is fixed to the feeding bin D1 through the fourth support member D23 to improve the stability of the third driving assembly D22 on the feeding bin D1. The pushing member D21 is used to move up and down inside the feeding bin D1 and fill the opening D18. The transportation and sorting track D211 is provided on the top of the pushing member D21. When the pushing member D21 moves up and down, the transportation and sorting track D211 sorts and arranges the film production bins D5 at the bottom of the feeding bin D1, and transports and sorts the film production bins D5 at the top of the feeding bin D1.

[0276] The pushing member D21 includes a pushing block D212, a first connecting block D214, and two first side plates D213. The pushing block D212 is installed on the third driving assembly D22 through the first connecting block D214. The two first side plates D213 are installed on both sides of the pushing block D212, and a transportation and sorting track D211 is formed between the inner sides of the tops of the two first side plates D213 and the top of the pushing block D212. The width of the transportation and sorting track D211 is greater than the minimum end of the film production bin D5 and less than the maximum end of the film production bin D5. The pushing block D212 is used to improve the support strength of the transportation and sorting track D211. The two first side plates D213 are used to support the maximum end of the film production bin D5 and limit the maximum end of the film production bin D5 from entering the transportation and sorting track D211. Moreover, the transportation and sorting track D211 formed between the pushing block D212 and the two first side plates D213 has a simple structure and is easy to process and produce.

[0277] The third driving component D22 includes a first driving member D221, a first transmission member D222, a third guide rail D224, and a first sliding block D223. The first driving member D221 is installed on the fourth support member D23. The first end of the first transmission member D222 is installed on the output end of the first driving member D221. The first sliding block D223 is installed on the second end of the first transmission member D222. The third guide rail D224 is installed on the fourth support member D23 and extends along the first direction. The first sliding block D223 is slidably engaged with the third guide rail D224. The first driving member D221 is used to provide power, and the first transmission member D222 is used to change the transmission torque direction of the first driving member D221, so that the first sliding block D223 drives the first connecting block D214 to move and drives the pushing member D21 to move up and down. Moreover, the third guide rail D224 is installed on the fourth support member D23 and extends along the first direction. The first sliding block D223 is slidably engaged with the third guide rail D224 in the first direction. The third guide rail D224 is used to limit the moving direction of the pushing member D21 and improve the stability of the pushing member D21 moving in the first direction.

[0278] In addition, the first transmission member D222 includes a first driving wheel D2221, a first transmission belt D2222, and a first driven wheel D2223. The first driving wheel D2221 is installed on the output end of the first driving member D221. The first driven wheel D2223 is rotatably installed on the fourth support member D23. The two ends of the first transmission belt D2222 are respectively in transmission cooperation with the first driving wheel D2221 and the first driven wheel D2223. The first sliding block D223 is installed on the first transmission belt D2222. The first driving member D221 drives the first driving wheel D2221 to rotate, and drives the first driven wheel D2223 to rotate through the first transmission belt D2222, so that the first transmission belt D2222 moves in the first direction, and drives the first sliding block D223 to move in the first direction through the first transmission belt D2222.

[0279] The moving material discharging mechanism D2 also has a first light-shielding piece D24 and a first sensor D25. The first sensor D25 is installed on the fourth support piece D23 and is electrically connected to the first driving piece D221 of the third driving assembly D22. The first light-shielding piece D24 is installed on the first connecting block D214 of the pushing piece D21. When the pushing piece D21 is in the first moving position, the first light-shielding piece D24 is in sensing cooperation with the first sensor D25. In this embodiment, when the first light-shielding piece D24 moves downward with the pushing piece D21, the first light-shielding piece D24 blocks the light source of the first sensor D25, enabling the first sensor D25 to sense the moving position of the first light-shielding piece D24, thereby determining the position of the pushing piece D21 in the loading bin D1. After the first sensor D25 senses the first light-shielding piece D24, it sends a first electrical signal to the first driving piece D221, causing the first driving piece D221 to drive the pushing piece D21 to move upward. By providing the first light-shielding piece D24 and the first sensor D25, the reciprocating movement of the pushing piece D21 is achieved, realizing the automation control of the sorting, sequencing, and transportation of the moving material discharging mechanism D2.

[0280] The film production bin D5 includes a fourth housing D51 and a fifth housing D52. Both the fourth housing D51 and the fifth housing D52 are columnar and are of an integral structure. The outer diameter of the fourth housing D51 is smaller than that of the fifth housing D52. The fourth housing D51 is the smallest end of the film production bin D5, and the fifth housing D52 is the largest end of the film production bin D5.

[0281] The present invention also proposes a sorting method for the automatic loading and sorting device D100, including the following steps:

[0282] Step 1: The moving material discharging mechanism D2 moves to the first moving position in the loading bin D1, and the film production bin D5 of the loading bin D1 slides onto the transportation and sorting track D211.

[0283] Step 2: The moving material discharging mechanism D2 moves to the second moving position in the loading bin D1. The film production bin D5 is moved by the transportation and sorting track D211 to the second discharge port D141. The film production bin D5 sorted by the transportation and sorting track D211 is removed from the second discharge port D141, and the film production bin D5 not sorted by the transportation and sorting track D211 is blocked by the blocking piece D31.

[0284] Through the above sorting method, the automation control of the moving material discharging mechanism D2 for sorting, sequencing, and transporting the film production bin D5 in the loading bin D1 is realized. In this sorting method, mechanical automation operation is achieved, improving the loading efficiency of the automatic loading and sorting device D100.

[0285] An embodiment of the present invention further provides an automatic blanking device D100, which further includes a first transportation mechanism D3 and a second transportation mechanism D4. The first transportation mechanism D3 has a blanking port D36. The second transportation mechanism D4 includes a fifth support member D46, a material blocking assembly D48, and a picking assembly D44. The material blocking assembly D48 is installed on the fifth support member D46 and is disposed close to the blanking port D36. The picking assembly D44 is movably disposed on the fifth support member D46, and in a second direction, the picking assembly D44 has a third moving position and a fourth moving position. In the third moving position, the picking assembly D44 is close to the blanking port D36. In the fourth moving position, the picking assembly D44 is away from the blanking port D36, and at least a part of the material blocking assembly D48 is located at the blanking port D36.

[0286] By cooperating the picking assembly D44 with the material blocking assembly D48, when the picking assembly D44 moves to the third moving position, the picking assembly D44 is close to the blanking port D36, and picks up the slide preparation bin D5 at the blanking port D36, and the material blocking assembly D48 is removed from the blanking port D36. The picking assembly D44 picks up the slide preparation bin D5 and moves to the fourth moving position. The picking assembly D44 is away from the blanking port D36, at least a part of the material blocking assembly D48 is located at the blanking port D36, and the material blocking assembly D48 is used to block the slide preparation bin D5 at the blanking port D36. When transporting the slide preparation bin D5 once, the slide preparation bin D5 at the blanking port D36 is restricted by the material blocking assembly D48, and the slide preparation bin D5 is transported to a preset position by the picking assembly D44. After the robotic arm grabs the slide preparation bin D5 on the picking assembly D44, the idle picking assembly D44 moves to the blanking port D36 again to pick up a single slide preparation bin D5. Therefore, each time the picking assembly D44 picks up a single slide preparation bin D5, it can improve the problem that a large number of consumables cannot be transported sequentially in the batch pathological quantity detection, and solve the problem that the robotic arm cannot effectively grab the slide preparation bin D5 (consumables).

[0287] The first transport mechanism D3 has an inclined transport channel D33. The blanking port D36 is located at the lowest point of the transport channel D33 and is communicated with the transport channel D33. The second transport mechanism D4 further has a fourth drive assembly D40. The fourth drive assembly D40 is installed on the fifth support member D46. The pickup assembly D44 is installed on the fourth drive assembly D40. The fourth drive assembly D40 is used to drive the pickup assembly D44 so that the pickup assembly D44 has a third movement position and a fourth movement position on the fifth support member D46. In this embodiment, the first transport mechanism D3 is used to be installed at the second discharge port D141 of the loading bin D1. The production bin D5 of the second discharge port D141 moves into the first transport mechanism D3. The transport channel D33 of the first transport mechanism D3 is used to transport the sorted production bins D5. The production bin D5 slides to the blanking port D36 due to its own weight in the inclined transport channel D33. The fourth drive assembly D40 is used to be installed on the fifth support member D46. The fourth drive assembly D40 is used to drive the pickup assembly D44 to move so that the pickup assembly D44 moves on the fifth support member D46 and has a third movement position and a fourth movement position.

[0288] The pickup assembly D44 includes a pickup plate D441, a second slider D443, and a third side plate D47. The second slider D443 is installed on the fourth drive assembly D40. The pickup plate D441 is installed on the second slider D443. The pickup plate D441 has a pickup port D442. The third side plate D47 is installed on the fifth support member D46. When the pickup assembly D44 is in the third movement position, the pickup port D442 faces the blanking port D36. When the pickup assembly D44 is in the fourth movement position, the pickup port D442 faces the third side plate D47 and the pickup port D442 is blocked by the third side plate D47. In this embodiment, the fourth drive assembly D40 is used to drive the second slider D443 to move so that the second slider D443 drives the pickup plate D441 to move in the second direction. The third side plate D47 is installed on the fifth support member D46. The third side plate D47 is used to block the outside of the fifth support member D46 so that when the pickup plate D441 moves in the second direction to pick up the production bin D5, it is not easy to fall off the fifth support member D46, and the stability of the production bin D5 moving in the second direction is also improved. The pickup port D442 of the pickup plate D441 faces the blanking port D36, and the diameter of the pickup port 442 should be greater than the minimum end diameter of the production bin D5 and less than the maximum end diameter of the production bin D5 so that the pickup port D442 can just accommodate a single production bin D5. The production bin D5 is stuck in the pickup port D442 to prevent the production bin D5 from falling out of the pickup port D442. When the pickup assembly D44 picks up the production bin D5 and moves from the blanking port D36 to the fourth movement position, the baffle assembly D48 moves to the blanking port D36 to restrict the production bin D5 at the blanking port D36.

[0289] The picking component D44 further includes a second light-shielding sheet D444 and a second sensor D445. The second light-shielding sheet D444 is installed on the second sliding block D443, and the second sensor D445 is installed on the fifth support member D46 and electrically connected to the fourth driving component D40. When the picking component D44 is in the third moving position, the second light-shielding sheet D444 and the second sensor D445 are inductively matched. In this embodiment, when the picking component D44 moves to the third moving position, the second light-shielding sheet D444 blocks the light source of the second sensor D445, causing the second sensor D445 to generate a second electrical signal. The second electrical signal is used to drive the fourth driving component D40, so that the fourth driving component D40 drives the picking component D44 to move from the blanking port D36 to the fourth moving position, completing a single transportation of the film-making bin D5.

[0290] The fourth driving component D40 includes a second driving member D41, a fourth guide rail D43, and a second transmission member D42. The second transmission member D42 includes a second driving wheel D421, a second transmission belt D422, and a second driven wheel D423. The second driving member D41 is installed on the fifth support member D46, the second driving wheel D421 is installed on the output end of the second driving member D41, the second driven wheel D423 is rotatably installed on the fifth support member D46, and the second transmission belt D422 is respectively in transmission cooperation with the second driving wheel D421 and the second driven wheel D423. The fourth guide rail D43 is installed on the fifth support member D46 and extends along the second direction. The second sliding block D443 of the picking component D44 is installed on the second transmission belt D422, and the second sliding block D443 is in sliding cooperation with the fourth guide rail D43. The second driving member D41 is used to drive the second driving wheel D421 to rotate, and through cooperation with the second transmission belt D422 and the second driven wheel D423, drive the second transmission belt D422 to move in the second direction. When the second transmission belt D422 moves, it drives the second sliding block D443 to move. Since the fourth guide rail D43 is installed on the fifth support member D46 and extends along the second direction, and the second sliding block D443 is in sliding cooperation with the fourth guide rail D43, the fourth guide rail D43 is used to improve the stability of the second sliding block D443 moving in the second direction.

[0291] The blanking component D48 includes a contact plate D484, a baffle D485, a reset component D483, and a first mounting plate D481. The first mounting plate D481 is mounted on the fifth support member D46. The first end of the reset component D483 is mounted on the first mounting plate D481. The contact plate D484 is connected to the baffle D485, and the contact plate D484 or the baffle D485 is mounted on the second end of the reset component D483. The contact plate D484 is used to abut against the picking component D44, and the baffle D485 is used to limit the movement of the film production bin D5 at the blanking port D36. The triggering methods of the blanking component D48 include electric control and mechanical contact triggering. In this embodiment, mechanical contact triggering is mainly disclosed. The picking component D44 picks up the film production bin D5 at the third moving position. The picking component D44 will abut against the contact plate D484 of the blanking component D48 and squeeze the contact plate D484, so that the contact plate D484 drives the baffle D485 to move away from the blanking port D36. The baffle D485 is moved away, and the film production bin D5 at the blanking port D36 slides into the picking port D442, completing the picking action of the picking component D44. In addition, when the contact plate D484 moves, it squeezes the reset component D483, causing the reset component D483 to generate a reaction force after compression. When the picking component D44 moves and separates from the contact plate D484, the reaction force generated by the reset component D483 drives the contact plate D484 and the baffle D485 to reset. After the baffle D485 is reset, its position is exactly at the blanking port D36, and it restricts the film production bin D5 at the blanking port D36 to prevent the film production bin D5 from slipping from the blanking port D36. When the picking component D44 moves back and forth in the second direction, the mechanical contact between the picking component D44 and the blanking component D48 triggers the blanking component D48 to operate, realizing the sequential transportation of individual film production bins D5 by the automatic blanking device D100, which further facilitates the clamping of the film production bin D5 by the robotic arm.

[0292] The reset member D483 includes a spring D486 and at least one guide post D482. The first end of the guide post D482 passes through the first mounting plate D481 and is slidably engaged with the first mounting plate D481, and the first end of the guide post D482 is fixed to the abutting plate D484. The spring D486 is sleeved outside the guide post D482, and both ends of the spring D486 abut against the abutting plate D484 and the first mounting plate D481 respectively. The channel mounts the guide post D482 on the first mounting plate D481 and is slidably engaged with the first mounting plate D481. When the abutting plate D484 moves, it drives the guide post D482 to move in the second direction, and the first mounting plate D481 restricts the moving direction of the guide post D482, further improving the stability of the abutting plate D484 when it moves. Moreover, when the abutting plate D484 moves, it compresses the spring D486 to generate a reverse force. Since both ends of the spring D486 abut against the abutting plate D484 and the first mounting plate D481 respectively, after the pressure on the abutting plate D484 disappears, the abutting plate D484 is driven by the reverse force of the spring D486 to reset. The abutting plate D484 and the baffle plate D485 are of an integral structure, thereby driving the baffle plate D485 to reset and making the baffle plate D485 restrict the movement of the film production bin D5 at the blanking port D36.

[0293] The automatic blanking device D100 further has a tray assembly D45. The tray assembly D45 is mounted on the fifth support member D46. The picking assembly D44 is in the fourth moving position, and the tray assembly D45 is located below the picking assembly D44, and the tray assembly D45 is used to eject the film production bin D5 from the picking assembly D44. In this embodiment, since when the picking plate D441 picks up the film production bin D5, the picking plate D441 wraps or clamps the outer surface of the film production bin D5, and the contact surface available for the robotic arm to clamp is small, resulting in the picking claws of the robotic arm being unable to clamp the film production bin D5. Therefore, the tray assembly D45 is used to drive the film production bin D5 to move on the picking assembly D44 to eject the film production bin D5 from the picking assembly D44. When the largest end of the film production bin D5 is ejected, the outer wall of the film production bin D5 has an outer surface that can be clamped by the picking claws, so that the film production bin D5 can be easily clamped by the picking claws and moved to the next process.

[0294] The tray assembly D45 includes a third driving member D453, a second mounting plate D452, a tray 451, a third light-shielding sheet D454, and a third sensor D455. The third driving member D453 is mounted on the fifth support member D46 through the second mounting plate 452. The tray D451 is mounted on the output end of the third driving member D453 and is at least partially located at the fourth moving position. The third light-shielding sheet D454 is mounted on the tray D451. The third sensor D455 is mounted on the second mounting plate D452 and is electrically connected to the third driving member D453. The third light-shielding sheet D454 is used for inductive cooperation with the third sensor D455. The third driving member D453 is mounted on the fifth support member D46 through the second mounting plate D452, which improves the flexibility and stability of the third driving member D453 on the fifth support member D46. When the tray D451 moves, it drives the third light-shielding sheet D454 to move. After the third light-shielding sheet D454 blocks the light source of the third sensor D455 and the picking assembly D44 reaches the fourth position, the third sensor D455 generates a third electrical signal. The third electrical signal is used to drive the third driving member D453 to operate, so that the third driving member D453 drives the tray D451 to move upward and realizes ejecting the film-making bin D5.

[0295] The first transport mechanism D3 includes a transport member D32, a first detector D323, and a second detector D324. The transport member D32 has a second discharge port D141. A transport channel D33 is formed inside the transport member D32. The second discharge port D141, the transport channel D33, and the blanking port D36 are connected in sequence. The transport member D32 is inclined. Both the first detector D323 and the second detector D324 are installed on the transport member D32, and the installation height of the first detector D323 is greater than that of the second detector D324. The second detector D324 is electrically connected to the third drive assembly D22. In this embodiment, the transport member D32 includes a third bottom plate D322 and two second side plates D321. The two second side plates D321 are respectively installed on both sides of the third bottom plate D322. The inner sides of the two second side plates D321 and the upper end surface of the third bottom plate D322 form the transport channel D33. The third bottom plate D322 is inclinedly installed on the side wall of the loading bin D1. Both the first detector D323 and the second detector D324 are installed on the second side plate D321. Since the installation height of the first detector D323 is greater than that of the second detector D324, the first detector D323 is close to the second discharge port D141. The first detector D323 is used to detect whether there is a film production bin D5 at the second discharge port D141. The second detector D324 is used to detect whether there are film production bins D5 arranged in sequence in the transport channel D33. When the blanking port D36 is blocked by the material blocking assembly D48, the film production bins D5 accumulate in the transport channel D33. When the first detector D323 detects that there is a film production bin D5 at the discharge port D141, it means that the transport channel D33 is full of film production bins D5. The first detector D323 sends a fourth electrical signal to drive the third drive assembly D22 to stop working, so that the loading bin D1 stops loading, saving power consumption. When the first detector D323 does not detect that there is a film production bin D5 at the discharge port D141, it means that the transport channel D33 is not full or there is no film production bin D5. The first detector D323 sends a fifth electrical signal to drive the third drive assembly D22 to work until the transport channel D33 is full of film production bins D5. After the first detector D323 sends a fifth electrical signal to drive the third drive assembly D22 to work and still does not detect that there is a film production bin D5 at the discharge port D141, it means that there is no film production bin D5 in the loading bin D1 at this time. The first detector D323 sends a sixth electrical signal, and the sixth electrical signal is used to transmit to the total control console to achieve an alarm to prompt that there is no film production bin D5 in the loading bin D1 and remind to add film production bins D5 into the loading bin D1.

[0296] In addition, the second detector D324 is used to detect whether the blanking port D36 of the conveying channel D33 has a film production bin D5. When the second detector D324 detects the absence of the film production bin D5 at the blanking port D36, it indicates that there is no film production bin D5 on the conveying channel D33. The second detector D324 generates a seventh electrical signal, which is used to be transmitted to the main console to achieve alarm and abort the subsequent film production and staining process.

[0297] In addition, the automatic blanking device D100 further includes a third detector, which detects whether there is a film production bin D5 at the position on top of the tray assembly D45 for the manipulator to grab, and also detects whether the manipulator has successfully taken away the film production bin D5.

[0298] The present invention also proposes a transportation method for the automatic blanking device D100, including the following steps:

[0299] Step 1: Start the baffle component D48 to block the film production bin D5 at the blanking port D36;

[0300] Step 2: The picking component D44 moves to the third moving position, and the picking component D44 pushes the baffle component D48 to be removed from the blanking port D36, and the film production bin D5 at the blanking port D36 slides into the picking component D44;

[0301] Step 3: The picking component D44 moves to the fourth moving position, the baffle component D48 resets, and blocks the film production bin D5 at the blanking port D36.

[0302] By adopting the above transportation method, the picking component D44 moves a single film production bin D5 each time. After the film production bin D5 moves to the braking position in sequence, it is convenient for the picking claw of the robotic arm to grab the film production bin D5. Moreover, the baffle component D48 is used to limit the film production bin D5 at the blanking port D36, and the baffle group D48 cooperates with the picking component D44 to improve the transportation efficiency of the automatic blanking device D100.

[0303] In some embodiments, as ​ shown, the pipe fitting placement and transfer device C10 with centrifuge tubes placed therein can be transferred to the automatic centrifugation mechanism 6 by the clamping of the manipulator for automatic centrifugation. The automatic centrifugation mechanism 6 is composed of a centrifuge support frame 601, a centrifuge tube rack seat 602, a centrifugal rotation assembly 603, a fixing plate 604, a centrifuge sealing outer shell 605, and a centrifuge cover. The output end of the centrifugal rotation assembly 603 is connected to the centrifuge tube rack seat 602 and can drive the centrifuge tube rack seat 602 to rotate.

[0304] The centrifugal rotating assembly 603 includes a centrifugal flange 603-1, a flange support sleeve 603-2, a bearing cover plate 603-3, a light-shielding sheet 603-4, a bearing 603-5, a photoelectric sensor 603-6, a bearing seat 603-7, a motor fixing plate 603-8, and a fifth driving motor 603-9. There is a limiting cylinder 603-1A on the centrifugal flange 603-1, which can cooperate with the groove 602-A on the centrifugal tube rack seat 602 to ensure that the centrifugal tube rack seat 602 is always balanced under the action of gravity when it stops. This facilitates the subsequent manipulator to grasp and transfer the pipe fitting placement and transfer device C10 loaded in the centrifugal hanging basket 602. The fifth driving motor 603-9 drives the centrifugal flange 603-1 to rotate at a high speed, so that the pipe fitting placement and transfer device C10 also rotates at a high speed. Under the action of centrifugal force, the samples in the centrifugal tube gather at the bottom of the centrifugal tube. During the stopping process of the fifth driving motor 603-9, under the action of the light-shielding sheet 603-4 and the photoelectric sensor 603-6, the centrifugal flange 603-1 accurately stops at the specified position, facilitating the subsequent robotic arm to grasp and transfer the pipe fitting placement and transfer device C10 loaded in the centrifugal tube rack seat 602.

[0305] The centrifuge cover assembly 606 includes a sixth driving motor 606-1, a motor fixing plate 606-2, a photoelectric sensor 606-3, a light-shielding sheet 606-4, a guide rail 606-5, a slider 606-6, and a cover plate 606-7. Among them, the sixth driving motor 606-1 is fixed on the motor fixing plate 606-2, the motor fixing plate 606-2 is fixed on the working large platform 202, the guide rail 606-5 is fixed on the working large platform 202, and the cover plate 606-7 is fixed on the guide rail slider. The cover plate 606-7 moves back and forth along the slider under the push of the sixth driving motor 606-1 to open the centrifuge window reserved on the working large platform 202.

[0306] In some embodiments, such as ​As shown, the rocker arm sampling device 7 can add separation extraction liquid to the centrifugal tubes in the pipe fitting placement and transfer device C10 in the automatic centrifugation mechanism 6 and aspirate waste liquid, and perform the operation of needle washing in the cleaning tank. Among them, the rocker arm sampling device 7 is arranged on the workbench 1001 and includes a sampling needle 701, a sampling needle rotation driving device 702, and a sampling needle lifting driving device 703. The output end of the sampling needle lifting driving device 703 is connected to the sampling needle rotation driving device 702 and drives the sampling needle rotation driving device 702 to move up and down. The output end of the sampling needle rotation driving device 702 is connected to the sampling needle 701 and drives the sampling needle 701 to rotate, so as to drive the sampling needle 701 to rotate and lift to add separation extraction liquid and aspirate waste liquid, and perform the operation of needle washing in the cleaning tank. Specifically, multiple sampling needles 701 are fixed on the sampling needle rocker through a sampling needle fixing plate and screws, and the sampling needle rocker is fixed on the spline rotating shaft through screws. The sampling needle rotation driving device 702 is fixed on the rotating driving motor fixing plate. The sampling needle rotation driving device 702 makes the sampling needle 701 perform a rotating action through the cooperation of a rotating driving motor, an idler wheel, a driving wheel, and a belt. The sampling needle lifting driving device 703 can drive the sampling needle to move up and down through the cooperation of a Z-axis belt and a Z-axis motor.

[0307] In some embodiments, as ​ shown, the slide making and staining working position 1003 further includes an automatic slide numbering mechanism 9. The automatic slide numbering mechanism 9 includes a slide rack 91, a marking device 92, and a slide pushing platform 83. The slide pushing platform 83 can push the slides in the slide rack 91 to the marking coverage area of the marking device 92. Among them, the slide accommodating space of the slide rack 91 is used to store blank slides to be numbered. The slides can be loaded outside the device and then placed on the slide pushing platform 83. Under the pushing action of the slide pushing platform 83, such as an XY-axis slide pushing platform, a single slide is conveyed under the marking device 92, such as an infrared laser marking device, for laser marking to make the slide correspond to the sample number one by one. After the marking is completed, the single slide is pushed to the working position by the slide pushing platform 83 and waits to be clamped by the manipulator and placed in the slide rack for staining operation.

[0308] When making cell staining slides, it is necessary to clean the liquid adding needle and the glass slide. However, the current cleaning device has low space utilization rate and occupies a large space on the workbench, resulting in an increase in the volume of the cell staining slide making machine. Especially when performing automated cell staining slide making, it is necessary to clean multiple liquid adding needles at the same time, which occupies a larger workbench space at this time.

[0309] In view of the above problems, in some embodiments, as ​As shown in the figure, the film-making and staining work station 1003 includes a cleaning device with several terraces of different heights arranged on a cleaning base K10. A first cleaning tank is installed at the top of each terrace, and then a second cleaning tank is installed near the front terrace or the rear terrace, that is, each cleaning device is arranged in a longitudinal gradient, saving space and reducing the size of the cleaning device. Among them, both the first cleaning tank and the second cleaning tank can be a liquid adding needle cleaning tank or a glass slide cleaning tank, which can be selected according to needs.

[0310] In this embodiment, in order to improve the cleaning efficiency of the liquid adding needle, five terraces K11 are arranged on the cleaning base K10, and a first cleaning tank K20 is installed on each terrace K11, with a total of five first cleaning tanks K20 arranged longitudinally in a stepped shape. The first cleaning tank K20 is a liquid adding needle cleaning tank for cleaning the sampling needle on the robotic arm, and the second cleaning tank K30 is a glass slide cleaning tank for cleaning the glass slide. The shape of the liquid adding needle cleaning tank is not limited. After a groove matching the outer shape of the liquid adding needle cleaning tank is dug on the terrace K11, the liquid adding needle cleaning tank can be installed on the terrace K11 by various methods such as buckling and bonding.

[0311] The second cleaning tank K30 is installed beside the front terrace K11, that is, beside the first cleaning tank K20 with the lowest height, so as to maximize the saving of space. Specifically, a positioning boss K12 extends forward from the front end of the cleaning base K10, and a cleaning positioning groove K31 coupled with the positioning boss K12 is provided on one side of the second cleaning tank K30 according to the shape of the positioning boss K12. By inserting the positioning boss K12 into the cleaning positioning groove K31, the second cleaning tank K30 is installed on the cleaning base K10. The specific shapes of the positioning boss K12 and the cleaning positioning groove K31 are not limited and can be set accordingly according to requirements.

[0312] A through incision is opened on the side wall of the cleaning base K10, and screw holes K13 are provided on the bottom wall of the cleaning base K10. The side wall being hollowed out can reduce the weight of the cleaning base K10 and facilitate passing the screw through the screw hole K13, thereby fixing the cleaning base K10 on the workbench. Fixing holes K37 are also provided on the bottom wall of the second cleaning tank K30 for fixing the second cleaning tank K30 on the workbench.

[0313] When preparing cell staining slides, waste will also be generated, such as used pipette tips, slide preparation chambers, etc. To facilitate the robotic arm to discard this waste, in this embodiment, a through-channel K14 is dug in the cleaning base K10, which penetrates from the bottom wall of the cleaning base K10 to the second step K11. The channel opening where the through-channel K14 communicates with the step K11 forms a consumable discard opening K15. The through-channel K14 is connected to a guiding tube under the workbench. After the robotic arm throws the waste into the consumable discard opening K15, the waste can be uniformly collected into a collection basket along the through-channel K14 and the guiding tube connected to the through-channel K14. It should be noted that the consumable discard opening K15 is not limited to being on the second step K11 and can be opened on any one of the steps K11.

[0314] To facilitate the rapid cleaning of glass slides and improve the efficiency of the entire cell staining slide maker. The glass slide cleaning tank has also been improved, which can not only facilitate the rapid cleaning of glass slides, but also has a simple structure and smaller size. It can be combined with the liquid adding needle cleaning tank to form a trapezoidal cleaning device, reducing the occupied space of the workbench.

[0315] The second cleaning tank K30 specifically includes a glass slide cleaning chamber K32 and a glass slide debris cleaning chamber K33. The glass slide cleaning chamber K32 includes a cavity K32a with an open top, which is used to accommodate the glass slide K40, and the size of the cavity K32a is set according to the size of the glass slide K40 as needed. A flushing channel communicating with the cavity K32a is installed on the glass slide cleaning chamber K32. The bottom of the glass slide cleaning chamber K32 is connected to the bottom of the glass slide debris cleaning chamber K33. After the glass slide K40 is cleaned in the glass slide cleaning chamber K32, the waste water and glass slide debris flow into the glass slide debris cleaning chamber K33.

[0316] In this embodiment, two cavities K32a for cleaning glass slides are arranged side by side horizontally in the glass slide cleaning chamber K32, and two glass slides K40 can be cleaned simultaneously. The glass slide debris cleaning chamber K33 is located on the right side of the glass slide cleaning chamber K32. The bottom of the glass slide cleaning chamber K32 is connected to the bottom of the glass slide debris cleaning chamber K33 to form a communication channel K36 for the waste water and glass slide debris to flow from the glass slide cleaning chamber K32 to the glass slide debris cleaning chamber K33. The communication channel K36 provided at the bottom can make the cleaning water flow more smoothly. At the same time, since the inflow volume of the cleaning water is greater than the outflow volume of the cleaned water, the communication channel K36 provided at the bottom can also enable the glass slide debris cleaning chamber K33 to better perform the water storage function and prevent overflow.

[0317] For each cavity K32a, there is a flushing channel. The flushing channel mainly includes a cleaning interface pipe K32b, a first channel K32e, a second channel K32f, and a flushing port K32c. Specifically, there are two cleaning interface pipes K32b below the glass slide cleaning chamber K32. A cleaning inlet communicating with the cleaning interface pipe K32b is provided at the bottom of the glass slide cleaning chamber K32 for the cleaning liquid to flow in. The cleaning inlet is then connected to the vertically arranged first channel K32e to convey the cleaning liquid to the top of the glass slide cleaning chamber K32. The second channel K32f is horizontally arranged along the width direction of the glass slide K40, and the first channel K32e communicates with the second channel K32f. The first channel K32e is arranged along a vertical plane, the second channel K32f is arranged along a horizontal plane, and the first channel K32e and the second channel K32f are in an orthogonal relationship. Then, by opening the flushing port K32c on the second channel K32f, the cleaning liquid can be used to flush the glass slide K40.

[0318] In order to flush more cleanly, in this embodiment, a number of flushing ports K32c communicating with the cavity K32a are provided on the second channel K32f, that is, a row of small flushing ports. And the center line of the flushing port K32c is set in a direction inclined downward. By setting the flushing port K32c to be inclined downward at a small angle, the cross-sectional area of the channel is changed, which can increase the flushing force and flush more cleanly. The downward inclination of the angle can also reduce the splashing of water.

[0319] A waste discharge port K34 is provided on the bottom surface of the glass slide debris cleaning chamber K33, and the waste discharge port K34 communicates with a waste discharge pipe K35 below the glass slide debris cleaning chamber K33. A filter screen is installed on the waste discharge port K34 to filter the broken glass slides to prevent the broken glass slides from entering the water pump and damaging the device. In order to completely discharge the waste liquid, the bottom surface of the inner wall of the glass slide debris cleaning chamber K33 is designed to be inclined towards the waste discharge port K34, and an opening is provided at the top of the glass slide debris cleaning chamber K33 for facilitating the cleaning of the debris.

[0320] In order to enable the manipulator to smoothly insert the glass slide K40 into the glass slide cleaning chamber K32 for cleaning, in this embodiment, a chamfer K32d is also designed on the top edge of the glass slide cleaning chamber K32.

[0321] In summary, by installing multiple liquid adding needle cleaning grooves on the ladder platform and installing a glass slide cleaning groove at the front end of the ladder platform, the space utilization rate is high, and the space occupied by the cleaning device is saved. The glass slide cleaning groove is designed with a glass slide cleaning chamber and a glass slide debris cleaning chamber with a bottom connection. When cleaning the glass slide, it is simple and convenient. And the glass slide cleaning groove adopts a double-cavity design, which can clean multiple glass slides simultaneously; a row of small flushing ports inclined downward side by side are also designed on the cavity, which not only makes the glass slide cleaning cleaner, but also reduces the splashing of water.

[0322] In some embodiments, such as ​As shown in the figure, the slide placement rack transportation device of the film-making and staining work station 1003 further includes a transportation base H10, a fifth driving assembly H11, a support H13, and a first base plate H14; the fifth driving assembly H11 is fixedly arranged on the transportation base H10, a first guiding mechanism H12 is arranged between the support H13 and the transportation base H10, and the support H13 is in transmission connection with the fifth driving assembly H11; a second guiding mechanism H131 is arranged between the support H13 and the first base plate H14, and the first base plate H14 is in transmission connection with the fifth driving assembly H11; the fifth driving assembly H11 includes a first driving motor H111, a first wheel set H112, and a second wheel set H113; the first driving motor H111 is fixedly arranged on the transportation base H10, the first wheel set H112 is in transmission connection with the output shaft of the first driving motor H111, the first driving motor H111 is the main power source, the first driving motor H111 can drive the first wheel set H112 to transmit, the second wheel set H113 is in transmission connection with the first wheel set H112 through the support H13, drives the support H13 to move on the first guiding mechanism H12, and at the same time drives the second wheel set H113 to complete the drive, and multiple motion mechanisms can move simultaneously by driving with one main power source; the fifth driving assembly H11 located on the transportation base H10 can provide power for the transportation device. When the fifth driving assembly H11 drives the support H13 to move along the first guiding mechanism H12, since the first base plate H14 is in transmission connection with the fifth driving assembly H11 and a second guiding mechanism H131 is arranged between the support H13 and the first base plate H14, the first base plate H14 will move along the second guiding mechanism H131 at the same time. The slide placement rack H1425 is placed on the first base plate H14, then the transportation stroke of the slide placement rack H1425 is the sum of the stroke of the first guiding mechanism H12 and the second guiding mechanism H131. The stacking structure formed by the support H13 amplifies its transportation stroke, which not only realizes the automatic transportation of the slide placement rack H1425, improves the efficiency of experimental film-making, but also reduces the volume of the device, improves the space utilization rate, and is convenient for integration in experimental equipment and docking with devices of other processes.

[0323] On one side of the transport base H10, there is also a bearing seat H20, and a third guiding mechanism H21 is provided between the transport base H10 and the bearing seat H20; on one side of the bearing seat H20, there is also a sixth driving component H22, and the transport base H10 is fixedly connected to the sixth driving component H22; driven by the sixth driving component H22, the entire transport base H10 moves relative to the bearing seat H20 along the third guiding mechanism H21. The direction of the third guiding mechanism H21 can be set according to requirements to complete the multi-directional transportation function of the slide placement rack H1425 transportation device; the first guiding mechanism H12 is parallel to the second guiding mechanism H131, which can enable the slide placement rack H1425 to have a greater movement stroke in the first direction. The third guiding mechanism H21 is arranged in a direction different from that of the first guiding mechanism H12 and the second guiding mechanism H131. According to the docking requirements, the slide placement rack H1425 that needs to be processed by other processes can move in the second direction, so as to achieve the effect of non-stop operation when integrated into the experimental device.

[0324] A plurality of storage boxes H142 are provided on the first seat plate H14, and more slide placement racks H1425 can be stored on the first seat plate H14 to form a large-throughput production. A plurality of fifth driving components H11, a support body H13, and the first seat plate H14 are arranged on the transport base H10, which can enable multiple groups of slide placement racks H1425 to form a cyclic operation under multiple groups of fifth driving components H11: when some slides need to be urgently processed, one group of slide placement racks H1425 storage boxes H142 remain at the working station and continue to work. Put the slides that need to be urgently processed into the slide placement rack H1425 of another group of slide placement rack H1425 storage boxes H142 and transport them outside the equipment for the next process; when one group of slide placement rack H1425 storage boxes H142 is full of slides, it can be transported outside the equipment for the next process, and another group of slide placement rack H1425 storage boxes H142 remain at the working station and continue to work, realizing non-stop operation and normal slide preparation, so as to realize assembly line operation, perform large-throughput slide processing, realize fully automatic processing and greatly improve the slide preparation efficiency.

[0325] A first zero-point optocoupler H15 is also arranged on the transport base H10. The first zero-point optocoupler H15 is located below the first seat plate H14. When the first seat plate H14 returns to the zero-point working position, the first zero-point optocoupler H15 corresponds to one side of the support body H13, and the first guiding mechanism H12 and the second guiding mechanism H131 contract and stack to reach the minimum volume state; a second zero-point optocoupler H24 is also provided on the bearing seat H20, and the transport base H10 is provided with a first baffle H16. The first baffle H16 protrudes from one end of the transport base H10. When the transport base H10 is in the initial position, the second zero-point optocoupler H24 corresponds to the first baffle H16.

[0326] Further description of the fifth driving component H11:

[0327] The first pulley group H112 includes a first pulley H1121, a second pulley H1122, a first conveyor belt body H1123, and a first connecting portion H1124. The first pulley H1121 is fixedly connected to the transmission shaft of the first driving motor H111 and rotates under the drive of the first driving motor H111. The second pulley H1122 is arranged on the transport base H10, and the first pulley H1121 and the second pulley H1122 rotate synchronously through the first conveyor belt body H1123. The support body H13 is fixedly connected to the first conveyor belt body H1123 through the first connecting portion H1124. When the first conveyor belt body H1123 drives, it can drive the support body H13 to move on the first guiding mechanism H12, completing the telescopic function of the first stroke of the glass slide placement rack H1425. The second pulley group H113 includes a third pulley H1131, a fourth pulley H1132, a second conveyor belt body H1133, and a second connecting portion H1134. The third pulley H1131 and the fourth pulley H1132 are arranged at both ends of the support body H13. The third pulley H1131 and the fourth pulley H1132 are connected by the second conveyor belt body H1133. The lower side of the second conveyor belt body H1133 is fixedly connected to the transport base H10 through the second connecting portion H1134. When the support body H13 and the first guiding mechanism H12 of the transport base H10 move relative to each other, the second conveyor belt body H1133 drives synchronously with the support body H13. The first seat plate H14 is fixedly connected to the upper side of the second conveyor belt body H1133 through the second connecting portion H1134, and can drive the first seat plate H14 to move synchronously along the second guiding mechanism H131, enabling the glass slide placement rack H1425 on the first seat plate H14 to complete the synchronous telescopic function of the second stroke.

[0328] Further description of the first seat plate H14 and the storage box H142:

[0329] The first seat plate H14 is provided with a first groove H141. The storage box H142 has a storage cavity H1421. A guiding portion H1424 is provided above the storage cavity H1421, which enables the glass slide placement rack H1425 to enter the storage cavity H1421 more smoothly. A gripping member H1422 is also provided on one side of the storage box H142. A protruding portion H1423 is provided at the bottom of the storage box H142 to match the first groove H141 on the first seat plate H14, enabling the storage box H142 to enter the first groove H141 more smoothly. There is no rigid connection between the storage box H142 and the first seat plate H14. By holding the gripping member H1422 of the storage box H142 with the hand and lifting it upward, it can be taken out from the first groove H141 for the next process treatment.

[0330] Further description of the carrier seat H20:

[0331] The sixth driving component H22 includes a second driving motor H221, a fifth wheel H222, a sixth wheel H223, a third conveyor belt body H224, and a third connecting member H225; the second driving motor H221 is located on the bearing seat H20, the second driving motor H221 is located at one end of the bearing seat H20, the fifth wheel H222 is fixedly connected to the output shaft of the second driving motor H221, the sixth wheel H223 is arranged at the other end of the bearing seat H20, the sixth wheel H223 is synchronously connected to the fifth wheel H222 through the third conveyor belt body H224, the transport base H10 is fixedly connected to the third conveyor belt body H224 through the third connecting member H225, and the third conveyor belt body H224 can drive the transport base H10 to move synchronously along the third guiding mechanism H21. A sixth support member H23 is further provided on the bearing seat H20. Since there are multiple components and the slide glass placement rack H1425 for storage on the transport base H10, the overall transport base H10 is heavy during operation. To avoid affecting the movement between the transport base H10 and the bearing seat H20, the sixth support member H23 is located between the bearing seat H20 and the transport base H10, and the transport base H10 can slidably abut against the sixth support member H23 to provide a sliding support function for the transport base H10, ensuring smooth movement between the transport base H10 and the bearing seat H20 along the third guiding mechanism H21.

[0332] In some embodiments, the pretreatment working position 1002 includes a sample mixing device, such as ​As shown, the sample mixing device includes a support body B10, a third driving motor B11, a first rotating member B12, a mixing cup B13, and a clamping mechanism B14; the third driving motor B11 is fixedly connected to the support body B10, the first rotating member B12 is in transmission connection with the third driving motor B11, the mixing cup B13 is fixedly connected to the first rotating member B12, and the first rotating member B12 includes a seventh wheel B121, an eighth wheel B122, and a fourth transmission belt body B123; the seventh wheel B121 is fixedly connected to the output shaft of the third driving motor B11, the seventh wheel B121 is in transmission connection with the eighth wheel B122 through the fourth transmission belt body B123, the eighth wheel B122 is movably connected to the support body B10, and the mixing cup B13 is fixedly connected to the eighth wheel B122; driven by the third driving motor B11, the eighth wheel B122 rotates synchronously with the seventh wheel B121, and the mixing cup B13 rotates synchronously with the eighth wheel B122; the mixing cup B13 has a fourth groove B131 inside, the opening of the fourth groove B131 faces upward, the sample bottle B18 can be placed in the fourth groove B131, the mixing cup B13 is in transmission connection with the third driving motor B11 through the first rotating member B12, and the sample bottle B18 can complete sample mixing under the rotation of the mixing cup B13; the clamping mechanism B14 is fixedly connected to the support body B10, the clamping mechanism B14 is located on one side of the mixing cup B13, one end of the clamping mechanism B14 is provided with a clamping jaw B141, the clamping jaw B141 faces the mixing cup B13, and when the sample bottle B18 completes the mixing operation, the clamping jaw B141 can automatically clamp the sample bottle B18. When the clamping jaw B141 clamps the cap of the sample bottle B18, the sample bottle B18 is fixed in the mixing cup B13, and the mixing cup B13 can rotate a certain angle as needed to make the sample bottle B18 complete the capping operation and then be transported to the next process; when the clamping jaw B141 clamps the body of the sample bottle B18, it can also complete the capping action under the rotation of an external manipulator and then be transported to the next process; both clamping states can achieve the automatic mixing, automatic clamping, and capping of the sample bottle B18, improving the efficiency of sample pretreatment.

[0333] In some embodiments, it further includes a fourth driving motor B15 and a pushing body B16. The fourth driving motor B15 is fixedly connected to one side of the support body B10, the pushing body B16 is in transmission connection with the fourth driving motor B15, and a first hole B132 is provided at the bottom of the mixing cup B13. The pushing body B16 faces the fourth groove B131 through the first hole B132; after the sample bottle B18 completes the mixing operation, the pushing body B16 pushes the sample bottle B18 in the mixing cup B13 to the required height through the first hole B132, so that the clamping mechanism B14 fixed on one side of the base can clamp the sample bottle B18 at different height positions. The clamping mechanism B14 can also be compatible with sample bottles B18 of different heights, improving the adaptability and accuracy of the clamping mechanism B14.

[0334] In some embodiments, the pusher B16 and the mixing cup B13 are further described as follows:

[0335] The pushing body B16 includes a push rod B161 and a third support plate B162. The upper end of the push rod B161 is the third support plate B162. The other end of the push rod B161 is connected to the fourth drive motor B15 in a transmission manner, thereby increasing the contact area between the pushing body B16 and the bottom of the sample bottle B18 in the mixing cup B13, so that the sample bottle B18 can rise steadily under the push of the push rod B161 and the third support plate B162. The inner wall of the mixing cup B13 is also provided with a second groove B133, the second groove B133 is located at the bottom of the fourth groove B131, the first hole B132 runs through the second groove B133, and the third support plate B162 matches The second groove B133 ensures that the pushing body B16 has no direct contact with the sample bottle B18 before the mixing of the sample bottle B18 is completed, thereby preventing the pushing body B16 from affecting the mixing of the sample bottle B18; a third groove B134 is also provided on the inner wall of the mixing cup B13, and an elastic part B135 is provided in the third groove B134; when the sample bottle B18 is placed in the mixing cup B13, the elastic part B135 has no obstruction to the placement of the sample bottle B18 into the mixing cup B13, and the elastic part B135 can reduce the inner wall diameter of the mixing cup B13, thereby tightening the sample bottle B18 and improving the stability of the mixing operation of the sample bottle B18.

[0336] In some embodiments, the clamping mechanism B14 is further described as follows:

[0337] The clamping mechanism B14 also includes a clamping arm B142 and a positioning adapter B143. The clamping arm B142 is fixedly connected to the bracket body B10 through the positioning adapter B143, and the clamping claw B141 is movably connected to the clamping arm B142; a first positioning hole B17 is provided on the bracket body B10, and a second positioning hole B1431 is provided on the positioning adapter B143. The positioning adapter B143 is fixedly connected to the bracket body B10 through the first positioning hole B17 and the second positioning hole B1431; the clamping arm B142 can be directed toward the mixing cup B13 at a preset angle through the positioning adapter B143, and the clamping claw B141 is located at the front end of the clamping arm B142, thereby completing the automatic clamping operation of the sample bottle B18 in the mixing cup B13.

[0338] Specifically, the clamping arm body B142 includes a fourth driving motor B1421 and a clamping fixture B1422. The fourth driving motor B1421 is fixedly connected to one side of the clamping fixture B1422, and the clamping jaw B141 is movably connected to the other side of the clamping fixture B1422. The fourth driving motor B1421 is provided with a first transmission shaft B14211 (not shown in the figure), and the first transmission shaft B14211 (not shown in the figure) is movably connected to the clamping jaw B141; the lower part of the clamping fixture B1422 is connected to the positioning adapter B143. One side of the clamping fixture B1422 is connected to the fourth driving motor B1421, and the other side of the clamping fixture B1422 is connected to the clamping jaw B141. The first transmission shaft B14211 (not shown in the figure) of the fourth driving motor B1421 passes through the clamping fixture B1422 and is movably connected to the clamping jaw B141 to complete the automatic clamping and loosening of the clamping jaw B141; when the clamping jaw B141 only has the first clamping portion B1411, the clamping jaw B141 can have different moving strokes on the clamping arm body B142, and cooperate with the first clamping portion B1411 to clamp or screw the cap of the sample bottle B18; specifically, the clamping jaw B141 can also be provided with a first clamping portion B1411 and a second clamping portion B1412. The first clamping portion B1411 is located at the front end inside the clamping jaw B141, and the front end is the end of the clamping jaw B141 away from the clamping arm B142. The second clamping portion B1412 is located at the rear end inside the clamping jaw B141; the minimum distance of the first clamping portion B1411 is greater than the minimum distance of the second clamping portion B1412; when the clamping jaw B141 moves, the first clamping portion B1411 can clamp the body of the sample bottle B18 to complete the clamping and fixing of the body part of the sample bottle B18; when the clamping jaw B141 needs to clamp the cap part of the sample bottle B18, the minimum distance of the first clamping portion B1411 is greater than the cap diameter of the sample bottle B18, and the second clamping portion B1412 with a smaller distance can match the cap diameter of the sample bottle B18 to clamp the cap part of the sample bottle B18, and then cooperate with other rotating parts as needed to complete the capping operation of the sample bottle B18. By the first clamping portion B1411 and the second clamping portion B1412 with different distances, the accuracy of the clamping action of the clamping jaw B141 can also be improved.

[0339] In some embodiments, the opening and capping of the sample bottle also need to be completed by the rotating clamping jaw module of the first manipulator and the clamping mechanism B14. In this embodiment, the clamping mechanism B14 is a horizontally placed clamping jaw (such as ​as shown, and there is only one clamping part. The relevant process of the sample bottle in the sample mixing mechanism is as follows: The rotating gripper module of the first manipulator clamps the sample bottle from the sample bottle tray and transports it to the mixing cup B13, clamps the sample bottle tightly in the mixing cup B13. The liquid extraction tip module on the left side of the first manipulator moves to the nozzle placement position to suck the nozzle. At the same time, the mixing cup B13 rotates to drive the sample bottle to rotate for mixing. At this time, the gripper of the clamping mechanism B14 is in a relaxed state, which can play a protective role when some sample bottles are not fully clamped and break away from the mixing cup during mixing, preventing these ejected sample bottles from being thrown to other workstations of the slide-making and staining machine. After mixing is completed, the third support plate B162 at the bottom of the mixing cup B13 jacks up the slide-making chamber from the mixing cup, disengaging the clamping state. At this time, the gripper of the clamping mechanism B14 contracts inward to clamp the body of the sample bottle. Then, the rotating gripper module of the first manipulator clamps the bottle cap of the sample bottle and rotates to open the cap. Then, the liquid extraction tip module of the first manipulator transfers the sample in the sample bottle to the centrifuge tube placed in the centrifuge module through the nozzle. After that, the liquid extraction tip module of the first manipulator returns the nozzle to its original position, the rotating gripper module of the first manipulator rotates to tighten the bottle cap, the gripper of the clamping mechanism B14 is released, and the rotating gripper module of the first manipulator returns the sample bottle to the tray.

[0340] In some embodiments, such as ​ and ​ as shown, the pretreatment work position 1002 further includes an eccentric oscillation mechanism 8 provided on the workbench 1001, wherein the eccentric oscillation mechanism 8 is adjacent to the automatic centrifugation mechanism 6 and the sample mixing device. After the sample is centrifuged in the automatic centrifugation mechanism 6, the manipulator takes out the pipe fitting placement and transfer device C10 from the automatic centrifugation mechanism 6 and transfers it to the eccentric oscillation mechanism 8 for polarization. After polarization is completed, another manipulator takes the nozzle and samples from the centrifuge tube with the nozzle and drops it onto the slide-making chamber. After all the samples are transferred, the manipulator clamps the pipe fitting placement and transfer device C10 and puts it back to the centrifuge tube rack placement position.

[0341] The eccentric oscillation mechanism includes a centrifuge tube rack vibrating table 801 and an oscillation driving device. The oscillation driving device includes a bearing seat 802, a shock-absorbing rubber pad 803, a spring 804, a driving motor fixing plate 805, an eccentric shaft 806, and a seventh driving motor 807.

[0342] Assembly method: The seventh driving motor 807 is fixed on the driving motor fixing plate 805 by screws. The eccentric shaft 807 is fixed on the protruding shaft of the seventh driving motor 807 by screws. The bearing and bearing circlip are fixed inside the bearing seat 802. The eccentric shaft 806 and the bearing seat 802 are fixed together by gaskets and screws. The centrifuge tube rack vibrating table 801 is fixed on the bearing seat 802 by 4 screws. The eccentric oscillation mechanism 8 is integrally fixed on the large work platform 202 by screws.

[0343] Driven by the seventh drive motor 807, the eccentric shaft 806 drives the pipe fitting placement and transfer device in the centrifuge tube rack vibration table 801 to oscillate eccentrically at high speed, thereby realizing the dispersion of the agglomerated samples in the centrifuge tubes.

[0344] A specific process of this slide-making and staining method includes the following:

[0345] 1. The first manipulator clamps the centrifuge tube fitting e90 from the consumable drawer and transfers it to the centrifuge.

[0346] 2. The swing arm adds separation acceleration liquid into the centrifuge tube.

[0347] 3. The first manipulator clamps the sample bottle to the rotary mixing mechanism ( ​ ) to mix the samples.

[0348] 4. The first manipulator screws on the cap.

[0349] 5. The first manipulator picks up a pipette tip to draw samples from the sample bottle and adds them to the centrifuge.

[0350] 6. First centrifugation.

[0351] 7. The swing arm sucks away the excess supernatant from the centrifuge tube in the centrifuge.

[0352] 8. Second centrifugation.

[0353] 9. The first manipulator clamps the centrifuge tube fitting E90 from the centrifuge and transfers it to the oscillating mixing mechanism for mixing.

[0354] 10. The first manipulator picks up a pipette tip to take samples from the centrifuge tube and add the samples to the slide-making chamber in the staining work area. (Before this, the glass slides and the slide-making chamber have both been prepared in parallel by the second manipulator on the staircase-shaped staining rack ( ​ ).)

[0355] 11. The second manipulator adds buffer solution, alcohol, and sucks out waste liquid into the slide-making chamber.

[0356] 12. The first manipulator picks up a pipette tip to take staining solution from the staining solution bottle and add it to the slide-making chamber to stain the samples.

[0357] 13. The second manipulator disassembles the slide-making chamber and takes the glass slide to ​ for cleaning.

[0358] 14. The second manipulator puts the cleaned glass slide into the glass slide storage rack ( ​ ).

[0359] The above embodiments are not exhaustive listings based on the present invention. In addition, there may be multiple other embodiments not listed. Any replacement and improvement made without violating the concept of the present invention fall within the protection scope of the present invention.

Claims

1. A combined film-making and staining machine, characterized in that, The slide making and staining machine includes a machine base, on which a workbench, a moving mechanism and a manipulator assembly are provided; The workbench has a working area, and the working area at least has a pretreatment working position and a slide making and staining treatment working position; The manipulator assembly is movably arranged on the moving mechanism, and the manipulator assembly is located above the working area; The manipulator assembly includes a manipulator, and the manipulator at least includes a first manipulator and a second manipulator. The first manipulator at least has a first moving position and a second moving position, and the second manipulator at least has a third moving position and a fourth moving position; The first moving position, the second moving position, the third moving position, and the fourth moving position at least cooperate with the pretreatment working position and the slide making and staining treatment working position.

2. The film production and staining integrated machine according to claim 1, characterized in that, The first manipulator is correspondingly arranged on the pretreatment working position and cooperates with the pretreatment working position; The second manipulator is correspondingly arranged on the slide making and staining treatment working position and cooperates with the slide making and staining working position.

3. The film production and staining integrated machine according to claim 1, wherein, A forklift loading device, a sample mixing device, an automatic centrifugation mechanism, an eccentric oscillation mechanism, and a rocker pipetting device are arranged on the pretreatment working position.

4. The integrated film production and staining machine according to claim 1, characterized in that, A slide rack, an automatic blanking device, a cleaning device, a slide placement rack transportation device, and a liquid adding and pumping assembly are arranged on the slide making and staining working position.

5. The film-making and dyeing integrated machine according to claim 3, characterized in that, The forklift loading device, the automatic centrifuge, the eccentric oscillation mechanism, and the rocker pipetting device are all arranged around the sample mixing device.

6. The integrated film production and staining machine according to claim 4, characterized in that, In the slide making and staining working position, the automatic blanking device, the cleaning device, the slide placement rack transportation device, and the liquid adding and pumping assembly are all arranged around the slide rack.

7. The integrated film production and staining machine according to claim 1, characterized in that The pretreatment working position is arranged on the right side of the workbench, and the first manipulator is correspondingly arranged on the right side of the workbench; The slide making and staining treatment working position is arranged on the left side of the workbench, and the second manipulator is correspondingly arranged on the left side of the workbench.

8. The integrated film production and staining machine according to claim 7, characterized in that A first clamping structure and a nozzle loading structure are arranged on the first manipulator, and the nozzle loading structure is located on the side close to the slide making and staining treatment working position; and / or, A second clamping structure and a liquid adding and pumping assembly are arranged on the second manipulator.

9. The integrated film production and staining machine according to any one of claims 1 to 8, characterized in that, The moving mechanism drives the manipulator to reciprocate in three-dimensional space, and the manipulator has a clamping part, and the clamping part has a first clamping structure and a second clamping structure with different clamping spaces.

10. The integrated film production and staining machine according to claim 9, characterized in that, The moving mechanism includes a first moving component, at least two second moving components, and at least two third moving components; The first moving component is located above the working position. Each of the second moving components is arranged on the first moving component. The first moving component drives each of the second moving components to independently move along a first direction. Each of the third moving components is respectively arranged on each of the second moving components. The second moving component drives the third moving component to move along a second direction. Any one of the first manipulator or the second manipulator is arranged on each of the third moving components. The third moving component drives the manipulator to move along a third direction. The first direction, the second direction, and the third direction cooperate to form three-dimensional directions.

11. The film production and staining integrated machine according to claim 10, characterized in that, The first moving component includes a support beam, a moving guide rail body, and at least two moving driving devices; the moving guide rail body is arranged on the support beam along a first direction, and each of the moving driving devices is arranged corresponding to one of the second moving components and drives each of the second moving components to reciprocate along the moving guide rail body independently.

12. The integrated film production and staining machine according to claim 4, wherein, The slide preparation rack includes a base, the base has a supporting bottom, at least two fixing platforms for fixing the slide preparation chambers are provided on the base, the distances between the fixing platforms and the supporting bottom are different, the base has a first side end and a second side end, and the connection line between the first side end and the second side end forms an installation direction.

13. The film production and staining integrated machine according to claim 12, wherein, A second installation hole is provided on the side wall of the base, a slide clamping device is provided on the fixing platform, and a first positioning column is provided on the slide clamping device.

14. The integrated film production and staining machine according to claim 13, characterized in that, The base is trapezoidal.

15. The integrated film production and staining machine according to claim 4, characterized in that A slide preparation chamber fixing device is further provided on the slide preparation rack, and the slide preparation chamber fixing device includes: a body and an elastic chuck; A through hole for pressing the slide preparation chamber into is provided on the body, a plurality of channels communicating with the through hole are provided on the body along the circumference of the through hole, the elastic chuck is provided in the channels, and the elastic chuck can be partially exposed out of the through hole.

16. The film production and staining integrated machine according to claim 4, wherein The liquid adding and pumping component includes a liquid adding driving component, a support bar, and at least two suction heads. The first end of the support bar is installed on the liquid adding driving component, the liquid adding driving component is installed on a moving mechanism, the support bar is inclined, and both suction heads are installed on the support bar and are arranged staggeredly in the horizontal direction.

17. The integrated film production and staining machine according to claim 3, characterized in that, The automatic centrifugation mechanism includes a centrifuge, a centrifuge tube rack seat, and a centrifugal rotation component. The centrifuge tube rack seat is arranged in the centrifuge, and the output end of the centrifugal rotation component is connected to the centrifuge tube rack seat and can drive the centrifuge tube rack seat to rotate.

18. The integrated film production and staining machine according to claim 3, characterized in that, The swing arm liquid adding device includes a liquid adding needle, a liquid adding needle rotation driving device, and a liquid adding needle lifting driving device. The output end of the liquid adding needle lifting driving device is connected to the liquid adding needle rotation driving device and drives the liquid adding needle rotation driving device to move up and down. The output end of the liquid adding needle rotation driving device is connected to the liquid adding needle and drives the liquid adding needle to rotate.

19. The integrated film production and staining machine according to claim 4, characterized in that, The slide preparation and staining working position further includes an automatic slide numbering mechanism, and the automatic slide numbering mechanism includes a slide rack, a marking device, and a slide pushing platform; the slide rack has a slide accommodating space, and the slide pushing platform can push the slide in the slide rack to the marking covering area of the marking device.

20. The integrated film production and staining machine according to claim 3, characterized in that, The eccentric oscillation mechanism includes a centrifuge tube rack vibration table and an oscillation driving device. The output end of the oscillation driving device is connected to the centrifuge tube rack vibration table and drives the centrifuge tube rack vibration table to perform eccentric oscillation.

21. A method for making a slide and staining, characterized in that, Including a pretreatment step and a slide preparation and staining treatment step: Pretreatment step: Control one of the first manipulator and the second manipulator to transfer the test sample to the pretreatment working position for cell pretreatment; Slide preparation and staining treatment step: Control the other one of the first manipulator and the second manipulator to transfer the pretreated test sample to the slide preparation and staining treatment working position for slide preparation and staining treatment; Among them, the pretreatment step and the slide-making and staining treatment step are independent of each other and can be carried out synchronously.

Images